WO2024149176A1 - Robot de nettoyage et poste de travail associé - Google Patents

Robot de nettoyage et poste de travail associé Download PDF

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Publication number
WO2024149176A1
WO2024149176A1 PCT/CN2024/071003 CN2024071003W WO2024149176A1 WO 2024149176 A1 WO2024149176 A1 WO 2024149176A1 CN 2024071003 W CN2024071003 W CN 2024071003W WO 2024149176 A1 WO2024149176 A1 WO 2024149176A1
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WO
WIPO (PCT)
Prior art keywords
water
cleaning robot
water tank
workstation
cache
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2024/071003
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English (en)
Chinese (zh)
Inventor
张剑锋
李汉政
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sparkoz Technology Corp
Original Assignee
Sparkoz Technology Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sparkoz Technology Corp filed Critical Sparkoz Technology Corp
Publication of WO2024149176A1 publication Critical patent/WO2024149176A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid

Definitions

  • the present application relates to the technical field of robots, and in particular to a cleaning robot, a workstation of the cleaning robot, a water treatment station of the cleaning robot, and a water system of the cleaning robot.
  • the existing robot automatic water-adding system may need to sacrifice the robot's work efficiency and convenience to meet this demand, such as increasing the robot's water carrying capacity, increasing the robot's volume, or manually changing the robot's water frequently, or requiring the workstation's water inlet to be set at a higher position, and the robot's water inlet to be correspondingly set at a specific position, relying on the gravity of water to be directly added from the workstation to the robot, which requires the workstation's water outlet to be set higher than the robot's highest water level in the clean water tank.
  • the resulting problem is that the height of the robot's water inlet requires the workstation to maintain a certain height, so that the workstation needs to be designed to be relatively large, and the overall structural layout of the workstation and the robot will also be greatly affected, not only affecting the appearance of the product, but more importantly, it will lead to higher overall material, packaging, transportation, and installation costs.
  • the purpose of the present application is to provide a cleaning robot, a workstation of the cleaning robot, a water treatment station of the cleaning robot, and a water system of the cleaning robot, so as to overcome the technical problem existing in the above-mentioned related technologies that the water outlet of the workstation needs to be set higher than the highest liquid level of the robot's clean water tank, thereby reducing the height of the workstation.
  • the first aspect of the present application provides a cleaning robot, comprising: a chassis, including a battery assembly arranged on the upper side of the chassis and a wheel group arranged on the lower side of the chassis for driving the robot to move, and a cleaning assembly for performing cleaning operations; a robot body, arranged on the robot chassis, including an electrical assembly vertically arranged on the chassis and a box body vertically arranged on the chassis, the box body including a cavity with a sewage storage function and a cavity with a clean water storage function; a cache water tank, arranged on the upper side of the chassis and located between the battery assembly and the electrical assembly or between the battery assembly and the rear side of the robot body, the cache water tank being connected to a water inlet pipe for docking a workstation and a water supply pipe for connecting to the clean water tank; the water in the cache water tank is pumped into the clean water tank through the water supply pipe of the clean water tank by a water pump; a control device, used to control the
  • the second aspect of the present application provides a workstation for a cleaning robot, comprising: a workstation body, having a docking surface for docking the cleaning robot; the cleaning robot comprising a cache water tank arranged between its front side surface and the clean water tank or between the battery assembly and the rear side of the robot body; a charging device, arranged on the workstation body, comprising an electrode assembly for docking with the charging interface of the cleaning robot; a water adding assembly, arranged on the workstation body, comprising a water adding port for docking with the water inlet pipe of the cleaning robot and a water adding pipeline connected to the water adding port; a drainage assembly, arranged on the workstation body, comprising a water receiving pan for docking with the drainage port of the cleaning robot and a sewage drainage pipeline connected to the water receiving pan.
  • the third aspect of the present application provides a water treatment station for a cleaning robot, comprising: a treatment station body, having at least one water treatment chamber; a sewage input port, arranged on the treatment station body, for connecting the workstation sewage output pipeline of the cleaning robot and the water treatment chamber through a pipeline; a clean water output port, arranged on the treatment station body, for connecting the water treatment chamber and the workstation clean water input pipeline of the cleaning robot through a pipeline; at least one sewage filtering device, detachably installed in the water treatment chamber, for purifying the sewage from the sewage input port into clean water and transporting it to the clean water output port.
  • the fourth aspect of the present application provides a water system for a cleaning robot, comprising the cleaning robot described in the first aspect above; and the workstation described in the second aspect above.
  • the fifth aspect of the present application provides a water system for a cleaning robot, comprising the cleaning robot described in the first aspect; the workstation described in the second aspect; and the water treatment station described in the third aspect.
  • the cleaning robot, the workstation of the cleaning robot, the water treatment station of the cleaning robot, and the water system of the cleaning robot provided by the present application by setting a cache water tank in the cleaning robot body, overcomes the technical problem in the above-mentioned related technologies that the water outlet of the workstation needs to be set higher than the highest liquid level of the robot's clean water tank, thereby reducing the height of the workstation and thus reducing the overall material cost, packaging cost, transportation cost and installation cost.
  • the water stored in the cache water tank can also be used as a supplement to the water source of the robot's clean water tank, which increases the volume of the clean water tank in disguise, thereby increasing the robot's operating area; furthermore, the water treatment station of the present application can purify the sewage and then input it to the cleaning robot through the workstation, so that the working environment of the cleaning robot does not need to lay out additional water channels, thereby expanding the application scenarios of the cleaning robot and reducing the use cost of the cleaning robot.
  • FIG. 1 is a schematic diagram showing a water system of a cleaning robot in one embodiment of the present application.
  • FIG. 2 is a schematic diagram showing a cleaning robot according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram showing another embodiment of the cleaning robot of the present application.
  • FIG. 4 is a schematic diagram showing the docking of the cleaning robot and the workstation in one embodiment of the present application.
  • FIG. 5 is a schematic diagram showing the connection between a workstation and a water treatment station in one embodiment of the present application.
  • the existing robot automatic water-adding system may need to sacrifice the robot's work efficiency and convenience, such as increasing the robot's water carrying capacity, the robot's volume, or manually changing the robot's water frequently, or requiring the workstation's water inlet to be set at a higher position, and the robot's water inlet is also correspondingly set at a specific position, relying on the gravity of water to be added directly from the workstation to the robot.
  • This will also have a greater impact on the overall structural layout of the workstation and the robot, and further the overall cost is high due to the large volume of the workstation.
  • water supply systems are usually not installed in specific work scenarios such as parking lots and warehouses. If cleaning robots need to complete cleaning tasks in these occasions, it will be a problem for the robots to use and replenish water. If construction and renovation are carried out on these specific occasions, it will bring huge costs. If manual water replenishment is used, it will increase labor costs and reduce work efficiency.
