CN114376481A

CN114376481A - Base station and cleaning system

Info

Publication number: CN114376481A
Application number: CN202011112506.3A
Authority: CN
Inventors: 谢明健; 饶尧; 钟红风; 张士松; 毋宏兵
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2020-10-16
Filing date: 2020-10-16
Publication date: 2022-04-22

Abstract

The invention provides a base station and a cleaning system, wherein the base station comprises: a main body; a first cavity and a second cavity are arranged on the main body and used for containing a cleaning solute and a solvent; the proportion control assembly is communicated with the first cavity and the second cavity and is used for controlling the amounts of the solute and the solvent discharged from the first cavity and the second cavity; a liquid supply component which is communicated with the proportional control component and is used for leading the cleaning solute and the solvent discharged by the proportional control component to the cleaning robot box body; and a base station controller coupled to the proportional control component and configured to control operation of the proportional control component. The base station of the embodiment of the invention can avoid the intervention actions of manually proportioning the cleaning solutions with different concentrations and pouring the cleaning solutions into the box body of the cleaning robot by a user, the proportioning and supplementing operations of the cleaning solutions can be automatically completed, and the user experience is better.

Description

Base station and cleaning system

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a base station and a cleaning system using the same.

Background

Cleaning liquids are used in large quantities during the operation of modern cleaning machines. Different kinds or brands of cleaning liquids are mixed with water in different proportions during use. At present, most cleaning robots in the market are manually added with mixed cleaning solution into a robot box body of the cleaning robot after the cleaning solution is manually proportioned by a user, and the user experience is poor.

Disclosure of Invention

Embodiments of the present invention provide a base station and a cleaning system using the same, which can solve the above problems.

In order to achieve the above object, the present invention provides the following technical solutions.

A base station for supplying a cleaning solution to a cleaning robot; the base station includes:

a main body;

the first cavity is arranged on the main body and used for accommodating cleaning solute;

the second cavity is arranged on the main body and used for accommodating a solvent;

a liquid supply assembly having an input in communication with the first and second cavities, an output in communication with the input; the input end is used for receiving the cleaning solute and the cleaning solvent which are respectively input by the first cavity and the second cavity; the output end is used for being communicated with a box body of the cleaning robot;

the proportion control assembly is arranged on the liquid supply assembly and is used for controlling the amounts of the cleaning solute and the cleaning solvent discharged from the first cavity and the second cavity;

and the base station controller is connected with the proportional control component and is used for controlling the operation of the proportional control component.

Preferably, the liquid supply assembly comprises a first pipeline communicated with the first cavity and a second pipeline communicated with the second cavity;

the end parts of the first pipeline and the second pipeline connected with the corresponding cavities form the input ends, and the end parts of the first pipeline and the second pipeline back to the input ends form the output ends.

Preferably, the proportional control assembly includes a flow control; the base station controller controls the flow of the flow control element.

Preferably, the flow control member comprises: and the first pump and the second pump are respectively arranged on the first pipeline and the second pipeline.

Preferably, the liquid supply assembly further comprises: a mixing area located between the input end and the output end and used for mixing the cleaning solute input by the input end with a solvent to obtain a cleaning solution; the output is to provide a cleaning solution to the cleaning robot.

Preferably, the liquid supply assembly comprises: the first pipeline is communicated with the first cavity, the second pipeline is communicated with the second cavity, and the confluence pipeline is communicated with the first pipeline and the second pipeline;

the junction of the confluence pipeline, the first pipeline and the second pipeline forms the input end, the end of the confluence pipeline, which is opposite to the input end, forms the output end, and the internal flow passage of the confluence pipeline forms the mixing area.

Preferably, the proportional control assembly comprises: a first pump and a second pump;

the first pump is arranged on the first pipeline or the second pipeline, and the second pump is arranged on the collecting pipeline; or,

the first pump is arranged on the first pipeline, and the second pump is arranged on the second pipeline;

the base station controller controls the flow rates of the first and second pumps.

Preferably, the proportional control assembly comprises: the first pump, the second pump and the third pump are respectively arranged on the first pipeline, the second pipeline and the collecting pipeline;

the base station controller controls the flow of at least two of the first pump, the second pump and the third pump.

the first pump is arranged on the first pipeline or the second pipeline, and the second pump is arranged on the collecting pipeline;

when the base station starts to supply the cleaning solution to the cleaning robot, the base station controller controls the first pump to start no earlier than the second pump;

when the base station finishes supplying the cleaning solution to the cleaning robot, the base station controller controls the first pump to be turned off no later than the second pump.

Preferably, the proportional control assembly comprises: and the first metering unit and the second metering unit are respectively arranged on the first pipeline and the second pipeline.

Preferably, the first metering unit and the second metering unit are metering pumps, and the base station controller controls the flow rate of the metering pumps; or, the first metering unit and the second metering unit each include: a flow meter and a switching valve; and the base station controller controls the switch valve to be closed when the liquid flow counted by the flowmeter reaches a set value.

Preferably, the first cavity and the second cavity are provided with liquid level detection elements, and the liquid level detection elements are connected with the base station controller;

the base station controller is connected with the warning unit; and the base station controller controls the operation of the warning unit when the liquid level detection element detects that the liquid level in the corresponding cavity is lower than a set threshold value.

Preferably, the first cavity is provided integrally with the main body; and/or the second cavity is integrally arranged with the main body.

Preferably, the first cavity is provided separately from the main body;

the main body is provided with a first installation position for installing a first cavity, the first installation position is provided with a first in-place detection element for detecting whether the first cavity is installed or not, and the first in-place detection element is connected with the base station controller; and the base station controller controls the operation of the warning unit when the first in-place detection element does not detect that the first mounting position is provided with the first cavity.

Preferably, the second cavity is provided separately from the main body; the main body is provided with a second installation position for installing a second cavity, the second installation position is provided with a second in-place detection element for detecting whether the second cavity is installed or not, and the second in-place detection element is connected with the base station controller; and the base station controller controls the operation of the warning unit when the second in-place detection element does not detect that the second cavity is arranged on the second installation position.

Preferably, a first waterproof and breathable device is arranged on the first cavity; and/or a second waterproof and breathable device is arranged on the second cavity.

Preferably, the first waterproof and breathable device is arranged at an interface of the first cavity and the liquid supply assembly;

the second waterproof and breathable device is arranged at the interface of the second cavity and the liquid supply assembly; or the second waterproof and breathable device is arranged on the side wall of the second cavity.

Preferably, the base station controller is connected with an input device, and the input device provides the base station controller with a cleaning solute and solvent mixing ratio parameter based on user operation.

A cleaning system, comprising: a cleaning robot, a base station supplying a cleaning solution to the cleaning robot;

the cleaning robot includes:

a body;

the moving module is arranged at the bottom of the machine body and used for driving the cleaning robot to walk;

the cleaning module is arranged at the bottom of the machine body and used for executing a cleaning task;

the robot box body is arranged on the machine body and used for containing cleaning solution;

the base station includes:

a main body;

the liquid supply assembly is provided with an input end and an output end which are communicated with the first cavity and the second cavity; the input end is used for receiving the cleaning solute and the cleaning solvent which are respectively input by the first cavity and the second cavity; the output end is used for being communicated with the robot box body;

Preferably, the robot box is provided with a liquid port, the liquid port is connected with a first end of a three-way joint, a second end of the three-way joint is connected with a water outlet pipeline, and a third end of the three-way joint is used for being connected with the liquid supply assembly.

Preferably, the robot box body is communicated with the liquid supply assembly through a docking device, a third water-proofing and air-permeable device and a third one-way valve are arranged between the docking device and the robot box body, the third water-proofing and air-permeable device is located between the docking device and the third one-way valve, and the third one-way valve inhibits the cleaning solution from flowing from the robot box body to the docking device.

Preferably, the liquid supply assembly comprises: the first pipeline is communicated with the first cavity, the second pipeline is communicated with the second cavity, and the confluence pipeline is communicated with the first pipeline and the second pipeline; the confluence pipeline is communicated with the robot box body through the butt joint device;

the proportional control assembly includes: a first pump and a second pump; the first pump is arranged on the first pipeline or the second pipeline, and the second pump is arranged on the collecting pipeline;

the base station controller controls the second pump to rotate in reverse for a predetermined time after the base station finishes supplying the cleaning solution to the robot tank of the cleaning robot.

Preferably, the liquid supply assembly comprises: the first pipeline is communicated with the first cavity, and the second pipeline is communicated with the second cavity; the first pipeline and the second pipeline are communicated with the robot box body through the butt joint device;

the proportional control assembly includes: the first pump and the second pump are respectively arranged on the first pipeline and the second pipeline;

the base station controller controls the first pump and/or the second pump to rotate in reverse for a predetermined time after the base station finishes supplying the cleaning solution to the robot tank of the cleaning robot.

Preferably, the docking device includes: the connector comprises a first connector and a second connector detachably connected with the first connector; the first joint is connected with the liquid supply assembly, and the second joint is connected with the robot box body;

the first joint is provided with a butt joint detection element, and the butt joint detection element is connected with the base station controller and is used for detecting whether the butt joint between the second joint and the first joint is successful; when the detection result of the docking detection element is yes, the base station controller controls the proportional control component to start operation to supplement cleaning solution to the cleaning robot.

Preferably, the cleaning robot further includes: the robot comprises a robot controller arranged on the machine body and a liquid level sensor arranged in the robot box body and connected with the robot controller;

the robot controller controls the cleaning robot to return to the base station to replenish the cleaning solution when the liquid level sensor detects that the liquid level of the cleaning solution in the robot tank is lower than a lower threshold.

Preferably, the robot controller is in communication connection with the base station controller; when the liquid level sensor detects that the liquid level of the cleaning solution in the robot box body is higher than an upper limit threshold value, the base station controller controls the proportional control component to stop working based on a control instruction of stopping liquid supplement sent by the robot controller.

Preferably, the main body is provided with a third on-position detecting element for detecting whether the cleaning robot stops on the base station;

when the detection result of the third on-position detection element is yes, the base station controller controls the proportion control component to operate so as to supplement cleaning solution to the cleaning robot;

and when the detection result of the third on-position detection element is negative, the base station controller controls the proportion control component to stop supplementing the cleaning solution to the cleaning robot.

Preferably, the third in-situ detection element is in communication connection with the base station controller and/or the robot controller, and the base station controller and/or the robot controller are connected with a reminding unit;

and when the detection result of the third on-position detection element is yes, the base station controller and/or the robot controller controls the reminding unit to operate.

A cleaning system, comprising: the cleaning robot comprises a cleaning robot and a base station for supplying liquid to the cleaning robot;

the cleaning robot includes:

a body;

the robot box body is arranged on the machine body;

a fluid transport assembly comprising: the robot comprises a pump body, a liquid inlet pipe, a liquid outlet pipe, a liquid inlet one-way valve and a liquid outlet one-way valve, wherein one port of the pump body is communicated with the robot box body; the liquid inlet one-way valve inhibits the liquid from flowing from the pump body to the liquid inlet pipe, and the liquid outlet one-way valve inhibits the liquid from flowing from the liquid outlet pipe to the pump body;

the base station includes:

a main body;

the first cavity is arranged on the main body;

a liquid supply assembly having an input end and an output end; the input with first cavity intercommunication, the output be used for with feed liquor pipe can dismantle the intercommunication.

Preferably, the cleaning robot has a working state and a fluid replacement state;

when the cleaning robot is in a working state, the liquid inlet pipe is separated from the liquid supply assembly, the pump body rotates forwards, the liquid inlet check valve is closed, the liquid outlet check valve is opened, and liquid in the robot box body is pumped by the pump body and is discharged from the liquid outlet pipe;

when the cleaning robot is in a liquid supplementing state, the liquid inlet pipe is communicated with the liquid supply assembly, the pump body rotates reversely, the liquid inlet check valve is opened, the liquid outlet check valve is closed, and liquid in the first cavity is pumped into the robot box body by the pump body.

Preferably, the base station further includes: the second cavity is arranged on the main body and communicated with the input end; the liquid contained in the second cavity is different from the liquid contained in the first cavity;

the liquid supply assembly further comprises a mixing area located between the input end and the output end and used for mixing two different liquids discharged from the first cavity and the second cavity and input through the input end to obtain a cleaning solution.

Preferably, the base station further includes:

the proportion control assembly is arranged on the liquid supply assembly and is used for controlling the flow of the liquid discharged from the first cavity and the second cavity;

The base station of the embodiment of the invention can avoid the intervention actions of manually proportioning the cleaning solutions with different concentrations and pouring the cleaning solutions into the box body of the cleaning robot by a user, the proportioning and supplementing operations of the cleaning solutions can be automatically completed, and the user experience is better.

