Cleaning device, cleaning system, control method, and computer-readable storage medium

Abstract

The present disclosure provides a cleaning device, a cleaning system, a control method, and a computer-readable storage medium. The cleaning device comprises a cleaning member and a collection member. The collection member comprises a dirt accommodating cavity, a dirt scraping portion, and a filtering portion. The dirt scraping portion abuts against the cleaning member. In the height direction of the cleaning device, the dirt accommodating cavity is at least partially lower than the dirt scraping portion. During the rotation of the cleaning member, the dirt scraping portion peels off dirt from the cleaning member. In the height direction of the cleaning device, the arrangement position of the filtering portion is higher than that of the dirt scraping portion. Filtering holes are formed on the filtering portion, and the filtering holes communicate the outside with the dirt accommodating cavity, for allowing wastewater in the dirt to enter the dirt accommodating cavity while blocking solid waste in the dirt from entering the dirt accommodating cavity.

Description

Cleaning equipment, cleaning systems, control methods, and computer-readable storage media Technical Field

[0001] This disclosure relates to the field of cleaning technology, and more specifically, to a cleaning device, a cleaning system, a control method, and a computer-readable storage medium. Background Technology

[0002] Cleaning equipment typically includes types such as mopping robots, sweeping and mopping robots, and handheld floor scrubbers. Cleaning equipment can clean the surface to be cleaned by using its cleaning components to mop and wipe the surface.

[0003] When the cleaning equipment mops the surface to be cleaned, its hydraulic system provides cleaning fluid (usually water) to the cleaning components to wet them. The wetted components then rotate to mop the surface. To enable the self-cleaning function of the cleaning components, the equipment also includes a recycling component that contacts them. As the cleaning components rotate, the scraper on the recycling component scrapes off the dirt and collects it in the wastewater collection box via a wastewater recycling link. Since the dirt on the surface to be cleaned may be a mixture of solid debris (such as hair of various shapes) and wastewater, or it may only be solid debris, it puts a lot of pressure on the cleaning equipment. On the other hand, due to the existence of a single-mopping mode and limitations in the size and layout of the cleaning equipment, the suction port of the cleaning module cannot completely cover the mopping area of ​​the cleaning components. This can easily lead to solid debris being drawn into the cleaning components, scraped off by the scraper, and entering the wastewater collection link. When solid debris accumulates to a certain level, it can cause blockage of the entire wastewater collection link, leading to wastewater leakage and requiring significant maintenance effort from the user. Summary of the Invention

[0004] This disclosure provides a cleaning device, a cleaning system, a control method, and a computer-readable storage medium.

[0005] In a first aspect, this disclosure provides a cleaning device comprising a cleaning component and a recycling component. The recycling component includes a dirt-containing cavity, a scraping part, and a filtering part. The scraping part abuts against the cleaning component. In the height direction of the cleaning device, at least a portion of the dirt-containing cavity is lower than the scraping part; during rotation of the cleaning component, the scraping part peels dirt off the cleaning component. In the height direction of the cleaning device, the filtering part is positioned higher than the scraping part; the filtering part has filter holes that connect to the outside and the dirt-containing cavity, allowing wastewater from the dirt to enter the dirt-containing cavity and blocking solid waste from the dirt outside the dirt-containing cavity.

[0006] In some embodiments, the filter section abuts against the cleaning component.

[0007] In some embodiments, when the cleaning device cleans solid waste outside the dirt-containing cavity, the cleaning component that contacts the scraping part moves upward.

[0008] In some embodiments, when the cleaning device performs a mopping task, the cleaning element that contacts the scraping part moves downward.

[0009] In some embodiments, the filter section is located away from the cleaning member relative to the scraping section.

[0010] In some embodiments, the cleaning device uses the cleaning component to detach solid waste outside the sludge-containing cavity from the recycling component and remove it from the cleaning device.

[0011] In some embodiments, in the forward direction of the cleaning device, the rear profile of the cleaning device is arc-shaped, the cleaning component is located at the rear of the cleaning device, and the projection of the cleaning component on the horizontal plane is within the outline range of the projection of the cleaning device on the horizontal plane, and the recycling component is located on the rear side of the cleaning component; the length of the dirt-holding chamber and / or the filter section is less than the length of the cleaning component.

[0012] In some embodiments, the recycling component further includes a support portion connected to the filter portion and located at one or both ends of the filter portion along its length, and used to support the scraping portion located at one or both ends of the dirt-holding cavity.

[0013] In some embodiments, the side of the support portion facing the cleaning component is a support surface, the support surface is an inclined surface, and the portion of the support surface closer to the filter portion is further away from the cleaning component.

[0014] In some embodiments, the cleaning device includes a housing. The recycling component includes a first seal disposed between the support and the housing, for sealing the gap between the support and the housing.

[0015] In some embodiments, a barrier wall is provided at the end of the support portion away from the filter portion, the barrier wall being used to prevent sewage in the dirt from leaking out towards the end away from the filter portion.

[0016] In some embodiments, in the length direction of the sludge-containing cavity, the support protrudes relative to the sludge-containing cavity to form an avoidance space, the avoidance space being used at least for installing a first sewage outlet, the first sewage outlet being used to communicate with the sewage box of the cleaning equipment through a pipeline channel.

[0017] In some embodiments, the support protrudes relative to the sludge chamber along its length to form an avoidance space, the avoidance space being at least for installing a drain pipe for discharging wastewater from the sludge chamber to the outside of the recycling component.

[0018] In some embodiments, the length of the filter section is less than or equal to the length of the dirt-holding chamber.

[0019] In some embodiments, the length of the scraping portion is greater than or equal to the length of the cleaning element.

[0020] In some embodiments, the area of ​​the filter pore is in the range of 10 mm. 2 -50mm 2 .

[0021] In some embodiments, the cleaning device includes a wastewater box that is connected to the sludge-holding cavity via a pipe channel, and the flow area of ​​the filter holes is smaller than the minimum flow area of ​​the pipe channel.

[0022] In some embodiments, the top surface of the scraping portion forms the bottom surface of the filter hole.

[0023] In some embodiments, the top surface of the scraping portion is inclined downward toward the dirt-containing cavity.

[0024] In some embodiments, the recycling component further includes a blocking portion. The blocking portion is disposed on the scraping portion, located below the scraping portion in the height direction of the cleaning device, and located between the cleaning component and the sludge-holding tank in the front-back direction of the cleaning device.

[0025] In some embodiments, the inner contour of the cross-section of the dirt-containing cavity is at least arc-shaped at the bottom, and the cross-section of the dirt-containing cavity is a plane intercepted by a plane that is perpendicular to the horizontal plane and parallel to the direction of travel of the cleaning equipment.

[0026] In some embodiments, the cleaning device includes a wastewater container. The recycling component includes a first wastewater outlet located at a first end of the wastewater container along its length, the first wastewater outlet connecting the wastewater container to the wastewater container; the bottom surface of the inner surface of the wastewater container slopes downward toward the first end.

[0027] In some embodiments, the direction from the projection of the second end of the dirt-containing cavity onto the horizontal plane to the projection of the first end of the dirt-containing cavity onto the horizontal plane is the first direction. The direction in which the bottom surface of the inner surface of the dirt-containing cavity extends towards the first end is the second direction. The angle between the first direction and the second direction is greater than or equal to 1° and less than or equal to 2°.

[0028] In some embodiments, the recycling component includes a sludge container that forms the sludge chamber, with an open top.

[0029] In some embodiments, the filter is located on one side of the opening; the cleaning device also includes a housing; the recovery component further includes a second seal. The second seal surrounds the remaining sides of the opening except for the side where the filter is located, and the second seal is used to seal the gap between the housing and the recovery component.

[0030] In some embodiments, the first end of the sludge-containing cavity is provided with a first sewage outlet, and the second end of the sludge-containing cavity is provided with a second sewage outlet. The first sewage outlet is connected to the sludge-containing cavity; the second sewage outlet connects the sludge-containing cavity to the outside. The recovery component further includes: a sewage box, a pipeline channel, and a power component. One end of the pipeline channel is connected to the sludge-containing cavity through the first sewage outlet, and the other end is connected to the sewage box. The power component is connected to the sewage box and is used to provide negative pressure to the sewage box to draw sewage from the sludge-containing cavity into the sewage box through the pipeline channel; and to provide positive pressure to the sewage box so that the sewage in the sewage box is discharged into the sludge-containing cavity through the pipeline channel, so that the sewage is discharged to the outside through the second sewage outlet.

[0031] In some embodiments, the recycling component further includes a reinforcing portion located between the two ends of the recycling component along its length and located on the side of the recycling component closer to the cleaning component in the front-back direction.

[0032] In some embodiments, the cleaning device includes a housing on which the recycling component is detachably mounted.

[0033] In some embodiments, the installation direction of the recycling component is parallel to the retraction direction of the cleaning equipment.

[0034] In some embodiments, the housing includes a mating surface facing the surface to be cleaned, and the cleaning component is rotatably mounted on the side of the housing facing the surface to be cleaned, the cleaning component being in contact with the mating surface.

[0035] In some embodiments, the mating surface is connected to the top of the filter section.

[0036] Secondly, this disclosure provides a cleaning system. The cleaning system includes a cleaning device and a base station. The cleaning device includes a cleaning component and a recovery component. The recovery component includes a dirt-holding chamber, a scraping part, and a filtering part. The scraping part abuts against the cleaning component; in the height direction of the cleaning device, at least a portion of the dirt-holding chamber is lower than the scraping part; during the rotation of the cleaning component, the scraping part peels dirt off the cleaning component. In the height direction of the cleaning device, the filtering part is positioned higher than the scraping part; the filtering part has filter holes that connect to the outside and the dirt-holding chamber, allowing wastewater from the dirt to enter the dirt-holding chamber and blocking solid waste from the dirt outside the dirt-holding chamber. The base station is used for maintaining the returned cleaning device.

[0037] Thirdly, this disclosure provides a control method for a cleaning device, the cleaning device including a cleaning component, a sweeping module, and a recycling component, the recycling component being used to perform solid-liquid separation on the dirt picked up by the cleaning component, the control method including: controlling the cleaning component to detach the solid waste separated by the recycling component from the recycling component and remove it from the cleaning device; controlling the cleaning device to clean up the solid waste through the sweeping module.

[0038] In some embodiments, the cleaning component is controlled to reverse in order to detach the solid waste separated by the recycling component from the recycling component and remove it from the cleaning equipment. The reversal is controlled to rotate the cleaning component in the opposite direction to when the cleaning component picks up the dirt.

[0039] In some embodiments, the control method further includes: controlling the cleaning component to lift upwards before controlling the cleaning component to peel the solid waste separated by the recycling component from the recycling component, so as to separate the cleaning component from the surface to be cleaned.

[0040] In some embodiments, while controlling the cleaning component to peel the solid waste separated by the recycling component from the recycling component, the cleaning component is also controlled to be lifted upwards to separate the cleaning component from the surface to be cleaned.

[0041] In some implementations, controlling the cleaning component to detach the solid waste separated by the recycling component from the cleaning equipment is performed by the cleaning equipment before returning to the base station.

[0042] In some embodiments, the position of the cleaning device remains unchanged during the process of controlling the cleaning component to detach the solid waste separated by the recycling component from the cleaning device and remove it from the cleaning device.

[0043] In some embodiments, the control of the cleaning component to detach the solid waste separated by the recycling component from the cleaning device is performed by the cleaning device at a preset position.

[0044] In some embodiments, the cleaning device includes a cleaning component and a recycling component. The recycling component includes: a dirt-containing cavity; a dirt-scraping part that abuts against the cleaning component; at least a portion of the dirt-containing cavity is lower than the dirt-scraping part in the height direction of the cleaning device; during rotation of the cleaning component, the dirt-scraping part peels dirt off the cleaning component; and a filter part, which is positioned higher than the dirt-scraping part in the height direction of the cleaning device; the filter part has filter holes that connect to the outside and the dirt-containing cavity to allow wastewater in the dirt to enter the dirt-containing cavity and to block solid waste in the dirt from entering the dirt-containing cavity.

[0045] Fourthly, this disclosure provides a control method for a cleaning device, the cleaning device including a cleaning component and a recycling component, the recycling component including a dirt-holding chamber, a scraping part, and a filtering part. The scraping part abuts against the cleaning component; in the height direction of the cleaning device, at least a portion of the dirt-holding chamber is lower than the scraping part. During the rotation of the cleaning component, the scraping part peels dirt off the cleaning component. In the height direction of the cleaning device, the filtering part is positioned higher than the scraping part; the filtering part has filter holes that connect to the outside and the dirt-holding chamber, allowing wastewater in the dirt to enter the dirt-holding chamber and blocking solid waste in the dirt outside the dirt-holding chamber. The control method includes: controlling the cleaning component to rotate in a first direction when the cleaning component of the cleaning device performs a mopping task; and controlling the cleaning component to perform a solid waste cleaning task after the cleaning component of the cleaning device finishes the mopping task.

[0046] In some embodiments, performing the solid waste cleaning task includes: performing a reversal task; the reversal task includes rotating the cleaning component along a second direction, the first direction being opposite to the second direction; wherein, the first direction is where the cleaning component rotates downward relative to the scraping part at the point where the scraping part contacts the cleaning component.

[0047] In some embodiments, when the cleaning device finishes mopping the surface to be cleaned, and before the cleaning component performs a reversal task, the cleaning component is controlled to be lifted upwards to separate the cleaning component from the surface to be cleaned.

[0048] In some embodiments, when the cleaning device finishes mopping the surface to be cleaned and while the cleaning component is performing a reversal task, the cleaning component is controlled to be lifted upwards to separate the cleaning component from the surface to be cleaned.

[0049] In some implementations, controlling the cleaning equipment to perform solid waste cleaning tasks is done by the cleaning equipment before returning to the base station.

[0050] In some embodiments, the position of the cleaning equipment remains unchanged during the execution of the solid waste cleaning task.

[0051] In some implementations, controlling the cleaning equipment to perform solid waste cleaning tasks is done by the cleaning equipment performing the task at a preset position.

[0052] In some embodiments, the cleaning device includes a sweeping module; after completing the solid waste cleaning task, the cleaning device is controlled to use the sweeping module to sweep a preset area, the preset area being at least a portion of the area traversed by the cleaning device when performing a reverse task.

[0053] Fifthly, this disclosure provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the control method described above.

[0054] In the cleaning equipment, cleaning system, control method, and computer-readable storage medium disclosed herein, when a cleaning component drags the surface to be cleaned through a rotating motion, dirt mixed with sewage and / or solid waste is formed on the cleaning component. A scraping part abuts against the cleaning component and scrapes off the dirt. Then, a filter part disposed above the scraping part filters the scraped dirt. The sewage in the dirt can enter the dirt-holding chamber through the filter holes, thereby entering the sewage recycling link. The solid waste in the dirt cannot pass through the filter holes and is blocked outside the dirt-holding chamber and will not enter the sewage recycling link. This avoids solid waste entering the dirt-holding chamber and causing blockage of the sewage recycling link, and also eliminates the need for users to spend time and effort on maintenance.

[0055] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0056] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0057] Figure 1 is a perspective view of a cleaning system according to certain embodiments of the present disclosure;

[0058] Figure 2 is a schematic plan view of the cleaning equipment in a cleaning system according to certain embodiments of the present disclosure;

[0059] Figure 3 is a three-dimensional exploded view of the cleaning equipment shown in Figure 2;

[0060] Figure 4 is a partial three-dimensional schematic diagram of the cleaning equipment shown in Figure 2;

[0061] Figure 5 is a three-dimensional exploded view of a portion of the structure of the cleaning equipment shown in Figure 2.

[0062] Figure 6 is a three-dimensional assembly diagram of a portion of the cleaning equipment shown in Figure 2 from another perspective;

[0063] Figure 7 is a three-dimensional exploded view of a portion of the cleaning equipment shown in Figure 2 from another perspective;

[0064] Figure 8 is a three-dimensional assembly diagram of some structures of the cleaning equipment shown in Figure 2;

[0065] Figure 9 is a three-dimensional exploded view of some structures of the cleaning equipment shown in Figure 2;

[0066] Figure 10 is a three-dimensional exploded view of another part of the recycling component of the cleaning equipment shown in Figure 8;

[0067] Figure 11 is an enlarged schematic diagram of part of the structure of the cleaning equipment shown in Figure 10 at point X;

[0068] Figure 12 is an enlarged schematic diagram of part of the structure of the cleaning equipment shown in Figure 10 at point XI;

[0069] Figure 13 is a three-dimensional cross-sectional view of the recycling component of the cleaning equipment shown in Figure 10;

[0070] Figure 14 is a three-dimensional cross-sectional view of part of the cleaning equipment shown in Figure 9;

[0071] Figure 15 is a three-dimensional cross-sectional view of the cleaning equipment shown in Figure 9;

[0072] Figure 16 is a schematic diagram of the layout of some structures in the cleaning equipment shown in Figure 2;

[0073] Figure 17 is a working scenario diagram of the cleaning system provided in an embodiment of this disclosure;

[0074] Figure 18 is a flowchart illustrating the control method for the cleaning equipment provided in an embodiment of this disclosure;

[0075] Figure 19 is a schematic flowchart of the control method for the cleaning equipment provided in an embodiment of this disclosure;

[0076] Figure 20 is a schematic flowchart of the control method for the cleaning equipment provided in the embodiments of this disclosure;

[0077] Figure 21 is a schematic flowchart of the control method for the cleaning equipment provided in an embodiment of this disclosure;

[0078] Figure 22 is a schematic diagram of the structure of the control device for the cleaning equipment provided in an embodiment of this disclosure;

[0079] Figure 23 is a schematic diagram of the connection state between a computer-readable storage medium and a processor according to certain embodiments of the present disclosure;

[0080] Figures 24-27 are schematic flowcharts of control methods for cleaning equipment according to other embodiments of this disclosure.