  • the present application provides a cleaning robot, a workstation for the cleaning robot, a water treatment station for the cleaning robot, and a water system for the cleaning robot.
  • the water stored in the cache water tank can also be used as a supplement to the water source of the robot's clean water tank, which correspondingly increases the volume of the clean water tank and thus increases the robot's operating area; furthermore, the water treatment station of the present application can purify the sewage and then input it to the cleaning robot from the workstation, so that the working environment of the cleaning robot does not need to be additionally laid out with waterways, thereby expanding the working scene of the cleaning robot and reducing the use cost of the robot.
  • FIG1 is a schematic diagram of a water system of a cleaning robot in an embodiment of the present application.
  • the water system of the present application includes: a cleaning robot 1, a workstation 2, and a water treatment station 3.
  • the cleaning robot 1 can discharge the sewage collected during work to the workstation 2 through its sewage discharge pipeline.
  • the workstation 2 transports the sewage to the water treatment station 3.
  • the water treatment station 3 uses its own sewage treatment function to treat the sewage into clean water and then transports it to the cleaning robot 1 through the workstation 2.
  • the cleaning robot 1 is equipped with a built-in cache water tank, and the workstation 2 transports clean water from the on-site water channel or clean water output from the water treatment station to the cache water tank of the cleaning robot 1, and outputs it to the built-in clean water tank of the cleaning robot 1 through the cache water tank to realize the water adding operation. During this process, the cleaning robot 1 can also complete the charging operation through the workstation 2.
  • the cleaning robot of the present application is a robot that can perform one or more tasks such as washing, sweeping, vacuuming, and mopping the surface to be cleaned. Accordingly, the cleaning robot is provided with, for example, a cleaning component and a water absorbing component for performing floor washing operations, as well as one or more accessories or components in a water tank for containing clean water or sewage, so as to complete the cleaning of the surface to be cleaned.
  • the cleaning robot may also be referred to as a mobile robot, a floor washing robot, a floor scrubber, or a floor cleaning machine in some application scenarios.
  • Automatic floor scrubbers, cleaning robots, etc. are robot devices suitable for performing floor surface cleaning work in areas with high water consumption or large areas that require cleaning.
  • the cleaning robot can accept user commands, such as an operator pushing, pulling, or driving the cleaning robot to complete the cleaning work on the floor surface; for example, the operator controls the cleaning robot to perform work through a handheld remote control or an application loaded on a smart terminal.
  • the cleaning robot can also complete the floor surface cleaning work by itself, such as by running pre-programmed programs or rules to complete the work by itself.
  • a cleaning robot that can autonomously perform positioning and navigation and autonomously complete cleaning work will be used as an example for explanation.
  • the cleaning robot is, for example, a floor scrubber.
  • the surface to be cleaned refers to the floor surface, including tiles, stones, bricks, wood, concrete, carpets and other common surfaces.
  • the surface to be cleaned may also be referred to as a cleaning surface, a floor, a surface, a walking surface, etc.
  • the plane parallel to the surface to be cleaned i.e., the floor surface
  • the plane perpendicular to the surface to be cleaned i.e., the floor surface
  • a vertical plane or a vertical direction is referred to as a vertical plane or a vertical direction.
  • the forward direction of the cleaning robot during work is defined as the forward direction
  • the opposite direction of the forward direction during work is defined as the backward direction.
  • one side of the forward direction of the cleaning robot during work is defined as the front side or the front end
  • the side of the cleaning robot in the opposite direction away from the front side or the front end is defined as the rear side or the rear end.
  • the left and right sides are distinguished based on the forward direction of the cleaning robot during work.
  • FIG. 2 is a schematic diagram of the cleaning robot of the present application in one embodiment.
  • the cleaning robot includes: a chassis 10 , a robot body, a buffer water tank 115 , and a control device 12 .
  • the chassis 10 can be integrally formed from materials such as plastic, metal or other materials used in the art, and includes a plurality of pre-formed grooves, recesses, snap-in positions or similar structures for installing or integrating related devices, parts, assemblies, or mechanisms on the chassis 10.
  • a battery assembly 13 and a buffer water tank 115 are fixed to the upper surface of the chassis 10.
  • the battery assembly 13 includes a battery and an auxiliary fixing mechanism thereof.
  • the battery is used to supply power to other electrical components (e.g., a control device, a mobile device, a cleaning device, a lifting mechanism, etc.).
  • the battery can be, for example, a conventional nickel-metal hydride (NiMH) battery or a lithium battery.
  • the battery in the battery assembly 13 is arranged on the upper side of the chassis 10 and placed in parallel with the cache water tank 115, and is located in the bottom external accommodation space (not shown) of the one-piece clean water tank 112, that is, when the clean water tank 112 is placed on the chassis, the battery assembly 13 is shielded by the bottom space of the clean water tank 112 and is not visible.
  • the height of the battery assembly 13 is not greater than the height of the bottom contour of the clean water tank 112 from the upper surface of the chassis.
  • the left and right widths (lateral lengths) of the battery assembly 13 are not greater than the lateral length of the bottom external accommodation space of the clean water tank 112.
  • a wheel set 14 is provided on the lower side of the chassis 10, and the wheel set 14 is used to drive the robot to move forward, turn, retreat, etc.
  • the wheel set 14 includes a first drive assembly, and left and right drive wheels provided on opposite sides of the bottom of the chassis 10, and the drive wheels are driven by the first drive assembly to drive the cleaning robot to move.
  • the wheel set 14 is driven to drive the cleaning robot 1 to perform forward and backward reciprocating motion, rotational motion, or curved motion according to the planned moving trajectory, or to drive the cleaning robot 1 to adjust its posture, and provide three contact points between the cleaning robot 1 and the cleaning surface.
  • the left driving wheel is arranged at the rear side of the bottom of the chassis 10 of the cleaning robot 1 and is located on the left side of the cleaning robot
  • the right driving wheel is arranged at the rear side of the bottom of the chassis 10 of the cleaning robot 1 and is located on the right side of the cleaning robot 1.
  • the left driving wheel and the right driving wheel are coaxially arranged, and are used to drive the cleaning robot 1 forward or backward when driven by their respective motors, or to drive the cleaning robot to turn by utilizing the differential speed of the left and right driving motors.
  • the wheel set 14 also includes a universal wheel, which is arranged at the bottom of the chassis 10 of the cleaning robot 1 and located in the middle position of the front side of the cleaning robot 1, and is used to support the front weight of the cleaning robot 1 and cooperate with the differential of the left and right driving wheels to passively realize steering for the cleaning robot.