Drawings

FIG. 1 is a side view of a cleaning system according to a first non-limiting embodiment of the present invention;

FIG. 2 is a side view of a cleaning system according to a second non-limiting embodiment of the present invention;

FIGS. 3 and 4 are side views of a cleaning system according to a third non-limiting embodiment of the present invention;

FIG. 5 is a top view of a cleaning system according to a fourth non-limiting embodiment of the present invention;

fig. 6 is a schematic perspective view of a cleaning robot according to an embodiment of the present invention;

fig. 7 is an internal structure view of the cleaning robot shown in fig. 6;

FIG. 8 is an exploded view of the cleaning robot of FIG. 6;

figures 9 to 14 are water circuit diagrams of the cleaning system according to figures 1 to 5;

FIG. 15 is a schematic diagram of a water circuit in which a base station of the cleaning system includes a chamber according to the present invention;

FIG. 16 is a water circuit diagram of a base station including two chambers in a cleaning system according to the present invention;

FIG. 17 is a state diagram of the cleaning system of FIG. 15 in a situation where the base station is refilling the cleaning robot;

FIG. 18 is a diagram illustrating the cleaning system shown in FIG. 15 after completion of fluid replenishment of the cleaning robot by the base station;

FIG. 19 is a schematic view of the docking assembly of the cleaning system of FIGS. 1-18 in a disengaged position;

FIG. 20 is a schematic view of the docking assembly of the cleaning system of FIGS. 1-18 in a connected state;

fig. 21 and 22 are schematic structural views of a first joint of another embodiment included in the docking unit in the cleaning system shown in fig. 1 to 18;

FIG. 23 is an enlarged view of a portion of the docking device shown in FIG. 5;

FIG. 24 is a flowchart of the operation of a cleaning system according to an embodiment of the present invention.

Description of reference numerals:

100. a cleaning robot; 101. a body; 102. a cleaning module; 103. a robot box; 104. a drive wheel; 105. a universal wheel; 106. a liquid port; 107. a liquid pipe; 108. a three-way joint; 109. a liquid outlet pipe; 110. a liquid outlet pump; 111. a liquid supplementing pipe; 112. a three-way joint; 113. a third water-proofing and ventilating device; 114. a third check valve; 115. a fluid transport assembly; 1151. a pump body; 1152. a liquid inlet pipe; 1153. a liquid outlet pipe; 1154. a liquid inlet check valve; 1155. a liquid outlet one-way valve; 116. a liquid level sensor; 117. an energy supply unit; 118. a hose; 119. a striking plate; 120. a liquid pipe;

200. a base station; 201. a first cavity; 202. a second cavity; 203. a main body; 2031. supporting the rear plate; 2032. a horizontal opening; 2033. a receiving structure; 204. a parking position; 205. a liquid level sensor; 206. a sensor for presence or absence of liquid; 207. a liquid supply assembly; 2071. a first pipeline; 2072. a second pipeline; 2073. a confluence pipeline; 2074. an input end; 2075. an output end; 2076. caching the box body; 2077. a fourth check valve; 208. a proportional control component; 2081. a first pump; 2082. a second pump; 2083. a third pump; 2084. a first check valve; 2085. a second one-way valve; 209. a gear; 210. a rack;

300. a docking device; 301. a first joint; 3011. a first attachment element; 3012. a liquid inlet end; 3013. liquid outlet end heads; 3014. a hook is hooked; 3015. a horizontal guide portion; 3016. a groove; 3017. a backstop hook; 3018. a plug end; 3019. a water-absorbing material; 302. a second joint; 3021. a striking plate; 3022. a second attachment element; 3023. inserting grooves; 3024. a plug-in connector; 303. a flexible tube; 304. an axial tensile member; 305. a connector is buckled; 3051. a bayonet; 306. a horizontal guide sleeve; 3061. horizontally avoiding holes; 3062. a protrusion; 307. a return spring; 308. a seal member; 309. and butting the detection element.

Detailed Description

Embodiments of the present invention provide a base station 200 for a cleaning robot 100 to dock for replenishing the cleaning robot 100 with liquid, and a cleaning system using or configuring the base station 200. As shown in fig. 1 to 8, the cleaning robot 100 includes a main body 101, a moving module disposed at the bottom of the main body 101 for driving the cleaning robot 100 to travel on a working surface, a cleaning module 102 disposed at the bottom of the main body 101 for performing a cleaning task, a robot housing 103 disposed on the main body 101 for accommodating liquid to wet a cleaning medium held by the cleaning module 102, an energy supply unit 117 (e.g., a battery pack) disposed on the main body 101, and a robot controller (not shown) disposed on the main body 101 and connected to the energy supply unit 117.

In an alternative embodiment, the moving module may include a driving wheel 104 provided at the rear side of the bottom of the body 101, and a universal wheel 105 provided at the front end of the bottom of the body 101. The driving wheels 104 are power wheels, and are driven to rotate by a motor connected to the robot controller. The universal wheels 105 are connected to the robot controller and controlled by the robot controller to retract or retract. The body 101 is provided with a lifting mechanism for driving the cleaning module 102 to ascend or descend, and the lifting mechanism may employ a known cam structure. The cleaning module 102 may be a mopping module for performing mopping/mopping work on a work surface, including a mopping platform, a cleaning medium (e.g., mop cloth, mopping paper, etc.) mounted on the mopping platform.

The top of the body 101 may be provided with a detecting element such as a laser scanning module connected to a robot controller for detecting whether there is an obstacle in front of the traveling direction of the cleaning robot 100. When it is detected that an obstacle exists in front of the traveling direction of the cleaning robot 100, the robot controller controls the lifting mechanism to lift the cleaning module 102 and the universal wheels 105 to be lowered. At this time, the cleaning robot 100 is in the obstacle detouring mode. After the cleaning robot 100 passes over an obstacle, the robot controller controls the lifting mechanism to lower the cleaning module 102 and retract the universal wheels 105. At this time, the cleaning robot 100 is in the operation mode, and the cleaning operation can be performed.

Further, as shown in fig. 7 and 8, the cleaning robot 100 may have a collision plate 119 on the body 101, the collision plate 119 having a U-shape and being provided at a front end of the body 101, and an elastic member provided between the collision plate 119 and the body 101 so as to be restorably movable with respect to the body 101. The striking plate 119 may serve to cushion the cleaning robot 100 and prevent a rigid collision. When hard objects such as tables, chairs, doors, and walls exist in front of the cleaning robot 100 and the cleaning robot 100 does not avoid in time during the movement of the cleaning robot 100, the striking plate 119 strikes against the hard objects and moves with the body 101, and the elastic member is compressed to store energy. When the cleaning robot 100 adjusts the moving direction to separate the striking plate 119 from the hard object, the elastic member is released and the striking plate 119 is restored to the original position.

The cleaning robot 100 in the embodiment of the present invention may further include other necessary modules or components such as a roll brush, an edge brush, a suction port, a dust box, etc. in order to achieve the basic functions of the cleaning robot 100. It should be noted that any suitable existing configuration may be used for other necessary modules or components included in the cleaning robot 100. For clearly and briefly explaining the technical scheme provided by the invention, the parts are not described again, and the drawings in the specification are correspondingly simplified. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended.

The cleaning robot 100 of the embodiment of the present invention can be used in cleaning scenes including but not limited to mopping, window cleaning, etc. In a specific scenario, the cleaning robot 100 according to the embodiment of the present invention may be a floor mopping robot, and the floor mopping robot can drive the cleaning module 102 to contact with the ground, so as to wipe the ground.

It should be noted that the above-mentioned scenario for mopping is only one possible cleaning operation scenario of the cleaning robot 100 according to the embodiment of the present invention. It is contemplated that one skilled in the art may expand the cleaning robot 100 of the present invention to any suitable cleaning scenario, and the present invention is not limited thereto.

The description is given with a mopping robot as a main scenario. It will nevertheless be understood that no limitation of the scope of the embodiments of the invention is thereby intended, as illustrated in the accompanying drawings.

The cleaning robot 100 is provided with a robot housing 103 for accommodating liquid, and as shown in fig. 7 to 18, the liquid accommodated in the robot housing 103 is supplied onto the cleaning medium through a drain pipe 109. In some embodiments, the liquid contained in the robot housing 103 may be water for wetting the cleaning medium, enabling wet mopping. In other embodiments, the liquid contained in the robot box 103 may be a cleaning solution for improving the cleaning effect and increasing the fragrance of the floor. In still other embodiments, the liquid contained in the robot housing 103 may be a disinfectant solution to sterilize the work surface.

Similarly, the description is given by taking the liquid contained in the robot box 103 as the cleaning solution as the main scenario. It will nevertheless be understood that no limitation of the scope of the embodiments of the invention is thereby intended, as illustrated in the accompanying drawings.

As described above, in the prior art, after cleaning solutions with different concentrations are mixed manually by a user, the mixed cleaning solution is added to the robot case 103 of the cleaning robot 100. The liquid supplementing mode is very inconvenient and poor in user experience. In view of this, in some embodiments of the present invention, the base station 200 may complete the proportioning of the cleaning solution with a desired concentration and automatically supplement the cleaning solution to the cleaning robot 100, so as to avoid the intervention of the user in manually proportioning the cleaning solutions with different concentrations and pouring the cleaning solution into the robot box 103, thereby improving the user experience.

The technical solution of the embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 4 and 9 to 14, in one embodiment, the base station 200 includes: main part 203, two cavities on main part 203: a first cavity 201 and a second cavity 202. As shown in fig. 1 to 4, the main body 203 is provided with a parking place 204 where the cleaning robot 100 is parked, and the first and

second cavities

201 and 202 are located above the parking place 204. Specifically, the main body 203 includes a receiving structure 2033 above the parking position 204, the receiving structure 2033 is substantially hollow, and forms a first mounting position for the first cavity 201 and a second mounting position for the second cavity 202, so that the first cavity 201 and the second cavity 202 can be mounted. The first installation position and the second installation position are installation grooves. The receiving structure 2033 is connected to the parking place 204 by a support rear plate 2031, that is, the receiving structure 2033 is supported above the parking place 204 by the support rear plate 2031.

The first cavity 201 is used for accommodating a cleaning solute, such as liquid cleaning solution, disinfectant solution, etc. The second cavity 202 is used for containing a solvent, such as water. In an alternative embodiment, the first cavity 201 and/or the second cavity 202 may be provided integrally with the body 203. Namely: the first cavity 201 and/or the second cavity 202 are fixedly arranged on the main body 203 and are not separable from the main body 203.

Of course, in another alternative embodiment, the first cavity 201 and/or the second cavity 202 may be provided separately from the main body 203 to facilitate containing the liquid. Specifically, the receiving structure 2033 is open at an upper end, and the first cavity 201 and/or the second cavity 202 is a box or a housing structure that can be inserted into or withdrawn from the upper end opening of the receiving structure 2033.

Further, the first installation position and the second installation position are respectively provided with a first in-place detection element and a second in-place detection element for detecting whether the first cavity 201 and the second cavity 202 are installed, the first in-place detection element and the second in-place detection element are connected with the base station controller, and the base station controller controls the operation of the warning unit connected with the first in-place detection element and the second in-place detection element when the first in-place detection element and the second in-place detection element do not detect that the first cavity 201 and the second cavity 202 are installed.

In the present embodiment, the first on-position detecting element and the second on-position detecting element may adopt any suitable conventional configuration, such as various sensors, optical, acoustic, mechanical or electromagnetic detecting elements, and the like, and the present embodiment is not limited thereto.

For example, in one specific embodiment, the position detection element may be an optical detection element, which is disposed at the bottom of the mounting position and includes a light emitting unit and a light receiving unit. The light emission unit emits detection light (upward emission) to the installation position, and if the installation position is provided with the cavity, the detection light is reflected by the bottom wall of the cavity and is received by the light receiving unit. If the installation position is not provided with a cavity, the detection light is emitted through the opening at the upper end of the accommodating structure 2033, and the light receiving unit does not receive the reflected detection light. Therefore, whether the cavity is arranged at the current installation position or not is identified according to whether the light receiving unit receives the reflected detection light or not.

When the first cavity 201 and the second cavity 202 are respectively installed on the first installation position and the second installation position, the first and second in-place detection elements can detect that the first cavity 201 and the second cavity 202 are in the in-place state. Further, the first and second in-place detection elements may be in a quiescent state. And once the first and second in-situ detection elements detect that the first cavity 201 and/or the second cavity 202 are in an out-of-position state, a corresponding trigger instruction is sent to the base station controller, and the base station controller controls the operation of the warning unit based on the trigger instruction.

The alarm unit includes an audible/visual alarm device, such as a buzzer, a speaker, etc., disposed on the body 203, and can emit an audible/visual alarm signal. Of course, the alert unit may also include a client of the user, such as a mobile smartphone, or software (APP) loaded on a mobile smartphone. The base station controller can be in communication connection with the client, when the first and second in-place detection elements detect that the first cavity 201 and/or the second cavity 202 are in an out-of-place state, the base station controller establishes communication connection with the client based on a trigger instruction provided by the first and second in-place detection elements, and then the client can call its own software and hardware operation to generate corresponding warning signals, such as a display screen displaying a prompt text message, a vibration module emitting vibration, a light supplement lamp flashing, a loudspeaker emitting sound, and the like.

Further, the first cavity 201 and the second cavity 202 may be provided with liquid level detection elements connected to a base station controller, and the base station controller controls the operation of the warning unit when the liquid level detection elements detect that the liquid level in the corresponding cavities is lower than a set threshold. By arranging the liquid level detection element, a user can be informed of replenishment in time when the residual quantity or the remaining quantity of the liquid in the first cavity 201 and/or the second cavity 202 is small, and therefore sufficient liquid storage and supply can be guaranteed when the cleaning robot 100 needs to replenish the liquid.

