Cleaning base station, roller self-cleaning method and cleaning system

Abstract

A cleaning base station (1), used for a cleaning robot. The cleaning base station (1) is provided with a cleaning base (11); the cleaning base (11) comprises a water inlet channel (110), a cleaning tank (114), and a wastewater reservoir (119); the water inlet channel (110) is used for conveying a cleaning fluid; the cleaning tank (114) is provided with a scraping rib (116) and a wastewater trough (117); in the height direction, a water outlet end of the water inlet channel (110), the scraping rib (116), and the wastewater trough (117) are sequentially arranged from high to low; the cleaning fluid makes contact with a cleaning actuator (832) above the scraping rib (116) so as to wet the cleaning actuator (832); the scraping rib (116) abuts against the cleaning actuator (832) and is used for scraping dirt on the cleaning actuator (832); and the scraped dirt is guided through the wastewater trough (117) into the wastewater reservoir (119). The cleaning actuator (832) does not come into contact with wastewater and does not soak in the wastewater, and a clean cleaning liquid is sprayed onto the cleaning actuator (832), thereby ensuring a good cleaning effect on the cleaning actuator (832).

Description

Cleaning base station, drum self-cleaning method and cleaning system

[0001] Cross-reference to related applications

[0002] This application refers to the following Chinese patent applications, which are incorporated by reference in their entirety into this application. TECHNICAL FIELD

[0003] The present application relates to the technical field of cleaning equipment, in particular to a cleaning base station and a cleaning system. BACKGROUND

[0004] A cleaning robot is rotatably provided with a cleaning implement abutting against a surface to be cleaned. After the cleaning robot returns to the cleaning base station after completing the cleaning task, the cleaning implement needs to be cleaned to avoid the growth of bacteria on the cleaning implement and the generation of odor, and to ensure that the cleaning robot can perform good cleaning work on the surface to be cleaned next time.

[0005] However, in the prior art, when the cleaning robot returns to the cleaning base station after completing the cleaning task, the self-cleaning of the cleaning implement is usually performed by a scraping strip on the cleaning robot to scrape and wash the rolling brush. The cleaning base station only provides a space to accommodate the cleaning implement and discharge the sewage. In order to avoid hindering the rolling of the cleaning implement, the scraping force of the rolling brush scraping strip on the cleaning robot is relatively small, and the cleaning effect on the cleaning implement cannot be achieved. Some base stations are provided with a scraping strip. When the cleaning robot returns to the cleaning base station after completing the cleaning task, the scraping strip can clean the cleaning implement. However, there is only one cleaning tank, and the scraped sewage cannot be immediately isolated each time the drum is cleaned, resulting in that the water in the cleaning tank becomes dirtier and dirtier, and the cleaning effect of the drum immersed in the cleaning tank becomes worse and worse.

[0006] SUMMARY

[0007] In view of the above problems, the present application is proposed. One purpose of the present application is to provide a cleaning base station capable of achieving good cleaning of the cleaning implement after the cleaning robot returns to the base station after completing the cleaning.

[0008] To achieve this purpose, the present application adopts the following technical solutions:

[0009] A cleaning base station for a cleaning robot, the cleaning robot having a cleaning implement, the cleaning base station having a cleaning seat; the cleaning seat comprising a water inlet channel, a cleaning tank and a sewage pool; wherein,

[0010] The water inlet channel is used to transport cleaning fluid;

[0011] The cleaning tank is provided with a scraping rib and a sewage groove.

[0012] The water outlet end of the water inlet channel, the scraping and washing rib, and the sewage tank are arranged in sequence from high to low in the height direction.

[0013] The cleaning fluid contacts the cleaning implement above the scraping and washing rib to wet the cleaning implement, the scraping and washing rib abuts against the cleaning implement to scrape off dirt on the cleaning implement, and the scraped-off dirt is guided into the sewage pool through the sewage tank.

[0014] Optionally, the water outlet end is located upstream of the scraping and washing rib when the cleaning implement rotates for cleaning.

[0015] The scraped-off dirt enters the sewage tank, and the sewage tank timely guides the dirt into the sewage pool.

[0016] Optionally, the water outlet end of the water inlet channel has a branch opening for water outlet, and the sewage tank is located between the branch opening and the scraping and washing rib.

[0017] Optionally, an arc-shaped wall is arranged at the bottom of the branch opening, and a circle where the arc-shaped wall is located is concentric with a cross-sectional circle of the cleaning implement.

[0018] Optionally, the scraping and washing rib forms a side wall of the sewage tank.

[0019] Optionally, a water path branch plate is arranged at a position of the branch opening, and the water path branch plate forms another side wall of the sewage tank.

[0020] Optionally, a plurality of branch openings are arranged at the water path branch plate in the length direction, and the cleaning fluid in the water inlet channel flows to the cleaning implement from the plurality of branch openings.

[0021] Optionally, the opening widths of two adjacent branch openings are arranged such that the width of the branch opening close to the water inlet channel is not greater than the width of the branch opening away from the water inlet channel.

[0022] Optionally, a flow guide rib is arranged at the end of the water inlet channel communicating with the cleaning tank.

[0023] The end of the flow guide rib away from the water inlet channel is connected with the water path branch plate to divide the water inlet channel at one end of the scraping and washing rib into at least two clean water flow paths.

[0024] The directions of different clean water flow paths away from the end of the water inlet channel are different to guide the cleaning liquid to different branch openings.

[0025] Optionally, the scraping and washing rib is provided with a avoiding structure on both sides in the length direction.

[0026] Optionally, the length of the squeegee rib extending into the cleaning implement is 3-5mm.

[0027] Optionally, the cleaning base station has a docking cabin with an open side, and a ramp is arranged to guide the cleaning robot to move into the docking cabin.

[0028] The cleaning robot has auxiliary wheels at the bottom, and the ramp has a support structure, when the cleaning robot is accommodated in the docking cabin, the auxiliary wheels are located at the top of the support structure to keep the cleaning robot in a target posture in which the cleaning robot is docked with the cleaning base station.

[0029] Optionally, the top surface of the support structure is higher than the support surface of the ramp.

[0030] Optionally, the top surface of the support structure has an inclined guide surface towards the support surface of the ramp.

[0031] Optionally, the bottom of the cleaning tank is provided with a converging channel communicating with the sewage pool, and the converging channel is used to guide sewage into the sewage pool.

[0032] The converging channel is located on the central axis of the sewage pool.

[0033] Optionally, the position of the cleaning tank is aligned with the position of the cleaning implement.

[0034] The converging channel is located on the side of the cleaning tank.

[0035] Optionally, the converging channel is located at the bottom of the waterway branch plate.

[0036] Optionally, a water accumulation channel is arranged between the water inlet channel and the waterway branch plate.

[0037] The converging channel is located below the water accumulation channel.

[0038] Optionally, the inlet of the converging channel at the cleaning tank is located at the lowest position of the bottom of the cleaning tank.

[0039] Optionally, after the cleaning implement is cleaned, the cleaning implement is rotated in the direction of the squeegee rib towards the water outlet end of the water inlet channel to fluff the cleaning implement.

[0040] Another purpose of the embodiments of the present application is to provide a cleaning base station capable of achieving good cleaning effect on a rolling brush.

[0041] To achieve the above purpose, the embodiments of the present application adopt the following technical solutions:

[0042] A cleaning system comprises:

[0043] A cleaning robot capable of autonomous movement, a cleaning implement rotatable on the cleaning robot and abutting a surface to be cleaned; and

[0044] The cleaning base station described above.

[0045] The technical scheme provided by the embodiments of the present application is characterized in that a cleaning seat is arranged on the base of the parking cabin, and the cleaning base station is provided with a sewage tank for containing sewage. The cleaning seat comprises a water inlet channel, a cleaning groove and a waterway branch plate. The water inlet channel is used for conveying cleaning fluid, and the cleaning fluid can be sprayed onto the cleaning implement. The cleaning groove is provided with a scraping and cleaning rib and a sewage groove. The cleaning implement abuts against the scraping and cleaning rib. In the height direction, the waterway branch plate, the scraping and cleaning rib and the sewage groove are sequentially arranged from high to low. The sewage groove is in liquid communication with the sewage tank. The scraping and cleaning rib can scrape and clean the cleaning implement. The scraped sewage can enter the sewage tank from the sewage groove. The cleaning implement is not in contact with the sewage, and the cleaning implement is not soaked in the sewage. The cleaning fluid sprayed onto the cleaning implement is clean, thereby ensuring good cleaning effect of the cleaning implement.

[0046] In an embodiment of the present application, a cleaning base station for a cleaning robot is provided. The cleaning robot is provided with a roller, a scraper assembly and a sewage tank. The base station is provided with a cleaning seat. The cleaning seat comprises a water distribution assembly, a scraping and cleaning rib and a sewage tank.

[0047] When the cleaning robot is docked with the cleaning base station to clean the roller, the cleaning robot and / or the cleaning base station provide cleaning fluid. The cleaning fluid flows through the roller, the scraper assembly, the sewage tank and the sewage tank to form a first cleaning waterway. The cleaning fluid flows through the water distribution assembly, the scraping and cleaning rib and the sewage tank to form a second cleaning waterway. The first cleaning waterway and the second cleaning waterway jointly clean the roller. The sewage tank is provided with a one-way valve. The cleaning seat is provided with a sewage discharge mechanism. The sewage discharge mechanism is matched with the one-way valve and is used for opening the one-way valve. The sewage discharge mechanism is provided with a water baffle.

[0048] As an optional solution, when the cleaning robot is docked with the cleaning base station, the sewage tank is located above the sewage tank, and the sewage discharge mechanism is located in the sewage tank.

[0049] As an optional solution, the sewage discharge mechanism comprises:

[0050] A transmission bracket assembly is arranged on the cleaning seat. The transmission bracket assembly is provided with a containing cavity. One side of the transmission bracket assembly facing the sewage tank is provided with an outlet.

[0051] A rotating driving assembly is rotatably arranged in the accommodating cavity; and

[0052] A trigger lever is rotatably arranged at the outlet, one end of the trigger lever in the accommodating cavity is a driving end, the other end of the trigger lever extending out of the accommodating cavity from the outlet is a trigger end, the driving end is in abutment with the rotating driving assembly, and the trigger end is capable of being in abutment with the one-way valve.

[0053] As an optional solution, the water baffle is located on the side of the outlet facing the trigger end.

[0054] As an optional solution, the rotating driving assembly comprises:

[0055] A driving member and a force applying member arranged at the output end of the driving member;

[0056] The force applying member is in abutment with the driving end;

[0057] The force applying member intermittently applies driving force to the driving end;

[0058] As an optional solution, the force applying member is a cam.

[0059] As an optional solution, the sewage discharging mechanism further comprises:

[0060] A reset member, one end of the reset member is in abutment with the wall of the accommodating cavity, and the other end of the reset member is in abutment with the side of the driving end away from the rotating driving assembly.

[0061] As an optional solution, the side of the sewage pool away from the cleaning tank is provided with a sewer outlet, the sewer outlet is in communication with a drainage pipeline, and the drainage pipeline is provided with a water pump;

[0062] The sewage discharging mechanism further comprises a micro switch;

[0063] The one-way valve is provided with a first sensor, and the micro switch is coupled with the water pump, the first sensor and the driving member;

[0064] The first sensor senses that the one-way valve is lifted, triggers the micro switch to drive the water pump to open;

[0065] The first sensor senses that the one-way valve is reset, triggers the micro switch to drive the water pump to close.

[0066] As an optional solution, the micro switch can have one or two;

[0067] One of the two micro switches is used to sense the first sensor to control the opening of the sewage pump, and the other is used to sense the first sensor to control the closing of the sewage pump.

[0068] A cleaning base station for a cleaning robot

[0069] The cleaning robot comprises a roller, a scraper assembly, a liquid supply device and a dirt collecting box.

[0070] The cleaning base station comprises a cleaning tank.

[0071] When the cleaning base station performs self-cleaning on the cleaning robot through the cleaning tank, the liquid supply device supplies cleaning fluid to the roller in the direction of rotation of the roller to clean the roller, and the cleaning fluid on the roller is scraped by the scraper assembly into the dirt collecting box to clean the dirt collecting box.

[0072] The cleaning robot further comprises a sewage tank, the dirt collecting box is in communication with the sewage tank, a one-way valve is arranged at the bottom of the sewage tank, a sewage discharge mechanism is arranged on the cleaning seat and matches the one-way valve to open the one-way valve, and a water baffle is arranged on the sewage discharge mechanism.

[0073] Optionally, the cleaning base station comprises a sewage pool, and the sewage discharge mechanism is arranged in the sewage pool.

[0074] Optionally, the dirt collecting box is arranged below the side of the scraper assembly away from the roller.

[0075] Optionally, one side of the scraper assembly is perpendicular to the surface of the roller, and the other side is curved and arc-shaped towards the sewage.

[0076] Optionally, the cleaning base station is provided with a cleaning liquid docking device, the cleaning base station can supplement cleaning liquid to the cleaning robot through the cleaning liquid docking device, and the cleaning liquid enters the liquid supply device.

[0077] A cleaning base station for a cleaning robot, the cleaning robot comprising a cleaning execution member and a sewage tank, and the cleaning base station comprising a cleaning seat; optionally, the cleaning seat comprises a water inlet channel, a cleaning tank and a sewage pool; wherein,

[0078] The water inlet channel is used for conveying cleaning fluid.

[0079] The cleaning tank is provided with a scraping and cleaning rib.

[0080] In the height direction, the water outlet end of the water inlet channel and the scraping and cleaning rib are arranged in sequence from high to low.

[0081] The cleaning fluid contacts the cleaning execution member above the scraping and cleaning rib to wet the cleaning execution member, the scraping and cleaning rib abuts against the cleaning execution member to scrape off dirt on the cleaning execution member, and the scraped-off dirt is guided into the sewage pool.

[0082] The sewage tank is provided with a one-way valve, the cleaning seat is provided with a sewage discharge mechanism, the sewage discharge mechanism is matched with the one-way valve, and the sewage discharge mechanism is used for opening the one-way valve, and sewage in the sewage tank flows into the sewage pool.

[0083] An object of the embodiments of the present application is to provide a sewage discharge method capable of automatically discharging sewage in a sewage tank after a cleaning robot returns to a base station after completing cleaning.

[0084] A sewage discharge method for a cleaning robot, and the cleaning base station is the cleaning base station described above.

[0085] The method comprises the following steps.

[0086] The first sensor senses that the one-way valve is opened, triggers the micro switch, and the micro switch drives the water pump to be opened, and the micro switch drives the driving member to stop after a first time.

[0087] The micro switch drives the driving member to start after a second time, the first sensor senses that the one-way valve is closed, and the micro switch drives the water pump to be closed after a third time.

[0088] The technical scheme provided by the embodiments of the present application is characterized in that a one-way valve is arranged at the bottom end of the sewage tank, a sewage discharge mechanism is arranged on the cleaning seat of the base station, when the cleaning robot returns to the cleaning base station after completing the cleaning task, the sewage discharge mechanism opens the one-way valve, and the sewage in the sewage tank flows to the cleaning base station through the one-way valve, so that the automatic dumping of the sewage in the sewage tank is realized, and the user is saved from manually dumping the sewage tank, thereby saving the labor of the user.