[0081] Key component symbols: Cleaning system 1000; Cleaning equipment 100; Base station 200; Body 10; Housing 21; First housing 211; Second housing 212; First sub-housing 2121; Second sub-housing 2122; Second connecting part 21221; Third sub-housing 2123; Fourth connecting part 21231; Accommodating space 213; Mating surface 215; Second limiting part 217; Cleaning module 40; Cleaning component 22; Wastewater box 24; Recycling component 251; First connecting part 25112; Dirt-containing cavity 25115; First wastewater outlet 25116; Second wastewater outlet 25117; First limiting part 25118; Scraping part 2512; Top 25 123; Filter section 2513; Filter hole 25131; Bottom surface of filter hole 25133; Support section 2514; Support surface 25141; Baffle wall 25143; Avoidance space 25145; Baffle section 2515; Opening 2510; Reinforcing section 2516; Third connecting part 2517; Drain pipe 2518; First seal 252; Second seal 253; Third seal 254; Fourth seal 255; Pipeline channel 257; Power component 34; Width direction, rotation axis direction, length direction X; Height direction Z; Computer readable storage medium 400; Program 410; Processor 420. Detailed Implementation

[0082] To make the above-described objects, features, and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this disclosure. However, this disclosure can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific embodiments disclosed below.

[0083] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0084] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0085] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0086] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0087] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0088] During the wiping process of cleaning equipment, due to the diverse types of dirt or the limited coverage of the suction port, solid waste in the dirt is often drawn into the cleaning components and enters the wastewater recycling chain through the scraper, causing blockages and leaks. This increases the maintenance burden on the cleaning equipment, requiring users to invest a lot of effort in handling it. To solve this problem, this disclosure provides a cleaning device 100 (shown in FIG1) and a cleaning system 1000 (shown in FIG1).

[0089] Please refer to Figure 1. The cleaning system 1000 of this disclosure includes a cleaning device 100 of any of the following embodiments and / or a base station 200 of any of the following embodiments.

[0090] Cleaning equipment 100 is a device used to clean surfaces to be cleaned. For example, cleaning equipment 100 may include cleaning robots such as robotic vacuum cleaners, robotic mops, and robotic vacuum and mop combos. Robotic vacuum cleaners can be used to sweep the surface to be cleaned, robotic mops can be used to wipe the surface, and robotic vacuum and mop combos integrate the functions of both types of robots; that is, robotic vacuum and mop can be used to sweep and wipe the surface. Cleaning equipment 100 can also be an active cleaning device, i.e., a cleaning robot. Active cleaning devices are those that can autonomously move forward, backward, and turn to reach the surface to be cleaned. These active cleaning devices have intelligent functions and can automatically adjust the cleaning path according to environmental changes. The appropriateness of the cleaning path depends on the level of intelligence of the device. Active cleaning devices, through built-in sensors, algorithms, and control systems, achieve automatic navigation, obstacle recognition, and cleaning path planning, thereby completing the cleaning task. For example, a robotic vacuum cleaner uses built-in sensors to perceive its environment, plans the optimal cleaning path using a navigation system, and cleans the surface to be cleaned through functions such as vacuuming and / or sweeping and / or mopping. This type of active cleaning device can automatically avoid obstacles, thereby improving cleaning efficiency and quality. Active cleaning devices include, but are not limited to, robotic vacuum cleaners, robot vacuums, and robot vacuums / mops. The cleaning device 100 disclosed herein is illustrated using a robot vacuum and mop combo as an example. The surface to be cleaned can be, but is not limited to, floors, marble surfaces, carpets, or glass surfaces. This disclosure uses a floor as an example for illustration.

[0091] Base station 200 is a device for maintaining cleaning equipment 100. For example, base station 200 can clean cleaning equipment 100 and charge it. Furthermore, base station 200 may also have at least one of the following functions: replenishing water to cleaning equipment 100, draining water, and collecting dust. For example, when the power of cleaning equipment 100 is insufficient, cleaning equipment 100 returns to base station 200 to recharge. When cleaning equipment 100 is fully charged, it can leave base station 200 and continue cleaning the surface to be cleaned. When cleaning equipment 100 needs to drain water, it returns to base station 200 to discharge the wastewater, and then leaves base station 200 to continue cleaning the surface to be cleaned.

[0092] The cleaning equipment 100 and the base station 200 will be described in detail below with reference to the accompanying drawings.

[0093] Please refer to Figures 2 to 4. The cleaning equipment 100 includes a body 10, a housing 21, a cleaning component 22, a wastewater box 24, and a recycling component 251.

[0094] The components of the cleaning equipment 100, excluding the main body 10, are mounted on the main body 10, that is, the main body 10 serves as a carrier for loading the components of the cleaning equipment 100 other than the main body 10. The components other than the main body 10 mentioned herein include, but are not limited to, the cleaning equipment 100 and the cleaning module 40.

[0095] The housing 21 is a component for mounting the cleaning component 22. The cleaning component 22 is a component in the cleaning device 100 that specifically provides abrasive force to clean the surface to be cleaned. The cleaning component 22 is mounted on the body 10 in a manner that allows the housing 21 to be detachably or non-detachably mounted on the housing 21, thereby indirectly mounting the cleaning component 22 on the body 10. For example, the connection between the housing 21 and the body 10 can also be a movable connection; for instance, the housing 21 can be raised or lowered relative to the body 10 in the height direction, and / or the housing 21 can move relative to the body 10 in the left-right direction, thereby enabling the cleaning component 22 to be raised or lowered relative to the body 10 in the height direction and / or moved relative to the width direction of the body 10.

[0096] In some embodiments, the cleaning component 22 is a tracked cleaning component, in which case the cleaning device 100 is a tracked cleaning device. In other embodiments, the cleaning component 22 is a roller-type cleaning component, in which case the cleaning device 100 is a roller-type cleaning device. The rotation axis X of the cleaning component 22 provided in some embodiments of this disclosure may be parallel to the surface to be cleaned (as shown in Figure 4) or not parallel to the surface to be cleaned (such as some conical cleaning components). Furthermore, the cleaning component 22 specifically includes, but is not limited to, disposable electrostatic mops, disposable wet mops, or reusable fabric mops.

[0097] In some embodiments, the cleaning surface of the cleaning member 22 does not completely contact the surface to be cleaned. In this case, the cleaning surface of the cleaning member 22 rolls on the surface to be cleaned during the cleaning process. Therefore, only part of the cleaning surface of this type of cleaning member 22 contacts the surface to be cleaned during the cleaning process, while another part does not contact the surface to be cleaned. Therefore, this disclosure installs a scraping part 2512 on the cleaning surface of the cleaning member 22 that does not contact the surface to be cleaned. This allows the cleaning surface of the cleaning member 22 to be cleaned in real time while the cleaning member 22 rotates to clean the surface to be cleaned. That is, after the cleaning member 22 has cleaned part of the surface to be cleaned, it rotates to the scraping part 2512, which can clean that part of the cleaning surface. Then, the cleaning member 22 continues to rotate so that the part of the cleaning surface cleaned by the scraping part 2512 returns to the surface to be cleaned for further cleaning. Thus, as the cleaning component 22 rotates, the cleaning surface on the cleaning component 22 will be cleaned once by the scraping part 2512 with each rotation, making the cleaning surface of the cleaning component 22 that returns to the surface to be cleaned cleaner, thereby making the cleaning of the surface to be cleaned cleaner and more efficient.

[0098] In contrast, traditional disc-type or flat mop-type cleaning devices have their cleaning surfaces completely flush against the surface to be cleaned. Therefore, there is no space for real-time cleaning of the cleaning surface of the cleaning device 22. Consequently, the existing method for cleaning traditional disc-type or flat mop-type cleaning devices involves the cleaning device 100 returning to the base station 200, where the base station 200 supplies water to the disc-type cleaning device for cleaning. This design results in the cleaning device 100 becoming increasingly dirty as it cleans the surface, requiring frequent returns to the base station 200 to clean it. This can negatively impact the cleaning effect and efficiency of the cleaning device 100.

[0099] Therefore, compared to traditional disc-type or flatbed cleaning components (i.e., the rotation axis X is perpendicular to the surface to be cleaned), tracked and roller-type cleaning components (i.e., the rotation axis X is parallel to the surface to be cleaned), combined with the scraping part 2512, provide better cleaning results and higher efficiency. The following explanation mainly uses the example of cleaning through rolling friction between the cleaning component 22 and the surface to be cleaned.

[0100] Wastewater box 24 is a container on the cleaning equipment 100 used to store wastewater. Wastewater box 24 can be of any shape; for example, the cross-sectional shape of wastewater box 24 can be regular or irregular. In this disclosure, the cross-sectional shape of wastewater box 24 is irregular. This irregular cross-sectional design can adapt to the structural layout of the cleaning equipment 100, facilitating the compact arrangement of other components.

[0101] The cleaning equipment 100 includes a recycling component 251, which is used to collect and temporarily store wastewater generated by the cleaning component 22 during cleaning of the surface to be cleaned. Wastewater in the recycling component 251 can enter a wastewater box 24 for storage, and wastewater in the wastewater box 24 can also enter the recycling component 251, and then be discharged from the recycling component 251 to the outside of the cleaning equipment 100. Specifically, the recycling component 251 is mounted on the body 10 in a detachable or non-detachable manner, and the recycling component 251 is detachably mounted on the housing 21, thus indirectly mounting the recycling component 251 on the body 10.

[0102] In some embodiments, in the traveling direction of the cleaning device 100, the recycling component 251 is located behind the cleaning component 22, and the front side of the cleaning component 22 is provided with an element for supplying clean water to the cleaning component 22. The clean water wets the cleaning component 22, and the cleaning component 22 can wipe the surface to be cleaned in a wet state. After wiping the surface to be cleaned, the cleaning component 22 carries dirt. After passing through the scraping part 2512, the cleaning component 22 can peel off the dirt (including solid waste and sewage) from the cleaning surface of the cleaning component 22, so that the cleaning surface of the cleaning component 22 remains in a relatively clean state, avoiding the situation where dirt accumulates and the wiping is not clean, thus improving the cleaning effect on the surface to be cleaned. On the other hand, the sewage formed on the cleaning component 22 can be efficiently recycled by the recycling component 251 to the sewage box 24, and will not overflow onto the surface to be cleaned. In some embodiments, the cleaning component 22 is a tracked cleaning component. Since the water supply component is located on the front side of the cleaning component 22 and the recycling component 251 is located on the rear side of the cleaning component 22, the position where the cleaning surface of the cleaning component 22 is wetted is as far away as possible from the position where the dirt is scraped by the scraping part 2512. This allows the cleaning surface of the cleaning component 22 to be soaked for a longer period of time, so that the scraping part 2512 can remove more dirt when scraping the cleaning component 22.

[0103] A cleaning module 40 is disposed on the body 10. The cleaning module 40 is used to clean solid debris from the surface to be cleaned. In the traveling direction of the cleaning device 100, the cleaning module 40 is located in front of the cleaning component 22, thereby cleaning solid debris or larger particles from the surface to be cleaned before the cleaning component 22 rubs against it, preventing excessive solid debris from entangled in the cleaning component 22 and ensuring the normal operation of the cleaning device 100. The cleaning module 40 includes a suction structure (e.g., a suction port) with or without a roller brush, or a suction structure with or without a side brush, and is not limited in this disclosure.

[0104] Please refer to Figures 4 to 6 and Figure 10. The recycling component 251 includes a dirt-containing cavity 25115, a scraping part 2512, and a filter part 2513. The scraping part 2512 abuts against the cleaning component 22; in the height direction Z of the cleaning device 100, at least a portion of the dirt-containing cavity 25115 is lower than the scraping part 2512. During the rotation of the cleaning component 22, the scraping part 2512 peels dirt off the cleaning component 22. In the height direction Z of the cleaning device 100, the filter part 2513 is positioned higher than the scraping part 2512. The filter part 2513 has filter holes 25131 that connect the outside to the dirt-containing cavity 25115, allowing wastewater in the dirt to enter the dirt-containing cavity 25115 and blocking solid waste in the dirt from entering the dirt-containing cavity 25115.

[0105] Specifically, the recovery component 251 serves to support and connect other parts of the recovery component 251. When the cleaning equipment 100 is in operation, the recovery component 251 remains fixed, providing necessary support for the scraping section 2512 and the filter section 2513. The recovery component 251 can be made of plastic, metal, or composite materials, and is not limited thereto in this disclosure. When the recovery component 251 is made of plastic, it has good insulation properties, low cost, and light weight. When the recovery component 251 is made of metal, it has high strength, good wear resistance, and a long service life.

[0106] The recycling component 251 has a dirt-holding cavity 25115 inside, which is used to temporarily store wastewater generated by the cleaning component 22 during mopping. The dirt-holding cavity 25115 can be a cuboid, cylinder, or other shape. The dirt-holding cavity 25115 can be an open cavity or a closed cavity. For an open cavity, the recycling component 251 has an opening 2510 at the top, allowing the dirt-holding cavity 25115 to communicate directly with the outside, facilitating cleaning. For a closed cavity, the recycling component 251 does not have an opening 2510 at the top, forming a completely closed structure at the top of the dirt-holding cavity 25115, providing better sealing and preventing dirt leakage during recycling. During the operation of the cleaning equipment 100, the scraping part 2512 continuously scrapes off the dirt on the cleaning part 22. The dirt-holding cavity 25115 can hold the wastewater in the dirt after it has been filtered by the filtration part 2513, preventing the wastewater from re-adhering to the cleaning part 22 or falling onto the surface to be cleaned. Furthermore, the inner wall of the dirt-holding cavity 25115 can be treated to prevent contamination, such as by using a smooth material or coating. The combination of the dirt-holding cavity 25115 and the scraping part 2512 allows the wastewater in the dirt to be temporarily stored in the dirt-holding cavity 25115 after it has been removed by the scraping part 2512, preventing the wastewater from overflowing or re-adhering to the cleaning part 22. In some embodiments, the dirt-containing cavity 25115 extends along the rotation axis direction X of the cleaning component 22. On the one hand, this can increase the accommodating space of the dirt-containing cavity 25115, and on the other hand, it can effectively utilize the internal space of the cleaning equipment 100, reduce the cross interference between the recycling component 251 and the cleaning component 22, and make the layout extending along the rotation axis direction X of the cleaning component 22 more compact, thus avoiding the waste of the internal space of the cleaning equipment 100.

[0107] The scraping part 2512 abuts against the cleaning part 22 to remove dirt from the cleaning part 22. During the operation of the cleaning equipment 100, the scraping part 2512 is in close contact with the cleaning part 22. As the cleaning part 22 rotates, the scraping part 2512 continuously scrapes dirt from the cleaning surface of the cleaning part 22, thereby maintaining the cleaning effect of the cleaning part 22, reducing dirt accumulation, and extending the service life of the cleaning part 22.

[0108] However, since the sludge contains solid waste, solid waste entering the sludge chamber 25115 can easily cause blockage of the wastewater path. Therefore, the filter unit 2513 solves this problem. The filter unit 2513 allows wastewater in the sludge to flow into the sludge chamber 25115, while preventing larger solid waste in the sludge from entering the sludge chamber 25115 (wastewater recovery path).

[0109] In the height direction Z of the cleaning device 100, at least a portion of the dirt-holding cavity 25115 is lower than the scraping part 2512. That is, at least a portion of the dirt-holding cavity 25115 is positioned below the scraping part 2512 in the height direction Z of the cleaning device 100. This allows for natural drainage of wastewater using gravity, ensuring that wastewater flows smoothly into the dirt-holding cavity 25115, reducing the risk of wastewater overflow, and preventing secondary contamination of the surface to be cleaned. After the scraping part 2512 removes dirt from the cleaning surface of the cleaning component 22, the wastewater in the dirt flows directly into the lower-positioned dirt-holding cavity 25115 through the filter part 2513. This prevents wastewater from accumulating around the scraping part 2512 and reduces the possibility of wastewater re-adhering to the cleaning component 22. The bottom surface of the dirt-holding cavity 25115 can be inclined or conical to further guide the wastewater.

[0110] The filter section 2513 is used to separate dirt generated by the cleaning component 22 during the cleaning process. Since dirt on the ground includes not only sewage but also solid waste, dirt adheres to the cleaning component 22, forming grime. Alternatively, if the cleaning component 22 itself becomes wet, the dirt on it may become a mixture of solid waste and sewage. The filter section 2513 has filter holes 25131, which connect the outside to the dirt-holding chamber 25115. In one example, the filter section 2513 is a filter screen located between the dirt-holding chamber 25115 and the outside, and has multiple filter holes 25131. The size of the filter holes 25131 can be set as needed, only requiring that sewage can pass through while larger solid waste cannot. When the cleaning device 100 is in the state of mopping the surface to be cleaned, the dirt scraped off by the scraper section 2512 includes sewage and solid waste mixed with sewage. The sewage can flow through the filter section 2513 into the dirt-holding chamber 25115 for storage, preventing sewage from re-adhering to the cleaning component 22. Solid waste is blocked by the filter section 2513 and remains between the cleaning surface of the cleaning component 22 and the scraping section 2512, thereby preventing solid waste from entering the dirt-holding cavity 25115 and even further blocking the pipeline channel 257 connected to the dirt-holding cavity 25115. For example, during the operation of the cleaning device 100, the cleaning component 22, which contacts the scraping section 2512, rotates downwards relative to the scraping section 2512. The dirt scraped off by the scraping section 2512 accumulates above the scraping section 2512. The filter section 2513 is positioned higher than the scraping section 2512, allowing the wastewater in the dirt to directly enter the dirt-holding cavity 25115 through the filter section 2513 after the dirt is scraped off the scraping section 2512. In addition, in some embodiments, a sludge-holding chamber 25115 may be provided above the filter section 2513. In this way, when the cleaning device 100 is flipped, the sludge-holding chamber 25115, which was originally located above, is in a lower state, so that the sewage that was originally located in the lower sludge-holding chamber 25115 can flow into the upper sludge-holding chamber 25115, thereby preventing sewage from overflowing or polluting the environment.