  • the universal wheel is a passive wheel, that is, the universal wheel itself does not have driving capability, and it can passively roll or turn under the drive of the left and right driving wheels on the rear side of the cleaning robot.
  • there are two universal wheels which are respectively arranged at the bottom of the cleaning robot body and located on the left and right sides of the front side of the cleaning robot 1, and are used to support the weight of the front of the cleaning robot and cooperate with the differential speed of the left and right drive wheels to passively realize the steering of the cleaning robot.
  • the number of universal wheels can be configured accordingly according to the needs of the cleaning robot. For example, on the basis of setting a passive universal wheel at the bottom of the robot body and located in the middle position of the front side of the cleaning robot, another passive universal wheel is also set at the left and right sides of its front side.
  • a cleaning assembly 15 is further disposed on the lower side of the chassis 10 .
  • the cleaning assembly 15 is used to perform cleaning operations.
  • the cleaning assembly 15 includes a brush plate 150 and a water suction rake 16 .
  • the cleaning assembly 15 may include any suitable cleaning mechanism, brush disc, roller brush, scrubber and/or the like, which is configured to contact the surface to be cleaned on which the cleaning robot travels.
  • the cleaning assembly 15 may include a housing or the like that may define a vacuum chamber, and may include one or more disc-shaped brushes that are rotatably coupled to the housing and at least partially arranged in the vacuum chamber.
  • One or more brushes may be operably coupled to a motor that is configured to rotate one or more brushes relative to the housing.
  • the cleaning assembly 15 may include a cleaning head or the like, which may include one or more of a cylindrical cleaning member, a disc cleaning member, a track cleaning member and/or the like.
  • Such a cleaning head and/or one or more cleaning members contained therein may be exchangeable from one type (e.g., a cylindrical or disc-shaped cleaning member) to another type (e.g., a track cleaning member), thereby allowing the cleaning assembly 15 to clean different types of surfaces.
  • one type e.g., a cylindrical or disc-shaped cleaning member
  • another type e.g., a track cleaning member
  • the cleaning assembly 15 includes a cleaning turntable 150, a connecting structure (not shown) and an adjusting structure (not shown).
  • the cleaning turntable 150 is used to clean the floor (i.e., the surface to be cleaned mentioned above), and the cleaning turntable 150 includes a relative working surface and a mounting surface.
  • One end of the connecting structure is rotatably connected to the mounting surface, and the rotation axis of one end of the connecting structure is parallel to the working surface, and the other end of the connecting structure is used to be mounted on the chassis 10 of the cleaning robot.
  • the adjusting structure is arranged on the chassis 10, and the driving end of the adjusting structure is connected to the connecting structure.
  • the adjusting structure is used to rotate the connecting structure to drive the cleaning turntable 150 so that the working surface is close to or away from the surface to be cleaned, and when the working surface contacts the surface to be cleaned, it is used to continue to rotate the connecting structure to provide the cleaning turntable 150 with pressure to be close to the surface to be cleaned.
  • the speed output of the working motor is increased; after reducing the pressure of the cleaning turntable 150 on the ground, the speed output of the working motor is reduced, so that electric energy can be further saved and the cleaning quality can be ensured.
  • the rotation angle of the connection structure in the vertical plane is adjusted by the adjustment structure to control the distance between the connection structure and the ground.
  • the working time and working condition information are adjusted by continuing to rotate the connection structure to adjust the force (or adjustment force) of the connection structure on the cleaning turntable 150 connected to the lower end of the connection structure, thereby adjusting the pressure of the cleaning turntable 150 on the ground.
  • the problem that the pressure of the cleaning turntable 150 on the ground cannot be adjusted is solved.
  • By adjusting the pressure of the cleaning turntable 150 on the ground energy waste is avoided and the effect of cleaning the ground is guaranteed.
  • the adjustment structure applies a larger force of the downward rotating connecting structure, thereby increasing the pressure of the cleaning turntable 150 on the ground, so that the cleaning turntable 150 focuses on cleaning the ground under complex conditions, thereby achieving the purpose of cleaning;
  • the ground condition is simple, that is, the ground is slightly dirty
  • the adjustment structure applies a smaller force or no force of the downward rotating connecting structure, thereby increasing the pressure of the cleaning turntable 150 on the ground compared to when the condition is complicated, so that the cleaning turntable 150 properly cleans the ground under simple conditions, and also achieves the purpose of cleaning the ground.
  • the driving mechanism adjusts the rotation angle of the connecting structure in the rotating plane to control the distance between the cleaning turntable 150 and the surface to be cleaned, and after the cleaning turntable 150 lands, the connecting structure is continued to rotate to adjust the pressure of the cleaning turntable 150 connected to the connecting structure on the surface to be cleaned.
  • the driving mechanism By setting an idle travel mechanism, after the gravity of the cleaning turntable 150 is completely released to the surface to be cleaned, the driving mechanism continues to rotate to provide the above pressure, avoiding the problem of insufficient pressure caused by the wear and shortening of the working surface of the cleaning turntable 150, and increasing the accuracy of the driving mechanism in adjusting the above pressure.
  • the cleaning assembly 15 may also include a pump or the like configured to generate a negative pressure in the vacuum chamber.
  • the pump may be coupled to the housing and in fluid communication with the vacuum chamber.
  • the pump may be, for example, arranged in the sewage tank 111 of the robot body and in fluid communication with the vacuum chamber via a tube, conduit, channel, opening, port, etc.
  • the cleaning assembly 15 communicates with the electronic system, and the cleaning assembly 15 is configured to send a signal to and/or receive a signal from the control device 12 associated with the operation of the cleaning assembly 15.
  • control device 12 may send a signal to the cleaning assembly 15, which may cause the connecting rod (not shown) that connects the cleaning assembly 15 to the chassis 10 to be actuated, may cause the pump to change from the "power on” operating state to the "power off” operating state and/or change the flow through the pump, may cause the motor operably coupled to one or more brushes to change from the "power on” operating state to the "power off” operating state and/or change its output speed, and/or perform similar activities. Therefore, cleaning assembly 15 can be configured to contact the travel surface of the cleaning robot to clean the surface.
  • control device 12 can for example control the pressure applied by cleaning member, brush, disc, track and/or cleaning head contacting the surface being cleaned.
  • the water suction rake assembly 16 includes a water suction rake, a water suction port, a water suction pipe and a lifting/lifting assembly, and the lifting assembly can be lifted and lowered at the rear of the chassis 10 of the cleaning robot 1.
  • the water suction rake is clamped on the edge of the rear of the chassis through the lifting assembly, and a middle cavity is formed around the bottom edge, which is used to absorb and clean the liquid left by the cleaning assembly 15 when washing the surface to be cleaned.