[0089] In an embodiment of the present application, a cleaning base station for a cleaning robot is provided, the cleaning robot has a cleaning execution member, and the cleaning base station has a parking cabin; as an optional solution, the parking cabin has a cleaning seat, the cleaning seat comprises a water inlet channel, a cleaning groove and a sewage pool; wherein,

[0090] The water inlet channel is used for conveying cleaning fluid;

[0091] The cleaning groove is provided with a scraping rib and a sewage groove;

[0092] In the height direction, the water outlet end of the water inlet channel, the scraping rib and the sewage groove are sequentially arranged from high to low;

[0093] The cleaning fluid contacts the cleaning execution member above the scraping rib to wet the cleaning execution member, the scraping rib abuts against the cleaning execution member to scrape off dirt on the cleaning execution member, and the scraped-off dirt is guided into the sewage pool through the sewage groove;

[0094] A liquid supplementing port is arranged above the cleaning seat, and a charging device is arranged above the liquid supplementing port.

[0095] The charging device is arranged floatingly on the cabin wall of the parking cabin.

[0096] When the cleaning robot is docked with the cleaning base station, the charging device is adapted to the posture of the cleaning robot to be electrically connected with the charging terminal of the cleaning robot.

[0097] As an option, the charging device comprises:

[0098] At least one charging component, a plurality of the charging components are arranged at intervals, and the charging components are matched one by one with the charging terminals;

[0099] Each of the charging components is capable of following the corresponding charging terminal at the abutting position.

[0100] As an option, the charging component comprises:

[0101] A fixed seat arranged at one end of the cabin wall of the parking cabin; and

[0102] A charging contact sheet component rotatably arranged at the other end of the fixed seat, and the charging terminal abuts with the free end of the charging contact sheet component.

[0103] As an option, the charging contact sheet component comprises:

[0104] A rotating seat rotatable on the fixed seat away from the parking cabin;

[0105] A charging sheet located at the end of the side of the rotating seat facing the parking cabin, and the charging terminal abuts with the charging sheet.

[0106] As an option, a universal ball is arranged on the side of the rotating seat away from the parking cabin, and a universal ball sleeve matched with the universal ball is arranged on the side of the fixed seat away from the cabin wall; or

[0107] The charging contact sheet component further comprises a rotating shaft, and the side of the fixed seat away from the parking cabin is provided with a mounting groove, both ends of the rotating shaft are arranged through the groove walls on both sides of the mounting groove, and the rotating seat is rotatable on the part of the rotating shaft arranged through the mounting groove.

[0108] As an option, a convex point is arranged on the side of the charging sheet away from the rotating seat, and the convex point abuts with the charging terminal.

[0109] As an option, a plurality of convex points are arranged at intervals on the charging sheet.

[0110] Optionally, the left and right sides of the charging sheet each has a row of convex points, and each row has at least two convex points.

[0111] Optionally, the charging sheet is rectangular, and each of the four corners of the rectangular sheet has a convex point.

[0112] Optionally, the charging device further comprises:

[0113] A reset member, one end of the reset member abuts against the docking cabin wall, and the other end abuts against the charging assembly, and the charging assembly is movable within the stroke of the reset member.

[0114] Optionally, a blocking strip is arranged between the charging device and the liquid supplementing port, and the blocking strip abuts against the cleaning robot to prevent liquid from splashing onto the charging device.

[0115] Optionally, the length of the blocking strip is longer than that of the charging device.

[0116] Optionally, the charging device is detachably arranged on the cabin wall of the docking cabin.

[0117] Optionally, the cleaning base station is provided with a circulating dehumidifying fan, the inlet of the circulating dehumidifying fan is located at the upper part of the docking cabin wall and is close to the charging device, and the outlet of the circulating dehumidifying fan is located on the cleaning seat and faces the cleaning execution member.

[0118] Optionally, the inlet of the circulating dehumidifying fan is located obliquely above the charging device.

[0119] Optionally, the cleaning base station is further provided with a dust collecting port.

[0120] The dust collecting port is used to collect garbage in the dust box of the cleaning robot.

[0121] The inlet of the circulating dehumidifying fan is located between the charging device and the dust collecting port, and is higher than the charging device and the dust collecting port.

[0122] Optionally, the cabin wall of the docking cabin is further provided with an infrared docking device.

[0123] The charging device comprises two charging assemblies.

[0124] The infrared docking device is located between the two charging assemblies.

[0125] A cleaning base station for a cleaning robot, the cleaning robot having a cleaning execution member, and the cleaning base station having a docking cabin; the docking cabin has a cleaning seat, and the cleaning seat comprises a water inlet channel and a cleaning tank; wherein,

[0126] The water inlet channel is used for conveying cleaning fluid;

[0127] The cleaning tank is provided with a scraping rib;

[0128] In the height direction, the water outlet end of the water inlet channel, the scraping rib and the sewage tank are arranged in sequence from high to low;

[0129] The cleaning fluid contacts the cleaning implement above the scraping rib to wet the cleaning implement, and the scraping rib abuts against the cleaning implement to scrape off dirt on the cleaning implement;

[0130] The cleaning seat is provided with a liquid supplementing opening above, and a charging device above the liquid supplementing opening.

[0131] The technical scheme provided by the embodiment of the application, by arranging the water outlet end of the water inlet channel, the scraping rib and the sewage tank in sequence from high to low in the height direction, the cleaning fluid contacts the cleaning implement above the scraping rib to wet the cleaning implement, and the scraping rib abuts against the cleaning implement to scrape off dirt on the cleaning implement, and the scraped-off dirt is guided into the sewage pool through the sewage tank, so that the cleaning implement does not contact sewage but only contacts new cleaning liquid in the self-cleaning process, thereby avoiding secondary pollution of the cleaning implement by the sewage and enabling the cleaning implement to obtain good cleaning effect. By floatingly arranging the charging device on the cabin wall of the parking cabin, the charging device self-adapts to the posture of the cleaning robot when the cleaning robot is docked with the cleaning base station, so as to be electrically connected with the charging terminal of the cleaning robot. The relative displacement between the charging device and the charging terminal can be avoided, and thus the friction and sparking phenomenon caused by the relative displacement between the charging device and the charging terminal can be avoided, thereby ensuring good charging quality.

[0132] In an embodiment of the application, a cleaning base station for a cleaning robot is provided, the cleaning robot having a cleaning implement, and the cleaning base station having a parking cabin; the parking cabin has a cleaning seat inside, and the cleaning seat includes a water inlet channel, a cleaning tank and a sewage pool; wherein,

[0133] The water inlet channel is used for conveying cleaning fluid;

[0134] The cleaning tank is provided with a scraping rib;

[0135] In the height direction, the water outlet end of the water inlet channel, the scraping rib and the sewage tank are arranged in sequence from high to low;

[0136] The cleaning fluid contacts the cleaning implement above the scraping rib to wet the cleaning implement, and the scraping rib abuts against the cleaning implement to scrape off dirt on the cleaning implement, and the scraped-off dirt is guided into the sewage pool;

[0137] The docking cabin has an air inlet for sucking water vapor in the docking cabin.

[0138] As an option, the air inlet is located on the top wall of the docking cabin and on the side away from the docking cabin opening.

[0139] As an option, the air inlet is located on the cleaning tank.

[0140] As an option, the docking cabin also has an air outlet for releasing a hot gas stream into the docking cabin to dry the cleaning implement; the air outlet is located on the bottom wall of the docking cabin and faces the cleaning implement on the cleaning seat.

[0141] As an option, the cleaning seat has a guide ring wall on the side away from the docking cabin opening, which forms an air duct to guide the hot gas stream to the cleaning implement.

[0142] As an option, the guide ring wall surrounds the outer periphery of the water inlet channel, and the height of the side wall of the guide ring wall is higher than the height of the channel wall of the water inlet channel.

[0143] As an option, the cleaning seat has a first water inlet channel and a second water inlet channel for providing cleaning liquid to the cleaning implement, and the first water inlet channel and the second water inlet channel are respectively located at both ends of the cleaning seat away from the docking cabin opening, and the guide ring wall surrounds the periphery of the first water inlet channel and the second water inlet channel.

[0144] As an option, it also includes a drying fan; the air inlet is communicated with the drying fan through a suction channel.

[0145] As an option, the drying fan and the air outlet are communicated through an air supply channel, and the air supply channel is provided with a heating device.

[0146] As an option, the suction channel is provided with a condensing device.

[0147] As an option,

[0148] When cleaning the cleaning implement, the cleaning implement rotates in a first direction, and the cleaning robot and / or the cleaning base station provides cleaning fluid, which sequentially flows through the water inlet channel, the cleaning implement, the scrubbing rib, and the sewage tank to flow clean the cleaning implement.

[0149] After cleaning, the cleaning implement rotates in a second direction, and the air inlet sucks the humid gas in the docking cabin.

[0150] Optionally, the cleaning robot is provided with a squeegee assembly.

[0151] The depth of the squeegee muscle into the cleaning implement is greater than the depth of the squeegee assembly into the cleaning implement.

[0152] Optionally, the length of the squeegee muscle is greater than the length of the cleaning implement.

[0153] Optionally, the water inlet channel has a branch outlet for water outlet, and a sewage tank is arranged between the branch outlet and the squeegee muscle.

[0154] Optionally, the squeegee muscle forms one side wall of the sewage tank, and a waterway branch plate is arranged at the position of the branch outlet, and the waterway branch plate forms another side wall of the sewage tank.

[0155] Optionally, the bottom of the cleaning tank is provided with a convergence channel communicated with the sewage tank, and the convergence channel is used to guide the dirt in the sewage tank to the sewage tank.

[0156] The water inlet channel and the waterway branch plate are provided with a water accumulation channel.

[0157] The convergence channel is located below the water accumulation channel.

[0158] To achieve this purpose, the embodiments of the present application adopt the following technical solutions:

[0159] A cleaning system comprises:

[0160] The cleaning robot and the cleaning base station described above;

[0161] The technical scheme provided by the embodiments of the present application can not only dry the cleaning implement, but also dry the humid gas in the docking cabin, ensure that the cleaning implement will not breed bacteria and produce odor, avoid the condensation of water droplets on the inner wall of the docking cabin, avoid the damage to the electronic devices in the docking cabin, such as the charging device, and also avoid the growth of mold in the docking cabin.

[0162] In one embodiment of the present application, a cleaning system is provided, comprising:

[0163] The cleaning robot can move autonomously, and the cleaning robot is rotatable with a roller assembly abutting the surface to be cleaned; and

[0164] The cleaning base station comprises a main machine and a base arranged below the main machine.

[0165] The main machine and the base have a docking cabin with a side opening, and the cleaning robot can be accommodated in the docking cabin;

[0166] A cleaning seat is detachably arranged on the bottom wall of the docking cabin, and the cleaning seat has a scraping and washing rib abutting against the roller assembly. The cleaning robot is provided with a scraper assembly abutting against the roller assembly. When the roller is self-cleaning, the roller assembly rotates in a first direction, and the scraper assembly and the scraping and washing rib scrape and wash the roller assembly. After the scraping and washing is completed, the roller assembly rotates in a second direction, and the scraper assembly and the scraping and washing rib act on the roller assembly to fluff the roller assembly.

[0167] The first direction is opposite to the second direction.

[0168] As an option, the width of the scraping and washing rib is greater than that of the scraper assembly.

[0169] The length of the scraping and washing rib is greater than or equal to that of the scraper assembly.

[0170] As an option, the hardness of the scraping and washing rib is greater than that of the scraper assembly.

[0171] As an option, the cleaning seat has a water inlet groove in communication with the clean water pipeline, and the water pipeline branch plate is arranged on the side away from the clean water pipeline.

[0172] In the length direction of the water pipeline branch plate, a plurality of branch grooves are arranged on the water pipeline branch plate in intervals, and cleaning water flows from the branch grooves to the cleaning seat.

[0173] As an option, the widths of different branch grooves are different.

[0174] The farther away from the clean water pipeline, the wider the width of the branch groove.

[0175] As an option, the cleaning seat has a containing groove, and the scraping and washing rib and the water pipeline branch plate are located in the containing groove.

[0176] As an option, the groove bottom wall of the containing groove is inclined from the opening side to the back of the opening side, and the scraping and washing rib is located at the lowest position of the groove bottom wall of the containing groove.

[0177] As an option, a sewage groove is arranged between the scraping and washing rib and the water pipeline branch plate.

[0178] A cleaning base station for a cleaning robot, the cleaning robot having a cleaning roller, the cleaning base station having a cleaning seat; the cleaning seat comprising a water inlet channel, a cleaning groove and a sewage pool; wherein,

[0179] The water inlet channel is used to convey cleaning fluid;

[0180] The cleaning tank is provided with a scraping rib and a sewage tank;

[0181] In the height direction, the water outlet end of the water inlet channel, the scraping rib and the sewage tank are sequentially arranged from high to low;

[0182] The cleaning fluid is sprayed above the scraping rib towards the cleaning drum, the scraping rib abuts against the cleaning implement to scrape off dirt on the cleaning implement, and the scraped-off dirt is guided into the sewage pool through the sewage tank;

[0183] The cleaning fluid sequentially flows through the water inlet channel, the cleaning implement, the scraping rib, the sewage tank and the sewage pool to form a flow cleaning water path for cleaning the cleaning implement;

[0184] When the cleaning drum rotates in the first direction, the scraping rib scrapes the cleaning drum, and when the cleaning drum rotates in the second direction, the scraping rib reversely scrapes the cleaning drum;

[0185] The first direction is opposite to the second direction.

[0186] Preferably, the cleaning robot is provided with a scraping plate assembly;

[0187] The width of the scraping rib is greater than that of the scraping plate assembly;

[0188] The length of the scraping rib is greater than or equal to that of the scraping plate assembly.

[0189] Preferably, the cleaning robot comprises a scraping plate assembly and a sewage tank;

[0190] When the cleaning drum rotates in the first direction, the cleaning robot and / or the cleaning base station provides cleaning fluid, the cleaning fluid flows through the cleaning drum, the scraping plate assembly, the sewage tank and the sewage pool to form a first cleaning water path, and the cleaning fluid flows through the water inlet channel, the scraping rib and the sewage pool to form a second cleaning water path, the first and second cleaning water paths jointly clean the drum.

[0191] Preferably, when the cleaning drum rotates in the second direction, the cleaning robot and / or the cleaning base station stops providing cleaning fluid;

[0192] The cleaning drum sequentially rotates through the scraping rib and the scraping plate assembly to reversely scrape the cleaning drum.

[0193] Preferably, the water outlet end of the water inlet channel has a branch opening for water outlet, and the sewage tank is located between the branch opening and the scraping rib.

[0194] Preferably, the bottom of the branch opening is provided with an arc-shaped wall, and a circle where the arc-shaped wall is located is concentric with a cross-sectional circle of the cleaning drum.

[0195] Preferably, the scraping rib forms a side wall of the sewage tank, and a water path branch plate is arranged at a position where the branch opening is located, and the water path branch plate forms another side wall of the sewage tank.

[0196] Preferably, the bottom of the cleaning tank is provided with a converging channel that is in communication with the sewage tank, and the converging channel is used to guide sewage into the sewage tank.

[0197] A water accumulation channel is arranged between the water inlet channel and the water path branch plate.

[0198] The converging channel is located below the water accumulation channel.

