CN113331746A

CN113331746A - Water injection system, base station and control method

Info

Publication number: CN113331746A
Application number: CN202110758459.8A
Authority: CN
Inventors: 刘慧斌; 李孟钦; 段志平; 郑卓斌; 王立磊; 其他发明人请求不公开姓名
Original assignee: Guangzhou Keyu Robot Co Ltd
Current assignee: Guangzhou Keyu Robot Co Ltd; Guangzhou Coayu Robot Co Ltd
Priority date: 2021-07-05
Filing date: 2021-07-05
Publication date: 2021-09-03

Abstract

The application discloses a water injection system, a base station and a control method. The water injection system is applied to the base station body and comprises a water supply tank, a water injection assembly and a controller; the water injection assembly is provided with a first water injection waterway and a second water injection waterway; the first water injection waterway is used for conveying water in the water supply tank to a water box of the cleaning robot; the second water injection waterway is used for conveying water in the water supply tank to a cleaning tank of the base station body or to the position of a dragging piece of the spraying cleaning robot; the controller is electrically connected with the water injection assembly and is used for respectively controlling the disconnection and the conduction of the first water injection waterway and the second water injection waterway. Can avoid cleaning machines people to come and go the moist piece of dragging of basic station many times and the electric energy loss problem that leads to, and need not the manual work and to the moisturizing of machine water box, accomplish simultaneously and utilized the high efficiency of feed tank water source.

Description

Water injection system, base station and control method

Technical Field

The application relates to the technical field of intelligent cleaning, in particular to a water injection system, a base station and a control method.

Background

With the continuous development of the intelligent home technology, the traditional single sweeping and sucking integrated cleaning robot cannot meet the household requirements of people. Therefore, the popularity of cleaning robots with floor washing functions is increasing, and research and development of such cleaning robots are also receiving much attention.

Whether the mopping piece of the cleaning robot with the floor washing function is well wetted or not is one of important factors influencing the realization of a good floor washing effect. At present, cleaning robots with a floor washing function on the market are not provided with water boxes, but are also provided with water boxes.

The former cleaning robot uses the cleaning robot to return to the cleaning tank of the base station to clean the mopping piece, and then uses the wet state of the mopping piece which is not dried after the cleaning to keep wet, and the method has the problem that the cleaning robot needs to frequently return to the base station for cleaning and wetting for many times, so that the electric energy loss is serious. In the latter cleaning robot, although the water box provides a wetting water source for the mop, after the water is exhausted, the user needs to take out the water box and manually replenish water. And the water sources in the water supply tanks of the base stations of the two types of cleaners are only used as the cleaning water source of the mopping piece, so that the water cleaner has single use and cannot be fully utilized.

Disclosure of Invention

In view of this, the first purpose of this application is to provide a water injection system, can avoid cleaning machines people to come and go the base station many times and moisten and drag the piece and lead to the electric energy loss problem, and need not the manual work and to the moisturizing of machine water box, has accomplished the high-efficient utilization to base station feed water tank water source simultaneously.

A second object is to provide a base station.

The third purpose is to provide a water injection system control method.

To achieve the above technical objects, the present application provides

A water injection system is applied to a base station body;

comprises a water supply tank, a water injection assembly and a controller;

the water injection assembly is provided with a first water injection waterway and a second water injection waterway;

the first water injection waterway is used for conveying water in the water supply tank to a water box of the cleaning robot;

the second water injection waterway is used for conveying water in the water supply tank to a cleaning tank of the base station body or to a position where a wiping piece of the cleaning robot is sprayed;

the controller is electrically connected with the water injection assembly and is used for respectively controlling the disconnection and the conduction of the first water injection waterway and the second water injection waterway.

Further, the water injection assembly comprises a pump body and a multi-way valve;

the water inlet end of the pump body is communicated with the interior of the water supply tank through a first guide pipe, and the water outlet end of the pump body is communicated with the valve water inlet end of the multi-way valve through a second guide pipe;

the water outlet end of the first valve of the multi-way valve is connected with a third conduit which can be communicated with the water box, and the water outlet end of the second valve is connected with a fourth conduit which is communicated with the cleaning tank;

the first conduit, the pump body, the multi-way valve and the third conduit form the first water injection waterway;

the first guide pipe, the pump body, the multi-way valve and the fourth guide pipe form the second water injection waterway;

the pump body and the multi-way valve are electrically connected with the controller.