  • the water suction rake is connected with a lifting/lifting assembly, which is used for the good contact between the water suction rake and the surface to be cleaned to ensure the cleaning effect.
  • a water suction port is provided on the bottom wall of the middle cavity of the water suction rake, and the water suction port is connected to the water suction pipe, which is used to suck the sewage collected by the water suction rake into the sewage tank 111.
  • the water suction rake is in close contact with the surface to be cleaned, and the sewage is collected in the cavity during the movement of the cleaning robot 1.
  • the sewage sucked from the cavity flows into the suction pipe, and is sucked into the sewage tank 111 under the negative pressure of the suction pipe, so as not to pollute the ground.
  • the robot body is arranged on the robot chassis 10, including an electrical component 113 vertically arranged on the chassis 10 and a box 110 vertically arranged on the chassis 10, and the box 110 includes a cavity with a sewage storage function and a cavity with a purified water storage function.
  • the robot body is arranged on the chassis 10 of the robot, including an electrical component 113 vertically arranged on the front side of the chassis and a box 110 arranged on the rear side of the electrical component 113 and can be flipped relative to the chassis, the box 110 includes an integrally formed sewage tank 111 and a clean water tank 112 arranged in an upper and lower manner; the bottom contour of the box 110 and the chassis 10 form an external accommodating space, when the box 110 is placed upright on the chassis 10, the battery assembly 13 and the cache water tank 115 are shielded by the external accommodating space at the bottom of the clean water tank 112 and are not visible, when the box 110 is flipped, the battery assembly 13 and the cache water tank 115 arranged on the chassis 10 are exposed to the user's line of sight.
  • the electrical component 113 disposed on the chassis 10 is located at the front side of the chassis 10.
  • the electrical component 113 is internally provided with an electronic system including a control device 12, and a portion of a sensor component 17 is disposed outside the electrical component.
  • the electrical component 113 is disposed in a receiving groove at the front of the cleaning robot body and is covered and protected by a front cover (not shown).
  • the electrical component includes a power conversion module, a lower computer for controlling each actuator, and an upper computer including a control device 12, and electrical modules such as a connection port or a hub (HUB) for connecting each functional module.
  • UOB connection port or a hub
  • the electronic system may include at least a memory, a processor, and an input/output (I/O) interface.
  • the memory may include a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.
  • RAM random access memory
  • ROM read-only memory
  • PROM programmable read-only memory
  • EPROM erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • the processor includes an integrated circuit chip with signal processing capabilities; or a general-purpose processor, for example, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a discrete gate or transistor logic device, a discrete hardware component, which can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application.
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • the general-purpose processor can be a microprocessor or any conventional processor, etc.
  • control device 12 is disposed on a circuit board (not shown) in a groove at the front of the cleaning robot body, and includes a memory and a processor, etc.
  • the memory and the processor are directly or indirectly electrically connected to each other to achieve data transmission or interaction.
  • the memory and the processor can be electrically connected to each other via one or more communication buses or signal lines.
  • the memory storage instructions as described above are used to cause the processor to execute modules, processes and/or functions associated with controlling one or more mechanical and/or electrical systems contained in the cleaning robot 1.
  • the processor of the electronic system can be configured to run or execute a set of instructions or codes stored in the memory associated with the operation of one or more mechanical and/or electrical systems contained in the cleaning robot 1.
  • the I/O interface can be, for example, a universal serial bus (USB) interface; an Institute of Electrical and Electronics Engineers (IEEE) 1394 interface (FireWire); a Thunderbolt TM interface; a serial ATA (SATA) interface or an external serial ATA (eSATA) interface; a network interface card (which includes one or more Ethernet ports and/or radio waves, such as WIFI, Bluetooth or the like).
  • the I/O interface is configured to send signals to the processor and/or receive signals from the processor.
  • the I/O interface can be configured to receive data from and/or send data to any suitable electrical and/or electronic device contained in the cleaning robot 1.
  • the electronic system can be configured to control any suitable part of the robot using a feedback control method such as a PID control scheme and/or similar scheme.
  • the I/O interface can receive a signal associated with an operating condition or the like from one or more electrical and/or electronic components (e.g., one or more motors, pumps, actuators and/or sensors included in the robot).
  • the I/O interface can send data associated with the signal to a processor, which can then at least partially perform a set of instructions associated with the subsequent actions of the control drive system and/or cleaning assembly 15 based on the data received from the I/O interface.
  • the processor can send data associated with the subsequent actions to the I/O interface, which can then send instructions to perform subsequent actions to associated electrical and/or electronic components (e.g., motors, actuators, pumps, etc.).
  • the control device 12 is used to control the operation of various components on the cleaning robot body.
  • the control device 12 can be used to control the cleaning robot 1 to perform the automatic water changing method disclosed in any embodiment of the present application, and can also perform cleaning work, and use navigation technology for positioning and mapping, navigation, etc.
  • module refers to any component and/or a group of operably connected electrical components, which may include, for example, memory, a processor, electrical traces, optical connectors, software executed in hardware, and/or the like.
  • a module executed in a processor may be any combination of a hardware-based module (e.g., a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a digital signal processor (DSP)) and/or a software-based module (e.g., a module of computer code stored in a memory and/or executed in a processor) that is capable of performing one or more specific functions associated with the module.
  • a hardware-based module e.g., a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a digital signal processor (DSP)
  • a software-based module e.g., a module of computer code stored in a memory and/or executed in a processor
  • the sensor components 171, 172, and 173 are used to sense the surrounding environment and working state of the cleaning robot 1.
  • the sensor components 171, 172, and 173 include, for example, sensor components such as visual sensors and laser sensors and signal transmission components such as liquid level feedback.
  • the cleaning robot 1 can obtain the liquid level status information of the clean water tank 112 and/or the sewage tank 111 of the cleaning robot 1 based on the liquid level detection of the clean water tank 112 and/or the sewage tank 111.
  • the multiple sensor components 171, 172, and 173 on the body of the cleaning robot are used for the cleaning robot to detect and/or identify surrounding obstacles in the surrounding environment, so as to adjust its own moving direction and/or moving posture according to the received feedback signal to avoid collision with obstacles or falling off a cliff.
  • the number of the detection devices can also be set more at different positions of the robot body according to actual needs to improve the accuracy of detection, such as the multiple ultrasonic sensors 173 set on the chassis 10 in Figure 2.