[0111] In some embodiments, the filter section 2513 has a plurality of filter holes 25131, which are arranged along the length direction X of the recovery member 251. This arrangement can improve filtration efficiency.

[0112] In some embodiments, the volume of the sludge chamber 25115 is smaller than the volume of the wastewater box 24. Since the primary function of the sludge chamber 25115 is to temporarily store filtered wastewater, its volume only needs to accommodate the amount of wastewater stored during the short-term operation of the cleaning equipment 100. Because the wastewater in the sludge chamber 25115 is promptly recycled back to the wastewater box 24 via the wastewater recycling link (pipeline channel 257, etc.), the volume of the wastewater box 24 only needs to be designed to be large enough to ensure the continuous wastewater recycling operation of the cleaning equipment 100. The volume of the sludge chamber 25115, on the other hand, only needs to be designed to be small, thus saving space and improving the compactness of the cleaning equipment 100.

[0113] In some embodiments, the cleaning component 22, the sludge-holding chamber 25115, the scraping part 2512, and the filtering part 2513 at least partially overlap in the rotational axis direction X of the cleaning component 22. This allows wastewater from the dirt to be scraped off the cleaning component 22 and directly enter the sludge-holding chamber 25115 through the filtering part 2513, making the recovery path more direct and avoiding complex flow guiding structures or long-distance transmission processes, thereby reducing the time required for wastewater movement. After being scraped off by the scraping part 2512, the wastewater does not need to stay or accumulate in intermediate stages and directly enters the sludge-holding chamber 25115 or flows into the sludge-holding chamber 25115 through the filtering part 2513. This minimizes the time wastewater stays in the equipment, reduces the risk of wastewater adhesion, diffusion, or blockage, and avoids secondary pollution of the equipment.

[0114] When the cleaning component 22 is dragged by the rotating motion of the recycling component 251, dirt mixed with sewage and / or solid waste will be formed on the cleaning component 22. In this disclosure, the scraping part 2512 of the recycling component 251 abuts against the cleaning component 22, and the scraping part 2512 can scrape off the dirt from the cleaning component 22. Then, the filter part 2513 provided above the scraping part 2512 filters the scraped dirt. The sewage in the dirt can enter the dirt holding chamber 25115 through the filter hole 25131, and thus enter the sewage recycling link. The solid waste in the dirt cannot pass through the filter hole 25131 and is blocked outside the dirt holding chamber 25115, and will not enter the sewage recycling link. This reduces the risk of solid waste entering the dirt holding chamber 25115 and causing blockage of the sewage recycling link, and also eliminates the need for users to spend time and effort on maintenance.

[0115] In some embodiments, the lengths of the sludge-holding chamber 25115, the sludge scraping part 2512, and the filter part 2513 in the rotation axis direction X of the cleaning member 22 are close to the length of the cleaning member 22 in the rotation axis direction X; this ensures that the cleaning member 22 can achieve good wastewater recycling and solid waste filtration in almost all directions along its length.

[0116] Referring to Figure 5, in some embodiments, the extension direction (length direction) of the filter section 2513 is aligned with the rotation axis direction X, ensuring that wastewater enters the dirt-holding chamber 25115 evenly through the filter holes 25131, effectively avoiding clogging problems caused by local concentration. The alignment of the extension direction of the filter section 2513 with the rotation axis direction X also makes full use of the space in the cleaning device 100, resulting in a more compact structure for the filter section 2513 and the cleaning component 22.

[0117] Referring to Figure 5, in some embodiments, the extension direction (length direction) of the dirt-holding cavity 25115 is aligned with the rotation axis direction X, so that the scraped wastewater is evenly distributed along the dirt-holding cavity 25115, avoiding local accumulation of wastewater that could cause blockage of the dirt-holding cavity 25115. Similarly, aligning the extension direction of the dirt-holding cavity 25115 with the rotation axis direction X also makes the structure of the dirt-holding cavity 25115 and the cleaning component 22 more compact.

[0118] Referring to Figure 5, in some embodiments, the extending direction (length direction) of the scraping portion 2512 is aligned with the rotation axis direction X. When the cleaning member 22 rotates around the rotation axis X, the scraping portion 2512 contacts the cleaning surface of the cleaning member 22 and exerts a mutual force. Since the extending direction of the scraping portion 2512 is aligned with the rotation axis direction X, the force exerted by the scraping portion 2512 relative to the cleaning member 22 is evenly distributed along the rotation axis direction X. Therefore, the scraping portion 2512 can evenly scrape away dirt from the cleaning surface of the cleaning member 22, ensuring consistent cleaning results.

[0119] In some embodiments, the extension direction (length direction) of the filter section 2513 is consistent with the rotation axis direction X, the extension direction (length direction) of the dirt-holding cavity 25115 is consistent with the rotation axis direction X, and the extension direction (length direction) of the scraping section 2512 is consistent with the rotation axis direction X. This makes the overall structure compact and enables better cleaning of the cleaning component 22.

[0120] Please refer to Figure 5. In some embodiments, the length of the filter section 2513 in the rotation axis direction X is less than or equal to the length of the dirt-holding chamber 25115.

[0121] Specifically, in the rotation axis direction X, the length of the filter section 2513 is less than or equal to the length of the sludge chamber 25115, thereby ensuring that the wastewater filtered by the filter section 2513 flows smoothly into the sludge chamber 25115 and avoiding the overflow of filtered wastewater due to the excessive length of the filter section 2513. When the length of the filter section 2513 is exactly the same as that of the sludge chamber 25115, the length of the sludge chamber 25115 can be utilized to the maximum extent, thereby improving filtration efficiency.

[0122] Please refer to Figure 2. In some embodiments, the length of the cleaning component 22 is between 20cm and 30cm.

[0123] Specifically, the length of the cleaning component 22 can be 20cm, 21cm, 22cm, 23cm, 24cm, 25cm, 26cm, 27cm, 28cm, 29cm, or 30cm. If the length of the cleaning component 22 is less than 20cm, it is too short, resulting in a smaller area of ​​the surface to be cleaned covered by the cleaning device 100, and a longer time required to clean a room such as 20 square meters. If the length of the cleaning component 22 is greater than 30cm, it is too long, and when operating in confined spaces, the larger cleaning component 22 makes it inconvenient for the cleaning device 100 to move or turn, affecting its flexibility and maneuverability.

[0124] The length of the cleaning component 22 is between 20cm and 30cm, which provides sufficient cleaning area for the cleaning equipment 100 and improves cleaning efficiency, while not being too large, ensuring the flexibility of the cleaning equipment 100 and making it easy to use in different environments.

[0125] In some embodiments, as shown in FIG15, when the cleaning device 100 performs a mopping task, the cleaning member 22 at the contact point with the scraping part 2512 moves downward. Thus, after the scraping part 2512 scrapes off the dirt from the cleaning member 22, the scraped dirt can remain above the scraping part 2513. The dirt is further filtered by the filter part 2513 above the scraping part 2513 to separate the dirt into wastewater and solid waste.

[0126] In some embodiments, as shown in FIG15, the filter section 2513 abuts against the cleaning member 22. This arrangement allows the cleaning member 22 to also perform a certain cleaning effect on the filter section 2513 when the cleaning device 100 is performing a mopping task.

[0127] In some embodiments, as shown in FIG15, when the cleaning device 100 cleans solid waste outside the dirt-holding chamber 25115, the cleaning member 22 at the contact point with the scraping part 2512 moves upward.

[0128] Specifically, due to the presence of the scraping part 2512, the lint on the cleaning surface of the cleaning component 22 is lifted up, making the lint on the cleaning surface fluffy. The lifted lint can increase the friction between the lint and the solid waste, thereby moving the solid waste. When the cleaning component 22 can rotate the solid waste to a position where the cleaning component 22 does not contact the body 10 of the cleaning device 100 (e.g., the side facing the ground), the solid waste is easily removed from the cleaning device 100 under the action of gravity or centrifugal force, thereby achieving the cleaning of solid waste outside the dirt-holding cavity 25115.

[0129] Furthermore, in some embodiments, since the filter section 2513 abuts against the cleaning component 22, when cleaning solid waste outside the dirt-holding chamber 25115 using the above method, the friction between the solid waste and the cleaning component 22 will increase, thus enabling the solid waste to be moved more effectively.

[0130] Similarly, in some embodiments, since the cleaning component 22 is in close contact with the body 10 of the cleaning device 100 (e.g., mating surface 215), this close contact increases the friction between the solid waste and the cleaning component 22. Therefore, as the cleaning component 22 rotates, it uses friction to move the solid waste. When the solid waste rotates to a position where the cleaning component 22 is no longer in contact with the body of the cleaning device 100 (e.g., the side facing the ground), the solid waste easily detaches from the cleaning device 100 under the action of gravity or centrifugal force, achieving complete cleaning of the solid waste. Furthermore, throughout the entire process, regardless of whether the cleaning component 22 at the point of contact with the scraping part 2512 moves upward or downward, it can achieve a self-cleaning effect on the scraping part 2512 or the filter part 2513.

[0131] In some embodiments, as shown in Figures 14 and 15, the filter section 2513 is further away from the cleaning component than the scraping section 2512. This arrangement ensures that the scraping section 2512 is in complete contact with the cleaning component 22 without being interfered with by the filter section 2512, thus enabling effective dirt removal.

[0132] Furthermore, in some embodiments, both the filter section 2513 and the scraper section 2512 abut against the cleaning member 22; that is, in these embodiments, the degree of contact between the scraper section 2512 and the cleaning member 22 is greater than the degree of contact between the filter section 2513 and the cleaning member 22; in other words, the scraper section 2512 abuts against the cleaning member 22 more tightly and is closer to the rotation axis X of the cleaning member 22 in the travel direction Y of the cleaning device 100. A small space is formed between the filter section 2513, the scraper section 2512, and the cleaning member 22. Since both the filter section 2513 and the scraper section 2512 abut against the cleaning member 22, this small space may be filled with the fibers of the cleaning member 22, but because the fibers have a certain degree of compressibility, this small space can be used to accumulate solid waste intercepted outside the dirt-holding cavity 25115 by the filter section 2513. In this design, regardless of whether the cleaning part 22 at the contact point of the scraping part 2512 moves upward or downward, it can play a self-cleaning role for the filter part 2513.

[0133] Similarly, in other embodiments, there is an actual gap between the filter section 2513 and the cleaning component 22, meaning that only the scraping part 2512 abuts against the cleaning component 22, while the filter section 2513 does not contact the cleaning component 22. The small space formed between the filter section 2513, the scraping part 2512, and the cleaning component 22 is larger than the small space formed in a solution where both the filter section 2513 and the scraping part 2512 abut against the cleaning component 22. Therefore, this solution can accumulate more solid waste.

[0134] Regardless of which of the above solutions is used, the filter section 2513 and / or the scraping section 2512 can be self-cleaned by reversing the cleaning component 22 to pick up the lint.

[0135] In some embodiments, the distance between the filter section 2513 and the scraping section 2512 can be in the range of 1mm-3mm. The distance between the filter section 2513 and the scraping section 2512 is the distance in the travel direction Y of the cleaning device 100, that is, the distance of the interval space in the travel direction Y, which can accumulate more solid waste.

[0136] In some embodiments, the cleaning device 100 uses the cleaning component 22 to remove solid waste from the sludge chamber 25115 and detach it from the cleaning device 100. That is, the cleaning device 100 uses the cleaning component 22 to clean the solid waste.

[0137] Specifically, the solid waste outside the sludge chamber 25115 can be detached from the collection component 251 and removed from the cleaning device 100 using the cleaning component 22. This can be achieved using the solid waste cleaning method mentioned above, or other methods. No restrictions are placed on these methods, as long as the cleaning component 22 can effectively detach the solid waste in the small space from the collection component 251 and remove it from the cleaning device 100. For example, the contact state between the collection component 251 and the cleaning component 22 can be adjusted, thereby using the forward rotation (the cleaning component 22 in contact with the scraping part 2512 moves downwards) or reverse rotation (the cleaning component 22 in contact with the scraping part 2512 moves upwards) of the cleaning component 22 to achieve solid waste cleaning.

[0138] In some implementations, if a single solid waste cleaning action is insufficient to clean up the solid waste, the cleaning device 100 can control the cleaning component 22 to repeatedly perform the solid waste cleaning action multiple times to improve the solid waste cleaning effect.

[0139] In some embodiments, the cleaning device 100 uses an external force to act on the solid waste to detach the solid waste from the cleaning device 100. That is, as long as an external force is applied to the solid waste, it can be separated from the recycling unit 251 and detached from the cleaning device 100. This external force can be applied by the cleaning device 100, applied by the base station 200, or it can be the weight of the solid waste itself.

[0140] Referring to Figure 3, the cleaning device 100 is equipped with a drive wheel 101 for driving the cleaning device 100 to move on the surface to be cleaned. When the cleaning component 22 rolls relative to the surface to be cleaned, due to the friction between the cleaning component 22 and the surface, if the rotation direction of the cleaning component 22 is the same as that of the drive wheel 101, on the one hand, the travel speed of the cleaning device 100 will increase and become uncontrollable; on the other hand, the cleaning component 22 will not obtain good friction with the surface to be cleaned, resulting in poor cleaning effect. Therefore, it is necessary to set the rotation direction of the cleaning component 22 to be opposite to the direction of the drive wheel 101, so as to avoid or reduce the occurrence of the above situation.

[0141] Referring to Figures 3, 4, and 16, in some embodiments, the rear profile of the cleaning device 100 is arc-shaped in the forward direction of the cleaning device 100. The cleaning component 22 is located at the rear of the cleaning device 100, and the projection of the cleaning component 22 onto the horizontal plane is within the outline of the projection of the cleaning device 100 onto the horizontal plane. The recovery component 251 is located behind the cleaning component 22. The length of the dirt-holding cavity 25115 and / or the filter section 2513 is less than the length of the cleaning component 22.

[0142] For example, the cleaning device 100 is provided with a drive wheel 101 for driving the cleaning device 100 to move on the surface to be cleaned. Taking the forward-backward direction of the cleaning device 100 as a reference, the cleaning component 22 provided in this embodiment can be located behind the drive wheel 101 of the cleaning device 100, or the cleaning component 22 can be located behind the cleaning device 100. When the cleaning device 100 needs to enter the base station 200, the cleaning device 100 can enter the base station 200 in a backward posture. Specifically, in the forward-backward direction of the cleaning device 100, the cleaning device 100 includes a rear part and a front part, and the forward direction is from the rear part to the front part. The rear profile of the cleaning device 100 is arc-shaped, allowing the cleaning device 100 to maintain a good streamlined appearance and aerodynamic performance during movement. The arc-shaped rear profile avoids the presence of sharp angles or edges, reducing damage to other objects or the surface to be cleaned during collisions. The curved shape makes the rear of the cleaning device 100 smoother, helping to reduce collisions between the cleaning device 100 and other equipment or obstacles. Even if the cleaning device 100 comes into contact with or collides with an obstacle during operation, the contact or collision will be gentler, reducing damage. The curved contour also makes it less likely for dirt to accumulate. The cleaning component 22 is located at the rear of the cleaning device 100, as shown in Figures 16(a) and (b), which facilitates the placement of the sweeping module 40 at the front of the cleaning device 100. The sweeping module 40 includes a suction port facing the surface to be cleaned, which can suck up solid waste from the surface to be cleaned, making it easier for the cleaning component 22 at the rear to mop the surface to be cleaned. During the operation of the cleaning device 100, the front sweeping module 40 first cleans up the solid waste on the ground, and then the cleaning component 22 performs wet mopping or further cleaning on the already cleaned surface to be cleaned, reducing the chance of unswept solid waste coming into contact with the cleaning component 22 and reducing the possibility of the cleaning component 22 being entangled or stuck by solid waste during the cleaning process. The recycling component 251 is used to collect, process, and temporarily store the dirt generated after cleaning by the cleaning component 22 during its operation. The cleaning component 22 pushes the dirt scraped or removed during the cleaning process to the recycling component 251 as the cleaning component 22 rotates, and the recycling component 251 can collect and process the dirt in a timely manner.

[0143] The cleaning component 22 is located within the outline of the cleaning device 100 projected onto the horizontal plane, meaning that the design size and position of the cleaning component 22 closely match the overall outline of the cleaning device 100. The matching of the cleaning component 22's outline with the cleaning device 100's outline within the outer outline of the cleaning device 100's projection onto the horizontal plane helps ensure that the cleaning component 22 does not exceed the outline of the cleaning device 100, thereby preventing it from being subjected to unnecessary external forces or damage during movement, avoiding collisions or jamming with surrounding obstacles, and ensuring the working efficiency and safety of the cleaning device 100.

[0144] Typically, to ensure that the cleaning component 22 covers a large cleaning area, its length (i.e., its length in the X direction) needs to be as large as possible. As shown in Figures 16(a) and (b), the cleaning component 22 is a rectangle projected onto the horizontal plane, with its two rear corners as close as possible to the outer contour of the cleaning device 100, thus maximizing its length. The length of the dirt-holding cavity 25115 needs to be smaller than the length of the cleaning component 22 because it occupies the largest space for the recovery component 251. Therefore, if the length of the dirt-holding cavity 25115 is greater than or equal to that of the cleaning component 22, the recovery component 251 may protrude beyond the contour of the cleaning device 100 (as shown in Figure 16(a)), causing it to collide with the cleaning device 100 during its movement. Correspondingly, the length of the filter section 2513 depends on the length of the dirt-holding cavity 25115. If the length of the filter section 2513 is greater than that of the sludge-holding cavity 25115, the filtered wastewater exceeding the sludge-holding cavity 25115 cannot enter the sludge-holding cavity 25115, which can easily cause wastewater leakage. Therefore, the length of the sludge-holding cavity 25115 and / or the filter section 2513 is less than the length of the cleaning component 22 (as shown in Figure 16(b)), which ensures that the recovery component 251 is located within the outline of the projection of the cleaning equipment 100 on the horizontal plane, and that the recovery component 251 will not collide with the cleaning equipment 100 during its movement.