Furthermore, the water injection assembly also comprises a first water injection nozzle which is connected to the tail end of the third conduit; and/or the water-saving device comprises a second water injection water nozzle which is connected to the tail end of the fourth guide pipe.

Furthermore, a concave part which extends downwards to the bottom of the water supply tank is arranged on the peripheral wall of the water supply tank at a position close to the top edge;

the top of the concave part forms a mounting table-board;

the pump body is arranged on the concave part and is connected with the mounting table board;

and the mounting table surface is provided with an avoidance hole for the first guide pipe to extend into.

Further, the pump body is a diaphragm pump with a flow meter.

Further, a one-way valve is arranged on the second conduit.

Further, the multi-way valve is a multi-way electromagnetic valve.

The application also discloses a basic station, can be used for the water box moisturizing of cleaning machines people or rinse cleaning machines people drag the piece of wiping, including the basic station body that has the washing tank and water injection system.

Further, the scraping and brushing part is also included;

the scraping and brushing part is arranged in the cleaning tank and can be contacted with the dragging and brushing part.

The application also discloses a water injection system control method, which is applied to the water injection system and comprises the following steps:

the controller receives a signal sent by the cleaning robot;

when the controller judges that the received signal is a signal for only injecting water into the water box, only controlling the first water injection waterway to be conducted until the water injection of the water box is completed;

when the controller judges that the received signal is a signal for only injecting water into the cleaning tank, only controlling the conduction of a second water injection waterway until the water injection of the cleaning tank is finished;

and when the controller judges that the received signal is that the water box and the cleaning tank are filled with water together, the controller controls the first water injection waterway and the second water injection waterway to be communicated until the water box and the cleaning tank are filled with water.

According to the technical scheme, the water injection system is applied to the base station body and comprises a water supply tank, a water injection assembly and a controller; the water injection assembly is provided with a first water injection waterway and a second water injection waterway; the controller is electrically connected with the water injection assembly and is used for respectively controlling the disconnection and the conduction of the first water injection waterway and the second water injection waterway. The first water injection waterway is used for conveying water in the water supply tank to a water box of the cleaning robot; the second water injection waterway is used for conveying water to a cleaning tank of the base station body or to the position of a mopping piece of the spraying cleaning robot. Because the water supply tank of the base station is provided with two water delivery water paths, not only can water be supplied to the water box of a cleaner, but also water can be supplied to the cleaning tank or sprayed to the mopping piece for cleaning the mopping piece. The base station and the cleaning robot applying the water injection system can supply water and supplement water through the water supply tank of the base station when the water quantity of the water box of the machine is exhausted during cleaning operation; when the mopping piece reaches a certain degree of dirt, water can be automatically supplied to the mopping piece for cleaning through a water supply tank of the base station. The problem of electric energy loss caused by the fact that a cleaning robot without a water box in the prior art needs to frequently return a base station to moisten a mop piece can be solved, and meanwhile the problem that the cleaning robot with the water box in the prior art needs to manually supplement water can be solved. Meanwhile, a water source of the base station water supply tank is a supplementary water source of the machine water box and a cleaning water source of the cleaning machine dragging piece, and the purpose of efficiently utilizing water resources in the water supply tank is achieved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a schematic view of a cleaning robot configuration provided herein;

FIG. 2 is a schematic illustration of a partial explosion of a cleaning robot provided herein;

FIG. 3 is a schematic illustration of a water injection system without a second water injection nozzle as provided herein;

fig. 4 is a schematic overall structure diagram of a base station provided in the present application;

fig. 5 is an overall exploded schematic view of a base station provided in the present application;

FIG. 6 is a schematic flow chart of a method for controlling a water injection system provided herein;

in the figure: 1. a water supply tank; 11. a recessed portion; 111. mounting a table top; 2. a pump body; 3. a multi-way valve; 4. a first water injection nozzle; 51. a first conduit; 52. a second conduit; 53. a third conduit; 54. a fourth conduit; 6. a water injection assembly; 7. a sewage tank; 8. a sewage recovery assembly; 100. a base station body; 101. a cleaning tank; 102. a slope; 103. a wiping member; 104. cleaning a seat; 200. a cleaning robot; 201. and a water box.