[0199] Preferably, the cleaning base station has a parking cabin, the cleaning seat is located in the parking cabin, and the parking cabin has an air inlet for sucking water vapor in the parking cabin.

[0200] Preferably, the parking cabin also has an air outlet for releasing a hot air flow into the parking cabin to dry the cleaning execution member, and the air outlet is located on a cabin bottom wall of the parking cabin and faces the cleaning execution member on the cleaning seat.

[0201] Another object of the embodiments of the present application is to provide a cleaning system in which bristles on a drum assembly can be fluffed after the cleaning of the drum assembly is completed.

[0202] A cleaning system, comprising:

[0203] A cleaning robot and the cleaning base station described above.

[0204] Another object of the embodiments of the present application is to provide a self-cleaning method of a cleaning robot in which bristles on a drum assembly can be fluffed after the cleaning of the drum assembly is completed.

[0205] A self-cleaning method of a cleaning robot, the cleaning robot being provided with a cleaning drum, and a cleaning base station being provided with a cleaning seat, the cleaning seat comprising a scraping rib, the cleaning robot performing drum self-cleaning after being docked with the base station, the drum self-cleaning method comprising:

[0206] The cleaning robot and / or the cleaning base station provide cleaning fluid;

[0207] The cleaning drum rotates in a first direction, and the scraping rib scrapes the cleaning drum.

[0208] After the cleaning roller rotates in the first direction for a first time length, the cleaning roller rotates in a second direction, and the scraping and washing rib reversely scrapes and loosens the cleaning roller;

[0209] After the cleaning roller rotates in the second direction for a second time length, the cleaning roller rotates in the first direction again, and the cycle is repeated;

[0210] The first direction is opposite to the second direction.

[0211] Preferably, the cleaning robot is provided with a scraping assembly and a sewage tank, and the cleaning seat comprises a water distribution assembly and a sewage pool.

[0212] The cleaning roller rotates in the first direction, and the scraping and washing rib and the scraping and washing assembly both scrape and wash the cleaning roller.

[0213] During the scraping and washing process:

[0214] The cleaning fluid flows through the cleaning roller, the scraping assembly, the sewage tank, and the sewage pool to form a first cleaning water circuit to clean the cleaning roller.

[0215] The cleaning fluid flows through the water distribution assembly, the scraping and washing rib, and the sewage pool to form a second cleaning water circuit to clean the cleaning roller.

[0216] Preferably, the cleaning roller rotates in the second direction, and the scraping and washing rib and the scraping and washing assembly both reversely scrape and loosen the cleaning roller.

[0217] Preferably, the method further comprises:

[0218] When the cleaning roller rotates in the second direction, the cleaning robot and / or the cleaning base station stops providing cleaning fluid.

[0219] Preferably, the method further comprises:

[0220] When the cleaning roller rotates in the second direction, the height of the cleaning roller is adjusted.

[0221] When the height of the cleaning roller reaches a set height, the scraping and washing rib reversely scrapes and loosens the cleaning roller.

[0222] Preferably, the cleaning base station is further provided with a circulating dehumidification fan, and the method further comprises:

[0223] When the cleaning roller rotates in the second direction, the circulating dehumidification fan starts to work.

[0224] The technical scheme provided in the embodiments of the present application has the following beneficial effects: the cleaning robot is provided with the scraping rib that abuts against the roller assembly, and the cleaning robot is provided with the scraper assembly that abuts against the roller assembly. When the roller is self-cleaned, the roller assembly rotates in the first direction, the scraper assembly and the scraping rib act on the roller assembly to clean the roller assembly, and after the cleaning, the roller assembly rotates in the second direction, the scraper assembly and the scraping rib act on the roller assembly to fluff the roller assembly, and the first direction is opposite to the second direction. Therefore, the roller can be dried, and the fluffiness of the roller bristles after drying can be ensured, and good cleaning effect can be ensured.

[0225] In an embodiment of the present application, a cleaning base station for a cleaning robot is provided,

[0226] The cleaning robot comprises a roller, a scraping strip assembly and a sewage collecting box, and the scraping strip assembly is used for cleaning the roller;

[0227] The cleaning base station comprises a cleaning tank and a water inlet channel;

[0228] When the cleaning robot is connected to the cleaning base station, the roller abuts against the cleaning tank. When the cleaning base station performs self-cleaning on the cleaning robot, the cleaning fluid contacts the roller through the water inlet channel in the rotating direction of the roller to wet the roller, and the cleaning fluid on the roller is scraped into the sewage collecting box by the scraping strip assembly to clean the sewage collecting box.

[0229] Another object of the embodiments of the present application is to provide a self-cleaning method capable of achieving good cleaning of the roller of the cleaning robot.

[0230] To achieve the above object, the embodiments of the present application adopt the following technical scheme:

[0231] A self-cleaning method of a roller of a cleaning robot, the cleaning robot being provided with a roller, a scraper assembly and a sewage tank, and a base station being provided with a cleaning seat, the cleaning seat comprising a water distribution assembly, a scraping rib and a sewage pool; the cleaning robot is connected to the base station to perform self-cleaning of the roller; the self-cleaning method of the roller comprises the following steps:

[0232] The roller rotates in a first direction, and the cleaning robot and / or the cleaning base station provides cleaning fluid for the roller;

[0233] The cleaning fluid flows through the roller, the scraper assembly, the sewage tank and the sewage pool to form a first cleaning water path to clean the roller;

[0234] The cleaning fluid flows through the water distribution assembly, the scraping rib and the sewage pool to form a second cleaning water path to clean the roller.

[0235] The technical scheme provided in the embodiments of the present application, by setting the cleaning base station to include a water inlet channel, the cleaning base station can provide cleaning fluid to the drum, so that the drum in the self-cleaning process, the cleaning robot and the cleaning base station both provide cleaning fluid to the drum, ensure the cleaning water amount of the drum, so as to ensure the cleaning effect of the drum. BRIEF DESCRIPTION OF DRAWINGS

[0236] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating labor.

[0237] Fig. 1 is a front view of the base station provided by an embodiment of the present application;

[0238] Fig. 1a is a structural schematic view of the charging device provided by an embodiment of the present application;

[0239] Fig. 1b is a structural schematic view of the charging assembly provided by an embodiment of the present application;

[0240] Fig. 1c is a sectional structural schematic view of the charging assembly provided by an embodiment of the present application;

[0241] Fig. 1d is a structural schematic view of the cleaning robot abutting against the right convex point provided by an embodiment of the present application;

[0242] Fig. 1e is a structural schematic view of the cleaning robot abutting against the left convex point provided by an embodiment of the present application;

[0243] Fig. 1f is a structural schematic view of the cleaning robot abutting against the charging assembly provided by an embodiment of the present application;

[0244] Fig. 2a is a schematic view of the cleaning seat and the ramp provided on the bottom wall of the base station docking cabin in the embodiments of the present application;

[0245] Fig. 2b is a schematic view of the ramp provided with a convex on the base station in the embodiments of the present application;

[0246] Fig. 2c is a structural schematic view of the self-cleaning rotation of the cleaning execution member in the embodiments of the present application;

[0247] Fig. 3 is a schematic view of the cleaning seat provided on the bottom wall of the base station docking cabin in the embodiments of the present application;

[0248] Fig. 4 is a schematic view of the cleaning seat in the embodiments of the present application;

[0249] Fig. 5 is a top view of the cleaning seat on the base station provided by an embodiment of the present application;

[0250] Fig. 5a is a schematic diagram of a partial structure of a base station according to an embodiment of the present application;

[0251] Fig. 5b is a schematic diagram of a cleaning seat according to an embodiment of the present application;

[0252] Fig. 6 is a schematic diagram of a cross section of a cleaning implement on a cleaning device;

[0253] Fig. 7 is a schematic diagram of a structure of a base station according to an embodiment of the present application;

[0254] Fig. 8 is a schematic diagram of a partial cross section of a base station according to an embodiment of the present application;

[0255] Fig. 9 is a schematic diagram of a structure of a waterway system according to an embodiment of the present application;

[0256] Fig. 10 is a schematic diagram of a structure of a dirt tank according to an embodiment of the present application;

[0257] Fig. 11 is a cross section of a sealing assembly according to an embodiment of the present application;

[0258] Fig. 12 is a schematic diagram of a structure of a dirt tank and a filter assembly according to an embodiment of the present application;

[0259] Fig. 13 is a schematic diagram of a partial cross section of a base station according to an embodiment of the present application;

[0260] Fig. 14 is a schematic diagram of a structure of a cleaning seat according to an embodiment of the present application;

[0261] Fig. 15 is a schematic diagram of a structure of a middle dirt tank according to an embodiment of the present application;

[0262] Fig. 16 is a cross section of a sewage discharge structure according to an embodiment of the present application;

[0263] Fig. 17 is a schematic diagram of a structure of a sewage discharge structure according to an embodiment of the present application;

[0264] Fig. 18 is a schematic diagram of a structure of a cleaning robot according to an embodiment of the present application;

[0265] Fig. 19 is a schematic diagram of a structure of a double waterway cleaning according to an embodiment of the present application. DETAILED DESCRIPTION

[0266] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are intended to be merely illustrative of the present application and not in limitation thereof. It should also be understood that, for the purpose of description, only the parts related to the present application are shown in the drawings.

[0267] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature. In the description of the present embodiment, the terms "up", "down", "right", etc. orientation or position relationship is based on the orientation or position relationship shown in the drawings, which is only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0268] In an embodiment of the present application, the cleaning robot comprises a dust suction assembly and a cleaning assembly, wherein the dust suction assembly is arranged at the front side of the cleaning assembly in the direction of travel of the cleaning robot, so that the cleaning robot first performs dust suction on the surface to be cleaned and then performs cleaning operation on the surface to be cleaned after dust suction when the cleaning robot travels on the surface to be cleaned. For details, please refer to FIG. 6. In the embodiment, the cleaning assembly comprises a cleaning implement 832 and a scraper assembly 833. The cleaning implement 832 is a roller (or referred to as a cleaning roller, a roller assembly. In the following, whether it is a cleaning roller, a roller assembly or a roller, it refers to the cleaning implement 832). The scraper assembly 833 is arranged at the front side of the roller in the direction of travel of the cleaning robot. The dust suction assembly (not shown in the figure) of the cleaning robot is arranged at the front side of the scraper assembly 833 in the direction of travel of the cleaning robot. So that the cleaning robot first performs dust suction and then the roller performs cleaning on the surface to be cleaned after dust suction during travel, greatly improving the cleaning efficiency of the cleaning robot.

[0269] Specifically, the roller can be a cylindrical roller, i.e., the surface of the cylindrical roller has cleaning fluff. The roller can also be a track roller, which includes two spaced apart track wheels, and an annular track-shaped track cloth is sleeved on the two track wheels. The track cloth has cleaning fluff on the outward-facing side. One side of the track cloth is in contact with the ground. With the rotation of the track wheels, the track cloth will rotate relative to the ground at the same time, thereby achieving mop washing of the ground.

[0270] In some embodiments of the present application, referring to FIGS. 6 and 19, a squeegee assembly 833 is provided below a collecting box 834, the squeegee assembly 833 abuts against the roller, and can scrape the sewage on the roller into the collecting box 834. The collecting box 834 is in communication with the sewage tank 72 through a sewage discharge pipe, and the sewage in the collecting box 834 can enter the sewage tank 72 through the sewage discharge pipe, so as to avoid the sewage on the roller from adhering to the surface to be cleaned again during the rolling process of the roller, and also to clean the roller.

[0271] Herein, below refers to the overall position relationship between the squeegee assembly 833 and the collecting box 834, i.e., the squeegee assembly 833 is higher than the collecting box 834, and does not exclude the possibility that the two have partially overlapping heights, for example, the squeegee assembly 833 as a whole is higher than the collecting box 834, but the water diversion end of the squeegee assembly 833 is allowed to extend into the collecting box 834, i.e., the squeegee assembly 833 and the collecting box 834 both have certain height dimensions, and there is an overlapping part in the height, which position relationship also belongs to the protection scope of below herein.

[0272] Further, the side of the squeegee assembly 833 abutting against the roller can be perpendicular to the surface of the roller, so as to ensure good water scraping effect, and the other side is an arc-shaped side curved toward the collecting box 834, which not only can shield the splashing of the scraped sewage out of the squeegee assembly 833, but also can guide the scraped sewage to flow along the arc-shaped squeegee assembly 833 to the collecting box 834. However, after the cleaning robot works for a long time, the squeegee assembly 833 can not be able to hang all the dirt on the roller during the working process of the cleaning robot, resulting in continuous accumulation of dirt on the roller. In order to solve this problem, the base station 1 is also provided with a scraping and washing structure, and when the cleaning robot returns to the base station 1 after working for a period of time, the base station 1 can further wash the roller by using the scraping and washing structure. In the prior art, a cleaning cavity is usually provided in the base station, the cleaning cavity is used to contain cleaning liquid, the roller of the cleaning robot is soaked in the cleaning cavity and rotates, and then the roller is cleaned by using a scraping and washing assembly. At this time, the sewage hung by the scraping and washing assembly will continue to wet the roller, which reduces the cleaning effect of the roller.

[0273] To improve the efficiency of the scraping structure cleaning drum in the base station 1, in the embodiment, please refer to Figs. 3-6, after the cleaning robot enters the base station 1, the drum is provided with the scraper assembly 833 at the front side along the traveling direction of the cleaning robot, and the drum is provided with the scraping structure of the base station 1 at the rear side along the traveling direction of the cleaning robot. Specifically, please refer to Figs. 3-5b, the drum of the cleaning robot entering the base station 1 is located in the cleaning tank 114, the scraping structure includes the waterway branch plate 112, the scraping rib 116 and the sewage tank 117, the base station 1 is provided with a water inlet channel, and the external clean water or cleaning liquid enters the waterway branch plate 112 through the water inlet channel, and the clean water or cleaning liquid infiltrates the drum after passing through the waterway branch plate 112. When the cleaning robot enters the base station 1, the scraping rib 116 is pressed against the drum to scrape the infiltrated drum, and the sewage tank 117 is used to collect the sewage hung by the scraping rib 116, and is communicated with the drainage assembly of the base station 1 to drain the sewage scraped by the scraping rib 116 into the sewage pool 119. Wherein in the vertical height direction, the waterway branch plate 112, the scraping rib 116 and the sewage tank 117 are sequentially arranged from high to low, the top end of the scraping rib 116 abuts against the drum, and the sewage tank 117 is arranged on the side of the scraping rib 116 away from the drum, so as to avoid that the sewage hung by the scraping rib 116 continues to pollute the drum, thereby improving the cleaning effect of the base station 1 on the drum.

[0274] The cleaning fluid contacts the cleaning implement 832 above the scraping rib 116 to wet the cleaning implement 832, and the scraping rib 116 abuts against the cleaning implement 832 to scrape the dirt on the cleaning implement 832, and the scraped dirt is introduced into the sewage pool 119 through the sewage tank 117. Since the sewage in the sewage tank 117 can be drained into the sewage pool 119 in real time, the cleaning implement 832 will not contact the sewage in the sewage tank 117 during the self-cleaning process, so as not to be secondarily polluted by the sewage in the sewage tank 117, and only new cleaning fluid is ensured on the cleaning implement 832, thereby ensuring the good cleaning effect of the cleaning implement 832. In this process, the cleaning fluid sequentially flows through the water inlet channel, the cleaning implement 832, the scraping rib 116, the sewage tank 117 and the sewage pool 119, forming a flow cleaning waterway for cleaning the cleaning implement 832.