As shown in fig. 9 to 18, in some alternative embodiments, the liquid level detecting element includes a liquid level sensor 205 disposed near the bottom of the first and

second cavities

201 and 202 for detecting the liquid level in the first and

second cavities

201 and 202 in real time. And when the liquid level is lower than the set threshold value, sending a trigger instruction to the base station controller.

Alternatively, in other alternative embodiments, the liquid level detecting element may further include a liquid presence sensor 206, which may be disposed at the outlets of the first cavity 201 and the second cavity 202 (for example, the first pipeline 2071 and the second pipeline 2072 described below) for detecting whether the liquid is present in the first cavity 201 and the second cavity 202. And when the detection result is no (the corresponding liquid level is 0), sending a trigger instruction to the base station controller.

In this embodiment, the setting threshold can be set according to actual situations, for example: the height of the cavity is 5%, which is not limited in this embodiment. In addition, the embodiment of the base station controller controlling the operation of the alerting unit can refer to the above description, and is not repeated herein.

As shown in fig. 9-14, the base station 200 further includes a liquid supply assembly 207, the liquid supply assembly 207 having an input 2074 in communication with the first and

second cavities

201, 202, and an output 2075 in communication with the input 2074. The input port 2074 is used for receiving the cleaning solute and the solvent discharged from the first and

second chambers

201 and 202, respectively. The output port 2075 is used to communicate with the robot case 103 of the cleaning robot 100 to supply the cleaning solute and the solvent to the cleaning robot 100.

In one possible embodiment, the output 2075 may directly provide the cleaning solute and the solvent to the cleaning robot 100 without being mixed in advance. That is, the cleaning solute and the solvent are not mixed in the base station 200, but mixed and proportioned in the robot housing 103 to form the cleaning solution.

To achieve the above object, as shown in fig. 9, the liquid supply assembly 207 includes: a first conduit 2071 in communication with the first chamber 201, and a second conduit 2072 in communication with the second chamber 202. The ends of the first and

second lines

2071, 2072 connected to the first and

second cavities

201, 202 form the input 2074, and the ends of the first and

second lines

2071, 2072 opposite the input 2074 form the output 2075.

In order to achieve the automatic proportioning of the cleaning solution with the required concentration or proportion, the liquid supply assembly 207 is provided with a proportion control assembly 208 for controlling the amounts of the cleaning solute and the cleaning solvent discharged from the first cavity 201 and the second cavity 202. The base station controller is coupled to the proportional control component 208 for controlling the operation of the proportional control component 208. In this embodiment, the proportional control component 208 includes a flow control, and the base station controller controls the flow of the flow control. In an alternative embodiment, the flow controls include a first pump 2081 and a second pump 2082 disposed on a first conduit 2071 and a second conduit 2072, respectively.

The base station controller controls the first pump 2081 and the second pump 2082, and controls the flow rates of the first pump 2081 and the second pump 2082 to obtain a cleaning solution with a desired concentration or ratio, which will be described below and will not be described herein.

In contrast to the above-described embodiment, in another possible embodiment, the cleaning solute and the solvent, which are provided to the cleaning robot 100 by the output port 2075, are pre-mixed. That is, after the cleaning solute and the solvent are mixed and proportioned in the base station 200 to form the cleaning solution, the cleaning solution is supplied to the cleaning robot 100 through the output port 2075.

To achieve the above object, the liquid supply assembly 207 further comprises: a mixing region between the input end 2074 and the output end 2075, the mixing region for mixing the solute for cleaning input from the input end 2074 with the solvent to obtain the cleaning solution, and the output end 2075 communicating with the input end 2074 through the mixing region to supply the cleaning solution to the cleaning robot 100.

Specifically, as shown in fig. 10, the liquid supply assembly 207 includes: a first line 2071 in communication with the first cavity 201, a second line 2072 in communication with the second cavity 202, and a sink line 2073 in communication with the first and

second lines

2071 and 2072. The first and

second pipes

2071 and 2072 are connected to the bottoms of the first and

second cavities

201 and 202, respectively, to make full use of the liquid in the first and

second cavities

201 and 202. The first and

second pipes

2071 and 2072 may be connected to the confluence pipe 2073 by a three-way structure.

In this embodiment, the junction of the converging line 2073, the first line 2071 and the second line 2072 forms the input 2074, the end of the converging line 2073 opposite the input 2074 forms the output 2075, and the internal flow passage of the converging line 2073 forms the mixing zone. That is, the cleaning solute and the cleaning solvent contained in the first and

second cavities

201 and 202 are output through the first and

second pipes

2071 and 2072, respectively, merged at the input end 2074 into the converging pipe 2073, and then mixed in the converging pipe 2073 to obtain the cleaning solution with a desired concentration or ratio.

As described above, in the present embodiment, the liquid supply assembly 207 is provided with the proportional control assembly 208 for controlling the amount of the cleaning solute and the solvent discharged from the first chamber 201 and the second chamber 202. The base station controller is coupled to the proportional control component 208 for controlling the operation of the proportional control component 208.

In an alternative embodiment, the proportional control component 208 includes: a first pump 2081 and a second pump 2082. The first pump 2081 is provided on the first pipe 2071 or the second pipe 2072, and the second pump 2082 is provided on the confluent pipe 2073. Alternatively, the first pump 2081 and the second pump 2082 are provided on the first conduit 2071 and the second conduit 2072, respectively. The base station controller controls the flow rates of the first pump 2081 and the second pump 2082, and then the flow rates of the cleaning solute and the cleaning solvent are controlled, and further the cleaning solution with a set proportion or concentration is obtained.

For example, as shown in fig. 10, a first pump 2081 and a second pump 2082 are provided on a first pipe 2071 and a confluence pipe 2073, respectively. When a cleaning solution with a concentration of 10% is required, the base station controller controls the first pump 2081 to cumulatively output 1 part (e.g., 50mL) of cleaning solute, and controls the second pump 2082 to cumulatively output 10 parts (500mL) of mixed solution. The second chamber 202 cumulatively outputs 9 parts (450mL) of solvent according to the flow conservation. After the obtained 10 parts of mixed solution are fully mixed in the confluence pipeline 2073 (mixing area), the cleaning solution with the concentration of 10% can be obtained by proportioning.

Alternatively, the first pump 2081 and the second pump 2082 are provided on the second pipe 2072 and the confluence pipe 2073, respectively. When a cleaning solution with a concentration of 10% is required, the base station controller controls the first pump 2081 to output 9 parts (for example, 450mL) of solvent in a cumulative manner, and controls the second pump 2082 to output 10 parts (500mL) of mixed solution in a cumulative manner. The cleaning solute output from the first chamber 201 is 1 part (50mL) according to the flow rate conservation. After the obtained 10 parts of mixed solution are fully mixed in the confluence pipeline 2073 (mixing area), the cleaning solution with the concentration of 10% can be obtained by proportioning.

Alternatively, the first pump 2081 and the second pump 2082 may be disposed on the first conduit 2071 and the second conduit 2072, respectively. When a cleaning solution with a concentration of 10% is required, the base station controller controls the first pump 2081 to cumulatively output 1 part (e.g., 50mL) of cleaning solute, and controls the second pump 2082 to cumulatively output 9 parts (450mL) of mixed solution. The amount of the mixed liquid supplied to the confluence line 2073 is 10 parts (500mL) by the flow rate conservation. After the obtained 10 parts of mixed solution are fully mixed in the confluence pipeline 2073 (mixing area), the cleaning solution with the concentration of 10% can be obtained by proportioning.

In the above embodiment, the base station controller may adjust the output flow rate by controlling the output power, the output rotation speed, and the operating time of the first pump 2081 and the second pump 2082, or select the first pump 2081 and the second pump 2082 with different flow rates to achieve a preset output flow rate. Because the dosage of the cleaning solute and the solvent is generally different (generally, the dosage of the cleaning solute is less than that of the solvent), in order to fully mix the cleaning solute and the solvent, the base station controller can control the rotating speed of the two pumps, so that the cleaning solute and the solvent can be output in the same period of time.

For example, in an embodiment where the first pump 2081 and the second pump 2082 are respectively disposed on the first pipe 2071 and the second pipe 2072, when a cleaning solution with a concentration of 10% needs to be disposed, the first pump 2081 needs to output 1 part of cleaning solute in total, and the second pump 2082 needs to output 9 parts of solute in total. The base station controller may control the rotational speed of the second pump 2082 to be approximately 9 times the rotational speed of the first pump 2081. Thus, the cleaning solute and the solute can be outputted in substantially the same time. The cleaning solute and the solute can be mixed and matched immediately during this time.

In the embodiment where the second pump 2082 is disposed on the converging line 2073, the second pump 2082 may stir the mixed solute for cleaning and the solvent, so that the solute for cleaning and the solvent may be sufficiently mixed, and the uniformity of the obtained cleaning solution may be better.

In the embodiment where the first pump 2081 is disposed on the first pipe 2071 or the second pipe 2072, and the second pump 2082 is disposed on the confluent pipe 2073, the start and stop timing of the two pumps need to be controlled to avoid the occurrence of series flow of the liquids in the two chambers. Specifically, when the base station 200 starts supplying the cleaning solution to the cleaning robot 100, the base station controller controls the first pump 2081 to be started not earlier than the second pump 2082. And when the base station 200 finishes supplying the cleaning solution to the cleaning robot 100, the base station controller controls the first pump 2081 to be turned off no later than the second pump 2082.

That is, when the base station 200 starts to replenish the cleaning robot 100, the second pump 2082 is preferably turned on, and then the first pump 2081 is turned on, or both pumps are turned on at the same time, but the first pump 2081 cannot be turned on prior to the second pump 2082, so as to prevent the cleaning solution in the first cavity 201 from being pumped into the second cavity 202, or the solvent in the second cavity 202 from being pumped into the first cavity 201. Similarly, after the base station 200 completes fluid replacement of the cleaning robot 100, the second pump 2082 is turned off first, and then the first pump 2081 is turned off, or both pumps are turned off at the same time.

The problem of the series flow of the liquid in the two cavities is avoided by the control logic. Of course, the above-described problems can also be avoided by structural improvement. Specifically, as shown in fig. 11, when the first pump 2081 and the second pump 2082 are disposed on the first conduit 2071 and the confluent conduit 2073, respectively, a second check valve 2085 may be disposed on the second conduit 2072, and the second check valve 2085 may inhibit the flow of liquid from the input port 2074 to the second chamber 202. As shown in fig. 12, when the first pump 2081 and the second pump 2082 are respectively disposed on the second pipe 2072 and the confluence pipe 2073, a first check valve 2084 may be disposed on the first pipe 2071, and the first check valve 2084 inhibits the flow of liquid from the input port 2074 to the first chamber 201.

Thus, the sequence of turning on or off the first pump 2081 and the second pump 2082 can be relatively free when starting or stopping. Due to the existence of the one-way valve, the two cavities can not have the problem of liquid series flow.

In addition to the embodiments illustrated in fig. 10-12, in another alternative embodiment, as shown in fig. 13, the proportional control assembly 208 may be supplemented with a pump, including a first pump 2081, a second pump 2082, and a third pump 2083, disposed on the first conduit 2071, the second conduit 2072, and the converging conduit 2073, respectively. The base station controller controls the flow rates of the cleaning solute and the cleaning solvent by controlling the flow rates of at least two pumps of the first pump 2081, the second pump 2082 and the third pump 2083, so as to obtain the cleaning solution with a set proportion or concentration.

The specific manner in which the base station controller controls the flow rates of at least two of the first pump 2081, the second pump 2082, and the third pump 2083 may refer to the above description, and is not described herein again. In practice, from the viewpoint of simple control logic, the base station controller may control only the flow rates of the first pump 2081 and the second pump 2082, and the third pump 2083 functions to agitate to sufficiently mix the cleaning solute and the solvent.

It should be noted that the ratio of the cleaning solution to achieve the required concentration or ratio is not limited to the above embodiments, and the amount of the liquid output from the first cavity 201 and the second cavity 202 can be controlled, and all of them should be covered by the protection scope of the embodiments of the present invention.

For example, in other alternative embodiments, the proportional control assembly 208 or flow control may include: a first metering unit and a second metering unit respectively disposed on the first pipe 2071 and the second pipe 2072. In one implementation, the first and second metering units may be metering pumps, and the base station controller controls the flow rate of the metering pumps. The dosage of the cleaning solute and the solvent can be controlled by setting the output flow of the metering pump, and then the cleaning solution with the target proportion or concentration is obtained.

For example, when a cleaning solution having a concentration of 10% is required, the base station controller controls the metering pump provided in the first pipe 2071 to output 9 parts (e.g., 450mL) of the cleaning solute, and controls the metering pump provided in the second pipe 2072 to output 1 part (50mL) of the solvent. The amount of the mixed liquid supplied to the confluence line 2073 is 10 parts (500mL) by the flow rate conservation. The obtained 10 parts of mixed solution are fully mixed in the confluence pipeline 2073, and then the cleaning solution with the concentration of 10% can be obtained according to the proportion.