[0145] Referring to Figure 5, in some embodiments, the length of the scraping portion 2512 in the rotation axis direction X is greater than or equal to the length of the cleaning component 22. If the length of the scraping portion 2512 is less than the length of the cleaning component 22, the scraping portion 2512 cannot cover the entire cleaning surface of the cleaning component 22. Insufficient length of the scraping portion 2512 may result in some dirt on the cleaning surface of the cleaning component 22 not being scraped off in time, causing the part of the cleaning component 22 not covered by the scraping portion 2512 to become increasingly dirty as the cleaning equipment 100 works, resulting in incomplete cleaning and low cleaning efficiency. When the length of the scraping portion 2512 is greater than or equal to the length of the cleaning component 22, the scraping portion 2512 can cover the entire working area of ​​the cleaning component 22 or exceed its working range, thereby ensuring that the dirt on the entire cleaning component 22 is fully scraped off, which helps to improve cleaning efficiency, reduce dirt retention time, and ensure better cleaning results. Of course, usually, to save space, it is sufficient to set the length of the scraping portion 2512 to be equal to the length of the cleaning component 22.

[0146] Since the scraping part 2512 itself occupies a small space and can even fit snugly against the cleaning component 22, the scraping part 2512 requires less space than the dirt-containing cavity 25115. Therefore, even if the cleaning component 22 is made as large as possible, the length of the scraping part 2512 can be equal to that of the cleaning component 22, and the projection of the scraping part 2512 can also be within the outline of the horizontal plane of the cleaning device 100. This setting can improve the cleaning effect on the cleaning component 22.

[0147] Please refer to Figures 4, 5 and 16. In some embodiments, the length of the dirt-holding cavity 25115 and / or the filter section 2513 is shorter than the length of the dirt-scraping section 2512. In some embodiments, the shorter length is 1cm to 5cm.

[0148] Specifically, the length of the dirt-holding cavity 25115 and / or the filter section 2513 is 1 cm, 1.1 cm, 1.3 cm, 1.4 cm, 1.6 cm, 2 cm, 2.5 cm, 3 cm, 3.5 cm, 4 cm, 4.5 cm, or 5 cm shorter than the length of the scraping section 2512. For example, the length of the dirt-holding cavity 25115 and / or the filter section 2513 is 3 cm shorter than the length of the scraping section 2512.

[0149] In some embodiments, one end of the sludge-holding cavity 25115 and / or the filter section 2513 is connected to the drain pipe 2518 or the first sewage outlet 25116 in the rotation axis direction X; in other embodiments, both ends of the sludge-holding cavity 25115 and / or the filter section 2513 are connected to the drain pipe 2518 and the first sewage outlet 25116, respectively. Whether the drain pipe 2518 or the first sewage outlet 25116 has a certain length and requires a certain amount of space, if the length of the sludge-holding cavity 25115 is greater than that of the scraping section 2512, or 0cm-1cm shorter than the length of the scraping section 2512, then regardless of whether only the drain pipe 2518 or only the first sewage outlet 25116 is installed, or both the drain pipe 2518 and the first sewage outlet 25116 need to be installed, they may protrude beyond the outline of the cleaning device 100. During the operation of the cleaning device 100, this can easily cause the drain pipe 2518 and / or the first sewage outlet 25116 to collide. If the length of the dirt-holding cavity 25115 and / or the filter section 2513 is more than 5 cm shorter than the length of the scraping section 2512, then the excessively long scraping section 2512 will not have a corresponding filter section 2513 and dirt-holding cavity 25115. This will result in the dirt scraped off by the scraping section 2512 not being filtered through the filter section 2513 in a timely manner, leading to low filtration efficiency and potential wastewater leakage. Since the scraping section 2512 itself occupies relatively little space for the recovery component 251, its length is longer than the length of the dirt-holding cavity 25115 and / or the filter section 2513. This avoids occupying excessive space while improving the scraping effect on the cleaning component 22.

[0150] For example, Figures 16(a) and 16(b) show an embodiment where the cleaning component 22 is located at the rear of the cleaning device 100. Typically, to ensure the cleaning component 22 covers a large cleaning area, its length needs to be as large as possible, and correspondingly, the length of the scraping portion 2512 also needs to be as large as possible. However, for maneuverability, the outer contour of the cleaning device 100 is typically circular or near-circular. If the length of the sludge-holding cavity 25115 is designed to be the same as that of the cleaning component 22, as shown in Figure 16(a), then the drain pipe 2518 and / or the first wastewater outlet 25116 may protrude beyond the contour of the cleaning device 100, causing a collision. To avoid collisions, the drain pipe 2518 and / or the first wastewater outlet 25116 need to be retracted, and the length of the sludge-holding cavity 25115 needs to be less than the length of the scraping portion 2512 (cleaning component 22), thus providing clearance for the drain pipe 2518 and / or the first wastewater outlet 25116, as shown in Figure 16(b).

[0151] Please refer to Figures 5, 10, 11 and 12. In some embodiments, the recycling component 251 further includes a support portion 2514, which is connected to the filter portion 2513 and located at one or both ends of the filter portion 2513 along its length (rotation axis direction X), and is used to support the scraping portion 2512 located at one or both ends of the dirt-holding cavity 25115.

[0152] Specifically, the support portion 2514 is used to support the scraping portion 2512. In one example, the support portion 2514 is connected to other parts of the recovery component 251, as long as it can ensure that the support portion 2514 can support the scraping portion 2512 located at one or both ends of the dirt-containing cavity 25115; in another example, the support portion 2514 is connected to the filter portion 2513; the connection method can be detachable or non-detachable. In this disclosure, the support portion 2514 and the filter portion 2513 are integrally formed, which can further enhance the structural strength of the recovery component 251. The support portion 2514 is usually elongated or plate-shaped, with sufficient size and strength to support the scraping portion 2512 and ensure that it does not deform or shift during the cleaning process. The size and shape of the support 2514 can be designed according to the length of the scraper 2512. For example, the thickness of the support 2514 (the dimension in the direction perpendicular to the height Z and the length X) can be designed to be thinner, for example, 1mm-3mm, so as to make room for the installation of the drain pipe 2518 and / or the first sewage outlet 25116, and to allow the scraper 2514 to cover all the cleaning parts 22 as much as possible in the direction of the rotation axis X. The length of the support 2514 does not protrude from the scraper 2512, so as to satisfy the support of the scraper 2512 and avoid collision caused by the support 2514 being too long.

[0153] In some embodiments, the width of the support portion 2514 is greater than the width of the scraping portion 2512 (approximately in the Y direction) to ensure that the support portion 2514 has a certain strength even when it is thin, and also to have a certain function of blocking and guiding the dirt scraped off by the scraping portion 2512, which will be described in detail below. When the cleaning device 100 is in the state of mopping the surface to be cleaned, the rotation of the cleaning member 22 will generate a downward force on the scraping portion 2512. The rotation of the cleaning member 22 will cause the scraping portion 2512 to bend or deform easily. The support portion 2514 can support part of the scraping portion 2512 and prevent the scraping portion 2512 from deforming. In this disclosure, there are two support portions 2514, located at both ends of the filter portion 2513 in the length direction X, and the two support portions 2514 will be further described below. In some embodiments, the number of support portions 2514 can be set according to the configuration of the cleaning device 100. For example, if the cleaning device 100 only has a drain pipe 2518 or a first sewage outlet 25116, then only one support portion 2514 is needed; if the cleaning device 100 needs to have both a drain pipe 2518 and a first sewage outlet 25116, then two support portions 2514 need to be set at both ends of the sludge-containing cavity 25115. Compared to the case where only one support portion 2514 is needed, the length of the sludge-containing cavity 25115 and / or the filter portion 2513 is shorter when two support portions 2514 are set.

[0154] After the dirt is scraped off by the scraping part 2512, the dirt collected above the scraping part 2512. The side of the support part 2514 facing the cleaning member 22 is the support surface 25141. The support surface 25141 is inclined, that is, the support surface 25141 is inclined relative to the cleaning surface of the cleaning member 22, and the inclination direction is such that the part of the support surface 25141 closer to the filter part 2513 is further away from the cleaning member 22. This arrangement allows the space between the support surface 25141 and the cleaning surface of the cleaning component 22 to be larger towards the filter section 2513. Therefore, the inclined surface has a guiding effect, and at least the wastewater scraped off by the scraping part 2512 from the cleaning component 22 can flow towards the filter section 2513 along the inclined surface, improving the efficiency of wastewater recovery, increasing the possibility of wastewater flowing to the filter section 2513, reducing the possibility of wastewater scraped off by the scraping part 2512 at the support section 2514 remaining above the scraping part 2512, and thus reducing the possibility of the scraped wastewater being sucked back into the cleaning component 22.

[0155] Referring to Figure 5, in some embodiments, the recovery component 251 further includes a first seal 252, which is disposed between the support portion 2514 and the housing 21 and is used to seal the gap between the support portion 2514 and the housing 21.

[0156] Specifically, the first seal 252 is used to seal the gap between the support portion 2514 and the housing 21 to enhance the waterproof effect of the recovery component 251. The first seal 252 can be made of materials such as rubber, silicone, plastic, or synthetic fibers. Among them, rubber materials include, but are not limited to, natural rubber, nitrile rubber, fluororubber, polyurethane rubber, EPDM rubber, or silicone rubber. There can be one or more first seals 252, which is not limited in this disclosure. In one example, the first seal 252 is individually molded and then inlaid into the support portion 2514 or the housing 21; in another example, the first seal 252 is inlaid and molded into the support portion 2514 or the housing 21 in the form of overmolding or the like. When the cleaning device 100 is in the state of wiping the surface to be cleaned, the housing 21 is located above the scraping portion 2512, the first seal 252 is located on the side of the support portion 2514 away from the support surface 25141, and at least part of the first seal 252 is located between the support portion 2514 and the housing 21 in the height direction Z. The first seal 252 seals the gap between the support 2514 and the housing 21, preventing wastewater scraped off by the scraper 2512 from overflowing from the gap between the support 2514 and the housing 21, thus avoiding wastewater leakage from the top and improving the waterproof rating of the recovery component 251. Furthermore, the first seal 252 is low-cost and does not occupy additional installation space.

[0157] Please refer to Figures 5, 10, 11 and 12. In some embodiments, the support portion 2514 is provided with a barrier wall 25143 at the end away from the filter portion 2513. The barrier wall 25143 is used to prevent sewage in the dirt from leaking out to the end away from the filter portion 2513.

[0158] Specifically, the barrier wall 25143 protrudes from the support portion 2514 toward the cleaning member 22. Exemplarily, the protrusion direction can be away from the support portion 2514 and facing the cleaning member 22. In some embodiments, the barrier wall 25143 can be disposed on the support surface 25141 or connected to the support surface 25141. The barrier wall 25143 is located at the end of the support portion 2514 away from the filter portion 2513. Further, the barrier wall 25143 can be connected to the scraping portion 2512 and form a continuous protrusion to further prevent wastewater overflow. When the cleaning device 100 is in the state of wiping the surface to be cleaned, there is a continuous interaction force between the cleaning component 22 and the scraping part 2512. The wastewater scraped off by the scraping part 2512 has a tendency to flow to both sides of the scraping part 2512 on the rotation axis X. The blocking wall 25143 is located in the direction of wastewater flowing from the filter part 2513 to the support part 2514. It can prevent wastewater from overflowing along the end of the support part 2514 away from the filter part 2513, prevent wastewater from spreading to other parts of the cleaning device 100, and prevent wastewater from dripping onto the cleaned surface, ensuring that the wastewater can be collected into the dirt chamber 25115.

[0159] Furthermore, for the dirt scraped off by the scraping part 2512, the first seal 252, the barrier wall 25143, the support surface 25141, the scraping part 2512, and the cleaning part 22 together form a guiding space, the boundary of which is defined by the scraping part 2512, the first seal 252, and the barrier wall 25143. Guided by the inclined support surface 25141, this guiding space is used to guide the dirt scraped off by the scraping part 2512 to the filter part 2513. More specifically, in the height direction Z, the first seal 252 restricts dirt leakage from the upper exterior, and the scraper 2512 restricts dirt leakage downwards. In the rotation axis direction X (i.e., the length direction X of the recovery member 251), a baffle wall 25143 is provided at one end of the length direction X of the recovery member 251, while the filter 2513 is at the other end. Therefore, the baffle wall 25143 can prevent dirt from flowing towards the end of the support 2514 away from the filter 2513. Thus, the dirt is confined within the guide space. Since only the direction towards the filter 2513 is not blocked, the dirt can only flow towards the filter 2513 within the guide space, achieving the recovery of dirt scraped off by the scraper 2512, which does not have a corresponding dirt-containing cavity 25115 (which is not long enough).

[0160] Please refer to Figures 5, 10 and 12. In some embodiments, in the longitudinal direction X of the sludge chamber 25115, a support portion 2514 protrudes relative to the sludge chamber 25115 to form an avoidance space 25145. The avoidance space 25145 is at least used to install a first sewage outlet 25116, which is used to communicate with the sewage box 24 through a pipe channel 257.

[0161] Specifically, the avoidance space 25145 provides space for other components of the cleaning device 100 to communicate with the recycling component 251. In the longitudinal direction X of the recycling component, the support portion 2514 protrudes away from the recycling component 251. Thus, in the front-rear direction, a certain amount of empty space is formed on the side of the support portion 2514 away from the scraping portion 2512; this empty space is the avoidance space 25145. In one forming method, the avoidance space 25145 can be processed by partial cutting or die forming, and its shape is generally a regular rectangular groove, but it can also be an irregularly shaped groove depending on the layout of the cleaning device 100. The avoidance space 25145 is located at one end of the length of the sludge-containing cavity 25115 and near the connection end of the pipe channel 257, thereby forming a communication channel from the sludge-containing cavity 25115 to the wastewater box 24.

[0162] Therefore, the avoidance space 25145 provides installation space for the first sewage outlet 25116 and its connection with the pipeline channel 257, allowing the first sewage outlet 25116 to be integrated into the recycling component 251 without interfering with the function of other components. At the same time, the avoidance space 25145 shortens the sewage flow path, reduces sewage retention time, and further improves sewage recycling efficiency.

[0163] Please refer to Figures 5, 10 and 11. In some embodiments, along the longitudinal direction X of the sludge chamber 25115, another support 2514 protrudes relative to the sludge chamber 25115 to form an avoidance space 25145. The avoidance space 25145 is at least used for installing a drain pipe 2518, which is used to discharge wastewater from the sludge chamber 25115 to the outside of the recovery component 251.

[0164] Specifically, at least a portion of the drain pipe 2518 is installed within the avoidance space 25145. The inlet end of the drain pipe 2518 is connected to the sludge chamber 25115, and the outlet end of the drain pipe 2518 can discharge wastewater from the sludge chamber 25115 to the outside of the recovery component 251. The avoidance space 25145 provides installation space for the drain pipe 2518, allowing it to be compactly integrated into the structure of the support 2514 and the recovery component 251 without affecting the functional layout of other components. Furthermore, the avoidance space 25145 allows the drain pipe 2518 to be housed within the contour of the cleaning equipment 100, and the body 10 of the cleaning equipment 100 provides physical protection for the drain pipe 2518, preventing it from being damaged by external impacts or pulling during the operation of the cleaning equipment 100. The drain pipe 2518 makes the sewage discharge operation of the cleaning equipment 100 more convenient, and the cleaning work can be completed without disassembling other components, thus improving the convenience of the cleaning equipment 100.

[0165] Please refer to Figures 5 and 10. In some embodiments, the filter holes 25131 include a plurality of filter holes 25131, which are arranged at intervals along a direction parallel to the rotation axis X. The distance between two adjacent filter holes 25131 is greater than or equal to 1 mm and less than or equal to 20 mm.

[0166] Specifically, the distance between two adjacent filter holes 25131 is the minimum distance between the inner walls of the two filter holes 25131, that is, the thickness of the sidewall between two adjacent filter holes 25131. The distance between two adjacent filter holes 25131 can be 1mm, 4mm, 6mm, 9mm, 11mm, 12mm, 14mm, 17mm, 19mm, or 20mm. If the distance between two adjacent filter holes 25131 is less than 1mm, the distance is too close, the sidewall between the two adjacent filter holes 25131 is too thin, and the sidewall is easily damaged or deformed, causing large-sized dirt to enter the dirt-holding cavity 25115, resulting in the failure of the filtration function of the filter section 2513. If the distance between two adjacent filter holes 25131 is greater than 20mm, the distance is too far, the number of filter holes 25131 provided on the filter section 2513 is limited, the density of the filter holes 25131 is insufficient, affecting the flow efficiency of sewage from the filter holes 25131 into the dirt-holding cavity 25115.

[0167] The distance between two adjacent filter holes 25131 is greater than or equal to 1 mm and less than or equal to 20 mm. This ensures sufficient density of the filter holes 25131 to improve the filtration efficiency of the filter section 2513 while maintaining the structural strength of the sidewalls between adjacent filter holes 25131, thus ensuring efficient flow of wastewater from the filter holes 25131 into the dirt-holding chamber 25115. For example, the distance between two adjacent filter holes 25131 is 5 mm.