[0275] Specifically, when the cleaning implement 832 is a cleaning drum and rotates for cleaning, the water outlet end of the water inlet channel is located upstream of the scraping rib 116, the dirt scraped by the scraping rib 116 is introduced into the sewage tank 117, the sewage tank 117 timely introduces the dirt into the sewage pool 119, so as to ensure that the drum will not be re-polluted by the dirt during the self-cleaning process, and only the cleaning fluid can wet the drum, thereby ensuring the good cleaning effect of the drum.

[0276] Further, when the drum of the cleaning robot rotates, it will not only be cleaned by the scraping and washing structure on the base station 1, but also be scraped and washed by the scraper assembly 833 on the cleaning robot, thereby greatly improving the cleaning efficiency and cleaning effect of the drum.

[0277] It can be understood that in other embodiments, the scraper assembly 833 of the cleaning robot is arranged on the rear side of the drum in the direction of travel of the cleaning robot, in order to facilitate the cleaning and arrangement of the base station 1, the water distribution plate 112 is arranged below the side of the drum assembly, the branch openings 1120 on the water distribution plate 112 uniformly guide water out and moisten the drum on the same side of the scraper assembly 833, and the scraping and washing structure of the base station 1 is arranged on the front side of the drum in the direction of travel of the cleaning robot; or other arrangement, which is not specifically limited here.

[0278] During the self-cleaning process of the drum by the cleaning robot, the scraper assembly 833 scrapes the sewage on the drum into the sewage collection box 834. As the self-cleaning time of the drum increases, the drum becomes cleaner and cleaner, and the cleanliness of the sewage scraped off the drum by the scraper assembly 833 becomes higher and higher. The water entering the sewage collection box 834 can flush the sewage collection box 834 to clean it.

[0279] Various embodiments of the present application also provide a base station, as shown in FIG. 1, the base station 1 has a docking cabin 10, and the front side of the docking cabin 10 has a hatch. As shown in FIG. 2, the lower edge of the hatch has a ramp 101 for the cleaning robot to enter the docking cabin 10. After the cleaning robot finishes cleaning, it can move to the base station autonomously or under the control of the user and enter the docking cabin 10 from the ramp 101. The docking cabin 10 is provided with a charging device 140 that abuts against the charging terminal of the cleaning robot, which can charge the cleaning robot.

[0280] Generally, after the cleaning robot finishes cleaning the surface to be cleaned and returns to the base station, the cleaning implement 832 on the cleaning robot will be self-cleaned in the base station to avoid the breeding of bacteria and the generation of odor, and to ensure good cleaning effect in the next application.

[0281] The cleaning implement 832 of the present application can be a drum, a cloth disc, etc., which is not specifically limited by the present application. However, the following embodiments are not applicable to both drums and cloth discs, and the reader or operator needs to distinguish according to the following content. Some embodiments are only applicable to drums, some embodiments are only applicable to cloth discs, and some embodiments are applicable to both drums and cloth discs.

[0282] In some base stations, the cleaning implement 832 is scraped by the scraping assembly 833 on the cleaning robot when the cleaning implement 832 is self-cleaned at the base station. Generally, the scraping assembly 833 on the cleaning robot is short, and the scraping assembly 833 does not penetrate into the drum by more than 2 mm, and the scraping force of the scraping assembly 833 on the cleaning robot is small, so as to avoid that the scraping strip gives too much resistance to the cleaning implement 832, and causes the cleaning implement 832 to not rotate normally when performing the cleaning task. Therefore, the small scraping force not only reduces the resistance of the cleaning implement 832 to rotate, but also ensures the service life of the motor of the cleaning implement 832. Therefore, when the cleaning implement 832 is self-cleaned, the scraping strip on the cleaning robot cannot achieve good cleaning effect. The scraping strip on the cleaning robot can only scrape off the dirt on the surface of the cleaning implement 832, and the dirt at the bottom of the bristles of the cleaning implement 832 cannot be cleaned well. In some other base stations, the scraping strip group is provided, but in order to realize that the drum can contact the cleaning liquid in the length direction, the scraping strip group on the base station is provided by a plurality of scraping strips, the plurality of scraping strips are staggered, and are arranged along the axis direction of the cleaning implement 832. When the cleaning implement 832 is self-cleaned, the base station supplies a certain amount of water to the staggered scraping strips, the drum rotates and contacts the scraping strips and the water at the same time, and bubble washing and scraping washing are realized.

[0283] Although the scraping strip can clean the cleaning implement, the sewage scraped off cannot be timely isolated each time the cleaning implement is cleaned, the water in the cleaning tank becomes dirtier and dirtier, and the cleaning effect of the drum soaked in the cleaning tank becomes worse and worse.

[0284] In order to avoid the above problems, in some embodiments of the present application, a whole base station scraping washing rib 116 is arranged in the parking cabin 10. The width of the base station scraping washing rib 116 is greater than that of the scraping strip on the cleaning robot, so as to ensure that the scraping washing rib 116 can penetrate into the root of the bristles of the cleaning implement 832, and deeply clean the cleaning implement 832. In addition, the length of the scraping washing rib 116 is equal to or greater than the length of the cleaning implement 832 on the robot. So as to ensure that the cleaning implement 832 can fully abut against the cleaning surface of the cleaning implement 832 during the self-cleaning process of the cleaning implement 832, and ensure good cleaning effect.

[0285] Specifically, in some embodiments of the present application, as shown in FIGS. 2a, 3 and 4, the docking cabin 10 is provided with a cleaning seat 11 on the cabin bottom wall. The cleaning seat 11 is detachably arranged on the cabin bottom wall, and the user can detach the cleaning seat 11 for cleaning to ensure the cleanliness of the cleaning seat, improve the self-cleaning effect of the cleaning robot on the cleaning execution member 832, and avoid odor caused by dirt. The cleaning seat 11 has a cleaning groove 114, and a scraping and cleaning rib 116 is arranged in the cleaning groove 114. Along the direction in which the cleaning robot enters and exits the docking cabin 10, the side close to the hatch is the front side, and the side away from the hatch is the rear side. As shown in FIGS. 2a, 3, 4 and 6, the rear side of the cleaning seat 11 is provided with a water inlet channel for conveying cleaning fluid, and the water inlet channel has two, namely a first water inlet channel 110 and a second water inlet channel 111. The rear side of the first water inlet channel 110 and the second water inlet channel 111 is the water inlet end, and the front side is the water outlet end. The water outlet end is in communication with the cleaning groove 114, and the water outlet end and the cleaning groove 114 are provided with a water accumulation channel 115 to collect all the cleaning liquid in the first water inlet channel 110 and the second water inlet channel 111 into the water accumulation channel 115, and the cleaning liquid enters the cleaning groove 114 through the inlet channel 118. The cleaning liquid flows into the cleaning groove 114 from back to front. In another embodiment of the present application, the first water inlet channel 110 and the second water inlet channel 111 can be arranged on the front side of the cleaning seat, so that the cleaning liquid flows into the cleaning groove 114 from front to back. Of course, in another embodiment, the cleaning liquid can flow into the cleaning groove 114 from left to right or from right to left. The present application does not make specific limitations on this. Of course, in another embodiment, the number of cleaning grooves can be more than two in order to achieve uniform water supply or increase the water supply.

[0286] In some embodiments of the present application, as shown in FIG. 5a, the docking cabin 10 is provided with a cleaning liquid outlet channel 16 at the water inlet end of the first water inlet channel 110 and the second water inlet channel 111 on the cabin top wall. The outlet channel 16 is in communication with the cleaning water tank 2 or the water supply pipeline on the base station. In order to avoid the problem that the water used for cleaning splashes to the charging device 140 during the self-cleaning process of the cleaning execution member 832, causing the charging short circuit of the cleaning robot, in some embodiments of the present application, a blocking strip 17 with a length greater than the charging device 140 is arranged below the charging device 140 on the rear cabin wall of the docking cabin 10. The cleaning robot is in abutment with the blocking strip 17 when charging in the docking cabin 10. The blocking strip 17 is elastic and can be elastically deformed when abutting with the cleaning robot and being pressed by the cleaning robot, so as to realize the sealing effect and avoid the cleaning water used for cleaning splashing to the charging device 140 during the self-cleaning process of the cleaning execution member 832, thereby ensuring that the cleaning robot can be charged smoothly.

[0287] In an implementation, the distance between the water inlet ends of the first water inlet channel 110 and the second water inlet channel 111 is a first distance, and the distance between the water outlet ends of the first water inlet channel 110 and the second water inlet channel 111 is a second distance. As shown in FIG. 2a and FIG. 6, the first distance is greater than the second distance. For example, as shown in FIG. 2, the first water inlet channel 110 is a chute, and the second water inlet channel 111 is also a chute. Alternatively, as shown in FIG. 5, the first water inlet channel 110 is a curved channel, and the second water inlet channel 111 is a straight chute. Of course, the reverse is also possible, which is not limited in the embodiment.

[0288] The water inlet ends of the two water inlet channels are in communication with the cleaning water tank 2 on the base station through pipelines. The cleaning tank 114 is provided with a water distribution plate. A plurality of branch openings 1120 are arranged on the water distribution plate 112 at intervals along the width direction of the cleaning tank 114. The plurality of branch openings 1120 can be arranged at equal intervals or at unequal intervals, which is not limited in the embodiment.

[0289] When the cleaning robot is parked in the parking cabin 10, the cleaning execution member 832 of the cleaning robot is accommodated in the cleaning tank 114, and the cleaning tank 114 is provided with a scraping and cleaning rib 116 abutting against the cleaning execution member 832. When the cleaning liquid in the cleaning water tank 2 flows along the first water inlet channel 110 or the second water inlet channel 111 to the water distribution plate 112, it is blocked by the water distribution plate 112 and can only pass through each branch opening 1120, so as to achieve the form of uniformly distributing the cleaning liquid to the cleaning execution member 832 in multiple flow directions, to ensure that the cleaning execution member 832 is uniformly sprayed with the cleaning liquid from left to right, thereby ensuring the uniformity of cleaning. The branch opening 1120 is a zoom shape composed of two tapered shapes, that is, the wider part faces the first water inlet channel 110 or the second water inlet channel 111, to ensure that the water inlet can flow into the water accumulation channel 115, the middle part is narrowed to increase the flow rate, and the outlet position is wide to ensure that the cleaning liquid flows to the drum more uniformly.

[0290] With the rotation of the cleaning execution member 832, the cleaning liquid is uniformly sprayed onto the cleaning execution member 832, and when the cleaning execution member 832 passes through the scraping and cleaning rib 116, not only the water on the cleaning execution member 832 can be scraped off, but also the cleaning execution member 832 can be scraped and cleaned, so that the cleaning execution member 832 is cleaned more cleanly.

[0291] The scraping force and depth of the scraping muscle 116 is greater than the scraping plate assembly 833 on the cleaning robot cleaning implement 832. Specifically, in the height direction, the scraping muscle 116 and the scraping plate assembly 833 can both extend into the bristles of the cleaning implement 832, and the height of the scraping muscle 116 on the base station is greater than the height of the scraping plate assembly 833, so that the scraping muscle 116 can act on a deeper position of the cleaning implement 832, for example, 3-5 mm. In some embodiments, the scraping muscle 116 can extend 4.5 mm into the cleaning implement 832, while the scraping plate assembly 833 on the robot extends 2 mm into the cleaning implement 832. 2 mm can enable the scraping plate assembly 833 to scrape the surface of the cleaning implement 832, but cannot scrape the deep bristles of the cleaning implement 832, and the resistance to the rotation of the cleaning implement 832 is small. The depth of 4.5 mm can extend into the deep bristles of the cleaning implement 832, and can clean the cleaning implement 832 in depth, achieving better cleaning effect, but the resistance to the rotation of the cleaning implement 832 is greater than that of the scraping plate assembly 833, so when the cleaning implement 832 is self-cleaning, the rotation power is greater than that when cleaning the surface to be cleaned. Further, the hardness of the scraping muscle 116 on the base station can be greater than the hardness of the scraping plate assembly 833, so that the scraping muscle 116 has greater scraping force. For example, the scraping muscle 116 can be made of metal material, and the scraping plate assembly 833 is made of plastic material, as long as the hardness of the scraping muscle 116 is greater than the hardness of the scraping plate assembly 833, and the present embodiment is not limited specifically.

[0292] In addition, the cleaning tank is not usually timely for sewage, and when the cleaning implement 832 is self-cleaning, as the cleaning implement continuously rotates, the scraping muscle continuously scrapes the water on the cleaning implement into the cleaning tank, resulting in more and more water in the cleaning tank. Then the cleaning implement 832 will be soaked in the water when passing through the cleaning tank during continuous rotation, resulting in poor cleaning effect.

[0293] Referring to the example shown in FIG. 2a, in the technical solution provided by the embodiments of the present application, the scraping and washing rib 116 on the base station is a continuous whole. When the cleaning implement 832 is self-cleaning, the scraping and washing rib 116 on the base station and the scraping plate assembly 833 on the cleaning robot jointly act on the cleaning implement 832. For example, referring to FIG. 2c, after the cleaning implement 832 enters the self-cleaning mode, the cleaning robot controls the cleaning implement 832 to rotate in a first direction, for example, the first direction rotation makes the drum have a direction towards the inside of the base station, the scraping and washing rib 116 and the scraping plate assembly 833 on the cleaning robot jointly act on the cleaning implement 832 to remove dirt on the cleaning implement 832, and the scraped dirt is basically left in a side position. As shown in FIG. 2c, between the scraping and washing rib 116 and the water branch plate 112 in the cleaning tank 114 is a sewage tank 117, and in the embodiment, the scraped sewage is basically all located in the sewage tank 117 close to the side of the inside of the base station, and then the sewage is guided into the sewage pool 119 through the lowest inlet channel 118, so that on the direction of the scraping and washing rib 116 towards the outside of the base station, there is basically no sewage, or only a small amount of overflowed sewage. The sewage tank 117 is high at both ends, and the height at the inlet of the inlet channel 118 is the lowest, facilitating the collection of the scraped sewage at the inlet of the inlet channel 118, and the bottom surface of the inlet channel 118 is an inclined surface, which is inclined downward from the sewage tank 117 to the sewage pool 119 (i.e. from the front to the back), so that the sewage in the sewage tank 117 can be quickly guided into the sewage pool 119. The sewage pool 119 is arranged between the two water inlet channels, and the bottom of the sewage pool is lower than the lowest point of the outlet of the inlet channel 118. The sewage pool also has a floating ball Hall element 130 for measuring the height information of the sewage in the sewage pool 119 and sending it to the base station controller to control the discharge of the sewage.