Alternatively, in another implementation, the first and second metering units each include: a flow meter and a switching valve. And the base station controller controls the switch valve to be closed when the liquid flow counted by the flow meter reaches a set value. When fluid infusion is started, the base station controller controls the switch valve to be opened, the cleaning solute in the first cavity 201 and the solvent in the second cavity 202 flow out through the first pipeline 2071 and the second pipeline 2072 respectively, and the flow meters arranged on the first pipeline 2071 and the second pipeline 2072 count the flow rates of the cleaning solute and the solvent. And after the set flow is reached, the base station controller controls the switch valve to be closed, and the mixing and liquid supplementing operations of the cleaning solute and the solute are completed.

Also, in the above embodiment, in order to allow the cleaning solute and the solute to be outputted in substantially the same time, the base station controller may adjust the output flow rate thereof by controlling the opening degree of the on-off valve. For example, when a cleaning solution with a concentration of 10% is required to be prepared, the first chamber 201 should output 1 part of cleaning solute in total, and the second chamber 202 should output 9 parts of solute in total. The base station controller may control the opening degree of the switching valve provided on the second pipe 2072 to be about 9 times the opening degree of the switching valve provided on the first pipe 2071. Thus, the cleaning solute and the solute can be outputted in substantially the same time.

The concentration or ratio of the cleaning solution can be set by the user as desired. Specifically, the base station controller is connected with an input device, and the input device can provide the base station controller with the cleaning solute and solvent mixing ratio parameter based on user operation.

In some embodiments, the input device may include a touch panel provided on the main body 203 of the base station 200, or the touch panel may be provided on the main body 101 of the cleaning robot 100. The touch panel can display preset proportioning concentration option controls, such as a series of free or discontinuous concentration option controls of 5%, 10%, 15%, 20% and the like; or a continuous rolling bar type concentration option control in the range of 1% -50%. The user can click the touch panel to set the required concentration. Subsequently, the base station controller receives the concentration parameter inputted by the touch panel, and controls the operation of the proportional control component 208.

Alternatively, in other embodiments, the input device may be a client of the user, such as a mobile smartphone, or a software (APP) loaded on a mobile smartphone. As described above, the base station controller is communicatively connected to the client, the user can set the desired concentration on the display interface of the client, and the base station controller receives the concentration parameter sent from the client to control the operation of the proportional control component 208.

In order to prevent foreign matters in the external environment from entering and polluting the liquid, the first chamber 201 and the second chamber 202 are normally in a closed state when in a standing state. When the base station 200 supplies the cleaning robot 100 with the liquid, the air pressure in the first chamber 201 and the second chamber 202 is reduced by the decrease in the liquid amount and the increase in the air volume. Therefore, in order to reduce the amount of the balance liquid and cause the pressure difference between the inside and the outside of the cavity, the first cavity 201 is provided with a first waterproof and breathable device; and/or a second waterproof and breathable device is arranged on the second cavity 202. Therefore, when the liquid amount in the cavity is reduced, the outside air can enter the cavity through the corresponding waterproof and breathable device so as to compensate the space released by the reduction of the liquid amount and keep the pressure balance inside and outside the cavity.

In some alternative embodiments, the first waterproof and breathable means and/or the second waterproof and breathable means may be holes penetrating the top walls of the first cavity 201 and the second cavity 202, and waterproof and breathable films are disposed in the holes. Of course, in other alternative embodiments, the first waterproof and breathable means and/or the second waterproof and breathable means may be waterproof and breathable valves, provided at any position on the walls of the first cavity 201 and the second cavity 202.

As described above, in general, the amount of the cleaning solute is smaller than the amount of the solvent, that is, the consumption rate of the cleaning solute is smaller than the consumption rate of the solvent. Therefore, in practice, the volume of the first cavity 201 for accommodating the cleaning solute is smaller than the volume of the second cavity 202 for accommodating the solvent. When different types of cleaning solutes (e.g., cleaning solutions in some scenarios and disinfecting solutions in other scenarios) need to be used, the first chamber 201 needs to be replaced frequently. In this case, if the waterproof air-permeable valve is provided on the first chamber 201, one waterproof air-permeable valve is provided on each first chamber 201, which results in an increase in cost.

In view of this, in the embodiment where the first waterproof and air-permeable means is a waterproof and air-permeable valve, the waterproof and air-permeable valve is disposed at the interface of the first cavity 201 and the liquid supply assembly 207. Specifically, a socket is formed at a first mounting position on the accommodating structure 2033, a corresponding mating hole is formed at the bottom of the first cavity 201, and the first pipeline 2071 is connected to the socket. The socket is inserted into the mating hole, so that the first cavity 201 and the first pipeline 2071 can be communicated with each other when the first cavity 201 is positioned and installed.

The waterproof vent valve as the first waterproof vent device can be arranged in the plug socket. Thus, the first cavity 201 does not need to be additionally provided with a first waterproof and breathable device, and only one waterproof and breathable valve is arranged in the base station 200, so that different first cavities 201 can be installed, and further the cost can be reduced.

Similarly, a second waterproof and breathable means may be provided at the interface between the second chamber 202 and the liquid supply assembly 207, in a manner as described above. Of course, since the volume of the second cavity 202 is larger than that of the first cavity 201, the accommodating capacity is larger, and since the solvent accommodated therein is generally water, the solvent does not need to be replaced frequently. Therefore, in practice, the base station 200 only needs to be provided with one second cavity 202, and the second waterproof and air-permeable device can also be disposed on the sidewall of the second cavity 202. In certain embodiments, the second waterproof and breathable means may employ the structural design of the aperture and waterproof and breathable membrane described above for cost reduction.

As can be seen from the above description, the base station 200 according to the embodiment of the present invention may adjust the flow rates of the cleaning receiving solution and the solvent output from the first cavity 201 and the second cavity 202 by providing the ratio control component 208, so as to obtain the cleaning solution with a desired ratio or concentration, and provide the cleaning solution to the cleaning robot 100. So, avoided the manual cleaning solution of different concentrations of ratio of user and poured the intervention action of cleaning solution into cleaning robot 100 box, the ratio and the supplementary operation of cleaning solution can be accomplished automatically, user experience preferred.

As shown in fig. 7 to 14, in order to receive the cleaning solution supplied from the base station 200, the robot box 103 of the cleaning robot 100 is provided with a liquid port 106, the liquid port 106 is connected to a three-way joint 108 through a liquid pipe 107, one end of the three-way joint 108 is connected to a liquid outlet pipe 109, and the other end is used for being connected to a liquid supply assembly 207.

Because the existing cleaning robot is used for manually supplementing liquid, a liquid outlet is generally arranged on a box body on the cleaning robot. The one outlet port is connected to the cleaning module 102 via an outlet pipe 109 for wetting the cleaning medium. In the present invention, the structure of the robot housing 103 is not changed although the liquid needs to be replenished to the robot housing 103. Namely: the robot box 103 is provided with only one liquid port 106, and the one liquid port 106 is used as a liquid inlet when the base station 200 replenishes liquid to the cleaning robot 100 and is used as a liquid outlet when the cleaning robot 100 works.

Specifically, the three-way joint 108 is connected to the inlet end of the liquid outlet pump 110 through a liquid pipe 120, and the liquid outlet pipe 109 is connected to the outlet end of the liquid outlet pump 110. As shown in fig. 8, the outlet pipe 109 includes a pipe body connected to the outlet end of the outlet pump 110, and a water distribution bar connected to the pipe body. When the cleaning robot 100 is in operation, the liquid outlet pump 110 operates to pump liquid in the robot housing 103 to the cleaning module 102 through the liquid outlet pipe 109. The water distribution strips of the outlet pipe 109 may achieve uniform wetting of the cleaning medium mounted on the cleaning module 102. Through setting up three way connection 108, can realize liquid pipe 107 and drain pipe 109 and supply liquid subassembly 207's switching, and then can simplify the water route design, the structure integrates the degree higher.

Of course, the liquid filling and discharging of the robot box 103 may be limited to the above-mentioned common liquid port 106, and in other embodiments, considering factors of the overall layout such as space, a liquid filling port may be separately added to the robot box 103 to facilitate liquid filling. That is, the liquid adding port is used for adding liquid into the robot box 103, and the liquid outlet 106 is used for discharging liquid.

The docking process of the cleaning robot 100 with the base station 200 is complicated and difficult. Specifically, when the cleaning robot 100 approaches the base station 200, the position changes greatly, and it is difficult to achieve sealed pipe connection. Therefore, how to realize accurate docking of the cleaning robot 100 and the base station 200 and no leakage occurs in the fluid infusion process is a technical problem to be solved urgently. In view of this, the present invention realizes the connection between the cleaning robot 100 and the base station 200 through the docking device 300.

As shown in fig. 19 and 20, in one possible embodiment, the docking device 300 includes: a first connector 301 and a second connector 302 which is matched with the first connector 301 in a plugging way. The first connector 301 is provided on the base station 200 and communicates with the first chamber 201 and the second chamber 202. The second joint 302 is provided on the cleaning robot 100 and communicates with the robot case 103. As shown in FIGS. 1-4, the first connector 301 is coupled to an output end 2075 of the liquid supply assembly 207, i.e., to a distal end of a converging line 2073.

As shown in fig. 1, in one embodiment, a first joint 301 may be provided on a supporting rear plate 2031 of the main body 203, and a second joint 302 is provided at a front end of the main body 101 of the cleaning robot 100. This embodiment allows for filling from the front end.

Alternatively, as shown in fig. 2, in one embodiment, the first connector 301 may be provided on the parking place 204 of the main body 203, and the second connector 302 may be provided at the bottom of the main body 101 of the cleaning robot 100. This embodiment allows for bottom-filling.

Alternatively, as shown in fig. 3 and 4, in one embodiment, the first joint 301 may be disposed on the receiving structure 2033 of the main body 203, and the second joint 302 may be disposed at the rear end of the body 101 of the cleaning robot 100. This embodiment allows for filling from the rear end.

The second joint 302 is provided in the body 101 of the cleaning robot 100 and connected to the other end of the robot case 103 via the fluid supply pipe 111. Specifically, as shown in fig. 8, the second joint 302 may be provided on the striker 119 and connected to the fluid replacement tube 111 through the hose 118 and a three-way joint 112 described below. More specifically, the hose 118 is connected to the second joint 302, one end of the three-way joint 112 is connected to the hose 118, the other end is connected to the liquid replenishing pipe 111, and the third end is connected to a third water and air permeation prevention device 113 described below.

As shown in fig. 1 and 6, in an alternative embodiment, the second connector 302 is disposed on the circumferential surface of the main body 101, and is further preferably disposed at the front end of the main body 101 in the direction of entering the base station 200. Correspondingly, the first connector 301 is disposed on the supporting back plate 2031 of the base station 200. The advantage of this design is that the position of the body 101 can be actively adjusted by the driving wheel 104, ensuring the butt joint of the joints.

Of course, the positions of the first joint 301 and the second joint 302 are not limited to the above-described embodiments. In other embodiments, the second connector 302 may be disposed at other positions such as the top, the bottom, the rear peripheral surface, and the like of the main body 101, and the position of the first connector 301 in the base station 200 may be changed accordingly.

Specifically, as shown in fig. 2, in an alternative embodiment, the second connector 302 is disposed at the bottom of the body 101, and correspondingly, the first connector 301 is disposed at the parking place 204 of the base station 200. Specifically, the robot housing 103 is disposed near the rear end of the main body 101, and the second joint 302 may be correspondingly disposed near the rear end of the bottom of the main body 101. And, the second joint 302 is located between two driving wheels 104 to avoid the driving wheels 104 from interfering with the butt joint of the second joint 302 and the first joint 301.

In addition, in order to avoid that the first joint 301 blocks and interferes with the cleaning robot 100 in the process that the cleaning robot 100 drives into the parking place 204 of the base station 200, and that the first joint 301 can be smoothly butted with the second joint 302 after the cleaning robot 100 is accurately parked on the parking place 204, the first joint 301 should be configured to be in a liftable structural design. Specifically, in the process that the cleaning robot 100 moves into the parking place 204 of the base station 200, the first joint 301 should be accommodated in the parking place 204 so that the cleaning robot 100 smoothly passes through. When the cleaning robot 100 is parked correctly in the parking place 204, the first joint 301 can be lifted from the parking place 204 and can be butted against the second joint 302.

The way that the first joint 301 can be lifted can be described with reference to the following description, and is not described herein.

As shown in fig. 3 and 4, in another alternative embodiment, the second connector 302 may be disposed at the rear end of the body 101, and the first connector 301 may be disposed at the bottom of the receiving structure 2033 of the base station 200. As described above, the first connector 301 may be lifted, and during the process that the cleaning robot 100 drives into the parking place 204 of the base station 200, the first connector 301 is lifted to ensure that the cleaning robot 100 smoothly passes through. When the cleaning robot 100 is parked correctly at the parking place 204, the first joint 301 is lowered to be in abutment with the second joint 302.

In this embodiment, the first joint 301 may be configured to be capable of moving up and down, and a gear 209 and a rack 210 engaged with the gear 209 and vertically disposed may be rotatably disposed on the housing structure 2033 of the main body 203 of the base station 200. The gear 209 is driven by a motor to rotate, and further drives the rack 210 engaged therewith to move up and down. The first joint 301 is arranged at the lower end of the rack 210, the confluence pipeline 2073 is connected with the first cavity 201 and the second cavity 202 on the base station, and the confluence pipeline 2073 is provided with the second pump 2082.