[0168] Please refer to Figures 5 and 10. In some embodiments, the area of ​​the filter pore 25131 ranges from 10 mm. 2 -50mm 2 .

[0169] Specifically, the area of ​​filter orifice 25131 refers to the flow area of ​​one filter orifice 25131. The area of ​​filter orifice 25131 can be 10 mm². 2 12mm 2 14mm 2 20mm 2 25mm 2 35mm 2 37mm 2 45mm 2 49mm 2 Or 50mm 2 If the area of ​​filter hole 25131 is less than 10mm² 2 If the filter hole 25131 is too small, it will easily become clogged due to dirt accumulation, reducing the service life of the filter section 2513 and affecting the flow efficiency of wastewater from the filter hole 25131 into the dirt-holding chamber 25115. If the area of ​​the filter hole 25131 is greater than 50mm², then... 2If the filter hole 25131 is too large, it will be unable to effectively block large dirt, causing the filtration function of the filter section 2513 to fail. This will result in large dirt entering the dirt chamber 25115 and the wastewater box 24, causing blockage of the channel between the dirt chamber 25115 and the wastewater box 24.

[0170] The area of ​​filter pore 25131 is within the range of 10mm². 2 -50mm 2 This design ensures efficient flow of wastewater from the filter holes 25131 into the dirt-holding chamber 25115, guaranteeing timely inflow. It also ensures the filtration function of the filter section 2513, preventing large-sized contaminants from being blocked by the filter holes 25131. For example, the area of ​​the filter holes 25131 is typically 20 mm². 2 -25mm 2 .

[0171] The size of the filter hole 25131 is determined based on the type of solid waste on the ground, such as rice grains, bread crumbs, pet feces, cat litter, etc., and is obtained through a large number of experiments and statistical measurements.

[0172] Please refer to Figures 5 and 10. In some embodiments, the filter hole 25131 is rectangular in shape.

[0173] Specifically, the rectangle is a polygon composed of straight lines, without arcs, and opposite sides of the rectangle are parallel and equal. Therefore, the rectangular filter holes 25131 are arranged more compactly on the filter section 2513 compared to filter holes 25131 of other shapes (such as circles or polygons), thereby improving the utilization rate of the filter section 2513 and increasing the flow rate of sewage. In addition, the regular shape of the rectangular holes is conducive to the control of processing precision and the consistency of arrangement, further improving the manufacturing reliability of the filter section 2513. The compact arrangement of the rectangular holes can also reduce the useless area of ​​the filter section 2513, optimize the filtration efficiency of the cleaning equipment 100, and reduce manufacturing costs and material waste. Referring to Figures 4 and 5, in some embodiments, the sewage box 24 is connected to the sludge chamber 25115 through the pipe channel 257, and the flow area of ​​the filter holes 25131 is smaller than the minimum flow area of ​​the pipe channel 257.

[0174] Specifically, the limitation of the flow area of ​​the filter hole 25131 ensures that the sewage can be fully filtered when it flows from the filter section 2513 into the sludge chamber 25115. The filter hole 25131 can prevent solid waste with a maximum outer contour area larger than the minimum flow area of ​​the pipe channel 257 from entering the sludge chamber 25115, thereby reducing the risk of solid waste clogging the pipe channel 257 and ensuring unobstructed flow between the sludge chamber 25115 and the sewage box 24.

[0175] Please refer to Figures 4 and 5. In some embodiments, the maximum dimension of the inner contour of the filter hole 25131 is smaller than the minimum dimension of the inner contour of the cross-section of the pipeline channel 257.

[0176] Specifically, the filter section 2513 can block solid waste with a size larger than the minimum size of the inner contour of the pipe channel 257 from entering the sludge chamber 25115, thereby preventing solid waste from entering the pipe channel 257 from the sludge chamber 25115 and reducing the risk of the pipe channel 257 being blocked by solid waste. Furthermore, for some elongated solid waste, the maximum inner diameter of the filter hole 25131 is smaller than the minimum inner diameter of the pipe channel 257, which can prevent some dirt (such as thin iron wire) with a small outer contour area but a large size from entering the sludge chamber 25115.

[0177] Solid waste includes waste that is solid in itself or waste that is highly viscous.

[0178] Please refer to Figure 10. In some embodiments, the top surface 25123 of the scraping part 2512 forms the bottom surface 25133 of the filter hole 25131.

[0179] Specifically, the top surface 25123 of the scraping part 2512 is the upper surface of the scraping part 2512. The dirt scraped off by the scraping part 2512 from the cleaning surface of the cleaning member 22 accumulates on the top surface 25123 of the scraping part 2512, and the wastewater in the dirt flows into the filter hole 25131 from the top surface. In some embodiments, the scraping part 2512 and the filter part 2513 are an integral structure. On the one hand, this allows for a more compact structure between the scraping part 2512 and the filter part 2513, which is beneficial for timely scraping of wastewater into the dirt-holding chamber 25115. On the other hand, the connection between the scraping part 2512 and the filter part 2513 is smoother, with no gaps, making it less prone to dirt accumulation. In some embodiments, when the filter hole 25131 is rectangular, the top surface of the scraping part 2512 can form a rectangular side to improve the efficiency of wastewater passage.

[0180] Please refer to Figures 10 and 13. In some embodiments, the top surface 25123 of the scraper 2512 is inclined downward toward the dirt-containing cavity 25115.

[0181] Specifically, the top surface 25123 of the scraper 2512 is defined as the upper surface of the scraper 2512, which forms a downward sloping angle towards the sludge-containing cavity 25115. The sloping design means that the top surface 25123 of the scraper 2512 is not horizontal, and a certain height difference is formed in the front-to-back direction. The downward sloping top surface 25123 of the scraper 2512 has a guiding effect on the wastewater, making it easier for the wastewater to slide into the sludge-containing cavity 25115 under gravity, increasing the speed at which the wastewater enters the sludge-containing cavity 25115 through the filter holes 25131, and improving the efficiency of wastewater recovery by the recovery unit 251. The angle between the top surface 25123 of the scraper 2512 and the horizontal plane can be 5°-30°, etc., and is not limited in this disclosure.

[0182] Referring to Figures 10 to 15, in some embodiments, the recycling member 251 further includes a blocking portion 2515. The blocking portion 2515 is disposed below the scraping portion 2512. In the height direction Z of the cleaning device 100, the blocking portion 2515 and the filter portion 2513 are respectively located on opposite sides of the scraping portion 2512. In the front-rear direction of the cleaning device 100, the blocking portion 2515 is located between the cleaning member 22 and the dirt-containing cavity 25115.

[0183] Specifically, the blocking part 2515 is used to prevent sewage from flowing along the outer wall of the recovery part 251 away from the cleaning part 22, thus preventing sewage from polluting the surrounding environment or interfering with the cleaning effect during the operation of the cleaning equipment 100. The blocking part 2515 and the filter part 2513 are located on opposite sides of the scraping part 2512, specifically, in the height direction Z of the cleaning equipment 100, the blocking part 2515 and the filter part 2513 are located on the upper and lower sides of the scraping part 2512, respectively. The filter part 2513 is above, allowing sewage to enter the dirt-holding chamber 25115 through the filter holes 25131; the blocking part 2515 is below, intercepting the sewage flowing down from the scraping part 2512 and controlling the downstream sewage below the scraping part 2512, preventing sewage from contaminating the cleaned area of ​​the cleaning equipment 100. The blocking part 2515 extends from the scraping part 2512 away from the filter part 2513, and the extension direction can be the height direction Z, or it can have a certain inclination and curvature relative to the height direction Z. In some embodiments, the blocking portion 2515 extends further away from the filter portion 2513, and the further away from the cleaning member 22 it is; or in some embodiments, the blocking portion 2515 is arc-shaped in the direction extending away from the filter portion 2513, and this arc matches the shape of the cleaning member 22 so that the wastewater flowing down from the scraping portion 2512 can be absorbed by the cleaning member 22, preventing secondary pollution. The blocking portion 2515 can prevent wastewater from flowing from the scraping portion 2512 away from the cleaning member 22, thereby preventing wastewater from contaminating the outer wall of the portion forming the dirt-containing cavity 25115 in the recovery member 251, ensuring the cleanliness of the recovery member 251.

[0184] Please refer to Figures 10 to 13. In some embodiments, the inner contour of the cross-section of the dirt-containing cavity 25115 is at least arc-shaped at the bottom, and the cross-section of the dirt-containing cavity 25115 is a plane intercepted by a plane that is perpendicular to the horizontal plane and parallel to the travel direction of the cleaning device 100.

[0185] Specifically, the sludge-holding chamber 25115 is a link in the wastewater recycling chain and is used for temporary storage of wastewater. Although the filter section 2513 can filter out large debris, small particles of debris still enter the sludge-holding chamber 25115. After long-term use, these small particles of debris will form scale on the walls of the sludge-holding chamber 25115, which will eventually clog the wastewater recycling chain. In this embodiment, the inner contour of the sludge-holding chamber 25115 is designed to be arc-shaped. When the wastewater in the sludge-holding chamber 25115 is sucked away from the first wastewater outlet 25116 or discharged from the second wastewater outlet 25117, the arc shape has no sharp corners and will not obstruct the small debris in the wastewater. The small debris will be smoothly sucked away from the first wastewater outlet 25116 or discharged from the second wastewater outlet 25117 along with the wastewater, reducing the scale that will eventually form due to the debris not being discharged from the sludge-holding chamber 25115, thereby ensuring the smooth flow of the wastewater recycling chain.

[0186] Please refer to Figures 5 and 10. In some embodiments, the sludge-containing cavity 25115 includes a first end and a second end opposite each other in the length direction X. The recycling component 251 includes a first sewage outlet 25116 and a second sewage outlet 25117. In the rotation axis direction X, the first sewage outlet 25116 is located at the first end of the sludge-containing cavity 25115 and connects the sludge-containing cavity 25115 with the sewage box 24. The second sewage outlet 25117 is located at the second end of the sludge-containing cavity 25115 and connects the sludge-containing cavity 25115 with the outside.

[0187] The sludge-holding cavity 25115 has a first sewage outlet 25116 at one end along its length X, and a second sewage outlet 25117 at the other end along its length X. When the cleaning device 100 is in the state of wiping the surface to be cleaned, the sewage scraped off by the scraping part 2512 is temporarily stored in the sludge-holding cavity 25115. The sewage in the sludge-holding cavity 25115 is connected to the sewage box 24 through the first sewage outlet 25116. The cleaning component 22 can simultaneously wipe the surface to be cleaned and collect the sewage generated during wiping through the first sewage outlet 25116 into the sewage box 24 for storage, thus realizing the self-cleaning function of the cleaning component 22 in the cleaning device 100. The location, height, shape, and size of the first sewage outlet 25116 can be arbitrarily set, and this disclosure does not limit it. For example, the first sewage outlet 25116 of this disclosure is located above the sludge-holding cavity 25115 in the height Z direction, thereby fully utilizing the volume of the sludge-holding cavity 25115 to temporarily store sewage.

[0188] The second sewage outlet 25117 may be equipped with a valve (not shown in the figure), which is used to open to discharge sewage when the cleaning equipment 100 is in the sewage discharge state. After the cleaning equipment 100 reaches a specific location (e.g., base station 200), the sewage in the sewage box 24 flows out through the first sewage outlet 25116 to the sewage-containing cavity 25115. The second sewage outlet 25117 is connected to the sewage-containing cavity 25115, and the sewage can be discharged into the base station 200 for cleaning through the second sewage outlet 25117. Alternatively, in some embodiments, the sewage-containing cavity 25115 temporarily stores sewage. When needed, such as when the sewage-containing cavity 25115 is full, the sewage in the sewage-containing cavity 25115 can be discharged to the outside through the second sewage outlet 25117. The setting position, setting height, shape, and size of the second sewage outlet 25117 can be arbitrarily set, and this disclosure does not limit it. For example, in the height direction Z, the first sewage outlet 25116 is higher than the second sewage outlet 25117, which facilitates the drainage of sewage from the second sewage outlet 25117 into the sludge-containing cavity 25115 and prevents sewage from accumulating in the cavity 25115. In one example, the first sewage outlet 25116 is located at the top 25123 of the sludge-containing cavity 25115, and the second sewage outlet 25117 is located on the side of the sludge-containing cavity 25115 (left side in this disclosure). The drain pipe 2518 is connected to the sludge-containing cavity 25115 through the second sewage outlet 25117; in some embodiments, by operating the drain pipe 2518, the drain pipe 2518 can be switched between a draining state and a non-draining state.

[0189] Please refer to Figures 5 and 10. In some embodiments, the first sewage outlet 25116 is located at one end of the sludge chamber 25115. The first sewage outlet 25116 is connected to the sewage box 24. The bottom surface of the inner surface of the sludge chamber 25115 is inclined downward towards the end where the first sewage outlet 25116 is located.

[0190] Specifically, the depth of the sludge-containing cavity 25115 gradually increases from the second end to the first end, allowing sewage to flow from the second end to the first end under the influence of gravity, and then enter the sewage box 24 through the first sewage outlet 25116. The gradual increase in depth helps ensure the smooth flow of sewage within the sludge-containing cavity 25115, allowing it to be smoothly recovered from the first sewage outlet 25116 to the sewage box 24, preventing sewage from accumulating or stagnating within the sludge-containing cavity 25115.

[0191] Please refer to Figures 5 and 10. In some embodiments, the direction from the projection of the second end of the sludge-containing cavity 25115 onto the horizontal plane to the projection of the first end of the sludge-containing cavity 25115 onto the horizontal plane is the first direction; the direction in which the bottom of the inner surface of the sludge-containing cavity 25115 extends toward the first end is the second direction; the angle between the first direction and the second direction is greater than or equal to 1° and less than or equal to 2°.

[0192] Specifically, the angle between the first direction and the second direction can be 1°, 1.1°, 1.2°, 1.3°, 1.4°, 1.5°, 1.6°, 1.7°, 1.8°, 1.9°, or 2°. If the angle between the first direction and the second direction is less than 1°, the sewage flow may be too slow, causing the sewage to accumulate or stagnate in the sludge chamber 25115, resulting in the formation of dirt clinging to the walls of the sludge chamber 25115. If the angle between the first direction and the second direction is greater than 2°, the bottom surface of the inner surface of the sludge chamber 25115 will have an excessively large inclination angle, which will increase the resistance to the sewage flow from the first end to the second end, resulting in poor sewage flow. When the cleaning equipment 100 is in the sewage discharge state, the sewage cannot be completely discharged from the second sewage outlet 25117 and is prone to accumulate in the sludge chamber 25115. The angle between the first and second directions is greater than or equal to 1° and less than or equal to 2°, which can prevent sewage from accumulating in the sludge chamber 25115, ensure the smooth flow of the sewage recycling chain, and also ensure that the sewage in the sludge chamber 25115 is discharged smoothly from the second sewage outlet 25117, reducing the probability of sewage flow being obstructed or not being completely discharged due to excessively flat or steep terrain.

[0193] Please refer to Figures 5 and 10. In some embodiments, the recycling component 251 includes a sludge container forming a sludge chamber 25115, with an opening 2510 at the top.

[0194] Specifically, in one molding method, the recyclable part 251 has a sludge-containing groove to form a sludge-containing cavity 25115. The top of the sludge-containing groove is set as an open structure 2510, that is, the top 25123 of the sludge-containing groove is not closed. During the manufacturing process of the recyclable part 251, since the top of the sludge-containing groove is open 2510, without the restriction of a complex closed structure, the mold can be easily separated, reducing manufacturing difficulty and defect rate, and improving production efficiency. During the use of the cleaning equipment 100, the open 2510 allows the interior of the sludge-containing cavity 25115 to be cleaned directly through the open 2510 without the need for complex tools or disassembly of components, making the cleaning process faster and effectively removing attached dirt or residue. The open 2510 also provides convenient conditions for subsequent maintenance, inspection and repair. Users can easily check the condition inside the sludge-containing cavity 25115, quickly troubleshoot and handle problems, reduce downtime and improve the maintainability of the equipment. In some embodiments, the recyclable part 251 can be removed from the cleaning device 100, so that when the sludge container of the recyclable part 251 is very dirty, the user can remove the recyclable part 251 and take it to a faucet or other place to clean it.

[0195] Referring to Figures 5 and 10, in some embodiments, the filter section 2513 is located on one side of the opening 2510. The recovery component 251 also includes a second seal 253. The second seal 253 surrounds the remaining sides of the opening 2510 except for the side where the filter section 2513 is located, and the second seal 253 is used to seal the gap between the housing 21 and the recovery component 251.

[0196] Specifically, the second seal 253 is used to seal the gap between the housing 21 and the recovery component 251 to enhance the waterproof effect of the recovery component 251. The second seal 253 can be made of materials such as rubber, silicone, plastic, or synthetic fibers. Among them, rubber materials include, but are not limited to, natural rubber, nitrile rubber, fluororubber, polyurethane rubber, EPDM rubber, or silicone rubber. There can be one or more second seals 253, which is not limited in this disclosure. In one example, the second seal 253 is molded separately and then embedded in the housing 21 and / or the recovery component 251; in another example, the second seal 253 is embedded and molded in the housing 21 and / or the recovery component 251 in the form of overmolding or the like. The second seal 253 can seal the gap between the housing 21 and the recovery component 251. The second seal 253 surrounds the opening 2510, and all sides except the side where the filter part 2513 is located are covered by the second seal 253. This means that if the opening 2510 is rectangular, the second seal 253 covers three sides of the opening 2510, while the filter section 2513 is located on the fourth side of the opening 2510, i.e., the side not covered by the second seal 253. One side of the filter section 2513 abuts against the cleaning component 22, also preventing dirt leakage; this layout allows wastewater to enter the recovery component 251 only through the filter section 2513, without leakage from other sides. The second seal 253 abuts against the housing 21 and matches the opening 2510 of the recovery component 251, preventing wastewater from overflowing from the dirt chamber 25115 when the housing 21 is tilted (i.e., when the front part rises, causing the entire cleaning device 100 to tilt), thereby improving the waterproof rating of the recovery component 251. Furthermore, the second seal 253 is low-cost and does not occupy additional installation space.