  • the sensing components 171, 172, and 173 include, for example, a laser sensor 171, an ultrasonic sensor 173, an infrared sensor, an optical camera (such as a monocular camera or a binocular camera) 172, a depth camera (such as a ToF sensor), a millimeter wave radar sensor, etc.; wherein, for example, the laser sensor can determine its distance relative to the obstacle based on the time difference between the time when it emits the laser beam and the time when it receives the laser beam; for another example, the ultrasonic sensor can determine the distance of the robot relative to the obstacle based on the vibration signal of the sound wave emitted by it being bounced back by the obstacle; for another example, the binocular camera device can determine the distance of the robot relative to the obstacle based on the images captured by its two cameras and the principle of triangulation; for another example, the infrared light projector of the ToF (Time of Flight) sensor projects infrared light outward, and the infrared light is
  • obstacles refer to objects located on the planned path of the cleaning robot that may block it; the obstacles have different types depending on the environment. For example, in indoor scenes, obstacles may be doors, walls, pillars, stairs, tables, chairs, cabinets, flower pots, electrical appliances and other various objects; in outdoor scenes, obstacles may include buildings, public facilities, pedestrians, etc.
  • an operating component 18 is further provided on the rear side of the robot body, and the operating part 18 further includes two side handles (not shown) for the operator to hold and a control interface (not shown) located between the two side handles.
  • the control interface is, for example, an interface with a plurality of physical buttons preset, such as a start button, a travel button, a stop button, a working mode selection button, etc.; in another embodiment, the control interface is, for example, a liquid crystal display screen, which is used for the operator to input relevant instructions through the touch screen to control the working mode or travel mode of the floor cleaning equipment.
  • the box body 110 disposed on the chassis 10 is located at the rear side of the electrical component 113 , and the box body 110 disposed on the chassis 10 can be flipped relative to the chassis 10 .
  • the box body 110 disposed on the chassis 10 includes a sewage tank 111 formed of a cavity arranged up and down for storing sewage and a clean water tank 112 formed of a cavity for storing clean water.
  • the sewage tank 111 forms the upper part of the clean water tank 112.
  • the box body includes a sewage tank 111 and a clean water tank 112 that are integrally formed and arranged up and down, and the box body is disposed at the rear side of the electrical component 113 and can be turned relative to the chassis 10.
  • the bottom outer contour of the clean water tank 112 forms an external accommodation space (not marked) with the chassis 10, and the external accommodation space is used to shield the battery assembly 13 and the cache water tank 115 located on the chassis 10.
  • the clean water tank 112 and the robot top cover 114 form an internal accommodation area (not marked), and the internal accommodation space forms the sewage tank 111.
  • the clean water tank 112 and the sewage tank 111 have an overlapping area in the vertical direction, the sewage tank 111 is located at the upper part relative to the clean water tank 112, and the sewage tank 111 is nested in the clean water tank 112.
  • the overlapping area in the horizontal direction means that the two areas or spaces have overlapping parts in the horizontal plane section (or the horizontal projection).
  • the box body can be integrally formed of materials such as plastic, metal or other materials used in the art.
  • the box body and one side of the chassis 10 are connected by a hinge, and the free side thereof can be detachably combined together by various suitable devices (such as screws, buckles, etc.).
  • the storage space of the sewage tank 111 and the clean water tank 112 has an overlapping area in the horizontal direction
  • the space utilization is guaranteed
  • the counterweight balance of the cleaning robot 1 in the vertical direction is guaranteed.
  • the clean water in the clean water tank 112 is continuously reduced after being used, resulting in a continuous decrease in the water level, and while the clean water is being used, the sewage collected by the cleaning robot 1 in the sewage tank 111 is continuously increased. Since the two have an overlapping area, the collected sewage will also sink to the space area where the clean water tank 112 is located in terms of vertical spatial distribution, thereby ensuring the overall counterweight balance of the cleaning robot 1.
  • the sewage tank 111 is configured as a hollow structure with an opening facing upward to form a built-in accommodation space for recovering sewage collected by the cleaning robot 1.
  • the sewage tank 111 is nested in the clean water tank 112 and has an overlapping area with the clean water tank 112 in the horizontal direction.
  • the internal accommodation space of the outer shell of the clean water tank 112 is U-shaped to wrap the sewage tank 111.
  • a suction assembly (not shown) and a drain port 1111 are installed in the sewage tank 111.
  • the suction assembly is connected to the sewage suction pipe of the sewage tank 111 to form a negative pressure in the sewage tank 111, so that the sewage collected by the water suction rake 16 is transported to the sewage tank 111 through the sewage suction pipe.
  • a gap is preset between the front side of the robot body and the chassis 10, and the drain port 1111 of the sewage tank 111 is arranged at the top of the gap G (Gap) for docking the water receiving tray of the workstation 2.
  • G Gap
  • the clean water tank 112 is an integrally formed material, the top outer contour of which is U-shaped to wrap the sewage tank 111 and the bottom outer contour forms an external accommodating space with the chassis 10 of the cleaning robot 1, and the external accommodating space is used to shield the battery assembly 13 and the cache water tank 115.
  • the clean water tank 112 is provided with a water inlet, a drain outlet, a water supply outlet and a liquid level detection device.
  • the water inlet is connected to the water outlet of the buffer water tank 115 through a clean water pipeline 1152, and is used for the buffer water tank 115 to add water to the clean water tank 112 of the cleaning robot 1;
  • the water supply outlet (not shown) is connected to the chassis cleaning component 15 for cleaning operations, and the liquid level detection device is used to detect the liquid level height in the clean water tank 112.
  • the control device 12 If the liquid level height of the clean water tank 112 reaches the height of the highest liquid level, a signal will be sent to the control device 12, and the control device 12 will control the pump (not shown) in the buffer water tank 115 to stop working; if the liquid level height of the clean water tank 112 is lower than the height of the lowest liquid level, a signal will be sent to the control device 12, and the control device 12 will control the water pump to start working, and the clean water pre-selected and cached in the buffer water tank is input from the buffer water tank 115 to the clean water tank 112 through the water pump.
  • the height of the highest liquid level of the clean water tank 112 in the embodiment described in the present application is higher than the height of the water inlet of the workstation 2.
  • the workstation 2 may be, for example, the workstation disclosed in any embodiment of the present application or other workstations.
  • a water supply assembly (not shown) may be installed on the top of the chassis 10, and the water supply assembly is connected to the clean water tank 112 to help transport the water in the clean water tank 112 to the cleaning assembly 15, so that the cleaning assembly 15 can carry water to carry out ground cleaning operations.
  • the water supply assembly is, for example, a structural member having multiple water outlets.
  • the water in the cache water tank 115 is pumped into the clean water tank 112 through the water supply pipe 1152 of the clean water tank 112 by a water pump.