Fig. 3 is a schematic view showing a state where the first connector 301 is separated from the second connector 302. At this time, the rack 210 is received in the receiving structure 2033, and the entire first joint 301 is in a raised high position state. Fig. 4 is a schematic view showing a state where the first joint 301 and the second joint 302 are mated. At this time, the cleaning robot 100 is parked, the gear 209 is driven by the motor to rotate in the counterclockwise direction in the drawings as illustrated in fig. 3 and 4, the rack 210 is driven to move downward, and the first joint 301 is driven to move downward together with the rack, so that the first joint 302 is butted thereto.

After the liquid supply to the cleaning robot 100 is completed, the gear 209 is driven by the motor to rotate clockwise in the drawings as shown in fig. 3 and 4, the rack 210 is driven to move upward, and the first joint 301 is driven to move upward, so that the separation from the second joint 302 can be realized. Subsequently, the cleaning robot 100 may exit the base station 200.

Similarly, the description is given by taking a scenario in which the first joint 301 is disposed on the supporting back plate 2031 of the base station 200, and the second joint 302 is disposed at the front end of the cleaning robot 100, that is, the front end is filled with liquid. It will nevertheless be understood that no limitation of the scope of the embodiments of the invention is thereby intended, as illustrated in the accompanying drawings.

In order to improve the efficiency of the interface between the second joint 302 and the first joint 301, a first attachment element 3011 and a second attachment element 3022 are respectively disposed on the first joint 301 and the second joint 302. Wherein one of the first 3011 and second 3022 attachment elements is a magnetic element and the other is a magnetic or magnetizable element. A magnetic attraction force can be generated between the first attachment element 3011 and the second attachment element 3022, so that the first joint 301 and the second joint 302 can be connected together through the magnetic attraction force.

In this embodiment, the magnetic element may be a magnetic element capable of generating a magnetic field, for example, a magnet (such as a permanent magnet or a hard magnet) with its own magnetism, or an electromagnetic element (such as an electromagnet) capable of generating magnetism after being electrified. The magnetizable element may be made of a magnetizable material, such as iron, cobalt, nickel, etc., which is capable of being attracted by a magnetic force.

As shown in fig. 1, when fluid replacement is required, the cleaning robot 100 travels into the base station 200. After the cleaning robot 100 drives into the base station 200 and stops at the parking position 204, under the action of the magnetic attraction between the first attaching element 3011 and the second attaching element 3022, the second joint 302 actively searches for the first joint 301, so that the first joint 301 and the second joint 302 align, the positions are naturally attracted, and the first joint 301 and the second joint 302 are in splicing fit, so that the docking can be quickly and efficiently realized.

It should be noted that, although the cleaning robot 100 returns to the base station 200 is a relatively mature prior art, it is difficult to make strict agreement between the direction and the position of the cleaning robot 100 entering the base station 200 each time. If the docking of the first joint 301 and the second joint 302 is achieved only by means of the adjustment of the traveling direction of the cleaning robot 100 and by means of the magnetic attraction between the first attaching element 3011 and the second attaching element 3022, the docking of the first joint 301 and the second joint 302 may fail once the cleaning robot 100 has driven into the base station 200 in a direction or at a slightly different position at a certain time. Therefore, the butt joint of the first joint 301 and the second joint 302 has a small fault-tolerant space and a large butt joint difficulty.

In view of this, the present invention makes a redundant design for the butt joint of the first joint 301 and the second joint 302. To achieve the above purpose, in an alternative embodiment, the first connector 301 may be designed to have two flexibly connected ends. Referring to fig. 19, the first connector 301 includes: a liquid inlet end 3012 arranged on the main body 203 (specifically, the supporting back plate 2031) and a liquid outlet end 3013 in plug-in fit with the second connector 302. The first attachment component 3011 is disposed on the liquid outlet end 3013, the liquid inlet end 3012 is communicated with the liquid supply assembly 207 through the confluence pipeline 2073, and the liquid outlet end 3013 is connected with the liquid inlet end 3012 through the flexible pipe 303.

In this embodiment, the inlet 3012 may be fixed through a mounting hole of the main body 203 that supports the back plate 2031. As shown in fig. 1, one end (upper end) of the converging line 2073 is connected to the cavity, and the other end (lower end) is sleeved with the liquid inlet terminal 3012. The flexible tube 303 can be a silicone tube, has good flexibility and deformability, and has one end sleeved with the liquid inlet end 3012 and the other end sleeved with the liquid outlet end 3013, so that the liquid inlet end 3012 is communicated with the liquid outlet end 3013.

By virtue of the flexible connection structure between the two ends of the first joint 301, when the cleaning robot 100 drives into the base station 200, even though the second joint 302 is not aligned with the first joint 301 completely, the flexible tube 303 can be driven to bend under the action of the magnetic attraction between the first attaching element 3011 and the second attaching element 3022, thereby achieving the butt joint between the liquid outlet end 3013 and the second joint 302. Therefore, the second joint 302 can be butted with the first joint 301 in a preset direction range, the fault-tolerant space and the butting efficiency of butting the first joint 301 and the second joint 302 are greatly improved, and the butting difficulty is reduced.

The flexible tube 303 is weaker than a rigid tube. After the cleaning robot 100 completes the fluid replacement, the cleaning robot 100 needs to drive away from the base station 200. But since the first joint 301 and the second joint 302 are still tightly connected together by the magnetic attraction of the first attachment element 3011 and the second attachment element 3022, the cleaning robot 100 can forcibly pull the second joint 302 to be separated from the first joint 301 only by means of dragging. In this way, the flexible tube 303 will be subjected to axial tension. In the past, the flexible tube 303 was susceptible to stress damage and fatigue, and the service life was reduced.

In view of this, in some embodiments, the first joint 301 is further provided with an axial tensile member 304 for increasing the tensile capacity of the flexible pipe 303. In this way, when it is desired to disconnect the first joint 301 from the second joint 302, the axial force for overcoming the magnetic attraction between the first 3011 and second 3022 attachment elements acts on the axial tensile member 304 and not or less on the flexible tube 303. Thus, the flexible tube 303 is protected, and damage and fatigue of the flexible tube 303 are reduced.

In an alternative embodiment, as shown in fig. 19 and 20, the axial tensile member 304 may be a braided structure wrapped around the outer wall of the flexible tube 303. The woven structure may be a fabric mesh or a wire mesh, wrapped around the flexible tube 303. The braided structure not only can provide an axial tensile effect for the flexible pipe 303, but also cannot damage the flexibility of the flexible pipe 303, and can also play a better supporting role for the liquid outlet end 3013, so that the problem that the liquid outlet end 3013 is drooped to cause the butt joint with the first joint 301 is avoided.

Of course, the axial tensile members 304 are not limited to the above-described braided structure. As shown in fig. 21 and 22, in other possible embodiments, axial tension member 304 may also employ a flexible steel wire or a living hinge to resist magnetic attraction between first attachment element 3011 and second attachment element 3022 when cleaning robot 100 is undocked. Specifically, in this embodiment, the axial tensile member 304 is connected between the liquid inlet terminal 3012 and the liquid outlet terminal 3013, and both ends of the axial tensile member 304 are movably connected to the liquid inlet terminal 3012 and the liquid outlet terminal 3013, respectively. Thus, the liquid outlet end 3013 can have the freedom of swinging left and right and up and down relative to the liquid inlet end 3012 (fixed on the main body 203). In this manner, a greater range and space is provided for the second connector 302 to interface with the egress tip 3013.

With the provision of the axial tension member 304, it is still necessary to fixedly connect the flexible tube 303 to the inlet port 3012 and the outlet port 3013 at least in the axial direction for the sake of safety, so as to prevent the flexible tube 303 from being separated from the inlet port 3012 and the outlet port 3013 when subjected to an axial tension force.

As shown in fig. 19 and 20, in some alternative embodiments, the flexible tube 303 may be axially fixed to the inlet port 3012 by: the outer wall of the liquid inlet end 3012 is provided with a groove, after the flexible pipe 303 is sleeved outside the liquid inlet end 3012, a sleeved fastening piece is arranged outside the flexible pipe 303, and the sleeved fastening piece is embedded in the groove. In this embodiment, the female fastener may be a ferrule or a wire.

Of course, the axial fixing manner of the flexible tube 303 and the liquid inlet terminal 3012 is not limited to the above embodiment, and other embodiments are also possible, in which only the axial fixing of the flexible tube 303 and the liquid inlet terminal 3012 can be achieved. For example, in other alternative embodiments, the liquid inlet end 3012 and the flexible tube 303 are made of the same material and are made of silica gel, and the two end portions are melted by hot melting and then combined into a whole to realize axial fixation. Alternatively, in still other alternative embodiments, the end of the flexible tube 303 is provided with a metal tip that is threadably connected to the tapping tip 3013. Alternatively, in yet other alternative embodiments, the flexible tube 303 may be snap-fit to the inlet port 3012.

Similarly, the flexible tube 303 is axially secured to the exit tip 3013 in a manner described above. As shown in fig. 19 and 20, the embodiment in which the flexible tube 303 is connected with the liquid outlet tip 3013 by a snap fit will be mainly described. Specifically, the flexible pipe 303 is externally sleeved with a connector buckle 305, the outer wall of the connector buckle 305 is provided with a bayonet 3051, and a hanging hook 3014 is arranged on the liquid outlet end 3013. After the end of the flexible tube 303 is sleeved on the liquid outlet end 3013, the connector buckle 305 moves to the joint of the flexible tube 303 and the liquid outlet end 3013, the flexible tube 303 is fixedly clamped on the liquid outlet end 3013, and the hanging hook 3014 is embedded into the bayonet 3051, so that the connector buckle 305 is fixed.

The above is an embodiment that employs an axial tension member 304 to overcome the magnetic attraction of the first and

second attachment elements

3011 and 3022. Of course, this is premised on the magnetic attraction between the first and

second attachment elements

3011 and 3022 being present at all times. Therefore, if the magnetic attraction between the first attaching element 3011 and the second attaching element 3022 is controlled, that is, the magnetic attraction between the two attaching elements can be generated or eliminated according to actual needs, the first joint 301 and the second joint 302 can be easily separated after the completion of the fluid replacement under the condition of keeping the high butting efficiency and the good connection stability of the first joint 301 and the second joint 302 in the above embodiment.

Specifically, the magnetic element is an electromagnet which generates a magnetic field when electrified. The electromagnet is in an energized state during the cleaning robot 100 enters the base station 200 and during the base station 200 replenishes the cleaning robot 100 with liquid. When the base station 200 completes the fluid replacement of the cleaning robot 100, the electromagnet is in a power-off state.

An electromagnet as a magnetic element may be provided on the first joint 301, i.e., the base station 200; or on the second joint 302, i.e. the cleaning robot 100. The electromagnet is electrically connected with an energy supply unit (such as a battery pack), and the electromagnet is electrically connected with the energy supply unit in a switchable manner.

Specifically, in an alternative embodiment, the conducting wire connecting the electromagnet and the energy supply unit is provided with an on-off switch, and the on-off switch is connected with the base station controller and/or the robot controller. When fluid replacement is required, the robot controller issues a control command to return to the base station 200, and the cleaning robot 100 starts to return to find the base station 200 according to a predetermined route. At the same time, the base station controller and/or the robot controller controls the on-off switch to be closed (which controller controls depending on whether the electromagnet is provided on the base station 200 or the cleaning robot 100), and the electromagnet is energized to generate a magnetic field.

When the cleaning robot 100 enters the base station 200, the electromagnet is energized to generate magnetic attraction on another magnetic element or a magnetizable element until the first attaching element 3011 and the second attaching element 3022 are attracted together under the action of the magnetic attraction.

When fluid replacement is completed (described below, the fluid level sensor 116 detects the fluid level in the robot housing 103 to determine whether fluid replacement is completed), the base station controller and/or the robot controller controls the on-off switch to be turned off, the electromagnet is de-energized, the magnetic field disappears, and the magnetic attraction between the first attaching element 3011 and the second attaching element 3022 disappears. Then the first connector 301 and the second connector 302 can be easily separated.

Through the embodiment, when the first connector 301 and the second connector 302 need to be in butt joint, the electromagnet is controlled to be electrified, and therefore the first connector 301 and the second connector 302 can be in butt joint better. When separation is needed, the electromagnet is controlled to lose power, so that the first connector 301 and the second connector 302 can be easily separated.

By adopting the structure design, not only can the flexible pipe 303 be axially fixed with the liquid inlet end 3012 and the liquid outlet end 3013, but also the flexible pipe 303 can be circumferentially fixed with the liquid inlet end 3012 and the liquid outlet end 3013, and the flexible pipe 303 is hermetically connected with the liquid inlet end 3012 and the liquid outlet end 3013. Thus, a better seal is formed at the junction of flexible tube 303 with inlet port 3012 and outlet port 3013 to prevent fluid leakage.

The above is an embodiment in which the two ends of the first joint 301 are flexibly connected to each other, so as to improve the butt redundancy of the first joint 301 and the second joint 302. Of course, the way of lifting the first joint 301 and the second joint 302 for joint redundancy is not limited to this. From the above, it can be known that the second connector 302 and the first connector 301 are both easily deviated in the horizontal direction during the docking process. Therefore, if the butt joint range of the first joint 301 and the second joint 302 in the horizontal direction can be enlarged, the aim of improving the butt joint redundancy can be achieved.