[0197] Referring to Figures 5 and 10, in some embodiments, the recovery component 251 further includes a third seal 254. The third seal 254 is disposed between the first sewage outlet 25116 and the pipeline channel 257 and is used to seal the gap between the first sewage outlet 25116 and the pipeline channel 257.

[0198] Specifically, the third seal 254 is used to seal the gap between the first sewage outlet 25116 and the pipeline channel 257 to enhance the waterproof effect of the recovery component 251. The third seal 254 can be made of materials such as rubber, silicone, plastic, or synthetic fibers. Among them, rubber materials include, but are not limited to, natural rubber, nitrile rubber, fluororubber, polyurethane rubber, EPDM rubber, or silicone rubber. There can be one or more third seals 254, which is not limited in this disclosure. In one example, the third seal 254 is molded separately and then embedded in the first sewage outlet 25116 and / or the pipeline channel 257; in another example, the third seal 254 is embedded and molded in the first sewage outlet 25116 and / or the pipeline channel 257 in the form of overmolding or similar methods. The third seal 254 can seal the gap between the housing 21 and the first sewage outlet 25116 and / or the pipeline channel 257, preventing sewage from overflowing from the first sewage outlet 25116, thereby improving the waterproof level of the recovery component 251. Furthermore, the third seal 254 is low in cost and does not take up additional installation space.

[0199] Please refer to Figures 5 and 10. In some embodiments, the fourth seal 255 may also be disposed between the second sewage outlet 25117 and the drain pipe 2518, and used to seal the gap between the second sewage outlet 25117 and the drain pipe 2518.

[0200] Specifically, the fourth seal 255 is used to seal the gap between the second sewage outlet 25117 and the drain pipe 2518 to enhance the waterproof effect of the recovery component 251. There can be one or more fourth seals 255, and this disclosure is not limited to any one. In one example, the fourth seal 255 is individually molded and embedded in the second sewage outlet 25117 and / or the drain pipe 2518; in another example, the fourth seal 255 is embedded and molded in the second sewage outlet 25117 and / or the drain pipe 2518 in the form of overmolding or similar materials. The fourth seal 255 can seal the gap between the housing 21 and the second sewage outlet 25117 and / or the drain pipe 2518, preventing sewage from overflowing from the second sewage outlet 25117, thereby improving the waterproof rating of the recovery component 251. Furthermore, the fourth seal 255 is low in cost and does not occupy additional installation space.

[0201] Referring to Figures 4 and 5, in some embodiments, the recovery component 251 further includes a pipeline channel 257 and a power component 34. One end of the pipeline channel 257 is connected to the sludge chamber 25115 via a first sewage outlet 25116, and the other end is connected to the sewage box 24. The power component 34 is connected to the sewage box 24 and is used to provide negative pressure to the sewage box 24 to draw sewage from the sludge chamber 25115 into the sewage box 24 through the pipeline channel 257; the power component 34 is also used to provide positive pressure to the sewage box 24 so that the sewage in the sewage box 24 is discharged into the sludge chamber 25115 through the pipeline channel 257, and then discharged to the outside through the second sewage outlet 25117.

[0202] In some embodiments, at least two of the first seal 252, the second seal 253, the third seal 254, and the fourth seal 255 are integrally formed; in other embodiments, the first seal 252, the second seal 253, the third seal 254, and the fourth seal 255 are all integrally formed.

[0203] As previously described, the wastewater box 24 is a container for storing liquids, and the recycling unit 251 is used to temporarily store wastewater generated by the cleaning unit 22 during cleaning of the surface to be cleaned. The power unit 34 is a device for pumping wastewater from the sludge chamber 25115 into the wastewater box 24 and discharging wastewater from the wastewater box 24 back into the sludge chamber 25115. In some embodiments, there may be one power unit 24, which can simultaneously pump and discharge wastewater; in some embodiments, there may be two power units 24, which are used for pumping and discharging wastewater respectively; when there are two power units 24, the power unit for discharging wastewater may be located on the cleaning device 100 or on the base station 200.

[0204] Specifically, when the cleaning device 100 is wiping the surface to be cleaned, the power unit 34 is activated and provides negative pressure to the wastewater box 24, causing the power unit 34 to be in a wastewater suction state. Activation methods include, but are not limited to, continuous activation following the cleaning device 100, intermittent activation based on the working time of the cleaning unit 22, and intermittent activation based on the volume of wastewater in the wastewater holding chamber 25115. When the cleaning device 100 is in a wastewater discharge state, the power unit 34 is connected to the wastewater box 24 and provides positive pressure to the wastewater box 24, causing the power unit 34 to be in a wastewater discharge state. This allows the wastewater in the wastewater box 24 to be discharged through the pipe channel 257 into the wastewater holding chamber 25115, and then discharged to the outside through the second wastewater outlet 25117 and the drain pipe 2518. When the cleaning device 100 returns to the base station 200 for wastewater discharge, the wastewater from the cleaning device 100 is discharged into the base station 200, and then collected by the base station 200 or discharged into the sewer.

[0205] Referring to Figure 10, in some embodiments, the recycling member 251 further includes a reinforcing portion 2516, which is located between the two ends of the recycling member 251 in the longitudinal direction X, and in the front-back direction, the reinforcing portion 2516 is located on the side of the recycling member 251 closer to the cleaning member 22.

[0206] Specifically, the reinforcing part 2516 is used to increase the structural strength of the recyclable part 251. The size, shape, position, and number of the reinforcing part 2516 can be designed according to actual needs and are not limited in this disclosure. The reinforcing part 2516 can enhance the overall rigidity of the recyclable part 251. The position of the reinforcing part 2516 can be located in the middle, both ends, or other suitable areas of the recyclable part 251, and can be adjusted according to specific structural requirements.

[0207] Because the recycling component 251 is relatively long in the X direction, when the cleaning device 100 is in the state of wiping the surface to be cleaned, the rotation of the cleaning component 22 will exert a downward force on the side of the recycling component 251 closer to the cleaning component 22 (such as the scraping part 2512). The rotation of the cleaning component 22 will cause deformation in the middle of the recycling component 251. Without the reinforcing part 2516, this deformation in the middle part may cause gaps to form between the recycling component and the machine body, allowing solid waste in the dirt to easily enter the dirt-holding chamber 25115 through the gaps, causing blockage of the dirt-holding chamber 25115 and the wastewater box 24. When the reinforcing part 251 is installed on the body 10 and positioned between the opposite ends of the retrieval member 251, an additional connection point is added between the retrieval member 251 and the body 10. The reinforcing part 251 can withstand the force generated during the rotation of the cleaning member 22, thereby improving the connection strength of the retrieval member 251 and preventing excessive bending or deformation of the retrieval member 251 when the cleaning device 100 is wiping the surface to be cleaned, ensuring that the retrieval member 251 can work normally. In addition, as an additional connection point between the retrieval member 251 and the body 10, the reinforcing part 251 also improves the installation stability of the retrieval member 251. Exemplarily, in some embodiments, there is one reinforcing part 2516, which is positioned in the middle between the opposite ends of the retrieval member 251 in the length direction X. The middle position of the retrieval member 251 in the length direction X is most susceptible to deformation and stress concentration, and the reinforcing part 2516 located in the middle provides good support for the retrieval member 251. The front-to-back direction is perpendicular to the height direction Z and the length direction X. The reinforcing part 2516 is located on the side of the recycling part 251 closer to the cleaning part 22, so as to more directly bear the force of the cleaning part 22 on the recycling part 251, thereby more effectively dispersing and resisting the force generated during the cleaning process, and reducing the bending or deformation of the scraping part 2512 and the filter part 2513 due to the force. In some embodiments, the number of reinforcing parts 2516 can be multiple, such as 2, 3, 4, or 5, to improve installation stability.

[0208] Referring to Figure 5, in some embodiments, the installation direction of the recycling component 251 is parallel to the retraction direction of the cleaning device 100.

[0209] Referring to Figures 5 to 9, in some embodiments, the recycling component 251 is provided with a first connecting member 25112, and the housing 21 includes a first housing 211 and a second housing 212 disposed on a first side of the first housing 211. In the traveling direction of the cleaning device 100, the first side of the first housing 211 is close to the rear end of the cleaning device 100; the second housing 212 includes a first sub-housing 2121 and a second sub-housing 2122. The first sub-housing 2121 faces the surface to be cleaned. The second sub-housing 2122 is connected to the first sub-housing 2121 and extends toward the surface to be cleaned. The second sub-housing 2122 is provided with a second connecting member 21221, and the first connecting member 25112 and the second connecting member 21221 are engaged to connect so that the recycling component 251 can be detachably installed within the space enclosed by the first sub-housing 2121 and the second sub-housing 2122.

[0210] Specifically, the first shell 211 is mounted on the body 10. The first side of the first shell 211 is close to the rear end of the cleaning device 100, helping to ensure the correct installation orientation of the recyclable component 251 and its connection with other components. The second shell 212 is a part that mates with the first shell 211, forming together with the first shell 211 an accommodating space 213 for receiving the recyclable component 251. The second shell 212 includes a first sub-shell 2121 and a second sub-shell 2122, forming an outer shell structure for mounting the recyclable component 251. The second shell 212 provides protection for the recyclable component 251 and supports its installation. The first sub-shell 2121 is a component of the second shell 212 and primarily faces the surface to be cleaned. The positioning of the first sub-shell 2121 ensures that the recyclable component 251 can contact the cleaning surface of the cleaning device 100 and collect dirt generated during the cleaning process. The shape, size, and strength of the first sub-shell 2121 need to match the characteristics of the surface to be cleaned to ensure cleaning efficiency. The second sub-shell 2122 connects to the first sub-shell 2121 and extends toward the surface to be cleaned, forming a complete accommodating space 213. The second sub-shell 2122 and the first sub-shell 2121 provide sufficient space and support for the cleaning component 22, allowing the recycling component 251 to be smoothly installed inside. The design of the second sub-shell 2122 needs to consider the ease of disassembly and cleaning of the recycling component 251, and also possess good resistance to deformation.

[0211] The second connecting member 21221 is disposed on the second sub-shell 2122, and its main function is to cooperate and connect with the first connecting member 25112 to ensure the installation and disassembly of the recyclable part 251. The cooperation between the second connecting member 21221 and the first connecting member 25112 provides stable support, ensuring that the recyclable part 251 will not loosen or fall off during operation. At the same time, the second connecting member 21221 also allows the user to easily disassemble and clean the second sub-shell 2122 when needed. For example, the first connecting member 25112 can be a rib, and the second connecting member 21221 can be a groove, with the rib inserted into the groove and the rib and groove being detachably engaged. Of course, the first connecting member 25112 can be a groove, and the second connecting member 21221 can be a rib, with the rib inserted into the groove and the rib and groove being detachably engaged.

[0212] Referring to Figures 5 to 9, in some embodiments, the bottom of the recovery component 251 is provided with a third connecting member 2517. The second shell 212 also includes a third sub-shell 2123. The third sub-shell 2123 is connected to the second sub-shell 2122 and extends toward the cleaning component 22. The third sub-shell 2123 is provided with a fourth connecting member 21231, and the third connecting member 2517 is engaged with the fourth connecting member 21231 to allow the recovery component 251 to be detachably mounted on the shell 21.

[0213] Specifically, in some embodiments, the bottom of the recovery component 251 is provided with a third connecting member 2517, further enhancing the connection between the recovery component 251 and the housing 21. The second housing 212 also includes a third sub-housing 2123, which is connected to the second sub-housing 2122 and extends toward the cleaning component 22. The extended position of the third sub-housing 2123 fits tightly with the cleaning component 22, ensuring that the recovery component 251 can effectively dock with the cleaning component 22, achieving efficient cleaning function. The third sub-housing 2123 is provided with a fourth connecting member 21231. Through cooperation with the third connecting member 2517, the recovery component 251 can be firmly installed on the housing 21, ensuring that it will not loosen or fall off during the cleaning process. The cooperative connection between the third connecting member 2517 and the fourth connecting member 21231 provides stable support, ensuring that the recovery component 251 will not loosen or fall off during operation. At the same time, the design of the third connecting member 2517 also allows users to easily disassemble and clean it when needed, improving the maintainability and ease of use of the equipment. For example, the fourth coupling 21231 may specifically be a rib, and the third coupling 2517 may specifically be a groove. The rib is inserted into the groove, and the rib and the groove are detachably engaged. Of course, the fourth coupling 21231 may specifically be a groove, and the third coupling 2517 may specifically be a rib. The rib is inserted into the groove, and the rib and the groove are detachably engaged.

[0214] Please refer to Figures 5 and 8, Figures 14 and 15. In some embodiments, the housing 21 includes a mating surface 215 facing the surface to be cleaned, and the top surface of the filter 2513 is connected to the mating surface 215.

[0215] Specifically, in some embodiments, the housing 21 includes a mating surface 215 facing the surface to be cleaned. The top surface of the filter section 2513 is connected to the mating surface 215, which can prevent long strips of solid waste from being squeezed into the dirt-holding cavity 25115 through the gaps, reducing the probability of clogging the dirt-holding cavity 25115 and improving cleaning efficiency and recovery effect. The close fit between the top surface of the filter section 2513 and the mating surface 215 not only enhances the overall structure but also reduces the possible dirt retention during the cleaning process. In addition, the tight fit design can also ensure the sealing of the cleaning equipment 100, thereby minimizing the overflow of wastewater during the cleaning process and improving the service life and reliability of the equipment. In some embodiments, when the cleaning device 100 cleans solid waste outside the sludge chamber 25115, if the cleaning device 100 cleans the solid waste by reversing the cleaning component 22, the tight fit between the fibers of the cleaning component 22 and the mating surface and the filter part 2513 can increase the friction between the fibers and the solid waste, thereby making it easier for the cleaning device 100 to peel the solid waste off the recycling component 22 by reversing the cleaning device 100, and then remove it from the cleaning device 100, thus completing the cleaning of the solid waste.

[0216] Please refer to Figures 5 and 9. In some embodiments, one end of the recycling component 251 is provided with a first limiting component 25118, and the housing 21 is provided with a second limiting component 217. The first limiting component 25118 and the second limiting component 217 cooperate to restrict the movement of the recycling component 251 in the height direction Z of the cleaning device 100.

[0217] Specifically, the quantity, position, and shape of the first limiting member 25118 and the second limiting member 217 are rationally designed according to the installation and movement requirements of the recovery member 251. For example, the first limiting member 25118 is located at one end of the recovery member 251 near the first sewage outlet 25116, and is typically located on the side or bottom of the recovery member 251. The shape of the first limiting member 25118 can be a protruding column, a groove, or a ring structure; the specific shape can be optimized according to structural needs. The first limiting member 25118 is used to restrict the vertical movement of the recovery member 251 in the height direction Z of the cleaning equipment 100, ensuring that the recovery member 251 does not experience excessive offset or displacement during movement, thus guaranteeing stable operation. The second limiting member 217 is located on the housing 21, and is typically located at a relative position on the housing 21. The second limiting member 217 cooperates with the first limiting member 25118 to form a limiting cooperation structure. The second limiting member 217 can be in the form of a slot, groove, snap, annular groove, or protrusion, etc. Its shape and size design ensure effective engagement with the first limiting member 25118, preventing excessive movement or loosening of the retrieving member 251 during operation. The engagement relationship between the first limiting member 25118 and the second limiting member 217 ensures the fixation of the retrieving member 251 in the height direction Z. Furthermore, the first limiting member 25118 and the second limiting member 217 are not restricted.

[0218] Please refer to Figures 10, 14, and 15. In some embodiments, the housing 21 includes a mating surface 215 facing the surface to be cleaned. The cleaning component 22 is rotatably mounted on the side of the housing 21 facing the surface to be cleaned, and the cleaning component 22 is in contact with the mating surface 215.

[0219] In some embodiments, the housing 21 includes a mating surface 215 facing the surface to be cleaned, and the cleaning component 22 is rotatably mounted on the side of the housing 21 facing the surface to be cleaned, with the cleaning component 22 fitting snugly against the mating surface 215. This design makes the connection between the cleaning component 22 and the mating surface 215 tighter, avoiding gaps between the cleaning component 22 and the housing 21, thereby reducing the leakage or accumulation of wastewater during the cleaning process. Simultaneously, the rotation of the cleaning component 22 and its tight fit with the mating surface 215 help maintain the stability of the cleaning component 22 and ensure that it can efficiently perform mopping and cleaning operations during operation. The snug fit also helps improve the cleaning effect of the mating surface 215, avoiding incomplete cleaning due to gaps, further enhancing the overall cleaning performance of the equipment. Furthermore, during the process of peeling the solid waste separated from the recycling component 251 and cleaning the filtered solid waste out of the cleaning device 100, the tight fit between the cleaning component 22 and the mating surface 215 of the housing 21 ensures that the cleaning component 22 generates sufficient friction when in contact with the mating surface 215, transferring solid waste such as rice grains, small bone particles, pet hair, and sunflower seed shells from the recycling component 251 to the rest of the cleaning component 22. This tight fit not only improves the overall cleaning efficiency but also helps to more thoroughly remove solid waste attached to the recycling component 251 during reverse operations, thereby enhancing the overall performance and cleaning effect of the cleaning device 100. The specific peeling process will be described in detail below.