[0294] When the first direction rotation reaches a certain time, the cleaning robot controls the cleaning implement 832 to rotate in a second direction, at which time a small amount of overflowed sewage can be taken away, and then rotated towards the first direction, and so on, which not only ensures the cleaning effect of the cleaning implement, but also absorbs the overflowed sewage in the part of the cleaning tank on the side away from the water branch plate 112 of the scraping and washing rib 116, ensuring the cleanliness of the cleaning tank 114. The time of the first direction rotation is greater than the time of the second direction rotation. After the cleaning implement 832 reaches the preset requirement after a certain period of cleaning, the scraping and washing rib 116 and the scraping plate assembly 833 on the cleaning robot jointly act on the cleaning implement 832 to fluff the cleaning implement 832. The first direction and the second direction are opposite.

[0295] The sewage in the sewage tank 117 of the embodiment of the present application is in a state of continuously flowing into the sewage pool 119, so that there is no accumulation of sewage in the sewage tank 117, and the sewage scraped off the cleaning implement 832 by the scraping and washing rib 116 falls into the sewage tank 117 and is immediately discharged into the sewage pool 119. Specifically, during the self-cleaning process of the cleaning implement 832, the cleaning liquid is uniformly sprayed when the cleaning implement 832 reaches the waterway branch plate 112, and then when the cleaning implement 832 reaches the scraping and washing rib 116, the sewage on the cleaning implement 832 is scraped off and falls into the sewage tank 117, and the sewage in the sewage tank 117 is immediately discharged from the confluence channel 118 into the sewage pool 119. When passing through the scraper assembly 833, the cleaning robot has a liquid supply device, which can be a clean water tank containing cleaning fluid, which can flow to and uniformly spray the cleaning implement 832, that is, the liquid supply device can provide the cleaning implement 832 with self-cleaning cleaning fluid, so as to circulate repeatedly to achieve good cleaning effect.

[0296] It can be understood that, since the liquid supply device and the water inlet channel simultaneously provide cleaning liquid to the drum during the self-cleaning process of the drum, the sewage scraped off by the scraper assembly 833 is the sewage after the drum is cleaned by the cleaning liquid supplied by the liquid supply device and the water inlet channel. As the drum becomes cleaner and cleaner, the amount of dirt in the sewage gradually decreases, and the sewage can flush the dirt collection box 834, so the liquid for flushing the dirt collection box 834 is also provided by the water supply device and the water inlet channel.

[0297] As shown in FIG. 5b, a cover plate is provided on the side of the cleaning implement 832 to stabilize the position of the cleaning implement 832, and when the length of the scraping and washing rib 116 is not shorter than that of the cleaning implement 832, in some embodiments of the present application, in order to avoid interference between the scraping and washing rib 116 and the cover plate, the scraping and washing rib 116 is provided with a slope type avoiding structure 1161 on both sides.

[0298] As shown in FIG. 2a, 3 and 4, the bottom of the cleaning tank 114 is inclined from the front side to the back side, so that the scraping rib 116 is located at a lower position, or the lowest position. The scraping rib 116 divides the cleaning tank 114 into two parts, as shown in the examples of FIG. 2a and FIG. 5, the part between the scraping rib 116 and the water path branch plate 112 is a sewage tank 117, and the part of the cleaning tank 114 away from the water path branch plate 112 is a clean tank. Along the width direction of the cleaning tank 114, the height of the tank bottom at both ends of the sewage tank 117 is higher than the height of the tank bottom at the middle part. At the lowest position, a collection channel 118 is arranged below the water accumulation channel 115. The collection channel 118 spans below the water accumulation channel 115 and communicates with a sewage pool 119 at the back side of the cleaning seat 11. The sewage pool 119 can be located between the first water inlet channel 110 and the second water inlet channel 111. The first direction is the direction in which the scraping rib 116 is away from the water path branch plate 112, so when the cleaning implement 832 rotates in the first direction, the cleaning implement 832 passes through the scraping rib 116, and the scraping rib 116 scrapes the sewage on the cleaning implement 832 into the sewage tank 117. The sewage in the sewage tank 117 can be discharged into the sewage pool 119 through the water accumulation channel 115 in time, so that the cleaning implement 832 does not soak in the sewage when passing through the scraping rib 116 in the process of passing through the cleaning tank 114 in the self-cleaning process. The scraped sewage does not affect the subsequent cleaning of the cleaning implement 832, ensuring good cleaning effect of the cleaning implement 832.

[0299] As shown in FIG. 2a and FIG. 5, the cleaning tank 114 is arranged offset, not in the middle area of the cleaning seat 11. The reason is that the cleaning implement 832 on the cleaning robot is also offset, not in the middle part of the bottom of the device body. Correspondingly, as shown in FIG. 2a and FIG. 6, the collection channel 118 is not at the symmetry axis of the cleaning tank 114, but is offset to one side (for example, the right side in FIG. 5). This design is to enable the collection channel 118 to be located at the approximate middle position of the water inlet side of the sewage pool 119 at the back side of the cleaning seat 11, and to avoid the branch port 1120.

[0300] In other embodiments of the present application, the position of the collection channel 118 can be any position other than the symmetry axis of the cleaning tank 114, as long as the sewage in the sewage tank 117 can be smoothly discharged into the sewage pool 119. The present embodiment does not make specific limitations.

[0301] The sewage pool 119 can communicate with one end of a sewage discharge pipe (not shown in the drawings), and the other end of the sewage discharge pipe communicates with the dirt tank 3, so as to guide the sewage in the cleaning tank 114 to flow into the collection channel 118, and then from the collection channel 118 into the sewage discharge pipe to be discharged into the dirt tank 3, avoiding the accumulation of sewage in the cleaning tank 114.

[0302] In some embodiments, a sewage pump 65 can be arranged on the sewage pipeline to accelerate the sewage in the cleaning tank 114 to enter the sewage pipeline and to pump the sewage in the sewage pipeline into the dirt box 3.

[0303] It can be understood that the closer the branch port 1120 is to the end of the first water inlet channel 110 or the second water inlet channel 111, the greater the water flow. Therefore, in order to ensure that the water flow from each branch port 1120 is consistent, in some embodiments of the present application, the slot width of the branch port 1120 close to the water inlet channel is smaller than the slot width of the branch port 1120 far from the water inlet channel, so as to ensure the uniformity of the water flow from each branch port 1120 by limiting the water flow from the branch port 1120 close to the water inlet channel and increasing the water flow from the branch port 1120 far from the water inlet channel.

[0304] As shown in FIG. 5, taking the waterway branch plate 112 with six branch ports 1120 as an example for detailed description. The water from the first water inlet channel 110 flows to the branch port 1-branch port 4. In order to make the branch port 1-branch port 4 can be divided into the same amount of water, the central part of the water outlet of the first water inlet channel 110 is provided with a flow guide rib 113, which can divide the water in the first water inlet channel 110 into two parts, and guide one part to flow towards the branch port 1-branch port 2, and the other part to flow towards the branch port 3-branch port 4. Since the branch port 1 and the branch port 4 are far from the water outlet of the first water inlet channel 110, and the branch port 2 and the branch port 3 are close to the water outlet of the first water inlet channel 110. Therefore, the slot width of the branch port 1 and the branch port 4 is a, and the slot width of the branch port 2 and the branch port 3 is b, a>b, to ensure that the flow of each branch port 1120 is consistent. The water from the second water inlet channel 111 flows to the branch port 5-branch port 6. The outlet of the second water inlet channel 111 is arranged between the branch port 5 and the branch port 6, so as to ensure that the cleaning liquid from the outlet of the second water inlet channel 111 can flow uniformly to the branch port 5 and the branch port 6.

[0305] As shown in Fig. 2a, further, the scraping rib 116 forms one side wall of the sewage tank 117, and the front side wall of the water path branch plate 112 forms another side wall of the sewage tank 117. The lowest position of the water path branch plate 112 at the position of the water path branch port 1120 is provided with a downward arc-shaped wall with the same center as the cleaning implement, between the lowest position of the water path branch plate 112 at the position of the water path branch port 1120 and the front side wall of the water path branch plate 112. In actual operation, when the cleaning drum rotates to clean, the water path branch port 1120 is located upstream of the scraping rib 116, and the scraped sewage is located in the sewage tank 117 and then introduced into the sewage pool 119. As the cleaning proceeds, the water level of the sewage pool rises. Since the sewage pool, the inflow channel and the sewage tank are connected, the water volume of the sewage pool is controlled by the magnetic float, and finally the liquid level when the sewage is discharged is lower than the lowest point of the arc-shaped wall, so as to ensure the active water cleaning.

[0306] In the embodiment, the cleaning seat 11 is detachably arranged in the base station docking cabin 10. Fig. 4 shows a schematic view of the cleaning seat 11 taken out of the docking cabin. As shown in Fig. 3, the front end of the cabin bottom wall of the docking cabin can be provided with a connecting structure, such as a clamping groove. The opposite end of the ramp 101 can be provided with a buckle. The ramp 101 can be connected with the docking cabin of the base station in a manner that the buckle and the clamping groove are connected.

[0307] Generally, the walking mechanism capable of driving the cleaning robot to walk on the cleaning robot includes two driving wheels located at opposite sides of the bottom of the cleaning robot, and an auxiliary wheel located between the two driving wheels and forming a triangle with the two driving wheels. The auxiliary wheel can rotate following the rotation of the driving wheel and turn following the turning of the driving wheel, and the auxiliary wheel can be a universal wheel. Thus, not only the stability of the cleaning robot during walking can be ensured, but also the flexibility of the cleaning robot during walking can be ensured.

[0308] The docking cabin 10 can generally only accommodate a part of the cleaning robot to enter, so as to ensure that the volume of the base station is more compact. Therefore, most of the volume of the cleaning robot is located on the ramp 101 outside the docking cabin 10. At this time, the cleaning implement 832 is a slope parallel to the ramp, and the center of gravity of the cleaning robot is also located on the ramp 101, so that the cleaning implement 832 cannot be well abutted with the scraping rib 116. The scraping rib 116 can only extend into the cleaning implement 832 by 2mm-3mm, so that a good cleaning effect cannot be obtained.

[0309] To solve the above problems, as shown in FIG. 2b, a support structure is arranged on the ramp, which can be a protrusion 120. The protrusion 120 can lift the chassis of the cleaning robot, so that the body of the cleaning robot can be kept in a target posture. In the target posture, the cleaning robot is docked with the base station, that is, the cleaning implement 832 can be in good abutment with the scrubbing rib 116, and the scrubbing rib 116 can extend into the cleaning implement 832 by more than 3 mm, for example, 3 mm to 5 mm. The charging end of the cleaning robot is electrically connected with the charging sheet on the rear bulkhead of the docking cabin of the base station; the dust outlet of the dust box of the cleaning robot is docked with the dust collection port of the base station; the clean water inlet of the cleaning robot is docked with the clean water docking port of the base station; and the sewage outlet of the cleaning robot corresponds to the sewage pool of the base station, and so on. More specifically, the protrusion 120 is matched with an auxiliary wheel, which is located at the rear center of the chassis of the cleaning robot. When the cleaning robot is accommodated in the docking cabin 10, the auxiliary wheel is located on the protrusion 120, so as to change the docking angle of the cleaning robot, and make the posture of the cleaning robot when it is docked in the docking cabin be the target posture.

[0310] Generally, after the cleaning robot returns to the docking cabin 10 after completing the cleaning task, although the docking cabin 10 has a scraping strip on the bottom wall of the cabin, which can clean the cleaning implement 832 by scraping, the cleaning implement 832 is only cleaned by the scraping rib 116 in the self-cleaning process, and the cleaning liquid provided for the cleaning implement 832 to self-clean is also provided by the cleaning base station alone. Only the single waterway of the cleaning base station can clean the cleaning implement 832, which cannot achieve good cleaning effect. However, in the self-cleaning process of the cleaning implement 832, the cleaning base station can provide the cleaning liquid for the cleaning implement 832, and the cleaning robot also provides the cleaning liquid for the cleaning implement 832 in the embodiment of the application. The scraper assembly 833 also plays a role in scraping and cleaning the cleaning implement 832 when the cleaning robot is self-cleaning. Therefore, the double waterway is adopted to provide the cleaning liquid when the cleaning implement 832 is cleaned in the embodiment of the application, compared with the single waterway, so that the cleaning implement 832 can achieve better cleaning effect.

[0311] Specifically, in order to ensure good cleaning effect on the surface to be cleaned, the cleaning robot usually has a water spraying port above the cleaning implement 832 to spray cleaning liquid on the cleaning implement 832 to wet the cleaning implement 832, so that the cleaning implement 832 is scraped by the squeegee assembly 833 to remove the sewage on the cleaning implement 832, and then the cleaning implement 832 is sprayed with cleaning liquid, so that the cleaning implement 832 performs cleaning task on the surface to be cleaned with clean cleaning liquid instead of circulating sewage.

[0312] However, the capacity of the water tank on the cleaning robot for storing cleaning liquid is limited, and some cleaning liquid is used up during the cleaning task. If the cleaning robot returns to the base station and the water tank still needs to provide cleaning liquid for self-cleaning of the cleaning implement, the cleaning liquid in the water tank will be quickly consumed. The cleaning implement cannot be provided with cleaning liquid for self-cleaning.

[0313] To solve the above problems, in some embodiments of the present application, when the cleaning robot is located in the parking cabin 10, the base station has a water supply pipeline, the end of the water supply pipeline is in communication with the water tank on the cleaning robot, so as to fill the cleaning liquid in the cleaning tank 2,

[0314] Not only can the cleaning implement 832 provide cleaning liquid for the cleaning implement 832 during self-cleaning, but also can ensure the supply of clean water through the double waterway, ensure that the water tank of the cleaning robot is full before each cleaning task, reduce the number of adding cleaning liquid to the water tank, and ensure the cleaning efficiency.

[0315] In some embodiments of the present application, as shown in FIG. 18, the cleaning robot has a waterway system 7a for providing cleaning liquid for the cleaning implement 832 and collecting the sewage scraped by the squeegee assembly 833 from the cleaning implement 832 into the sewage tank 72. One implementable structure of the waterway system 7a is that it includes a clean water tank 71a and a sewage tank 72, the sewage tank 72 is connected with the clean water tank 71a through a pipeline, and the clean water tank 71a is in communication with the cleaning implement 832 through a pipeline. The cleaning liquid in the clean water tank 71a can be provided to the cleaning implement 832 through the pipeline, and the sewage after the cleaning implement 832 mops the floor is collected into the sewage tank 72 through the pipeline in communication with the sewage tank 72.

[0316] Further, as shown in FIG. 18, in some embodiments of the present application, the waterway system 7a further comprises a clean water pump 73a, an air pump 74a and a water injection assembly 75a. The clean water pump 73a is located on the path of the cleaning fluid in the clean water tank 71a to the cleaning implement 832, and can provide power for the clean water in the clean water tank 71a to flow to the cleaning implement 832. The sewage tank 72 is provided with an air outlet, and the air pump 74a is in communication with the air outlet. The air pump 74a can extract the gas in the sewage tank 72, so that a negative pressure is formed in the sewage tank 72. Under the action of the negative pressure, the sewage pipe forms a suction force for suctioning sewage, so that the sewage scraped off from the cleaning implement 832 can enter the sewage pipe as much as possible, and then enter the sewage tank 72, thereby avoiding the sewage from flowing to the cleaned area during the walking of the cleaning robot, and ensuring good cleaning effect. In order to facilitate the operation of injecting cleaning liquid into the clean water tank 71a, the water injection assembly 75a is arranged on the circumference of the rear end of the cleaning robot. The water injection assembly 75a and the clean water tank 71a have a communication pipeline therebetween. The user can directly connect the external tap water to the water injection assembly to inject cleaning liquid into the clean water tank 71a, or when the cleaning robot is located on the base station, the base station is provided with a cleaning liquid docking device. The water outlet pipe of the cleaning water tank 2 on the base station is in communication with the water injection assembly 75a through the cleaning liquid docking device, so as to realize the automatic water supplement function of the base station to the cleaning robot. The front lower part of the sewage tank 72 can have a water injection assembly 75a avoiding groove. The water injection assembly 75a is located at the avoiding groove, and the clean water supplement port on the side of the water injection assembly 75a away from the pipeline is located on the front surface of the sewage tank 72. The front surface of the sewage tank 72 can be the rear surface of the cleaning robot, so as to facilitate the operation of supplementing cleaning liquid. Of course, the water injection assembly 75a can also be located at any position of the rear part of the cleaning robot, as long as it does not interfere with other parts. The present embodiment is not limited in particular.