Specifically, as shown in fig. 5 and 23, in another alternative embodiment, the first connector 301 has a degree of freedom to move in a horizontal direction with respect to the main body 203. That is, the first joint 301 may move left and right in the horizontal direction on the supporting rear plate 2031 of the main body 203. Thus, when the cleaning robot 100 drives into the base station 200 to move to the left or right, the first joint 301 is driven to move horizontally on the main body 203 to the left or right by the magnetic attraction of the first attaching element 3011 and the second attaching element 3022, and the second joint 302 can be also preferably butted with the first joint 301.

The specific implementation mode is as follows: the main body 203 (supporting the back plate 2031) is provided with a horizontal guide sleeve 306, and the side wall of the horizontal guide sleeve 306 is provided with a horizontal avoidance hole 3061. The first connector 301 is movably disposed through the horizontal clearance hole 3061. The first connector 301 is provided with a horizontal guide portion 3015, and the horizontal guide portion 3015 is slidably arranged in the horizontal guide sleeve 306. The supporting back plate 2031 may be provided with a horizontal opening 2032 extending along the same country as the horizontal avoiding hole 3061, and the horizontal guide sleeve 306 is embedded in the horizontal opening 2032. The horizontal guide sleeve 306 is a strip-shaped hollow shell structure, the front side wall and the rear side wall of the horizontal guide sleeve penetrate through horizontal avoidance holes 3061, and the horizontal avoidance holes 3061 are arranged to enable the first connector 301 to smoothly move horizontally.

The horizontal guide portion 3015 is disposed substantially perpendicular to the body of the first joint 301, so that the first joint 301 has a cross-shaped configuration. By arranging the horizontal guide part 3015, the horizontal movement of the first joint 301 can be guided and limited.

With the above structural design, the first joint 301 can move leftward or rightward in the horizontal direction with respect to the main body 203. Wherein the first connector 301 has a centered position. In order to return the first joint 301 to the centered position after the cleaning robot 100 completes fluid replacement, as shown in fig. 23, further, a return spring 307 is provided between at least one end of the horizontal guide portion 3015 in the movable direction thereof and the inner wall of the horizontal guide sleeve 306, and the return spring 307 applies a return force to the first joint 301 through the horizontal guide portion 3015. In an alternative embodiment, a return spring 307 is disposed between each end of the horizontal guide portion 3015 and the inner wall of the horizontal guide sleeve 306.

In order to limit and maintain the shape of the return spring 307, a protrusion 3062 is formed on the inner wall of the horizontal guide sleeve 306, the end of the horizontal guide portion 3015 is recessed inwards to form a groove 3016, one end of the return spring 307 is sleeved outside the protrusion 3062, and the other end of the return spring 307 is accommodated in the groove 3016. Thus, the outer end of the return spring 307 is limited by the protrusion 3062, the position is stable, the inner end is accommodated by the groove 3016, when the horizontal guide portion 3015 moves to drive the return spring 307 to compress, the inner wall of the groove 3016 can right the return spring 307, and the return spring 307 is prevented from being bent.

In the embodiment where the number of the return springs 307 is one, both ends of the return spring 307 are fixedly connected to the end of the horizontal guide portion 3015 and the inner wall of the horizontal guide sleeve 306, respectively. With the return spring 307 in its naturally extended state, the first connector 301 is in a centered position. When the first joint 301 moves toward or away from the side where the return spring 307 is located, the return spring 307 is compressed or stretched, and energy storage is achieved. After the fluid infusion is completed, the second joint 302 is separated from the first joint 301, and the elastic potential energy accumulated by the return spring 307 is released to push or pull the first joint 301 to return to the central position.

In the embodiment in which the number of the return springs 307 is two, the specifications and the elastic coefficients of the two return springs 307 are the same. When the first joint 301 is in the centered position, both return springs 307 are in a compressed state, or both are in a stretched state. When the first joint 301 moves toward the side of one of the return springs 307 (e.g., the right return spring 307), the one return spring 307 is compressed, the other return spring 307 (the left return spring 307) is extended, and both return springs 307 are charged. After the fluid infusion is completed, the second joint 302 is separated from the first joint 301, and the elastic potential energy accumulated by the two return springs 307 is released to jointly push or pull the first joint 301 to return to the central position.

In the above-mentioned embodiment in which the first joint 301 is horizontally movable, the first joint 301 may be designed as a rigid pipe as a whole. In the above two embodiments, the end of the first connector 301 for plugging with the second connector 302 may be designed with a tapered structure to match with a plugging groove 3023 (described below) of the second connector 302.

As such, the magnetic attraction between the first and

second attachment elements

3011 and 3022 is used to achieve the docking of the first joint 301 and the second joint 302, so that the second joint 302 can actively seek the docking with the first joint 301 during the returning process of the cleaning robot 100 to the base station 200. Therefore, the liquid flow channel can be sealed, the butt joint efficiency can be improved, and the butt joint effect is good.

Since the cleaning robot 100 needs to move on the work surface to perform a cleaning task, the second joint 302 provided on the cleaning robot 100 preferably does not protrude from the outer wall surface of the main body 101 to minimize interference with surrounding obstacles. As shown in fig. 19, the second joint 302 includes a striking plate 3021, and the striking plate 3021 is provided on the body 101 of the cleaning robot 100 and is preferably flush with the outer wall of the body 101. The striking plate 3021 is recessed inwardly to form a socket 3023 and a rear end forms a plug 3024 to facilitate connection with the hose 118. Specifically, the hose 118 may be sleeved outside the plug 3024 and axially fixed with the plug 3024 in the manner described above.

Of course, the arrangement of the plug groove 3023 and the plug connector 3024 is not limited to the above-described embodiment. In another possible embodiment, the positions of the plug groove 3023 and the plug connector 3024 may be reversed. That is, the mating groove 3023 is provided on the first connector 301, and the mating connector 3024 is provided on the second connector 302. In short, the first connector 301 is provided with one of the plug groove 3023 and the plug connector 3024, and the second connector 302 is provided with the other of the plug groove 3023 and the plug connector 3024.

The second attachment element 3022 may be fixedly arranged on a side of the striker plate 3021 facing away from the first joint 301, i.e. on the rear side. The fixing mode can be as follows: the rear side of the striking plate 3021 is provided with a receiving groove in which the second attaching member 3022 is fixed. In some alternative embodiments, the second attaching element 3022 may be annular, and the receiving groove is correspondingly an annular groove, and the second attaching element 3022 is embedded in the receiving groove. Alternatively, in other alternative embodiments, the second attaching elements 3022 are a plurality of free block structures, the receiving grooves are a plurality of receiving grooves arranged at intervals along the circumferential direction, and the plurality of second attaching elements 3022 are respectively embedded in the corresponding receiving grooves. Alternatively, in some alternative embodiments, the second attachment element 3022 is a magnetic element, the striking plate 3021 is made of magnetizable material such as iron, cobalt, nickel, and the second attachment element 3022 can be attracted to the striking plate 3021 by magnetic force.

As above, the first attachment element 3011 is fixedly disposed on the side of the tapping tip 3013 facing away from the second connector 302, i.e., the back side. The manner of securing may be the same or similar to that described above for second attachment element 3022 and striker plate 3021. In some embodiments, to prevent the first attachment component 3011 from being detached from the tapping tip 3013, the back end of the tapping tip 3013 is provided with a stop hook 3017 for limiting the first attachment component 3011.

In a preferred embodiment, to function as a self-alignment, the first 3011 and second 3022 attachment elements are preferably circular rings, and the inner and outer diameters of the first 3011 and second 3022 attachment elements are equal, respectively.

The front end of the liquid outlet end 3013 forms a plug-in end 3018 which is matched with the plug-in groove 3023. The plugging end 3018 is inserted into the plugging groove 3023, and the first connector 301 and the second connector 302 are connected.

In order to improve the sealing at the joint of the first joint 301 and the second joint 302 and avoid liquid leakage, a sealing member 308 is arranged on the first joint 301 or the second joint 302, and the sealing member 308 seals the joint of the first joint 301 and the second joint 302 when the first joint 301 and the second joint 302 are in a matching state. Specifically, the sealing element 308 may include, but is not limited to, an O-ring, a K-ring, or an F-ring, and the sealing element 308 is disposed outside the plugging end 3018. When the plugging end 3018 is inserted into the plugging slot 3023, the seal 308 is compressed and expanded under the magnetic attraction between the first attachment element 3011 and the second attachment element 3022, thereby sealing the gap between the plugging end 3018 and the plugging slot 3023.

Further, the water absorbing material 3019 is disposed in the insertion groove 3023, and the water absorbing material 3019 may include any porous medium with flexibility, such as sponge. When the first joint 301 and the second joint 302 are in the mated state as shown in fig. 20, the water absorbing material 3019 is pressed by the plugging end 3018 to be in a compressed state under the magnetic attraction between the first attachment element 3011 and the second attachment element 3022. When the first joint 301 and the second joint 302 are in the separated state as shown in fig. 19, the water absorbing material 3019 is restored to the original state, and completely absorbs the remaining small amount of cleaning solution in the insertion groove 3023, so as to ensure that no liquid drops exist in the first joint 301 and the second joint 302, thereby preventing the first joint 301 from flowing out when the cleaning robot 100 is separated from the base station 200, which may cause a short circuit in the base station 200 or rust on metal parts in the base station 200, and also preventing the liquid remaining in the second joint 302 from dropping on a working surface during the cleaning operation of the cleaning robot 100.

To further withdraw the liquid remaining in the docking device 300 after completion of the fluid infusion, the base station controller controls the second pump 2082 to rotate reversely for a predetermined time after completion of the fluid infusion. Specifically, after the cleaning robot 100 returns to the base station 200, the base station 200 adds liquid to the robot box 103. When the level sensor 116 detects that the liquid level in the robot tank 103 is above a certain threshold, the cleaning robot 100 sends a signal to the base station 200 to stop filling by using a sensor such as infrared, bluetooth, etc. After the base station 200 receives the signal, the first pump 2081 is controlled to be turned off, and the second pump 2082 is turned on for a certain time to empty the liquid remaining in the docking device 300.

As is known, the base station controller controls the second pump 2082 to rotate in a forward direction for fluid replacement operation to the cleaning robot 100. After the liquid replenishment is completed, the second pump 2082 is controlled to reversely rotate for a predetermined time, so as to suck back the liquid remaining in the docking device 300, prevent the liquid in the docking device 300 from leaking, and prevent the liquid in the docking device 300 from being stored and dripping on the base station 200 or a working surface.

In this embodiment, the predetermined time may be set according to actual conditions, so as to allow at least a part of the liquid in the docking device 300 to be withdrawn, for example, for 1 to 5 seconds, which is not limited in this embodiment.

Referring to fig. 8 to 14, in one embodiment, a third water and air proofing and ventilating device 113 and a third one-way valve 114 are disposed between the docking device 300 and the robot housing 103. Specifically, as shown in fig. 8, another three-way joint 112 is provided on the hose 118, and the third water and air permeation prevention device 113 is provided on the three-way joint 112. The third water and air proofing and ventilating device 113 may be a water and air proofing and ventilating valve, and is located between the docking device 300 and the third one-way valve 114, and the third one-way valve 114 inhibits the cleaning solution from flowing from the robot box 103 to the docking device 300.

Due to the existence of the third check valve 114, in the back pumping process of the second pump 2082, liquid is not pumped out of the robot box 103, but air is sucked in from the outside by the third water and air prevention device 113 to balance the pressure difference caused by the back pumping. When the back pumping action is finished, the process of replenishing the cleaning solution is completely finished. At this time, the cleaning robot 100 moves out of the base station 200 and returns to the breakpoint position where the operation is suspended to continue the operation.

In the embodiment where two cavities, i.e. the first cavity 201 and the second cavity 202, are provided in the base station 200, the liquid remaining in the docking device 300 is a mixed solution. To avoid back pumping the mixed solution into either or both of the chambers, which could result in contamination of the original liquids (cleaning solution, water) in both chambers, as shown in fig. 14, in an alternative embodiment, the liquid supply assembly 207 further comprises: and a buffer tank 2076 disposed on the conflux line 2073 and between the input port 2074 and the second pump 2082. Further, a fourth check valve 2077 is disposed on the converging line 2073 and positioned between the buffer casing 2076 and the input 2074, and the fourth check valve 2077 inhibits the flow of liquid from the buffer casing 2076 to the input 2074.

Thus, when the second pump 2082 is reversed, the liquid (mixed solution) in the docking device 300 is pumped back into the buffer casing 2076. Moreover, due to the flow restriction function of the fourth check valve 2077, the liquid pumped back into the buffer tank 2076 cannot be further pumped back into the first cavity 201 and/or the second cavity 202, so as to ensure the purity of the liquid in the first cavity 201 and the second cavity 202.

Similarly, to balance the pressure difference between the inside and the outside, a balancing device may be disposed on the buffer case 2076, including a hole disposed on the top wall of the buffer case 2076 and a waterproof vent valve disposed at any position on the wall of the buffer case 2076.