[0220] Please refer to Figures 2, 3, 5, 17 and 18. The embodiments of this disclosure provide a control method for a cleaning device 100. The cleaning device 100 can be any of the cleaning devices described in the above embodiments, or it can be a cleaning device that is not described in any of the above embodiments. As long as the cleaning device 100 includes a cleaning component 22, a sweeping module 40 and a recycling component 251, and the recycling component 251 can perform solid-liquid separation on the dirt picked up by the cleaning component 22, the method by which the recycling component 251 performs solid-liquid separation is not limited to the method described in the above embodiments, and can also be a conventional solid-liquid separation method.

[0221] Control methods include:

[0222] 03: Control the cleaning component 22 to detach the solid waste separated by the recycling component 251 from the cleaning equipment 100;

[0223] 05: Control the cleaning equipment 100 to clean solid waste through the cleaning module 40.

[0224] As shown in Figure 17, when the user starts the sweeping and mopping machine (cleaning device 100), it moves on the living room floor under the drive of the drive wheel 101. During the movement, the cleaning component 22 performs the mopping task, which is when the cleaning device 100 is in the state of mopping the surface to be cleaned.

[0225] In some embodiments, taking the cleaning device 100 described above as an example, at the start of the mopping task, the cleaning component 22 of the cleaning device 100 rotates downward relative to the scraping part 2512. The cleaning component 22 performs a mopping action on the surface to be cleaned, while the scraping part 2512 remains in contact with the cleaning component 22. Dirt on the cleaning surface of the cleaning component 22 is simultaneously scraped away by the scraping part 2512 and guided to the filtering part 2513. The filtering part 2513 performs solid-liquid separation on the dirt picked up by the cleaning component 22; that is, the wastewater in the dirt enters the dirt-holding chamber 25115 through the filtering part 2513, while solid waste in the dirt remains outside the filtering part and does not enter the dirt-holding chamber 25115, thereby maintaining the cleanliness of the cleaning surface of the cleaning component 22. During this process, the rotation of the cleaning component 22 provides a stable driving force for the mopping task, effectively removing stains, dust, and other dirt from the surface to be cleaned. The scraping section 2512 simultaneously cleans the surface of the cleaning component 22 to prevent dirt from re-contaminating the surface to be cleaned. Simultaneously, it works with the dirt-holding chamber 25115 and the filter section 2513 to guide and store wastewater, ensuring the self-cleaning ability of the cleaning component 22 and extending its working cycle. In other embodiments, if the cleaning device 100 described above is not used, during the wiping action of the cleaning component 22 on the surface to be cleaned, the recycling component 251 only separates the dirt into solid and liquid components, leaving solid waste in contact with the cleaning component 22. Specifically, the cleaning component 22 is controlled to detach the solid waste separated by the recycling component 251 from the recycling component 251. That is, the friction between the cleaning component 22 and the solid waste drives the solid waste to move with the cleaning component 22, eventually leaving the recycling component 251 and detaching from the cleaning device 100, thereby achieving self-cleaning of the cleaning device 100. After at least some of the solid waste is removed from the cleaning equipment, the cleaning equipment 100 is controlled to clean the solid waste that has fallen onto the surface to be cleaned by the cleaning module 40, thereby achieving complete self-cleaning of the cleaning equipment 100 without polluting the environment.

[0226] Please refer to Figures 2, 3, 4, and 19. In some embodiments, 01: controlling the cleaning component 22 to detach the solid waste separated by the recycling component 251 from the cleaning equipment 100 includes:

[0227] 031: Control the cleaning component 22 to reverse so as to peel the solid waste separated by the recycling component 251 off the recycling component 251 and remove it from the cleaning equipment 100. The reversal means controlling the cleaning component 22 to rotate in the opposite direction to when the cleaning component 22 picks up the dirt.

[0228] In this process, the cleaning component 22 rotates upward relative to the scraping part 2512 at the point of contact with the cleaning component 22. When the cleaning component 22 picks up dirt, it rotates forward. At the point of contact between the cleaning component 22 and the scraping part 2512, the cleaning component 22 rotates downward relative to the scraping part 2512. Thus, forward rotation enables the cleaning device 100 to clean the surface to be cleaned and achieve self-cleaning of the cleaning component 22. Reverse rotation separates solid waste from the collection component 251, achieving self-cleaning of the cleaning device 100.

[0229] After the mopping task is completed, the cleaning component 22 is controlled to perform a reverse task. The reverse task changes the rotation direction of the cleaning component 22, allowing residual dirt on the cleaning component 22 to be removed from the scraper 2512. During the mopping task, the wastewater scraped off by the scraper 2512 is guided to the dirt-holding chamber 25115, while solid waste may be temporarily retained in the small space between the cleaning component 22, the filter 2513, and the scraper 2512. Since the cleaning surface of the cleaning component 22 is usually made of a flexible material (such as lint), solid waste may also become embedded in the structure of the cleaning component 22. Specifically, during the reverse process, the cleaning component 22 rotates upward relative to the scraper 2512. When the cleaning component 22 switches from downward rotation to upward rotation, the cleaning surface of the cleaning component 22 (especially the flexible material part, such as lint) is adjusted due to the change in direction, and the lint that was originally compacted due to downward rotation gradually fluffs up during the reverse process. The fluffy fibers, through rotational force, can detach solid waste from the small space between the cleaning component 22, the filter section 2513, and the scraping section 2512, causing it to detach from the cleaning device 100 and fall to the ground. At this point, the cleaning device 100 cleans the solid waste using the sweeping module 40. By reversing the cleaning component 22, the cleaning device 100 can change the relative movement direction between the cleaning component 22 and the scraping section 2512, thereby changing the direction of force on the solid waste and releasing it. This enhances the self-cleaning ability of the cleaning component 22, reduces the decline in cleaning performance of the cleaning device 100 due to residual solid waste, extends the service life of the cleaning component 22, and improves the overall cleaning efficiency of the cleaning device 100.

[0230] In one scenario, such as after a family meal, rice grains and small bones inevitably remain scattered on the living room floor (the surface to be cleaned), along with spilled rice water and oil. When the cleaning device 100 is in the mopping position, the cleaning component 22 rotates downwards relative to the scraper 2512 to mop the floor. A water supply element provides water to the cleaning component 22, wetting its surface. While mopping, the cleaning component 22 picks up solid waste such as rice grains and small bones. Simultaneously, the water mixes with the rice water and oil, forming wastewater. This solid waste and wastewater together create dirt that adheres to the cleaning component 22. At the same time, the scraper 2512 removes the dirt from the cleaning component 22, and the filter 2513 separates the wastewater from the solid waste. Wastewater flows into the dirt-holding chamber 25115 through the filter holes 25131, while solid waste such as rice grains and small bones are trapped in the small space between the cleaning component 22, the filter section 2513, and the scraping section 2512. After the cleaning component 22 completes its mopping task, it reverses direction, changing its rotation. The part of the cleaning component 22 in contact with the scraping section 2512 rotates upward relative to the scraping section 2512, causing the solid waste to be detached from the collection component 251 under friction and fall to the ground, where it is then collected by the sweeping module 40. Thus, the cleaning equipment 100 can handle the dirt on the floor after a meal, maintaining a clean and hygienic home environment.

[0231] In another scenario, after a pet has played, the living room carpet is covered in pet hair, tangled with carpet fibers and mixed with dust and dirt brought in by the pet. The cleaning device 100 is activated, and the cleaning component 22 rotates downwards relative to the scraping section 2512, mopping the carpet surface. A water supply element provides water to the cleaning component 22, wetting its surface and increasing friction with the pet hair, thus more effectively picking it up. During the mopping process, the cleaning component 22 not only picks up solid debris such as pet hair, but the wet component also absorbs dust and dirt from the hair, mixing with tiny particles on the carpet to form wastewater. This solid debris and wastewater together constitute dirt, adhering to the surface of the cleaning component 22. The scraping section 2512 then peels off the dirt from the cleaning component 22, while the filtering section 2513 separates the wastewater from the solid debris. Wastewater flows into the sludge-holding chamber 25115 through the filter holes 25131, while solid waste such as pet hair is trapped in the small space between the cleaning component 22, the filter section 2513, and the scraper section 2512. After the cleaning component 22 completes its mopping task, it reverses direction, changing its rotation direction so that the part of the cleaning component 22 in contact with the scraper section 2512 rotates upward relative to the scraper section 2512. This change causes the pet hair that was originally picked up by the cleaning component 22 to be detached from the collection component 251 under the action of friction, and then fall to the ground under the combined action of gravity and centrifugal force. Subsequently, the sweeping module 40 collects the pet hair from the ground, completing the solid waste cleaning work.

[0232] Please refer to Figures 2, 3, 4, and 20. In some embodiments, the control method further includes:

[0233] 02: Before the cleaning component 22 separates the solid waste from the recycling component 251, the cleaning component 22 is raised upwards to separate the cleaning component 22 from the surface to be cleaned.

[0234] Before the cleaning component 22 separates the solid waste from the recycling component 251, the cleaning equipment 100 controls the cleaning component 22 to be lifted upwards. After being lifted, the cleaning component 22 detaches from the surface to be cleaned (the ground), preventing it from contacting the surface again during reversal and avoiding re-entry of solid waste into it. Furthermore, during reversal, the centrifugal force of the lifted cleaning component 22 more effectively fling the attached solid waste off, causing it to fall to the ground. Subsequently, the cleaning component 22 reverses to detach the solid waste separated from the recycling component 251 and release it onto the ground, where it is collected by the sweeping module 40.

[0235] Please refer to Figures 2, 3, 4, and 21. In some embodiments, the control method further includes:

[0236] 04: While controlling the cleaning component 22 to peel the solid waste separated by the recycling component 251 from the recycling component 251, control the cleaning component 22 to lift upward so that the cleaning component 22 is separated from the surface to be cleaned.

[0237] During this process, by separating the cleaning component 22 from the surface to be cleaned, the centrifugal force or the gravity of the solid waste can be used during the reversal (when the solid waste separated by the recycling component 251 is peeled off the recycling component 251) to detach the solid waste from the cleaning component 22, so that the solid waste can fall smoothly onto the surface to be cleaned.

[0238] Referring to Figures 2, 3, and 4, in some embodiments, the control of cleaning component 22 to detach the solid waste separated by recycling component 251 from cleaning equipment 100 is performed by cleaning equipment 100 before returning to base station 200. Hereinafter, the action of "controlling cleaning component 22 to detach the solid waste separated by recycling component 251 from cleaning equipment 100" will be referred to as the "solid waste detachment action."

[0239] By scheduling the solid waste removal operation before the cleaning equipment 100 returns to the base station 200, accumulated solid waste on the cleaning component 22 can be removed. This prevents the cleaning equipment 100 from contaminating the base station 200 or its surrounding environment due to residual dirt while near or inside the base station 200, ensuring the cleanliness and hygiene of the base station 200. Furthermore, scheduling the solid waste removal operation before the cleaning equipment 100 returns to the base station 200 also reduces the need for additional maintenance of the cleaning equipment 100 within the base station 200, extending the service life of the base station 200.

[0240] Please refer to Figures 2, 3 and 4. In some embodiments, the cleaning device 100 controls the cleaning component 22 to peel off the solid waste separated by the recycling component 251 and remove it from the cleaning device 100 at a preset position.

[0241] During the movement of the cleaning equipment 100, the action of stripping solid waste is scheduled to be performed at preset locations, which can precisely control the release range of solid waste. These preset locations are not areas, such as furniture, walls, or carpets, thereby preventing the solid waste released by the cleaning unit 22 from causing unnecessary pollution to the environment. The preset location can also be a fixed position in front of the base station 200 (for example, W in Figure 17), where the cleaning equipment 100 usually adjusts its direction and enters the base station 200 after finding the correct orientation.

[0242] In some embodiments, the position of the cleaning device 100 remains unchanged during the process of controlling the cleaning component 22 to peel the solid waste separated by the recycling component 251 off the recycling component 251 and remove it from the cleaning device 100.

[0243] Specifically, during the solid waste stripping process, the solid waste is released into a specific area of ​​the surface to be cleaned. Since the cleaning device 100 remains in place, the cleaning module 40 can quickly locate the area containing the solid waste and perform concentrated cleaning of that area, rapidly recovering all the stripped solid waste. This avoids the solid waste being scattered over a large area, reducing the movement and search time of the cleaning module 40, making the entire cleaning process more efficient and organized. Furthermore, centralized solid waste processing helps reduce disturbance to the surrounding environment, maintains the cleanliness of the area, and also reduces the burden on the equipment, lowering maintenance costs.

[0244] Please refer to Figures 1 to 5 and Figure 22. An embodiment of this disclosure provides a control device for a cleaning device 100. The control device includes a processor and a memory. The memory stores computer program instructions, which, when executed by the processor, are used to perform the control method of any of the above embodiments.

[0245] When a processor executes a computer program stored in memory, it implements the following methods:

[0246] 03: Control the cleaning component 22 to detach the solid waste separated by the recycling component 251 from the cleaning equipment 100;

[0247] 05: Control the cleaning equipment 100 to clean solid waste through the cleaning module 40.

[0248] For example, when the processor executes computer program instructions stored in memory, it can also implement the methods in 02, 031, and 04.

[0249] Please refer to Figures 1 to 5 and Figure 23. The embodiments of this disclosure provide a computer-readable storage medium 400, which stores a computer program 410. When the computer program 410 is executed by one or more processors 420, it implements the control method of any of the above embodiments.

[0250] When processor 420 executes computer program 410 stored in memory, it implements the following method:

[0251] 03: Control the cleaning component 22 to detach the solid waste separated by the recycling component 251 from the cleaning equipment 100;

[0252] 05: Control the cleaning equipment 100 to clean solid waste through the cleaning module 40.

[0253] In other implementations:

[0254] Please refer to Figures 2, 3, 5, 15, and 17. The embodiments of this disclosure provide a control method for a cleaning device 100, wherein the cleaning device 100 is any of the cleaning devices described in the above embodiments. The control method includes:

[0255] 011: When the cleaning component 22 of the cleaning device 100 performs a mopping task, the cleaning component 22 is controlled to rotate in the first direction;

[0256] 031: After the cleaning component 22 of the cleaning equipment 100 finishes the mopping task, control the cleaning component 22 to perform the solid waste cleaning task.

[0257] The solid waste cleanup task is as described in the aforementioned embodiments.

[0258] The solid waste outside the sludge chamber 25115 can be detached from the collection component 251 and removed from the cleaning device 100 by using the cleaning component 22 in the reverse manner described above. Other methods can also be used, and there are no restrictions on them, as long as the solid waste in the small space is detached from the collection component 251 and removed from the cleaning device 100. For example, the contact state between the collection component 251 and the cleaning component 22 can be adjusted so that the cleaning component 22 can be rotated forward (the cleaning component 22 in contact with the scraping part 2512 moves downward) or in reverse (the cleaning component 22 in contact with the scraping part 2512 moves upward) to clean the solid waste.

[0259] In some embodiments, as shown in FIG24, performing a solid waste cleaning task includes: performing a reversal task;

[0260] 051: The reversal task involves the cleaning component 22 rotating in a second direction, where the first direction is opposite to the second direction.

[0261] The first direction is where the cleaning member 22 rotates downward relative to the scraping part 2512 at the point where the scraping part 2512 contacts the cleaning member 22.

[0262] As shown in Figure 17, when the user starts the sweeping and mopping robot (cleaning device 100), it moves across the living room floor driven by the drive wheels 101. During this movement, the cleaning component 22 performs the mopping task, which is when the cleaning device 100 is in the state of mopping the surface to be cleaned. At the start of the mopping task, the cleaning component 22 of the cleaning device 100 rotates in a first direction. The first direction refers to the direction in which the cleaning component 22 rotates downwards relative to the scraping part 2512 at the point of contact between the scraping part 2512 and the cleaning component 22. For example, in Figure 15, the cleaning component 22 rotates counterclockwise; at this time, the cleaning component 22 rotates downwards relative to the scraping part 2512 at the point of contact. The cleaning component 22 performs a mopping motion on the surface to be cleaned. Simultaneously, the scraping part 2512 remains in contact with the cleaning component 22, scraping away dirt from the surface and guiding it to the filter part 2513. Wastewater from the dirt enters the dirt-holding chamber 25115, while solid waste remains in the small space formed between the scraping part 2512, the filter part 2513, and the cleaning component 22, thus maintaining the cleanliness of the surface cleaned by the cleaning component 22. During this process, the rotation of the cleaning component 22 provides a stable driving force for the mopping task, effectively removing stains, dust, and other contaminants from the surface to be cleaned. The scraping part 2512 simultaneously cleans the surface of the cleaning component 22, preventing recontamination of the surface, and, in conjunction with the dirt-holding chamber 25115 and the filter part 2513, guides and stores wastewater, ensuring the self-cleaning ability of the cleaning component 22, extending its working cycle, and improving the mopping task and its effectiveness.

[0263] Since the cleaning surface of the cleaning component 22 is typically made of a flexible material (such as lint), solid waste may become embedded in its structure. Specifically, during the reversal process, the cleaning component 22 rotates in a second direction, which is opposite to the first direction. For example, in Figure 15, the cleaning component 22 rotates clockwise, and the part of the cleaning component 22 in contact with the scraper 2512 rotates upward relative to the scraper 2512. When the cleaning component 22 switches from rotating in the first direction to rotating in the second direction, the surface of the cleaning component 22 (especially the flexible material part, such as lint) is adjusted due to the change in direction. The lint that was originally compacted due to rotation in the first direction gradually fluffs up during the reversal process. The fluffed lint can release the solid dirt embedded in the lint and, with the help of friction, carry the solid dirt away from the small space where solid waste accumulates between the scraper 2512, the filter 2513, and the cleaning component 22, and finally fall off the cleaning device 100 under the action of gravity and / or centrifugal force. By performing a reversal task, the cleaning device 100 can change the direction of movement between the cleaning component 22 and the scraping part 2512, thereby changing the direction of force on the solid waste and releasing the solid waste. This enhances the self-cleaning ability of the cleaning component 22, reduces the decline in cleaning performance caused by residual solid waste, extends the service life of the cleaning component 22, and improves the overall cleaning efficiency of the cleaning device 100.