[0317] Please refer to FIG. 19, in some embodiments of the present application, when the cleaning robot finishes cleaning and returns to the parking cabin 10, the sewage tank 72 on the cleaning robot is docked with the base station, and the sewage in the sewage tank 72 is directly discharged into the sewage pool 119. After the sewage is discharged, the self-cleaning work of the cleaning execution member 832 is started, and the cleaning execution member 832 is scraped by the scraper assembly 833 during rotation to scrape the sewage on the surface of the cleaning execution member 832, and the scraped sewage enters the water tank 72 and flows from the sewage tank 72 into the sewage pool 119. The cleaning execution member 832 continues to rotate, passes through the water outlet on the cleaning robot, and the water outlet uniformly sprays cleaning liquid on the cleaning execution member, passes through the water road branch plate 112, and a large amount of cleaning liquid on the base station is sprayed on the cleaning execution member. At this time, the cleaning execution member 832 has been fully wetted by the cleaning liquid, and finally passes through the scraping and washing rib 116, which can not only scrape and wash the cleaning execution member 832, but also scrape the sewage on the cleaning execution member 832 to the sewage groove 117 between the scraping and washing rib 116 and the water road branch plate 112. The sewage in the sewage groove 117 can be discharged into the sewage pool 119 through the backflow channel 118 in time, and the cleaning execution member 832 can be cleaned more cleanly and the cleaning effect is higher under the action of the double water road and the double scraper.

[0318] As shown in FIGS. 14-15, the bottom of the sewage tank 72 is provided with a sewage outlet 321, and the sewage outlet 321 is provided with a one-way valve 323. In order to meet the sewage discharge requirement, the lower cabin wall of the parking cabin 10 is provided with a trigger rod 322. When the cleaning robot is located in the parking cabin 10, the trigger rod 322 abuts against the one-way valve 323 to make the one-way valve 323 in an open state, so that the sewage in the sewage tank 72 is directly discharged into the sewage pool 119 without passing through the cleaning tank, preventing the sewage in the sewage tank 72 from entering the cleaning tank, and the clean water for base station drum self-cleaning is polluted,

[0319] As described above, the cleaning robot of the present application has two water paths after returning to the base station. The first one is the cleaning system of the cleaning robot itself. When the base station is docked, the clean water in the base station or the automatic water inlet is introduced into the cleaning robot through the automatic water injection device of the base station, and then the cleaning liquid in the clean water tank is uniformly sent to the drum through the water supply device. The other water path is that the clean water in the base station or the automatic water inlet is not introduced through the cleaning robot but directly to the water inlet channel, and then uniformly flows to the drum through the water path branch plate 112. Since the nozzle position of the cleaning robot water supply device is relatively high, and the outlet position of the water path branch plate 112 is relatively low, it is equivalent to that the drum is first wetted by the cleaning robot water supply during rotation, and then wetted by the outlet of the water path branch plate 112. The flow rate of the cleaning robot water supply is 0.3ml / s to 1ml / s, for example, 0.5ml / s, and the flow rate of the base station to the drum is greater than 6ml / s, thereby increasing the water supply flow rate. Then the drum rotates to the scraping and washing rib 116 of the base station, which is scraped off by the scraping and washing rib 116. The sewage sequentially passes through the cleaning tank 114, the inlet channel 118, and then enters the sewage tank 119. Then the drum continues to rotate to the scraping plate assembly of the cleaning robot, the sewage enters the pollution collection box, and then is pumped into the tail sewage tank 72 through the sewage pipe. Since the one-way valve at the bottom of the sewage tank 72 is lifted by the trigger rod 322, the sewage is discharged and directly flows into the sewage tank. It can be seen that one cycle is completed after two times of scraping and washing, that is, one cycle, receiving clean water twice, scraping and washing twice, greatly improving the cleaning efficiency. The scraping and washing rib 116 can extend into the cleaning execution member 832 by 3-5mm, for example, 4.5mm, and the extension depth of the scraping plate assembly is about 2mm. Since the scraping and washing force of the scraping and washing rib is greater, most of the dirt is scraped off by the scraping and washing rib, and the scraping and washing strength of the scraping plate assembly is small. At this time, the sewage scraped off by the scraping and washing rib is less than that scraped off by the scraping plate assembly, so that the sewage entering the pollution collection box is less, and with the increase of the number of drum rotation, the degree of dirt of the sewage entering the pollution collection box is lower after multiple cycles, thereby realizing the cleaning of the pollution collection box and the sewage tank 72.

[0320] Specifically, as shown in FIGS. 14-16, the bottom wall of the parking cabin 10 is provided with a sewage discharge mechanism 42, which includes a rotary drive assembly 421 and a transmission bracket assembly 422. The transmission bracket assembly 422 includes a containing bracket 4220, which has a containing cavity. The rotary drive assembly 421 is rotatably arranged in the containing cavity along the direction of the Z axis, which can protect the rotary drive assembly 421 from being damaged by external influences and ensure the aesthetic appearance. The containing bracket 4220 has an outlet at its upper end facing the opening direction of the parking cabin 10. A trigger lever 322 is rotatably arranged at the outlet through a rotating shaft 424. One end of the trigger lever 322 is a trigger end 320, which extends out of the containing bracket 4220 and abuts against a one-way valve 323. The other end of the trigger lever 322 is a driving end 324, which is located in the containing cavity and abuts against the rotary drive assembly 421. The rotary drive assembly 421 can apply a force to the driving end 324 along the X direction, causing the trigger lever 322 to rotate around the rotation point, so that the trigger end 320 rises along the Y axis to apply a driving force to the one-way valve 323 along the Y direction.

[0321] As shown in FIGS. 14-16, since it takes a certain amount of time to empty the sewage tank 72, the rotary drive assembly 421 will always apply a force to the driving end 324 to keep the trigger end 320 lifting the one-way valve 323 during the sewage discharge period. During the sewage tank 72 drainage process, the driving member 4211 will not rotate around the rotating shaft 424 on the containing bracket 4220 due to the restriction of the one-way valve 323 and the rotary drive assembly 421. When the sewage in the sewage tank 72 is discharged, the rotary drive assembly 421 rotates and no longer applies a force to the driving end 324. At this time, if the cleaning robot does not stay in the parking cabin 10, the driving member 4211 will rotate around the rotating shaft 424 due to the lack of external force, and the trigger end 320 may rotate beyond the position abutting against the one-way valve 323, thereby hindering the cleaning robot from entering the base box 40.

[0322] Therefore, in some embodiments, the sewage discharge mechanism 42 further comprises a top rod reset member 4221, one end of which is arranged at the bottom end of the cavity wall of the accommodating cavity at the driving member 4211, and the other end is arranged at the side of the driving end 324 away from the rotary driving assembly 421. When the sewage tank 72 needs to be drained, the rotary driving assembly 421 gives the driving member a driving force to rotate around the rotation shaft 424, and the top rod reset member 4221 is compressed. When the sewage in the sewage tank 72 is emptied, the rotary driving assembly 421 no longer powers the driving end 324, and then the driving end 324 drives the driving member 4211 to rotate in the opposite direction around the rotation shaft 424 under the action of the top rod reset member 4221 to reset the top rod reset member 4221 or abut against the rotary driving member. At this time, the position of the triggering end 320 is lower than that of the one-way valve 323, and is limited at a position lower than the one-way valve 323 under the action of the top rod reset member 4221 or the top rod reset member 4221 and the rotary driving assembly 421, so as not to change, thereby avoiding the problem of hindering the cleaning robot from entering the base box 40. The top rod reset member 4221 can be a rubber member with relatively large elasticity, or a spring, etc.

[0323] In some embodiments, as shown in FIGS. 14-16, one possible structure of the rotary driving assembly 421 includes a driving member and a force applying member 4212 arranged at the output end of the driving member. The force applying member 4212 can intermittently abut against the driving end 324 to apply driving force to the driving end 324. For example, the force applying member 4212 can be a cam. When the highest position of the cam abuts against the driving end 324, the cam can apply driving force to the driving end 324 to compress the top rod return member 4221. As the cam rotates, the position at which the cam abuts against the driving end 324 rotates from the highest position to the lowest position. During this process, the driving force applied by the cam to the driving end 324 becomes smaller and smaller. The driving member 4211 rotates around the rotary shaft 424 to the lower side of the one-way valve 323 and disengages from the one-way valve 323 under the action of the return force of the top rod return member 4221. The force applying member 4212 can also intermittently abut against the driving end 324 to apply driving force to the driving end 324 during the rotation of the output end. For example, the force applying member 4212 can be a protrusion arranged at the output end of the driving member. As the output end of the driving member rotates, the protrusion intermittently abuts against the driving end 324. When it is necessary to discharge the sewage in the sewage tank 72, the protrusion abuts against the driving end 324 during the rotation of the output end of the driving member. The protrusion gradually applies driving force to the driving end 324 from the moment of contact with the driving end 324. The top rod return member 4221 starts to be compressed. Until the protrusion vertically abuts against the driving end 324, the driving force reaches the peak value, and the top rod return member 4221 is compressed to a large extent. At this moment, the abutment end can lift the one-way valve 323, and the sewage flow reaches the maximum value. It is worth noting that the one-way valve 323 is not lifted when the driving force reaches the peak value. Instead, the one-way valve 323 is lifted from the moment when the protrusion contacts the driving end 324 and starts to apply driving force to the driving end 324. At this moment, the sewage outlet 321 is already open. As the cam rotates, the greater the applied force, the higher the one-way valve 323 is lifted, the greater the opening degree of the sewage outlet 321, and the greater the flow rate of the sewage flowing out of the sewage tank 72. When the sewage in the sewage tank 72 is completely discharged, the output end of the driving member continues to rotate, and the protrusion gradually disengages from the driving end 324. During this process, the top rod return member 4221 gradually returns, the one-way valve 323 gradually descends, and the sewage outlet gradually closes. The driving member can be a rotary motor.

[0324] The sewage in the sewage tank 72 on the cleaning robot can be discharged into the sewage pool under the action of the trigger lever 322 and flow out of the sewage pool through the sewer outlet 400. In order to increase the flow rate of the sewage, in some embodiments, the sewage suction pipe is communicated with a sewage pump. When the sewage pump is started, the sewage in the sewage pool can be quickly sucked out of the sewage pool and into the sewage suction pipe.

[0325] It should be noted that, as shown in FIGS. 15-16, the water pump is not started when all the sewage in the sewage tank 72 flows into the sewage pool, but is started when the sewage in the sewage tank 72 starts to be discharged into the sewage pool, so that the sewage in the sewage pool can be pumped out of the sewage pool in real time. Therefore, in order to achieve the water pump starting when the sewage tank 72 discharges sewage, in some embodiments, the sewage discharge mechanism 42 further comprises a micro switch 423 coupled with the water pump and linked with the one-way valve 323, when the first sensor 340 is lifted, the micro switch 423 is triggered, the micro switch 423 drives the water pump to start and starts the water pumping work. In order to make the sewage in the sewage tank 72 be completely emptied, when the sewage discharge port 321 is opened to the maximum, the output end of the driving member stops rotating, so that the size of the sewage discharge port 321 is maintained to the maximum for 5 seconds, and then the output end of the driving member continues to rotate, the sewage discharge port 321 is gradually blocked, when the first sensor 340 returns to the initial position, the micro switch 423 controls the water pump to stop pumping, and the sewage discharge is completed.

[0326] Here, it should be noted that, as shown in FIG. 17, since the micro switch 423 has a delay, there is a certain time interval from the triggering of the micro switch 423 to the start of the water pump. In order to avoid the water pump not being able to pump sewage in time caused by the action tolerance of the micro switch 423, or the water pump still working after the sewage in the sewage pool flows into the sewage suction pipe, in some embodiments, when the sewage discharge port 321 is initially opened, the micro switch 423 is triggered, and the driving member stops rotating after 200 milliseconds. The 200 milliseconds of time not only accommodates the action error of the micro switch 423, so that the water pump can start, but also makes the sewage discharge port 321 gradually open to the maximum state, at this time, the sewage is discharged for 5s, in this process, the water pump can pump the sewage in the sewage pool into the sewage suction pipe, and then the output end of the driving member continues to rotate, the sewage discharge port 321 is gradually closed, at this time, the micro switch 423 is de-energized for 450 milliseconds, the driving motor stops rotating, and the sewage discharge port 321 is blocked. The de-energization of the micro switch 423 for 450 milliseconds is sufficient to transmit the information of stopping the water pump to the water pump, and the water pump stops pumping. It should be noted that the 450 milliseconds of time is the reaction time of the water pump, during which the water pump does not stop working, but the sewage discharge port 321 is blocked after the water pump stops working. Although the water pump does not work during this period of time, the sewage in the sewage pool can still flow into the sewer 400.

[0327] In some embodiments of the present application, there can be only one micro switch 423, which transmits a signal to the sewage pump to work when the blowdown port 321 is opened, and transmits a signal to the sewage pump to stop working when the blowdown port 321 is gradually closed. There can also be two micro switches 423, one of which transmits a signal to the sewage pump to work when the blowdown port 321 is about to open, and the other transmits a signal to the sewage pump to stop working when the blowdown port 321 is gradually closed. As long as the need for blowdown is met, the present embodiment is not specifically limited.

[0328] In some embodiments of the present application, a water baffle 425 is arranged on the trigger rod 322 between the trigger end 320 and the rotating shaft 424. When the trigger end 320 acts on the one-way valve 323 and the one-way valve 323 is pushed open, the sewage in the sewage tank 72 flows out of the opened one-way valve 323 into the sewage pool 119. In this process, the water baffle 425 can block the sewage flowing out of the sewage tank 72, preventing the sewage from splashing into the rotating drive assembly 421 and affecting the normal operation of the rotating drive assembly 421.

[0329] It should be noted that in the embodiments of the present application, the cleaning liquid used to clean the cleaning executive member 832 is a continuous supply of new, i.e. live water cleaning. The sewage after cleaning the cleaning executive member 832 can be discharged in time through the inlet channel 118 to ensure that the liquid that the cleaning executive member 832 can contact during self-cleaning is clean liquid, thereby ensuring good cleaning effect of the cleaning executive member 832.