In order to perform the fluid replacement operation after the first connector 301 and the second connector 302 are completely connected, the first connector 301 or the second connector 302 is provided with a connection detection element 309 for detecting whether the first connector 301 and the second connector 302 are successfully connected. As shown in fig. 19, in a specific embodiment, the docking detection unit 309 is provided on the second joint 302, specifically, on the striking plate 3021, and moves together with the cleaning robot 100. Alternatively, in another alternative embodiment, the docking detection element 309 may also be disposed on the base station 200.

In this embodiment, the "docking success" includes: the first joint 301 is completely butted against the second joint 302, and the first joint 301 and the second joint 302 are sealed. Whether the first joint 301 and the second joint 302 are completely butted or not can be determined by detecting whether the distance between the first joint 301 and the second joint 302 reaches a set threshold value or not by the butting detection element 309 after the first joint 301 and the second joint 302 are butted. When the first joint 301 and the second joint 302 are successfully butted, the sealing element 308 is extruded and deformed, and the first joint 301 and the second joint 302 are sealed.

As described above, the docking detection element 309 may be any suitable conventional structure, such as various sensors, optical, acoustic, mechanical, or electromagnetic detection elements, and the like, and the present embodiment is not limited thereto. It is possible as long as the distance between the first connector 301 and the second connector 302 can be detected.

For example, in one specific embodiment, the docking detection element 309 may be an ultrasonic detection element, which is provided on the striking plate 3021 of the second joint 302 and includes an ultrasonic transmission unit and an ultrasonic reception unit. The ultrasonic transmission unit transmits probe ultrasonic waves to the first connector 301, and the probe ultrasonic waves are reflected by the first connector 301 or the supporting back plate 2031 of the base station 200 and received by the ultrasonic reception unit. From the time difference of the ultrasound transmission and reception, the distance between the first joint 301 and the second joint 302 is calculated. When the calculated distance reaches the set threshold, it indicates that the cleaning robot 100 has stopped stably in the base station 200, and the first joint 301 and the second joint 302 are completely jointed. On the contrary, if the calculated distance does not reach the set threshold, it indicates that the cleaning robot 100 is not yet stopped in the base station 200, and the first joint 301 and the second joint 302 are still in the docking process, so that the first joint 301 and the second joint 302 move relatively.

The docking detection component 309 is communicatively coupled to the base station controller. In some embodiments, when the docking detection element 309 is disposed on the first joint 301, i.e., the cleaning robot 100, the docking detection element 309 may be communicatively coupled to a robot controller, which in turn is communicatively coupled to a base station controller. In other embodiments, but with the docking detection component 309 disposed on the second connector 302, i.e., the base station 200, the docking detection component 309 may be in direct communication with the base station controller.

The docking detection component 309 may thus provide the detection results to the base station controller. The base station controller controls whether the base station 200 supplies the liquid to the cleaning robot 100 based on the detection result of the docking detecting element 309. Specifically, when the detection result of the docking detection element 309 is yes, which indicates that the first joint 301 and the second joint 302 are successfully docked, the base station controller controls the proportional control component 208 to operate to replenish the liquid to the robot box of the cleaning robot 100. On the contrary, when the detection result of the docking detection component 309 is negative, it indicates that the first joint 301 and the second joint 302 are not successfully docked, and the base station 200 does not supply liquid to the cleaning robot 100.

In some embodiments, the main body 203 is provided with a third on-position detecting element for detecting whether the cleaning robot 100 is docked on the base station 200. Specifically, the third in-place detection element is disposed on the parking place 204 or the supporting back plate 2031, and specific configurations can refer to the above description and are not described herein again. The third on-position detection element can be in communication connection with the base station controller and also can be in communication connection with the base station controller through the robot controller.

When the detection result of the third on-position detecting element is yes, the base station controller controls the proportional control component 208 to operate to supplement the cleaning solution to the cleaning robot 100. Further, the liquid is replenished to the cleaning robot 100 only when the third on-site detection element detects that the cleaning robot 100 is at a parking water adding/charging state and the docking detection element 309 detects that the two conditions of the first joint 301 and the second joint 302 are successfully docked are simultaneously met. When the detection result of the third on-position detecting element is negative, the base station controller controls the proportional control unit 208 to stop supplying the cleaning solution to the cleaning robot 100. Applicable scenarios for this embodiment include: after the cleaning robot 100 is finished, it returns to the base station 200, and the base station 200 supplies the cleaning solution to the cleaning robot 100 in time. This has the advantage that the cleaning robot 100 is guaranteed to be filled with cleaning solution the next time it is in operation.

Further, the base station controller and/or the robot controller are connected with the reminding unit. And when the detection result of the third on-position detection element is yes, the base station controller and/or the robot controller controls the reminding unit to operate. Therefore, in the whole process of replenishing the cleaning solution, the user can be informed by methods such as APP, robot panel, base station panel, voice prompt and the like, and the cleaning robot 100 is not forcibly taken out from the base station 200. If the user forcibly removes the cleaning robot 100 from the base station 200 for some reason, the second pump 2082 stops working and pumps it back for a short time to prevent the liquid from dropping on the base station 200.

Bearing the above description, the robot housing 103 is provided with a level sensor 116 therein, which is connected to the robot controller. The robot controller controls the cleaning robot 100 to return to the base station 200 to replenish the cleaning solution when the level sensor 116 detects that the level of the cleaning solution in the robot tank 103 is below the lower threshold. Accordingly, when the liquid level sensor 116 detects that the liquid level of the cleaning solution in the robot box 103 is higher than the upper threshold, the base station controller controls the proportional control component 208 to stop working based on the control instruction of stopping liquid replenishment sent by the robot controller.

In this embodiment, the upper threshold and the lower threshold may be set according to actual situations, for example, the upper threshold may be 95% of the height of the robot box 103, and the upper threshold may be 5% of the height of the robot box 103, which is not limited in this embodiment.

In the embodiment illustrated in fig. 9-14, the proportional control assembly 208 employs at least two pumps to effect the supply of liquid. In the above embodiment, the pump is provided in the base station 200, which corresponds to pressing the liquid into the cleaning robot 100. Of course, in other possible embodiments, a pump may be provided on the cleaning robot 100 to pump the liquid into the cleaning robot 100.

Specifically, as shown in fig. 15 to 18, in the embodiment in which the pump is provided on the cleaning robot 100, compared to the embodiment in which two pumps are provided in the base station 200 as shown in fig. 9 to 14, the cleaning robot 100 further includes a liquid flow conveying assembly 115. In both embodiments, the cleaning robot 100 includes other structures, such as: the main body 101, the moving module, the cleaning module 102, the robot box 103, and other necessary structures are the same, and reference is made to the above description, which is not repeated herein.

As shown in fig. 15-18, fluid delivery assembly 115 includes: a pump body 1151, a liquid inlet pipe 1152, a liquid outlet pipe 1153, a liquid inlet check valve 1154 and a liquid outlet check valve 1155. Pump 1151 is equivalent to drain pump 110, inlet 1152 is equivalent to hose 118, and outlet 1153 is equivalent to drain 109. Here, to distinguish between two different embodiments, the same structure is referred to by different names in different embodiments to distinguish between them.

One port (the right port shown in fig. 15 to 18) of the pump body 1151 communicates with the robot housing 103, and the other port (the left port shown in fig. 15 to 18) connects the liquid inlet pipe 1152 and the liquid outlet pipe 1153. Specifically, the other port of the pump body 1151 may be connected to the inlet 1152 and outlet 1153 pipes by a tee. A liquid inlet check valve 1154 and a liquid outlet check valve 1155 are respectively arranged on the liquid inlet pipe 1152 and the liquid outlet pipe 1153, wherein the liquid inlet check valve 1154 inhibits the liquid from flowing from the pump body 1151 to the liquid inlet pipe 1152, and the liquid outlet check valve 1155 inhibits the liquid from flowing from the liquid outlet pipe 1153 to the pump body 1151.

That is, inlet check valve 1154 allows liquid in inlet pipe 1152 to flow to pump body 1151, and outlet check valve 1155 allows liquid in pump body 1151 to flow to outlet pipe 1153. Effluent pipe 1153 is coupled to cleaning module 102 to wet the cleaning medium.

In addition, compared to the embodiments shown in fig. 9 to 14, the base station 200 of the present embodiment may include only one cavity, i.e., the first cavity 201, in some cases, as shown in fig. 15, 17 and 18. In both embodiments, the base station 200 comprises other structures, such as: the main body 203, the liquid supply assembly 207, the proportional control assembly 208, the base station controller, and other necessary structures are the same, and reference is made to the above description, which is not repeated herein.

In embodiments where the base station 200 is provided with only one chamber, i.e., the first chamber 201, the output 2075 of the liquid supply assembly 207 is in removable communication with the inlet pipe 1152. The specific detachable connection manner is the docking device 300 described above, which is not described herein again.

In this embodiment, the first cavity 201 is used for accommodating liquid, which may be water or a cleaning solution prepared in advance. When the liquid is water, the liquid is mainly suitable for a scene of wetting a cleaning medium and realizing wet mopping. When the liquid is cleaning solution, the liquid is mainly suitable for improving the cleaning effect or sterilizing and disinfecting the working surface.

As shown in fig. 17 and 18, the cleaning robot 100 has an operating state and a fluid replacement state. When in the working state (as shown in fig. 18), the liquid inlet pipe 1152 is separated from the liquid supply assembly 207, the pump body 1151 is controlled by the robot controller to rotate forwards, the liquid inlet check valve 1154 is in the closed state, the liquid outlet check valve 1155 is in the open state, and the liquid in the robot box 103 is pumped by the pump body 1151 and discharged from the liquid outlet pipe 1153.

When the cleaning robot 100 is in a liquid supplementing state (as shown in fig. 17), the liquid inlet pipe 1152 is communicated with the liquid supply assembly 207, the pump body 1151 is controlled by the robot controller to reversely rotate, the liquid inlet check valve 1154 is in an open state, the liquid outlet check valve 1155 is in a closed state, and the liquid in the first cavity 201 is pumped into the robot box 103 by the pump body 1151.

As can be seen, in this embodiment, the pump body 1151 functions as both a suction pump during fluid replacement and a power pump during operation. Thus, the cleaning robot 100 is switched between a liquid supplementing state and a working state through the structural design that one pump body 1151 is matched with the liquid inlet check valve 1154 and the liquid outlet check valve 1155. Thus, compared to the embodiment of fig. 1 to 14 in which two pumps are provided in the base station 200, the structure of the embodiment is simpler and the manufacturing cost is lower.

As shown in fig. 16, in some other cases of the present embodiment, the base station 200 may also have two cavities, that is, the base station 200 further includes a second cavity 202, and the liquid contained in the second cavity 202 is different from the liquid contained in the first cavity 201. For example, as described above, the first cavity 201 is used for accommodating a cleaning solute, such as liquid cleaning solution, disinfectant solution, and the like. The second cavity 202 is used for containing a solvent, such as water.

The cleaning solute output from the first chamber 201 and the water output from the second chamber 202 enter the mixing region through the input end 2074 of the liquid supply assembly 207, and are mixed in the mixing region (the confluence pipe 2073) to obtain the cleaning solution. The ratio control assembly 208 disposed on the liquid supply assembly 207 controls the flow rate of the liquid discharged from the first chamber 201 and the second chamber 202 to achieve a desired ratio or concentration of the cleaning solution. A base station controller coupled to the proportional control component 208 is used to control the operation of the proportional control component 208. The structure of the base station controller, the proportional control unit 208 and the scheme for controlling the flow rate may refer to the above description, which is not repeated herein.

The operation of the cleaning system according to the embodiment of the present invention will be described with reference to fig. 24:

the cleaning robot 100 starts to operate.

The operation of the cleaning robot 100 is started, and may be triggered for the user or may be a spontaneous operation of the cleaning robot 100 itself.

The user trigger operation comprises the following steps: the robot panel provided on the body 101 is provided with an open button, and the cleaning robot 100 starts to operate when a user clicks and triggers the open button. Alternatively, the user remotely manipulates a client (e.g., a mobile smartphone, or an APP loaded on a mobile smartphone) communicatively connected to the cleaning robot 100, and controls the cleaning robot 100 to start operating. Alternatively, the user remotely manipulates the remote control device to control the cleaning robot 100 to start operating.

And the autonomous operation of the cleaning robot 100 itself includes: the cleaning robot 100 is set to start working at regular times, for example, 10 a.m: 00, starting to work; alternatively, 10 am every saturday: 00 begin operation, etc.

The cleaning robot 100 starts a self-test program to detect whether the liquid amount in the robot tank 103 is lower than a preset threshold value.

The start of the self-check program of the cleaning robot 100 may be triggered by the robot controller based on the above-mentioned command for the operation start. The detection of the liquid amount in the robot box 103 is done by a liquid level sensor 116. The level sensor 116 detects the level of liquid in the robot tank 103 in real time and provides the detection result to the cleaner controller in real time.

When the cleaner controller judges that the current liquid level of the robot box 103 is higher than the lower threshold value based on the real-time detection result provided by the liquid level sensor 116, that is, the detection result is no, which indicates that the liquid reserve in the cleaning robot 100 is sufficient, the cleaning robot 100 is controlled to execute the step of continuing to work. On the contrary, when the cleaner controller determines that the current liquid level of the robot tank 103 is lower than the lower threshold based on the real-time detection result provided by the liquid level sensor 116, that is, the detection result is yes, which indicates that the liquid reserve in the cleaning robot 100 is insufficient, the cleaning robot 100 is controlled to return to the base station 200 along the shortest path.