  • the cache water tank 115 is horizontally arranged (i.e., arranged in the left and right directions) on the upper side of the chassis 10, and the cache water tank 115 is located between the battery assembly 13 and the electrical assembly 113, that is, relative to the battery assembly 13, the cache water tank 115 is closer to the front side of the cleaning robot. This not only increases the volume of the buffer water tank, but also because the cache water tank 115 is horizontally arranged on the chassis 10, the center of gravity of the cleaning robot body is lower, thereby better balancing the stability of the center of gravity of the cleaning robot body.
  • the height of the cache water tank 115 is not greater than the height of the battery assembly 13, and the left and right lengths (i.e., the lateral lengths) of the cache water tank 115 are not greater than the left and right lengths of the battery assembly 13.
  • the cache water tank 115 is connected to a water inlet pipe 1151 for docking with the workstation 2 and a water delivery pipe 1152 for connecting to the clean water tank 112.
  • the height of the pipe opening of the water inlet pipe 1151 connected to the cache water tank 115 is less than or equal to the height of the water inlet of the workstation 2.
  • the clean water in the cache water tank 112 enters the water delivery pipe 1152 and is transported to the clean water tank 112 through a water pump provided inside the cache water tank 115.
  • the present application sets a cache water tank 115 in the cleaning robot body, and makes the height of the pipe mouth of the water inlet pipe 1151 connected to the cache water tank 115 less than or equal to the height of the water inlet of the workstation 2, thereby overcoming the technical problem in the above-mentioned related technology that the water inlet 21 of the workstation 2 needs to be set higher than the highest liquid level of the robot's clean water tank 112, thereby reducing the height of the workstation and thus reducing the overall material cost, packaging cost and transportation cost.
  • a cache volume detection component (not shown) is provided inside the cache water tank 115, which is used to cause the control device 12 to stop the water pump of the cache water tank 112 when it is detected that the liquid level of the cache water tank 115 is lower than a preset threshold value in the water adding state; or to cause the control device 12 to operate the water pump of the cache water tank 115 when it is detected that the liquid level of the cache water tank 115 is higher than a preset threshold value.
  • the water pump may also be arranged outside the cache water tank 115, for example, a water pump for delivering the cached clean water into the clean water tank 112 through the water delivery pipe 1152 is arranged between the cache water tank 115 and the clean water tank 112.
  • the input port of the water pump is connected to the inside of the cache water tank 115 through a pipeline
  • the output port of the water pump is connected to the clean water tank 112 through a pipeline, so as to deliver the clean water cached in the cache water tank 115 to the clean water tank 112 when receiving a work instruction.
  • FIG 4 is a schematic diagram of the docking of the cleaning robot and the workstation in one embodiment of the present application.
  • the cleaning robot 1 when the cleaning robot 1 needs to drain the sewage in the sewage tank 111 and needs to fill the clean water tank 112 with water, the cleaning robot 1 returns and docks with the workstation 2.
  • the water inlet pipe 1151 of the cleaning robot 1 is docked with the water inlet 21 of the water filling assembly of the workstation 2, and the water receiving tray 23 of the workstation 2 extends into the gap G between the front side of the robot body and its chassis 10, and is located below the drain outlet 1111 of the sewage tank 111.
  • the charging electrode sheet of the cleaning robot 1 can also contact the charging electrode assembly 22 of the workstation 2, and charging is performed simultaneously while utilizing the time of drainage and water filling.
  • the control device 12 of the cleaning robot 1 controls the drainage valve of the sewage tank 111 to open, and the sewage collected in the sewage tank 111 is discharged from its drainage port 1111 to the water receiving tray 23 of the workstation 2.
  • the sewage pipe of the workstation 2 is connected to its water receiving tray 23, which is used to receive the sewage from the water receiving tray 23 and discharge it.
  • the sewage is transported by the workstation 2 to the water treatment station 3, and the water treatment station 3 purifies the sewage.
  • the cleaning robot 1 When the cleaning robot 1 performs the water filling operation, the cleaning robot 1 sends a water filling signal to the workstation 2, and the water filling pipeline inside the workstation 2 outputs clean water, and the clean water enters the cache water tank 115 through the water inlet pipe 1151 of the cleaning robot 1 through its water filling port 21, and the clean water is transported into the water delivery pipe 1152 by the water pump arranged inside the clean water of the cache water tank 112 and finally input into the clean water tank 112.
  • the buffer volume detection component in the cache water tank 115 detects that the liquid level in the cache water tank 115 is higher than a preset threshold, a signal to stop water supply is sent to the workstation 2, or the control device 12 sends a working instruction to the water pump in the cache water tank 115, so that the water pump can transport the clean water in the cache water tank 115 to the clean water tank 112 as soon as possible.
  • the clean water output by the water filling pipeline inside the workstation 2 comes from the clean water formed after the sewage is purified by the water treatment station 3 connected thereto.
  • the control device 12 stops the water pump of the cache water tank 115, and at the same time, the workstation 2 continues to supply water to it through its water inlet 21 until the water volume required for the water pump of the cache water tank 115 is met.
  • the clean water volume detection component arranged in the clean water tank 112 detects that the clean water tank 112 is full of water, so that the control device 12 stops the water pump of the cache water tank 115; when the cache volume detection component in the cache water tank 115 detects that the liquid level in the cache water tank 115 is higher than a preset threshold value, a signal to stop the water supply is sent to the workstation 2, and the water filling operation of the cleaning robot 1 is now completed.
  • the control device 12 can issue a working instruction to the water pump in the cache water tank 115, so that the water pump can transport the clean water in the cache water tank 115 to the clean water tank 112, thereby replenishing the water in the clean water tank 112.
  • the water stored in the cache water tank 115 of the present application can also be used as a supplement to the water source of the robot's clean water tank 112, thereby increasing the volume of the clean water tank 112 in disguised form, thereby increasing the operating area of the cleaning robot 1.
  • the cache water tank is arranged between the battery assembly and the rear side of the robot body.
  • Figure 3 is a schematic diagram of the cleaning robot of the present application in another embodiment.
  • the cache water tank 115 is arranged on the chassis 10 and is located between the battery assembly 13 and the rear side of the robot body.
  • the battery assembly 13 is located between the cache water tank 115 and the electrical assembly 113.
  • the powered cables between the battery assembly 13 and each device/module in the electrical assembly 113 have a shorter connection distance.
  • the water supply pipe 1152 of the cache water tank 115 is closer to the clean water tank 112, so that the water in the cache water tank 115 is pumped into the clean water tank faster.
  • the second aspect of the present application provides a workstation for a cleaning robot.
  • the workstation is a device or apparatus for serving the cleaning robot.
  • the workstation may also be referred to as a base station, a charging station, a charging pile, a recycling station, a water exchange station, etc.