[0330] Further, the sewage pool 119 can also be provided with a floating ball and a Hall element. The structure indicated by reference numeral 130 in FIG. 2a is the floating ball and the Hall element. The floating ball can float with the liquid level in the sewage pool 119. When the liquid level in the sewage pool 119 reaches the water level threshold, i.e. when the floating ball floats at the threshold water level due to the water level, the Hall element is triggered, and the base station stops supplying water to the first water inlet channel 110 and the second water inlet channel 111, to prevent the sewage in the sewage pool 119 from overflowing. At the same time, the base station also sends an alarm signal to prompt the user that the sewage pool 119 is full.

[0331] Generally, the structure at the charging device 140 on the base station is divided into two types, one is a left and right large swing arm type, and the charging device 140 on the base station will move with the metal swing arm during the return charging process of the cleaning robot; the second is a front and back spring movement type, and the charging device 140 will move with the cleaning robot during the return charging process. No matter which structure, the charging device 140 on the base station cannot maintain full contact with the charging sheet on the cleaning robot during the return charging process of the cleaning robot, which is easy to cause friction and sparking phenomenon, thereby causing the charging sheet to be blackened by sparking, and even causing charging failure, which not only affects the charging life, but also affects the user's experience.

[0332] In order to solve the above problems, in some embodiments of the present application, as shown in FIG. 1-1a, the base station 1 is provided with a charging device 140, and the left and right sides of the charging device 140 are each provided with a charging assembly 141. The charging assembly 141 includes a fixed seat 1411 coupled with the base station and a charging contact piece assembly rotatably coupled to the fixed seat 1411. During the charging process of the cleaning robot, after the charging piece on the cleaning robot abuts against the charging contact piece assembly, the charging contact piece assembly can rotate around the fixed seat 1411 to follow the position correction of the cleaning robot, so that the charging contact piece assembly always abuts against the charging piece on the cleaning robot and does not appear relative displacement, avoiding the phenomenon of blackening. Until the position of the cleaning robot is corrected in place, the charging contact piece assembly and the charging piece on the cleaning robot achieve good abutment, thereby ensuring the smoothness of charging.

[0333] Since the position adjustment during the docking and charging process of the cleaning robot and the base station inevitably accompanies the forward or backward movement of the cleaning robot, the charging piece on the cleaning robot will give the charging contact piece assembly a pushing force moving towards the fixed seat 1411. In order to avoid excessive pushing force causing damage to the charging assembly 141, in some embodiments of the present application, as shown in FIG. 1-1c, the charging assembly 141 and the base station are provided with a reset member 142. One end of the reset member 142 abuts against the base station, and the other end abuts against the charging assembly 141. The charging assembly 141 can move relative to the base station. When the cleaning robot gives the charging assembly 141 a pushing force, the charging assembly 141 can move towards the base station and compress the reset member 142. When the pushing force gradually disappears, the reset force of the reset member 142 pushes the charging assembly 141 to gradually reset. Within the reset stroke, it is ensured that the charging assembly 141 always abuts against the charging piece on the cleaning robot, thereby ensuring that the cleaning robot will not appear relative displacement between the charging piece on the cleaning robot and the charging assembly 141, regardless of whether it is left-right swing or forward-backward movement, so as to ensure that the phenomenon of blackening does not occur, and the service life of the charging assembly 141 is guaranteed. Optionally, the reset member 142 can be a spring or a rubber member with large elasticity.

[0334] In some embodiments of the present application, referring to FIGS. 1-1b, the charging contact piece assembly includes a rotating seat 14123 and a charging piece 14120 at the top end of the rotating seat 14123, wherein the rotating seat 14123 can be arranged on the fixed seat 1411 by rotating member 1413, which can be a shaft or a universal ball structure, etc., as long as it can rotate relative to the fixed seat 1411, and the present embodiment is not limited specifically. The charging piece 14120 is coupled with the charging battery on the base station through the fixed seat 1411. In some embodiments, a plurality of convex points are arranged on the left and right sides of the charging piece 14120, the convex point on the left side is referred to as the left convex point 14121, and the convex point on the right side is referred to as the right convex point 14122. Referring to FIGS. 1d-1e, when the charging piece on the cleaning robot abuts against the charging piece 14120 on the charging contact piece assembly, the charging piece on the cleaning robot first abuts against the left convex point 14121 or the right convex point 14122, and here the left convex point 14121 is taken as an example for description. When the cleaning robot enters the station for charging, the left convex point 14121 of the charging contact piece assembly will preferentially contact the charging piece on the cleaning robot, and as the cleaning robot continues to advance, the charging contact piece assembly will swing under force, and finally will be in the in-place position as shown in FIG. 1f, in which all the convex points fully contact the charging piece on the cleaning robot. In this process, even if some convex points are damaged due to sparking and blackening, other convex points can still be used to charge, so that the charging assembly 141 on the base station has a stable electrical connection state with the charging piece on the cleaning robot, greatly improving the service life of the charging device 140 and providing users with a better experience.

[0335] In addition, the base station 1 can be further provided with a dehumidifying circulating fan. The top of the docking cabin 10 of the base station 1 can be provided with an air inlet of the dehumidifying circulating fan. For example, in the example shown in FIG. 1, the air inlet 150 of the dehumidifying circulating fan is located at the upper part of the rear cabin wall of the docking cabin 10 and at one side of the charging device 140. The dehumidifying circulating fan and the air inlet 150 have a gas suction channel, and the humid gas enters the suction channel through the air inlet 150. The humid gas is added when passing through the dehumidifying circulating fan, and the humid gas is heated to evaporate the water in the gas and make the dehumidified gas become hot gas. The dehumidifying circulating fan and the bottom wall of the cleaning tank 114 are provided with an air supply channel. As shown in FIG. 4, the first water inlet channel 110 and the second water inlet channel 111 are surrounded by a guide ring wall 1010101 which is open to the cleaning tank 114. The opening is an air outlet. The side of the air supply channel away from the dehumidifying circulating fan is in communication with the top of the guide ring wall 1010101. The dry hot gas enters the guide ring wall 1010101 from the air supply channel. The guide ring wall 1010101 guides the dry hot gas to flow towards the air outlet. Since the air outlet is directed towards the cleaning tank 114, the dry hot gas can be sprayed onto the cleaning implement 832 to accelerate the drying rate of the cleaning implement 832 and the cleaning tank 114, thereby avoiding the growth of bacteria due to moisture.

[0336] In the above, it is mentioned that after the cleaning setting time is reached or after it is detected that the cleanliness of the cleaning implement 832 meets the preset requirement, the cleaning robot controls the cleaning implement 832 to rotate in the second direction. The scrubbing rib 116 and the squeegee assembly 833 on the cleaning robot jointly act on the cleaning implement 832 to fluff the cleaning implement 832. During the fluffing stage, the dehumidifying circulating fan can be started to quickly dry the cleaning implement 832.

[0337] At present, some cleaning robots, when returning to the base station for self-cleaning, mostly use the water tank of the cleaning robot for self-cleaning. For example, after the cleaning robot enters the docking cabin of the base station, the cleaning robot starts the self-cleaning mode. In the self-cleaning mode, the cleaning robot starts the clean water pump to pump out the clean water in the clean water tank to the cleaning implement 832, and controls the cleaning implement 832 to rotate to clean the cleaning implement 832. As known to those skilled in the art, the amount of clean water in the clean water tank of the cleaning robot is limited, and the cleaning implement 832 requires a relatively large amount of water for cleaning. In order to achieve good cleaning effect, it is not enough to use only the liquid in the clean water tank. In addition, the waterway on the cleaning robot is required to uniformly spray and cannot be too large, and it is also required to ensure a relatively long endurance. If the cleaning implement 832 is too wet, the ground cleaned by the robot will be too wet. This scheme of using only the clean water waterway on the cleaning robot for self-cleaning is called single waterway cleaning scheme. The single waterway cleaning scheme has poor self-cleaning effect.

[0338] The current market cleaning robot adopts a single waterway scheme when cleaning the cleaning implement 832, which has a cost advantage but cannot meet the self-cleaning demand. The self-cleaning of the cleaning implement 832 requires a large amount of water, and the use of the waterway on the cleaning robot to provide self-cleaning liquid is not good in effect.

[0339] The scheme provided by the embodiments of the present application is a double waterway self-cleaning scheme, that is, the base station provided in the above embodiments can provide cleaning water for cleaning the cleaning implement 832 to the cleaning robot through the first water inlet channel 110 and the second water inlet channel 111. The base station can be provided with a cleaning water tank 2, or the base station has an up-and-down water structure connected to a tap water pipeline. When the cleaning robot starts the self-cleaning mode, the upper waterway in the up-and-down waterway of the base station is triggered or the water pump of the cleaning water tank 2 is triggered to supply cleaning water to the cleaning implement 832. At the same time, the cleaning tank on the cleaning robot also supplies cleaning water to the cleaning implement 832. Such a double waterway water supply scheme greatly improves the water supply amount of self-cleaning and can significantly improve the self-cleaning effect of the cleaning implement 832.

[0340] Taking the base station provided with the cleaning water tank 2 as an example, as the number of self-cleaning times of the cleaning robot on the base station increases, the cleaning liquid in the cleaning water tank 2 on the base station is gradually consumed, and when it is exhausted, the base station will send a signal to the user that the cleaning water tank 2 is empty. In order to avoid the user from frequently adding cleaning liquid to the cleaning water tank 2, the volume of the cleaning water tank 2 is usually increased to expand the capacity of the cleaning water tank 2, thereby reducing the frequency of water addition. However, this will inevitably increase the volume of the base station, which not only contradicts the trend of miniaturization of the base station, but also is not conducive to water saving.

[0341] Based on this, in some embodiments of the present application, please refer to FIG. 7, a filter assembly 4 is arranged between the dirt tank 3 and the cleaning water tank 2 of the base station. The filter assembly 4 can filter the sewage in the dirt tank 3 and then supply it to the self-cleaning of the base station and the cleaning of the cleaning implement 832 on the cleaning robot, so that the sewage can be reused, which not only saves water resources but also reduces the number of times of adding cleaning liquid to the cleaning water tank 2 by the user, thereby reducing the labor of the user.

[0342] In some embodiments, as shown in FIG. 10, a circulating water tank 5 is also provided in the base station, one end of the filter assembly 4 is located in the dirt tank 3 and the other end is located in the circulating water tank 5. In order to achieve as much filtration of the sewage in the dirt tank 3 as possible, the end of the filter assembly 4 located in the dirt tank 3 is located at the bottom end of the dirt tank 3. However, because the sewage in the dirt tank 3 contains a lot of dirt, after a period of storage in the dirt tank 3, the dirt will settle and stratify. In order to avoid the solid flocculent dirt at the bottom of the dirt tank 3 from accumulating and clogging the filter assembly 4, a support boss 32 is provided on the bottom wall of the dirt tank 3, and the end of the filter assembly 4 located in the dirt tank 3 is located on the upper end surface of the support boss 32, so that the filter assembly 4 is separated from the dirt deposited at the bottom end of the dirt tank 3, reducing the frequency of cleaning the filter assembly 4 or reducing the frequency of replacing consumable parts in the filter assembly 4.

[0343] As shown in FIG. 9, a water pump 65 is provided on the path of the cleaning liquid flowing in the cleaning water tank 2 and the path of the filtered water flowing in the circulating water tank 5, which can pump the cleaning liquid or filtered water into the first water inlet channel and the second water inlet channel or the sewage pool to clean the cleaning implement 832 or clean the sewage pool. The cleaning water tank 2 is connected with a first cleaning water pipe 62 and a second cleaning water pipe 63, wherein the first cleaning water pipe 62 is connected with the water pump 65 for outputting the cleaning liquid in the clean water tank 71 from the clean water tank 71, the water outlet end of the water pump 65 is connected with a third cleaning water pipe 64, the third cleaning water pipe 64 is provided with a clean water electromagnetic valve, the third cleaning water pipe 64 is connected with a flushing pipe 063, and the end of the flushing pipe 063 is connected with the first water inlet channel, the second water inlet channel and the sewage pool, so as to deliver the cleaning liquid to the first water inlet channel and the second water inlet channel or the sewage pool. The circulating water tank 5 is connected with a circulating water pipe 61, the circulating water pump 65 is located on the circulating water pipe 61, and a filtered water electromagnetic valve 67 is also provided on the circulating water pipe 61 to control whether the filtered water is supplied, and the circulating water pipe 61 is also connected with the flushing water pipe to deliver the filtered water in the circulating water tank 5 into the first water inlet channel, the second water inlet channel or the sewage pool.

[0344] As shown in FIG. 9, when the filtered water in the circulating water tank 5 is insufficient, the filtering electromagnetic valve 67 is closed, the clean water electromagnetic valve is opened, so that the circulating water tank 5 does not supply water, the cleaning liquid tank 2 supplies cleaning liquid, but if the filtered water in the circulating water tank 5 is sufficient, the filtering electromagnetic valve 67 is opened, the clean water electromagnetic valve is closed, and the filtered water is preferentially introduced into the first water inlet channel, the second water inlet channel or the sewage pool for pre-washing. After the pre-washing is completed, the clean water electromagnetic valve is opened, and the filtering electromagnetic valve 67 is closed, so that the cleaning liquid is used for re-washing, and finally the cleaning work is completed, so as to save the amount of cleaning liquid in the cleaning liquid tank 2 and reduce the number of times of adding cleaning liquid by the user. In some embodiments, a detector for detecting the content of the filtered water in the circulating water tank 5 is arranged in the circulating water tank 5, so as to control the closing or opening of the filtering electromagnetic valve 67 and the clean water electromagnetic valve. The detector can be a liquid level detector or a weight detector arranged on the base station, the content of the filtered water in the circulating water tank 5 is determined by detecting the weight of the circulating water tank 5, as long as the content of the filtered water in the circulating water tank 5 can be detected, and the embodiment is not limited in particular.

[0345] It should be noted that the water pump 65 on the first cleaning water pipe 62 is opened or closed in cooperation with the clean water electromagnetic valve, and the water pump 65 on the circulating water pipe 61 is opened or closed in cooperation with the filtering electromagnetic valve 67.

[0346] As shown in FIG. 9, the sewage pool is provided with a sewer 400, the sewer 400 is provided with a sewage suction pipe 68, the sewage suction pipe 68 is communicated with the dirt tank 3, the dirt tank 3 is provided with a gas inlet pipe 69 communicated with the air pump 061, the air pump 061 can suck the gas in the dirt tank 3 away, so that a negative pressure is formed in the dirt tank 3, and the sewage suction pipe 68 generates a suction force for sucking the sewage from the sewage pool into the sewage suction pipe 68 under the influence of the negative pressure, so that the sewage in the sewage pool is quickly discharged into the sewage tank 72.

[0347] In some embodiments, as shown in FIG. 9, the end of the sewage suction pipe 68 located at the sewer 400 is provided with a water quality detector 062, the sewage flowing out of the sewage pool can be determined by the detection of the water quality detector 062, if the transparency of the sewage is low, it indicates that the cleaning implement 832 or the sewage pool needs to be re-washed, the clean water electromagnetic valve and the water pump 65 on the first cleaning water pipe 62 are opened, and the filtering electromagnetic valve 67 and the water pump 65 on the circulating water pipe 61 are closed, so as to introduce the cleaning liquid into the first water inlet channel, the second water inlet channel or the sewage pool for re-washing. If the transparency of the sewage is high, it indicates that the cleaning implement 832 or the sewage pool has been washed clean and does not need to be re-washed, and then the cleaning is completed.