The path planning of the cleaning robot 100 returning to the base station 200 is the prior art, and the present invention is not described herein.

After the cleaning robot 100 reaches the base station 200, the cleaning robot 100 establishes a communication connection with the base station 200 through any existing known means such as infrared, bluetooth, wireless, etc., and sends a signal requesting fluid replenishment to the base station 200.

After receiving the signal requesting fluid replenishment from the cleaning robot 100, the base station 200 starts a self-test program to detect whether the first cavity 201 for containing the cleaning fluid is installed. Specifically, whether the first cavity 201 is installed on the first installation position of the base station 200 is detected by the first in-place detection element. And if the detection result is negative, that is, the first cavity 201 is not installed in the base station 200, sending an alarm signal without the first cavity 201 outwards. Specifically, the base station controller controls an alarm unit in communication connection with the base station controller to send an alarm signal to notify a user of installing the first cavity 201. If the detection result is yes, that is, the first cavity 201 is already installed in the base station 200, the base station 200 continues to perform self-checking whether the second cavity 202 is installed.

Similarly, when the detection result is negative, that is, the base station 200 is not installed with the second cavity 202 at this time, the alarm signal without the second cavity 202 is sent out, and the user is notified to install the second cavity 202. When the result of the detection is yes, that is, the second chamber 202 is installed in the base station 200 at this time, the base station 200 continues to self-check whether there is water in the second chamber 202. Specifically, the liquid level in the second chamber 202 is detected by the liquid level sensor 205 to determine whether there is water.

Similarly, when the detection result is negative, that is, when there is no water in the second cavity 202, an alarm signal indicating that there is no water in the second cavity 202 is sent out, and the user is notified to add water into the second cavity 202. During this time, the cleaning robot 100 returns to the base station 200 to stand by. When the detection result is yes, that is, water is present in the second chamber 202, the cleaning robot 100 moves into the base station 200 and stops at the parking place 204.

The docking detection element 309 detects whether docking is successful. Specifically, the docking detection element 309 provided on the base station 200 is activated to detect whether the first connector 301 and the second connector 302 are successfully docked. The docking detection component 309 provides the detection structure to the base station controller in real time.

When the base station controller determines that the first joint 301 and the second joint 302 are not successfully jointed based on the detection result provided by the joint detection element 309, the cleaning robot 100 moves back to perform a plurality of re-jointing operations. During this period, the base station controller controls the proportional control unit 208 to temporarily stop performing the fluid replacement operation. During the course of performing a plurality of re-docking operations, for example, three times, the docking detection component 309 detects whether the first connector 301 and the second connector 302 are successfully docked in real time. If the detection is not successful again, the liquid adding process is interrupted, the cleaning robot 100 stops to alarm, and the user intervenes in the inspection. If the detection result shows that the first joint 301 and the second joint 302 are successfully butted, the cleaning robot 100 sends a signal indicating that the butting is successful to the base station 200.

After receiving the signal of successful docking, the base station 200 starts to add liquid to the robot box 103 according to the set proportion. Before adding liquid, the user can adjust or modify the proportioning ratio parameter of the cleaning solution through the input device. The base station 200 controls the proportional control module 208 to output cleaning solutes and solutes with corresponding flow rates according to the input proportioning proportional parameters.

In the process of adding liquid to the cleaning robot 100 by the base station 200, the reminding unit in communication connection with the base station controller and/or the robot controller is controlled to operate, and outwards sends out reminding signals in modes of voice broadcasting, character displaying, light flickering and the like so as to remind a user that the first cavity 201 and the second cavity 202 are not required to be pulled out.

In the liquid adding process, different treatment measures are provided when different abnormal conditions are met.

For example, if the user pulls the cleaning robot 100 out of the base station 200, the docking detection element 309 detects that the docking between the first joint 301 and the second joint 302 is disconnected. The cleaning robot 100 sends a disconnection signal to the base station 200, the base station controller controls the first pump 2081 to stop, and the second pump 2082 pumps reversely for a period of time to empty the residual liquid in the docking device 300, and sends an alarm signal.

If the robot box 103 is pulled out, the cleaning robot 100 sends a signal to the base station 200, the base station 200 stops supplying liquid, and sends an alarm signal to prompt a user to install the robot box 103 back. Wherein, the body 101 of the base station 200 is also provided with an in-place detection element for detecting whether the robot box 103 is in place, and the in-place detection element is in communication connection with the robot controller. When the in-place detection element detects that the robot housing 103 is pulled out, it communicates with the robot controller to inform the base station 200 that the robot housing 103 is pulled out.

If any one or two cavities in the base station 200 are taken away, the base station 200 stops adding liquid, and an alarm prompts a user to install the cavities back. Specifically, the first and second in-situ detection elements respectively detect whether the first cavity 201 and the second cavity 202 are in-situ in real time, and provide the detection result to the base station controller.

If the power supply of the base station 200 is removed and the power supply is plugged again, the base station controller starts the second pump 2082 to reversely pump back, and detects the cavity and the butt joint state and then determines whether to start liquid feeding. The specific steps refer to the above description of whether the cavity is in place, whether the cavity has water, and whether the butt joint is successful, which is not described herein again.

During the liquid filling process, the liquid in the first cavity 201 and the second cavity 202 is gradually decreased by consumption, and the liquid in the robot box 103 is gradually increased. Before the robot housing 103 is filled, the base station 200 performs a self-check in real time to detect whether there is liquid in the first chamber 201 and the second chamber 202. When it is detected that there is no water in the second cavity 202 or the water level is lower than the set threshold, the base station 200 stops adding water to the cleaning robot 100, and sends a signal that the base station 200 has no water and the water addition is completed to the cleaning robot 100, and the cleaning robot 100 goes out of the station and continues working.

When detecting that there is no cleaning liquid or the liquid level of the cleaning liquid in the first cavity 201 is lower than the set threshold, the base station controller operates through the warning unit connected with the base station controller to remind the user that there is no cleaning liquid or the amount of the cleaning liquid in the first cavity 201 is small, and at the same time, the cleaning liquid pump, i.e., the first pump 2081, stops working, the water pump, i.e., the second pump 2082, continues working, and adds water to the cleaning robot.

That is, the base station 200 self-checks the liquid amounts in the first and

second cavities

201 and 202 in real time during the process of adding liquid to the cleaning robot 100 by the base station 200. The base station 200 performs the operation of adding water to the cleaning robot 100 even if the cleaning liquid is not present in the first chamber 201 as long as water is present in the second chamber 202. When there is no water in the second chamber 202, the base station 200 stops the operation of adding the cleaning liquid to the cleaning robot 100 even though the cleaning liquid remains in the first chamber 201.

During the process of adding liquid to the cleaning robot 100 by the base station 200, the cleaning robot 100 detects and monitors the liquid level height in the robot tank 103 in real time by the liquid level sensor 116. When the level sensor 116 detects that the liquid level in the robot tank 103 has not reached the upper threshold, the base station 200 continues to charge the cleaning robot 100. Once the level sensor 116 detects that the liquid level in the robot tank 103 reaches the upper threshold, the cleaning robot 100 sends a full or full signal to the base station 200, and the base station controller controls the proportional control module 208 to stop filling.

In the embodiment where the proportional control unit 208 is at least two pumps as illustrated in fig. 9 to 14, as can be seen from the above description, to prevent the liquid in the first cavity 201 and the liquid in the second cavity 202 from streaming, the base station controller first controls the first pump 2081 to stop, then controls the second pump 2082 to stop, and then controls the second pump 2082 to reversely rotate for a period of time to reversely pump, so as to empty the docking device 300 of the residual liquid.

Subsequently, the base station 200 transmits a signal of liquid filling completion to the cleaning robot 100. After receiving the signal of liquid adding completion, the cleaning robot 100 exits from the base station 200 and returns to the breakpoint position to continue to complete the work. After the cleaning operation is completed, the cleaning robot 100 returns to the base station 200 again, automatically replaces the cleaning medium (mop cloth), supplements the liquid, charges the battery, and prepares for the next work.

It should be noted that, in the description of the present invention, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is considered as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

Any numerical value recited herein includes all values from the lower value to the upper value that are incremented by one unit, provided that there is a separation of at least two units between any lower value and any higher value. For example, if it is stated that the number of a component or a value of a process variable (e.g., temperature, pressure, time, etc.) is from 1 to 90, preferably from 21 to 80, and more preferably from 30 to 70, it is intended that equivalents such as 15 to 85, 22 to 68, 43 to 51, 30 to 32 are also expressly enumerated in this specification. For values less than 1, one unit is suitably considered to be 0.0001, 0.001, 0.01, 0.1. These are only examples of what is intended to be explicitly recited, and all possible combinations of numerical values between the lowest value and the highest value that are explicitly recited in the specification in a similar manner are to be considered.

Unless otherwise indicated, all ranges include the endpoints and all numbers between the endpoints. The use of "about" or "approximately" with a range applies to both endpoints of the range. Thus, "about 20 to about 30" is intended to cover "about 20 to about 30", including at least the endpoints specified.

The above description is only a few embodiments of the present invention, and those skilled in the art can make various changes or modifications to the embodiments of the present invention according to the disclosure of the application document without departing from the spirit and scope of the present invention.

Claims

1. A base station for supplying a cleaning solution to a cleaning robot; characterized in that the base station comprises:

a main body;

2. The base station of claim 1, wherein the liquid supply assembly comprises: the first pipeline is communicated with the first cavity, and the second pipeline is communicated with the second cavity;

3. The base station of claim 2, wherein the proportional control component comprises: and the first pump and the second pump are respectively arranged on the first pipeline and the second pipeline.

4. The base station of claim 1, wherein the liquid supply assembly further comprises: a mixing area located between the input end and the output end and used for mixing the cleaning solute input by the input end with a solvent to obtain a cleaning solution; the output is to provide a cleaning solution to the cleaning robot.

5. The base station of claim 4, wherein the liquid supply assembly comprises: the first pipeline is communicated with the first cavity, the second pipeline is communicated with the second cavity, and the confluence pipeline is communicated with the first pipeline and the second pipeline;

6. The base station of claim 5,

the proportional control assembly includes: a first pump and a second pump; the first pump is arranged on the first pipeline or the second pipeline, and the second pump is arranged on the collecting pipeline; or the first pump is arranged on the first pipeline, and the second pump is arranged on the second pipeline; the base station controller controls the flow of the first pump and the second pump;

alternatively, the proportional control component comprises: the first pump, the second pump and the third pump are respectively arranged on the first pipeline, the second pipeline and the collecting pipeline; the base station controller controls the flow of at least two of the first pump, the second pump and the third pump.

7. The base station of claim 5, wherein the proportional control component comprises: a first pump and a second pump;

8. The base station of claim 1,

the first cavity and the second cavity are provided with liquid level detection elements, and the liquid level detection elements are connected with the base station controller;

9. The base station of claim 1, wherein the first chamber is provided with a first waterproof and breathable means; and/or a second waterproof and breathable device is arranged on the second cavity.

10. The base station of claim 9,

the first waterproof and breathable device is arranged at the interface of the first cavity and the liquid supply assembly;

11. A cleaning system, comprising: a cleaning robot, a base station supplying a cleaning solution to the cleaning robot;

the cleaning robot includes:

a body;

the base station includes:

a main body;

12. The cleaning system of claim 11, wherein the robot housing has a fluid port connected to a first end of a tee fitting, a second end of the tee fitting connected to a fluid outlet line, and a third end for connection to the fluid supply assembly.

13. The cleaning system of claim 11, wherein the robot housing is in communication with the liquid supply assembly via a docking assembly, wherein a third water venting assembly and a third one-way valve are disposed between the docking assembly and the robot housing, wherein the third water venting assembly is positioned between the docking assembly and the third one-way valve, and wherein the third one-way valve inhibits the passage of cleaning solution from the robot housing to the docking assembly.

14. The cleaning system of claim 11, wherein the liquid supply assembly comprises: the first pipeline is communicated with the first cavity, the second pipeline is communicated with the second cavity, and the confluence pipeline is communicated with the first pipeline and the second pipeline; the confluence pipeline is communicated with the robot box body through a butt joint device;

the proportional control assembly includes: a first pump and a second pump; the first pump is arranged on the first pipeline or the second pipeline, and the second pump is arranged on the collecting pipeline; after the base station finishes supplying the cleaning solution to the robot box body of the cleaning robot, the base station controller controls the second pump to rotate reversely for a preset time;

alternatively, the liquid supply assembly comprises: the first pipeline is communicated with the first cavity, and the second pipeline is communicated with the second cavity; the first pipeline and the second pipeline are communicated with the robot box body through a butt joint device;

the proportional control assembly includes: the first pump and the second pump are respectively arranged on the first pipeline and the second pipeline; the base station controller controls the first pump and/or the second pump to rotate in reverse for a predetermined time after the base station finishes supplying the cleaning solution to the robot tank of the cleaning robot.

15. The cleaning system of claim 13 or 14,

the docking device includes: the connector comprises a first connector and a second connector detachably connected with the first connector; the first joint is connected with the liquid supply assembly, and the second joint is connected with the robot box body;