  • the workstation can complete various service tasks for the cleaning robot by running pre-arranged programs or rules, and also allows operators to intervene to operate the workstation.
  • a service interface is provided on the base station body of the workstation, and the workstation provides services to the robot based on the service interface.
  • the service interface can be set to a charging interface, a water adding interface, a guide interface, etc.
  • the robot is provided with a structure corresponding to the service interface.
  • the service interface cooperates with the structure provided on the robot to achieve the docking of the workstation and the robot, thereby providing corresponding services for the robot.
  • the service interface is a charging interface, and when the workstation is docked with the robot, the charging interface is electrically connected to a corresponding structure on the robot, such as an electrode sheet, to charge the robot.
  • the service interface is a water adding interface, and when the workstation is docked with the robot, the water adding interface is connected to a corresponding structure on the robot, such as a water inlet, to add water to the robot.
  • the service interface can also be set to provide multiple services, and this application does not limit this.
  • FIG. 5 is a schematic diagram showing the docking of a workstation and a water treatment station in one embodiment of the present application.
  • the workstation includes a workstation body 20 , a charging device, a water adding component, and a drainage component.
  • the workstation body 20 has a docking surface for docking the cleaning robot 1; the charging device is arranged on the workstation body 20, including an electrode assembly for docking with the charging interface of the cleaning robot.
  • the electrode assembly is arranged on the docking surface of the workstation body 20, and is used for docking with the charging electrode of the cleaning robot 1 when the cleaning robot 1 is docked at the workstation 2 to complete the electrical connection and thus realize the charging operation.
  • the docking surface of the workstation body 20 is configured to dock with the front side of the cleaning robot 1 (i.e., the front or front face of the cleaning robot 1), and the cleaning robot 1 includes a cache water tank 115 disposed between its front side and the clean water tank 112 or between the battery assembly 13 and the rear side of the robot body.
  • the cache water tank 115 is disposed on the chassis 10 of the cleaning robot 1 and is located at the bottom of the clean water tank 112.
  • the cache water tank 115 is surrounded by an external accommodation space formed at the bottom of the clean water tank 112.
  • the electrode assembly includes a retractable insulating protective shell and a metal electrode disposed in the protective shell.
  • the peripheral portion of the charging electrode on the front side of the cleaning robot 1 squeezes the protective shell to make it retract backward to expose the metal electrode therein and achieve electrical contact with the charging electrode on the front side of the cleaning robot 1 to achieve charging operation.
  • the charging device in the workstation body 20 also includes an internal circuit and a power supply device connected to its charging electrode assembly 22.
  • the water adding component is arranged on the workstation body 20, and the water adding component includes a water adding port 21 for connecting to the water inlet pipe of the cleaning robot and a water adding pipeline connected to the water adding port 21 (not shown in the figure);
  • the drainage component is arranged on the workstation body 20, and the drainage component includes a water receiving tray 23 for connecting to the drainage outlet 1111 of the cleaning robot 1 and a sewage pipeline connected to the water receiving tray 23 (not shown in the figure).
  • the height of the water inlet 21 is higher than the height of the water receiving tray 23; the height of the water inlet 21 of the workstation 2 is higher than the height of the water inlet pipe 1151 of the cleaning robot 1, and the height of the water inlet 21 of the workstation 2 is lower than the height of the highest liquid level of the clean water tank 112 of the cleaning robot 1. Since the cleaning robot 1 is provided with a cache water tank 115 at a lower level, and the water inlet of the cache water tank 115 is lower than the water inlet 21, the workstation 2 can complete the filling of water into the clean water tank 112 of the cleaning robot 1 without having to design a higher body.
  • the height of the workstation body is less than or equal to 2/3 of the height of the cleaning robot. In a specific embodiment, the height of the workstation body is approximately 1/2 of the height of the cleaning robot.
  • the third aspect of the present application provides a water treatment station for a cleaning robot, which is used to treat the sewage from the cleaning robot into clean water and then deliver it to the cleaning robot.
  • the workstation is used to connect to the water treatment station to filter, heat, and disinfect the sewage (including ultraviolet disinfection and silver ion disinfection, etc.) and then discharge it back to the workstation 2, and the treated clean water is delivered to the cache water tank 115 of the cleaning robot 1 through the water adding component in the workstation 2, and then the clean water in the cache water tank 115 is delivered to the clean water tank 112 by the water pump of the cache water tank 115.
  • the water treatment 3 includes a treatment station body 30, a sewage input port 31, a clean water output port 32 and at least one sewage filtering device 33.
  • the treatment station body 30 has at least one water treatment chamber (not shown) for installing the sewage filter device 33.
  • the treatment station body 30 is provided with a display device 34 for displaying the use status of the sewage filter device.
  • the display device 34 is, for example, an LED light, and the use status of the sewage filter device is displayed by the display color of the LED. For example, a green light indicates that the sewage filter device has good filtering performance, a yellow light indicates that the filtering performance of the sewage filter device is somewhat weakened, and a red light indicates that the filtering performance of the sewage filter device is very low to prompt the user to replace the sewage filter device.
  • the display device 34 can also be replaced by a liquid crystal display screen.
  • a driving device water pump
  • a processing device is provided in the water treatment station body 30, which is used to detect the sewage input from the sewage input port 31, so as to make the sewage filter device 33 perform sewage treatment work, and drive the clean water purified by the sewage filter device 33 to the clean water output port 32 through the driving device, and transport it to the workstation 2 connected thereto through a pipeline.
  • the sewage input port 31 is provided on the treatment station body 30, and is used to connect the sewage output pipeline of the workstation 2 of the cleaning robot and the water treatment chamber through a pipeline;
  • the clean water output port 32 is provided on the treatment station body 20, and is used to connect the water treatment chamber and the clean water input pipeline of the workstation 2 of the cleaning robot through a pipeline;
  • the at least one sewage filter device 33 is detachably installed in the water treatment chamber, and is used to purify the sewage from the sewage input port into clean water and transport it to the clean water output port.
  • the sewage input port 31 and the clean water output port 32 are located on the same side of the workstation body 30, so as to facilitate physical pipeline connection with the workstation 2.
  • the sewage filter device 33 includes a plurality of filter elements of different filtration grades; the plurality of filter elements of different filtration grades are respectively installed in different water treatment chambers, and a water passage is provided between adjacent water treatment chambers; the plurality of filter elements of the sewage filter device are respectively installed vertically in different water treatment chambers in a parallel manner.
  • the filter element is, for example, an activated carbon filter element, a PP filter element, a ceramic filter element, a resin filter element, a titanium iron filter element, a nanofiltration membrane, an air fiber ultrafiltration membrane, an RO reverse osmosis membrane, etc.