[0348] As shown in Fig. 9, the second cleaning water pipe 63 is provided with a water outlet electromagnetic valve 66 at one end away from the cleaning water tank 2, and the water outlet end of the water outlet electromagnetic valve 66 is provided with a machine water supplement pipe 60, and the other end of the machine water supplement pipe 60 is communicated with the cleaning robot. When the cleaning robot is located on the base station and the water tank is out of water, the water outlet electromagnetic valve 66 is opened, and the cleaning liquid in the cleaning water tank 2 flows into the water tank 71 of the cleaning robot through the second cleaning water pipe 63 and the machine water supplement pipe 60, so as to realize the liquid supplement demand of the cleaning robot.

[0349] In order to reduce the length of the filter assembly 4, as shown in Figs. 8 and 10, the circulating water tank 5 is next to the dirt tank 3, or the original dirt tank 3 is divided into two, one side is the dirt tank 3 and the other side is the circulating water tank 5, so as to avoid increasing the volume of the base station. In some embodiments, in order to ensure that the filtered water in the circulating water tank 5 can flow out of the drain, the drain is located at the lowest position of the bottom wall of the circulating water tank 5. In order to prevent the filtered water in the circulating water tank 5 from flowing out of the drain communicated with the circulating water pipe 61 when the dirt in the dirt tank 3 is poured out, in some embodiments of the present application, as shown in Fig. 12, a sealing plug assembly 51 is provided at the drain, which opens the drain when the dirt tank 3 is placed on the base station, but closes the drain when the dirt tank 3 is taken off the base station.

[0350] Specifically, as shown in Fig. 11, one of the structures that can be realized by the sealing plug assembly 51 includes a first top rod 511, a compression spring 416 and a sealing rubber plug 513, wherein the bottom wall of the cabin of the circulating water tank 5 is provided with a boss facing the inside of the tank body, the top end of the boss is provided with a drain, the second top rod is provided in the drain, the compression spring 416 is located between the head end of the second top rod and the side of the boss away from the circulating water tank 5, and the end of the second top rod passing through the drain is provided with the sealing rubber plug 513. When the dirt tank 3 is taken off the base station, under the elastic action of the compression spring 416, the head end of the second top rod descends until the sealing rubber plug 513 abuts against the face of the boss, at this time the compression spring 416 has not returned to the natural state, and there is a reset elastic force, under the action of the reset elastic force, the sealing rubber plug 513 seals the drain, ensuring good sealing effect.

[0351] As shown in FIG. 11, the base station is provided with a limiting groove capable of being inserted into the boss at the boss position, and the end of the circulating water pipe 61 is communicated with the bottom end of the limiting groove. When the dirt bucket is installed back to the base station, the groove wall of the limiting groove is inserted into the boss, thereby being capable of limiting the position of the circulating water tank 5 on the base station, and ensuring the accuracy of the installation of the dirt bucket. A first top rod 511 protruding from the bottom of the limiting groove is provided in the limiting groove, and when the dirt bucket is installed back to the base station, with the descending of the circulating water tank 5, the first top rod 511 abuts against the head end of the second top rod, and presses the second top rod to move reversely towards the boss. At this time, the compression spring 416 is compressed, the sealing plug 513 is separated from the boss surface, the drain port is opened, the filtered water in the circulating water tank 5 flows out from the drain port, and flows into the circulating water pipe 61 from the water outlet around the first top rod 511 through the gap between the first rod and the groove wall of the limiting groove. Optionally, the height of the boss is 5mm-50mm. The higher the height of the boss is, the less likely the filter core 410 is to contact the dirt deposited in the dirt bucket, thereby being capable of avoiding the risk of the filter core 410 being blocked, and prolonging the service life of the filter core 410. However, the height of the boss cannot be too high, so as to avoid that the filter core 410 cannot fully contact the sewage in the dirt bucket, and ensure sufficient and good filtering effect.

[0352] In some embodiments, as shown in FIG. 10 and FIG. 12, one of the structures that can be implemented by the filtering assembly 4 includes at least one set of filters 41, and the filter 41 includes a filter core 410 and a filter core cover 411. The filter core cover 411 covers the outer periphery of the filter core 410, and the surface of the filter core cover 411 is a filter screen structure with a diameter of 1mm, so as to block the large-particle solid dirt, and allow the sewage carrying small-particle solid dirt to pass through, thereby realizing the first re-filtering. The filter core 410 can be a filter cotton or a cotton rod (including but not limited to acrylic cotton, sponge, EPDM) containing activated carbon or bamboo charcoal particles (ingredients), which is capable of blocking the small-particle solid dirt and allowing water to pass through. Since one end of the filter 41 is located in the dirt bucket, and the other end is located in the circulating water tank 5, the filter core 410 is long enough, and water will flow along the filter core 410 by utilizing the capillary phenomenon. In the process of flowing, the filter core 410 filters out small particles from the sewage, and the filtered water flows out from the end of the filter core 410 located in the circulating water tank 5 into the circulating water tank 5 under the action of gravity.

[0353] It can be understood that, with the increase of the number of filtering, the small solid particles adsorbed in the filter core 410 are more and more, thereby having the risk of blocking the filter core 410, and causing the filtering assembly 4 to be incapable of well filtering the sewage in the dirt tank 3. Therefore, the filter core 410 needs to be replaced regularly, so as to ensure good filtering effect.

[0354] In some embodiments of the present application, in order to ensure the volume of the dirt tank and ensure that the volume of the base station does not increase, the filter assembly 4 is located in the dirt tank, and the filtered water directly flows into the cleaning water tank 2. In order to not pollute the original cleaning liquid in the cleaning water tank 2, the sewage in the dirt tank is filtered by atomizing filtration, so as to ensure better filtering effect.

[0355] Therefore, in some embodiments, as shown in FIGS. 12 and 13, the filter 41 further comprises a filter core pressing cap 412, a micro-porous atomizing sheet 413, an atomizing sheet pressing cap, and a sealing cap 415, wherein the filter core pressing cap 412 is sleeved on one end of the filter core 410 away from the bottom wall of the dirt tank 3 and abuts against the filter core cover 411, the upper end of the filter core pressing cap 412 is provided with a through hole, and the micro-porous atomizing sheet 413 is located on the upper end surface of the filter core 410 and electrically connected to the power supply. The atomizing sheet has a diameter of 2-5 mm 2 The atomizing sheet is provided with a plurality of micro-holes with a diameter of 3-20 um, which can separate the water droplets passing through the atomizing sheet into a plurality of micro-droplets with a diameter of 3-20 um. The atomizing sheet pressing cap is located between the sealing cap 415 and the atomizing sheet pressing cap, the sealing cap 415 is provided with a clamping hole, the filter core pressing cap 412 is sleeved on the outer periphery of the end portion of the filter core 410 and clamped in the clamping hole, one end of the filter core pressing cap 412 abuts against the filter core cover 411, and the other end is the head end of the filter core pressing cap 412, which is clamped in the clamping hole, so as to fix the micro-porous atomizing sheet 413 on the upper end surface of the filter core 410. The atomizing sheet pressing cap 414 can fix and seal the micro-porous atomizing sheet 413.

[0356] In some embodiments, the sealing cap 415 is provided with a plurality of clamping holes at intervals, and each clamping hole corresponds to one filter 41, so that the filter assembly 4 comprises a plurality of filters 41, thereby accelerating the filtration of sewage.

[0357] In order to ensure that the end portion of the filter core 410 always abuts against the micro-porous atomizing sheet 413, in some embodiments of the present application, the bottom portion of the filter core 410 is provided with a spring 512, and the spring 512 is in a compressed state. The elastic force of the spring 512 makes the upper end of the filter core 410 abut tightly against the micro-porous atomizing sheet 413.

[0358] The sewage tank 72 cover, base station top cover and clean water tank cover 21 together enclose the atomization cavity, the top surface of the atomization cavity is a slope, and the slope is provided with a condensation sheet 14. The condensation sheet can be a stainless steel sheet or an electrified semiconductor refrigeration sheet, as long as it can achieve the condensation effect. The present application does not make specific limitations. The filter assembly 4 is located below the high end of the top surface of the atomization cavity, and the condensation sheet is located above the filter assembly 4. The other end of the top surface of the atomization cavity is provided with a backflow area for guiding the flow of condensed water to the clean water tank 2. The top end of the clean water tank 2 is located below the backflow area, and a backflow port 211 is provided at the corresponding lowest end of the backflow area. The water droplets from the filter core 410 are divided into many small atomized water droplets by the action of the microporous atomization sheet 413. The atomized water droplets rise and meet the condensation sheet to form condensed water. The condensed water enters the backflow area along the condensation sheet under the action of gravity, flows along the backflow area to the lowest end, and then falls into the backflow port 211, thereby realizing the filtration of sewage, and the filtration effect is good.

[0359] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning base station for a cleaning robot, the cleaning robot having a cleaning implement, the cleaning base station having a cleaning seat; characterized in that, The cleaning seat comprises a water inlet channel, a cleaning groove and a sewage pool. The water inlet channel is used for conveying cleaning fluid. The cleaning groove is provided with a scraping rib and a sewage groove. In the height direction, the water outlet end of the water inlet channel, the scraping rib and the sewage groove are sequentially arranged from high to low. The cleaning fluid contacts the cleaning implement above the scraping rib to wet the cleaning implement, the scraping rib abuts against the cleaning implement to scrape off dirt on the cleaning implement, and the scraped-off dirt is guided into the sewage pool through the sewage groove.

2. The cleaning dock of claim 1, wherein, When the cleaning implement rotates for cleaning, the water outlet end is located upstream of the scraping rib. The scraped-off dirt enters the sewage groove, and the sewage groove timely guides the dirt into the sewage pool.

3. The cleaning dock of claim 1, wherein, The water outlet end of the water inlet channel has branch openings for water outlet, and the sewage groove is located between the branch openings and the scraping rib.

4. The cleaning dock of claim 3, wherein, The scraping rib forms a side wall of the sewage groove.

5. The cleaning dock of claim 4, wherein, The position where the branch openings are located is provided with a water channel branch plate, and the water channel branch plate forms another side wall of the sewage groove.

6. The cleaning station of claim 5, wherein, The water channel branch plate is spaced apart along the length direction and is provided with a plurality of branch openings, and the cleaning fluid in the water inlet channel flows from the plurality of branch openings to the cleaning implement.

7. The cleaning dock of any one of claims 4-6, wherein, The water inlet channel is provided with a flow guide rib at the end communicating with the cleaning groove. The end of the flow guide rib away from the water inlet channel is connected with the water channel branch plate to divide the water inlet channel at one end of the scraping rib into at least two clean water flow paths. The directions of different clean water flow paths away from the end of the water inlet channel are different to guide the cleaning fluid to different branch openings.

8. The cleaning dock of any one of claims 1-7, wherein, The length range of the scraping rib extending into the cleaning implement is 3mm-5mm.

9. The cleaning dock of any one of claims 5-6, wherein, The bottom of the cleaning groove is provided with a converging channel communicating with the sewage pool, and the converging channel is used for guiding sewage into the sewage pool. The converging channel is located on the central axis of the sewage pool.

10. The cleaning station of claim 9, wherein, The position of the cleaning groove is aligned with the position of the cleaning implement. The converging channel is located at the side of the cleaning groove.

11. The cleaning station of claim 9, wherein, The converging channel is located at the bottom of the water channel branch plate.

12. The cleaning station of claim 9, wherein, The water inlet channel and the water channel branch plate are provided with a water accumulation channel. The converging channel is located below the water accumulation channel.

13. The cleaning station of claim 9, wherein, The inlet of the converging channel at the cleaning groove is located at the lowest position of the bottom of the cleaning groove.

14. A cleaning base station for a cleaning robot, the cleaning robot having a cleaning implement, the cleaning base station having a cleaning seat; characterized in that, The cleaning seat comprises a water inlet channel and a cleaning groove. The water inlet channel is used for conveying cleaning fluid. The cleaning groove is provided with a scraping rib and a sewage groove. In the height direction, the water outlet end of the water inlet channel, the scraping rib and the sewage groove are sequentially arranged from high to low. The cleaning fluid contacts the cleaning implement above the scraping rib to wet the cleaning implement, and the scraping rib abuts against the cleaning implement to scrape off dirt on the cleaning implement.

15. A cleaning dock for a cleaning robot, characterized in that, The cleaning robot is provided with a roller, a scraper assembly and a sewage tank. The base station has a cleaning seat, and the cleaning seat comprises a water inlet channel, a scraping rib and a sewage pool. When the cleaning robot docks with the cleaning base station to clean the roller, the cleaning robot and / or the cleaning base station provides cleaning fluid, the cleaning fluid flows through the roller, the squeegee assembly, the sewage tank and the sewage pool to form a first cleaning water path, the cleaning fluid flows through the water inlet channel, the squeegee cleaning rib and the sewage pool to form a second cleaning water path, and the first cleaning water path and the second cleaning water path jointly clean the roller. 16.A method for self-cleaning of a cleaning robot, characterized in that, The cleaning robot is provided with a roller, a squeegee assembly and a sewage tank; the base station has a cleaning seat, which includes a water inlet channel, a squeegee cleaning rib and a sewage pool; The cleaning robot performs roller self-cleaning after docking with the base station; the roller self-cleaning method includes: The cleaning robot and / or the cleaning base station provide cleaning fluid for the roller; The cleaning fluid flows through the roller, the squeegee assembly, the sewage tank and the sewage pool to form a first cleaning water path to clean the roller; The cleaning fluid flows through the water inlet channel, the squeegee cleaning rib and the sewage pool to form a second cleaning water path to clean the roller.

17. A cleaning base station, characterized by, It includes: A base station host and a base station seat below the base station host; The base station host and the base station seat have a one-side opening docking cabin, and the cleaning robot can be docked in the docking cabin; A detachable cleaning seat is arranged on the bottom wall of the docking cabin, and the cleaning seat has a water inlet channel for conveying cleaning liquid and a sewage pool for containing sewage; It is characterized in that The cleaning seat has a squeegee cleaning rib, and the squeegee cleaning rib abuts against the cleaning executive component on the cleaning robot to scrape and clean the cleaning executive component and scrape off the sewage on the cleaning executive component; The scraped-off sewage is introduced into the sewage pool.

18. A cleaning dock for a cleaning robot, characterized in that, The cleaning robot has a cleaning executive component, and the cleaning base station has a cleaning seat, characterized in that the cleaning seat includes a water inlet channel, a cleaning groove and a sewage pool, wherein The water inlet channel is used to convey cleaning fluid; The cleaning groove is provided with a squeegee cleaning rib and a sewage groove; The squeegee cleaning rib abuts against the cleaning executive component to scrape off the sewage on the cleaning executive component, and the scraped-off sewage is introduced into the sewage pool through the sewage groove; The cleaning fluid sequentially flows through the water inlet channel, the cleaning executive component, the squeegee cleaning rib, the sewage groove and the sewage pool to form a cleaning water path for cleaning the cleaning executive component.

19. A cleaning system characterized by, It includes: A cleaning robot capable of autonomous movement, and the cleaning robot is rotatably provided with a cleaning executive component abutting against a surface to be cleaned; And The cleaning base station of claim 17 or 18.

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