[0264] Furthermore, if the solid waste fails to detach from the cleaning device under the action of gravity or centrifugal force, the solid waste will continue to reach the bottom of the scraping part 2512 as the cleaning part 22 rotates in the opposite direction. At this time, the scraping part 2512 can also help the cleaning part 22 scrape off the solid waste, causing the solid waste to fall off the cleaning part 22.

[0265] Please refer to Figures 2, 3, 4, 25, and 26. In some embodiments, the control method further includes:

[0266] 0711, 0721: When the cleaning device 100 finishes mopping the surface to be cleaned, and before the cleaning component 22 rotates in the second direction or while the cleaning device 22 is rotating in the second direction, the cleaning component 22 is controlled to be lifted upward so that the cleaning component 22 does not contact the surface to be cleaned.

[0267] After the cleaning device 100 finishes its mopping task, if the cleaning component 22 separates from the surface to be cleaned, then when the cleaning component 22 performs its reverse rotation task, the solid waste that has fallen onto the surface to be cleaned will no longer be easily rolled back onto the cleaning component 22. Furthermore, after the cleaning component 22 separates from the surface to be cleaned, during the reverse rotation task, the increased centrifugal force can throw the solid waste away from the cleaning component 22, thus increasing the cleaning component 22's ability to remove more solid waste.

[0268] Please refer to Figures 2, 3 and 4. In some embodiments, the control of the cleaning equipment 100 to perform the solid waste cleaning task is performed by the cleaning equipment 100 before returning to the base station 200.

[0269] By scheduling the reversal task before the cleaning equipment 100 returns to the base station 200, accumulated solid dirt on the cleaning component 22 can be removed. This prevents the cleaning equipment 100 from contaminating the base station 200 or its surrounding environment due to residual dirt near or after entering the base station 200, ensuring the cleanliness and hygiene of the base station 200. Furthermore, scheduling the solid waste cleaning task before the cleaning equipment 100 returns to the base station 200 also reduces the need for additional maintenance of the cleaning equipment 100 within the base station 200, extending the service life of the base station 200.

[0270] Please refer to Figures 2, 3 and 4. In some embodiments, controlling the cleaning equipment 100 to perform solid waste cleaning tasks is performed by the cleaning equipment 100 at a preset position.

[0271] During the movement of the cleaning equipment 100, the solid waste cleaning task is scheduled to be performed at preset locations, which can precisely control the range of waste release. These preset locations are not sensitive areas, such as furniture, walls, or carpets, thereby preventing the solid dirt released by the cleaning unit 22 from causing unnecessary pollution to the environment.

[0272] The preset location can also be a fixed location in front of the base station. The cleaning robot usually adjusts its direction at this location and enters the base station after finding the right direction.

[0273] Please refer to Figures 2, 3, 4, 15, and 27. In some embodiments, the cleaning device 100 includes a cleaning module 40. The control method further includes:

[0274] 091: After the cleaning equipment 100 completes the solid waste cleaning task, control the cleaning equipment 100 to use the cleaning module 40 to clean at least a preset area.

[0275] After the cleaning unit 22 completes the solid waste removal task, the sweeping module 40 sweeps at least a preset area to further remove solid waste that may have fallen to the ground during the reversal process. The area swept by the sweeping module 40 can be appropriately larger than the preset area to accommodate situations where solid waste is thrown out of the preset area and into the surrounding area during the reversal process. This dual cleaning strategy not only ensures the cleanliness of the preset area but also significantly improves the operational integrity of the cleaning equipment 100. The method of 091 ensures that the cleaning equipment 100 leaves no dirt after completing mopping, solid waste removal, and area sweeping, guaranteeing the cleaning effect on the surface to be cleaned.

[0276] Please refer to Figures 1 to 5. An embodiment of this disclosure provides a control device for a cleaning device 100. The control device includes a processor and a memory. The memory stores computer program instructions, which, when executed by the processor, are used to perform the control method of any of the above embodiments.

[0277] When a processor executes a computer program stored in memory, it implements the following methods:

[0278] 011: When the cleaning component 22 of the cleaning device 100 performs a mopping task, the cleaning component 22 is controlled to rotate in the first direction;

[0279] 031: After the cleaning component 22 of the cleaning equipment 100 finishes the mopping task, control the cleaning component 22 to perform the solid waste cleaning task.

[0280] For example, when the processor 420 executes the instructions of the computer program 410 stored in the memory, it can also implement the steps of all the above control methods.

[0281] Please refer to Figures 1 to 5 and Figure 23. The embodiments of this disclosure provide a computer-readable storage medium 400, which stores a computer program 410. When the computer program 410 is executed by one or more processors 420, it implements the control method of any of the above embodiments.

[0282] When processor 420 executes computer program 410 stored in memory, it implements the following method:

[0283] 011: When the cleaning component 22 of the cleaning device 100 performs a mopping task, the cleaning component 22 is controlled to rotate in the first direction;

[0284] 031: After the cleaning component 22 of the cleaning equipment 100 finishes the mopping task, control the cleaning component 22 to perform the solid waste cleaning task.

[0285] For example, when the processor 420 executes the instructions of the computer program 410 stored in the memory, it can also implement the steps of all the above control methods.

[0286] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the scope of protection of this disclosure. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A cleaning device, comprising a cleaning component and a recycling component, characterized in that, The recycled components include: Stain-containing cavity; A scraping section abuts against the cleaning component; in the height direction of the cleaning equipment, at least a portion of the dirt-containing cavity is lower than the scraping section; during the rotation of the cleaning component, the scraping section peels dirt off the cleaning component from it; and The filter section is positioned higher than the scraping section in the height direction of the cleaning equipment. The filter section has filter holes that connect the outside to the dirt-holding cavity, allowing wastewater from the dirt to enter the dirt-holding cavity and blocking solid waste from the dirt outside the dirt-holding cavity.

2. The cleaning equipment according to claim 1, characterized in that, The filter section abuts against the cleaning component.

3. The cleaning equipment according to claim 1, characterized in that, When the cleaning equipment cleans solid waste outside the dirt-holding cavity, the cleaning component that contacts the dirt-scraping part moves upward.

4. The cleaning equipment according to claim 1, characterized in that, When the cleaning device performs a mopping task, the cleaning component that contacts the scraping part moves downward.

5. The cleaning equipment according to claim 1, characterized in that, The filter section is further away from the cleaning component relative to the scraping section.

6. The cleaning equipment according to claim 1, characterized in that, The cleaning device uses the cleaning component to detach solid waste outside the sludge-containing cavity from the recycling component and remove it from the cleaning device.

7. The cleaning equipment according to claim 1, characterized in that, In the forward direction of the cleaning equipment, the rear profile of the cleaning equipment is arc-shaped, the cleaning component is located at the rear of the cleaning equipment, and the projection of the cleaning component on the horizontal plane is within the outline range of the projection of the cleaning equipment on the horizontal plane. The recycling component is located on the rear side of the cleaning component; the length of the dirt-holding chamber and / or the filter section is less than the length of the cleaning component.

8. The cleaning equipment according to claim 7, characterized in that, The recycling component also includes a support portion connected to the filter portion and located at one or both ends of the filter portion along its length, and is used to support the scraping portion located at one or both ends of the dirt-holding cavity.

9. The cleaning equipment according to claim 8, characterized in that, The side of the support portion facing the cleaning component is the support surface, which is an inclined surface. The portion of the support surface closer to the filter portion is further away from the cleaning component.

10. The cleaning equipment according to claim 8, characterized in that, The cleaning equipment includes a housing; The recyclable component includes a first seal, which is disposed between the support and the housing and is used to seal the gap between the support and the housing.

11. The cleaning equipment according to claim 8, characterized in that, The support portion is provided with a blocking wall at the end away from the filter portion, and the blocking wall is used to prevent sewage in the dirt from leaking out to the end away from the filter portion.

12. The cleaning equipment according to claim 8, characterized in that, Along the length of the sludge-containing cavity, the support protrudes relative to the sludge-containing cavity to form an avoidance space. The avoidance space is at least used for installing a first sewage outlet, which is used to communicate with the sewage box of the cleaning equipment through a pipeline channel.

13. The cleaning equipment according to claim 8, characterized in that, Along the length of the sludge-containing cavity, the support protrudes relative to the sludge-containing cavity to form an avoidance space. The avoidance space is at least used for installing a drain pipe, which is used to discharge wastewater from the sludge-containing cavity to the outside of the recycling component.

14. The cleaning equipment according to claim 1, characterized in that, The length of the filter section is less than or equal to the length of the dirt-holding cavity; and / or, The length of the scraping section is greater than or equal to the length of the cleaning component; and / or, The area of ​​the filter pore is in the range of 10mm. 2 -50mm 2 .

15. The cleaning equipment according to claim 1, characterized in that, The cleaning equipment includes a wastewater box, which is connected to the sludge-holding cavity via a pipeline channel, and the flow area of ​​the filter holes is smaller than the minimum flow area of ​​the pipeline channel.

16. The cleaning equipment according to claim 1, characterized in that, The top surface of the scraping section forms the bottom surface of the filter hole.

17. The cleaning equipment according to claim 16, characterized in that, The top surface of the scraping part is inclined downward toward the dirt-containing cavity.

18. The cleaning equipment according to claim 1, characterized in that, The recycled components also include: A blocking part is provided on the scraping part. In the height direction of the cleaning device, the blocking part is located below the scraping part. In the front-back direction of the cleaning device, the blocking part is located between the cleaning component and the dirt-holding tank.

19. The cleaning equipment according to claim 1, characterized in that, The cross-section of the dirt-holding cavity has at least the lower inner contour that is arc-shaped, and the cross-section of the dirt-holding cavity is a plane intercepted by a plane that is perpendicular to the horizontal plane and parallel to the direction of travel of the cleaning equipment.

20. The cleaning equipment according to claim 1, characterized in that, The cleaning equipment includes a wastewater box; The recycling component includes a first sewage outlet, which is located at the first end of the sewage-containing cavity along its length and connects the sewage-containing cavity with the sewage box; the bottom surface of the inner surface of the sewage-containing cavity slopes downward toward the first end.

21. The cleaning equipment according to claim 1, characterized in that, The recycling component includes a sludge-containing tank that forms the sludge-containing cavity, with an open top.

22. The cleaning equipment according to claim 21, characterized in that, The filter section is located on one side of the opening; the cleaning device also includes a housing; the recycling component further includes: A second seal surrounds the opening on all sides except the side where the filter is located, and the second seal is used to seal the gap between the housing and the recycling unit.

23. The cleaning equipment according to claim 1, characterized in that, The first end of the sludge-containing cavity is provided with a first sewage outlet, and the second end of the sludge-containing cavity is provided with a second sewage outlet. The first sewage outlet is connected to the sludge-containing cavity. The second wastewater outlet connects the sludge-containing cavity to the outside, and the recycling component further includes: Sewage box; The pipeline channel has one end connected to the sludge-containing cavity via the first sewage outlet, and the other end connected to the sewage box; and A power component, connected to the sewage box, is used to provide negative pressure to the sewage box to draw sewage from the sludge-containing cavity into the sewage box through the pipeline channel; and to provide positive pressure to the sewage box so that the sewage in the sewage box is discharged into the sludge-containing cavity through the pipeline channel, so that the sewage is discharged to the outside through the second sewage outlet.

24. The cleaning equipment according to claim 1, characterized in that, The recycling component also includes a reinforcing portion located between the two ends of the recycling component along its length, and located on the side of the recycling component closer to the cleaning component in the front-back direction.

25. The cleaning equipment according to claim 1, characterized in that, The cleaning equipment includes a housing, and the recycling component is detachably mounted on the housing.

26. The cleaning equipment according to claim 1, characterized in that, The cleaning device includes a housing with a mating surface facing the surface to be cleaned, and a cleaning component is rotatably mounted on the side of the housing facing the surface to be cleaned, the cleaning component being in contact with the mating surface.

27. The cleaning equipment according to claim 26, characterized in that, The mating surface is connected to the top of the filter section.

28. A cleaning system, characterized in that, The cleaning system includes cleaning equipment and a base station: The cleaning equipment includes cleaning components and recycling components, wherein the recycling components include: Stain-containing cavity; The cleaning device includes a scraping section that abuts against the cleaning component; at least a portion of the dirt-containing cavity is lower than the scraping section in the height direction of the cleaning device; during the rotation of the cleaning component, the scraping section peels dirt off the cleaning component from the cleaning component. The filter section is positioned higher than the scraping section in the height direction of the cleaning equipment. The filter section is provided with filter holes that connect the outside to the dirt-holding cavity, allowing wastewater in the dirt to enter the dirt-holding cavity and blocking solid waste in the dirt outside the dirt-holding cavity. The base station is used for maintenance of the returning cleaning equipment.

29. A control method for a cleaning device, the cleaning device comprising a cleaning component, a sweeping module, and a recycling component, wherein the recycling component is used to perform solid-liquid separation on the dirt picked up by the cleaning component, characterized in that, The control method includes: The cleaning component is controlled to detach the solid waste separated by the recycling component from the recycling component and remove it from the cleaning equipment; The cleaning equipment is controlled to clean up the solid waste through the cleaning module.

30. The control method according to claim 29, characterized in that, Controlling the cleaning component to detach the solid waste separated by the recycling component from the cleaning equipment includes: The cleaning component is controlled to reverse so as to detach the solid waste separated by the recycling component from the recycling component and remove it from the cleaning equipment. The reversal is to control the cleaning component to rotate in the opposite direction to when the cleaning component picks up the dirt.

31. The control method according to claim 29, characterized in that, Also includes: Before the cleaning component detaches the solid waste separated by the recycling component from the recycling component, the cleaning component is controlled to rise upwards to separate the cleaning component from the surface to be cleaned; or, While controlling the cleaning component to peel the solid waste separated by the recycling component from the recycling component, the cleaning component is also controlled to be lifted upwards so as to separate the cleaning component from the surface to be cleaned.

32. The control method according to claim 29, characterized in that, Controlling the cleaning component to detach the solid waste separated by the recycling component from the recycling component and remove it from the cleaning equipment is performed by the cleaning equipment before returning to the base station.

33. The control method according to claim 29, characterized in that, The position of the cleaning device remains unchanged during the process of controlling the cleaning component to detach the solid waste separated by the recycling component from the cleaning device and remove it from the cleaning device; And / or, The control of the cleaning component to detach the solid waste separated by the recycling component from the cleaning device is performed by the cleaning device at a preset position.

34. The control method according to claim 29, characterized in that, The cleaning equipment includes a cleaning component and a recycling component, wherein the recycling component includes: Stain-containing cavity; A scraping section abuts against the cleaning component; in the height direction of the cleaning equipment, at least a portion of the dirt-containing cavity is lower than the scraping section; during the rotation of the cleaning component, the scraping section peels dirt off the cleaning component from it; and The filter section is positioned higher than the scraping section in the height direction of the cleaning equipment. The filter section has filter holes that connect the outside to the dirt-holding cavity, allowing wastewater from the dirt to enter the dirt-holding cavity and blocking solid waste from the dirt outside the dirt-holding cavity.

35. A method for controlling a cleaning device, the cleaning device comprising a cleaning component and a recycling component, the recycling component comprising: Stain-containing cavity; The cleaning part abuts against the cleaning component; In the height direction of the cleaning device, at least a portion of the dirt-containing cavity is lower than the dirt-scraping part; During the rotation of the cleaning component, the scraping part peels the dirt off the cleaning component. and A filtration section is positioned higher than the scraping section in the height direction of the cleaning equipment; the filtration section has filter holes that connect the outside to the dirt-holding cavity, allowing wastewater from the dirt to enter the dirt-holding cavity and blocking solid waste from the dirt outside the dirt-holding cavity; characterized in that the control method includes: When the cleaning component of the cleaning device performs a mopping task, the cleaning component is controlled to rotate in a first direction; After the cleaning component of the cleaning device finishes its mopping task, it is controlled to perform a solid waste cleaning task.

36. The control method according to claim 35, characterized in that, The solid waste cleaning task includes: performing a reversal task; the reversal task includes the cleaning component rotating along a second direction, the first direction being opposite to the second direction; wherein, the first direction is at the point where the scraping part contacts the cleaning component, the cleaning component rotates downward relative to the scraping part.

37. The control method according to claim 35, characterized in that, When the cleaning device finishes mopping the surface to be cleaned, and before the cleaning component performs a reverse task, the cleaning component is controlled to be lifted upwards so as to separate the cleaning component from the surface to be cleaned; or, When the cleaning device finishes mopping the surface to be cleaned, and while the cleaning component is performing a reverse rotation task, the cleaning component is controlled to be lifted upwards so that the cleaning component is separated from the surface to be cleaned.

38. The control method according to claim 35, characterized in that, Controlling the cleaning equipment to perform solid waste cleaning tasks is performed by the cleaning equipment before it returns to the base station; and / or, The position of the cleaning equipment remains unchanged during the execution of the solid waste cleaning task. And / or, Controlling the cleaning equipment to perform solid waste cleaning tasks is performed by the cleaning equipment at a preset position.

39. The control method according to claim 35, characterized in that, The cleaning equipment includes a cleaning module; After completing the solid waste cleaning task, the cleaning equipment is controlled to use the cleaning module to clean a preset area, which is at least a portion of the area that the cleaning equipment passes through when performing the reverse task.

40. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by one or more processors, a method for controlling a cleaning device is implemented, the control method as described in claims 29-39.

Images