  • the filter element can purify the contaminated water to the state of purified water required by the cleaning robot, that is, to make the water reach a certain degree of cleanliness.
  • the main function of the filter element is to remove solid particles in the water, kill bacteria, and filter out harmful chemical components.
  • the sewage filter device 33 includes a combination of one or more modules selected from the group consisting of a heating module, an ultraviolet light module, and a silver ion module.
  • the sewage input port 31 is connected to the workstation 2 of the cleaning robot through the sewage output pipeline, and the sewage is led into the water treatment chamber in the treatment station body 30; when the treatment device in the treatment station body detects the sewage input of the sewage input port 31, the sewage filter device 33 is instructed to perform sewage treatment.
  • the sewage filter device 33 will execute a combination of one or more modules including filtering, heating module, ultraviolet light module, and silver ion module according to the program setting, and purify the sewage from the sewage input port into clean water.
  • the driving device for example, a water pump in the treatment station body 30 drives the clean water purified by the sewage filter device 33 to the clean water output port 32.
  • the clean water input pipeline of the clean water output port 32 is connected to the water treatment chamber, and the clean water in the water treatment station is driven by the water pump to be input into the workstation 2 of the cleaning robot.
  • the water changing method further includes: when it is determined that there is no available clean water in the water treatment station 3, a prompt message is issued to remind the operator to change the water in the water treatment station.
  • the prompt message can be, for example, a sound prompt message (such as a buzzer or voice prompt), or a light prompt message (such as a flashing light), or a screen prompt message (the screen displays text or icons), etc., and the operator can change the water in the water treatment station 3 in time according to the prompt message.
  • the water changing method further includes: when it is determined that the filter element of the water treatment station is blocked or the dirt box of the device is full, a prompt message is issued to remind the operator to clean the filter element and the device.
  • the prompt message can be, for example, a sound prompt message (such as a buzzer or voice prompt), or a light prompt message (such as a flashing light), or a screen prompt message (the screen displays text or icons), etc., and the operator can clean the filter element or device of the water treatment station in time according to the prompt message.
  • a spare water tank for caching clean water is also provided in the treatment station body 30.
  • the treatment device in the treatment station body detects the sewage input from the sewage input port 31, the sewage filtering device 33 is instructed to perform sewage treatment.
  • the spare water tank that has previously cached clean water does not need to wait for the purification treatment by the sewage filtering device 33, and the clean water cached in the spare water tank can be transported to the workstation 2 first, and then the workstation 2 transports the clean water to the cache water tank of the cleaning robot.
  • the cleaning robot and the cleaning robot workstation disclosed in the present application overcome the technical problem that the water outlet of the workstation needs to be set higher than the highest liquid level of the robot's clean water tank in the above-mentioned related art by setting a buffer water tank in the cleaning robot body, thereby reducing the height of the workstation and thus reducing the overall material cost, packaging cost and transportation cost.
  • the water stored in the buffer water tank can also be used as a supplement to the water source of the robot's clean water tank, which in disguise increases the volume of the clean water tank, thereby increasing the robot's operating area.
  • a water treatment station for a cleaning robot comprising:
  • a treatment station body having at least one water treatment chamber
  • a sewage input port is provided on the treatment station body and is used to connect the workstation sewage output pipeline of the cleaning robot and the water treatment chamber through a pipeline;
  • a purified water outlet is provided on the treatment station body and is used to connect the water treatment chamber and the workstation purified water input pipeline of the cleaning robot through a pipeline;
  • At least one sewage filtering device is detachably mounted in the water treatment chamber and is used for purifying the sewage from the sewage input port into clean water and delivering the clean water to the clean water output port.
  • the sewage inlet and the clean water outlet are located on the same side of the workstation body.
  • a display device for displaying the use status of the sewage filtering device is provided on the treatment station body.
  • the sewage filtering device includes a combination of one or more modules of a heating module, an ultraviolet light module, and a silver ion module.
  • the sewage filtering device includes a plurality of filter elements with different filtering grades.
  • the plurality of filter elements with different filtration levels are respectively installed in different water treatment chambers, and water passages are provided between adjacent water treatment chambers.
  • the multiple filter elements of the sewage filtering device are vertically installed in different water treatment chambers in a parallel manner.
  • a driving device is provided in the body of the treatment station for driving the clean water purified by the sewage filtering device to the clean water output port.
  • a treatment device is arranged in the body of the treatment station, which is used to detect the sewage input from the sewage input port, so as to make the sewage filtering device perform sewage treatment, and drive the clean water purified by the sewage filtering device to the clean water output port through the driving device.
  • the water treatment station of the cleaning robot in the present application can purify the sewage and then input it to the cleaning robot through the workstation, so that the working environment of the cleaning robot does not need to lay out additional water channels, thereby expanding the working scenes of the cleaning robot and reducing the use cost of the robot.

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  • Cleaning In General (AREA)

Abstract

L'invention concerne un système de consommation d'eau pour un robot de nettoyage, le système de consommation d'eau comprenant un robot de nettoyage (1) et un poste de travail (2) associé. Le robot de nettoyage (1) comprend une plaque de base (10), un corps de robot, un réservoir d'eau de stockage temporaire (115) et un dispositif de commande (12), le corps de robot comprenant un réservoir (110) disposé verticalement sur la plaque de base, le réservoir (110) comprenant un réservoir d'eaux usées (111) et un réservoir d'eau propre (112) ; le réservoir d'eau de stockage temporaire (115) est en communication avec un tuyau d'admission d'eau, qui est conçu pour être en joint bout à bout avec le poste de travail (2), ainsi qu'un tuyau d'alimentation en eau (1152), qui est conçu pour être en communication avec le réservoir d'eau propre (112) et de l'eau dans le réservoir d'eau de stockage temporaire (115) est pompée dans le réservoir d'eau propre (112) à travers le tuyau d'alimentation en eau (1152) pour le réservoir d'eau propre (112) au moyen d'une pompe à eau ; et le dispositif de commande (12) commande la pompe à eau du réservoir d'eau de stockage temporaire (115) pour fonctionner ou s'arrêter de fonctionner. Au moyen de l'approvisionnement du réservoir d'eau de stockage temporaire (115), la zone de fonctionnement du robot de nettoyage (1) est augmentée et la hauteur du poste de travail (2) est réduite.
PCT/CN2024/071003 2023-01-13 2024-01-08 Robot de nettoyage et poste de travail associé Ceased WO2024149176A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202310065220 2023-01-13
CN202310065220.1 2023-01-13

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Publication Number Publication Date
WO2024149176A1 true WO2024149176A1 (fr) 2024-07-18

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