Detailed Description

The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.

In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.

At present, there are two types of cleaning robots with floor washing functions, one of which is a cleaning robot without a water box (represented by whale J1), and the other of which is a cleaning robot with a water box (represented by kowss N9 +). The inventor of the present invention has conducted a research and comparison on the two types of cleaning robots, and found that the former cleaning robot uses the cleaning tank of the cleaning robot returning to the base station to clean the mop and then uses the wet state of the undried cleaning robot after the cleaning operation to keep wet, which has the following problems: (1) the cleaning robot needs to frequently go back and forth to the base station for cleaning and wetting for many times, so that the electric energy loss is serious; (2) the wetting process of the mop depends on the cleaning process of the mop, but the time when the mop needs to be wetted is not necessarily the same as the time when the mop needs to be cleaned, such as a work scene where water is inherently present on the floor. In the latter cleaning robot, although the water box provides a wetting water source for the mop, after the water is exhausted, the user needs to take out the water box and manually replenish water. And the water sources in the water supply tanks of the base stations of the two types of cleaners are only used as the cleaning water source of the mopping piece, so that the water cleaner has single use and cannot be fully utilized.

The embodiment of the application discloses a water injection system, be applied to cleaning machines people 200 that have water box 201 and with cleaning machines people 200 supporting have basic station body 100 of washing tank 101, for cleaning machines people 200, it can be as shown in fig. 1 and fig. 2, for the scrubber that has water box 201, wherein the corresponding on-off switch of water box 201's water inlet can be designed, so that open and accept the water injection with water injection subassembly 6 cooperation when using, and closed when not using, corresponding design can be done according to actual need to specific structure, do not describe in detail.

Referring to fig. 2 to 4, an embodiment of a water injection system provided in an embodiment of the present application includes:

a water supply tank 1, a water filling module 6, and a controller (not shown). Both the water supply tank 1 and the water injection module 6 may be installed on the base station body 100 or outside the base station body 100, and may be designed to be changed according to actual needs. The water injection assembly 6 is provided with a first water injection waterway for delivering water in the water service box 1 to the water cartridge 201 of the cleaning robot, and a second water injection waterway for delivering water in the water service box 1 to the wash tank 101 or to the mop position of the spray cleaning robot 200. Taking the example of delivering the water in the water supply tank 1 into the cleaning tank 101, the cleaning manner of the wiping member may be to make the water in the cleaning tank 101 contact with the wiping member, and then to control the rotation of the wiping member, so that the wiping member rotates in the cleaning tank 101 to complete the cleaning. The cleaning in a flushing mode is realized by spraying the cleaning part to the spraying and mopping part, the rotation of the cleaning part can be realized in the spraying process, the sprayed water flows back to the cleaning tank 101 for recycling, and different modes can be selected for cleaning the cleaning part according to actual requirements without limitation.

The controller is electrically connected with the water injection assembly 6 and is used for respectively controlling the disconnection and the conduction of the first water injection waterway and the second water injection waterway. In this application, the controller may be formed by a PLC control board or a microprocessor as a relevant control module of the processing center and installed in the base station body 100 or independently set, and is not specifically described in detail.

According to the above technical solution, the water injection system of the present application is applied to the base station body 100. Wherein the water injection assembly 6 is designed to have a first water injection waterway for delivering water in the water service tank 1 to the water cartridge 201, and a second water injection waterway for delivering water in the water service tank 1 to the wash tank 101. And then the disconnection and connection control of the first water injection waterway and the second water injection waterway is realized through the controller. Therefore, water can be supplied to the water box 201 to replenish water, and water can be supplied to the cleaning tank 101 or the mop piece can be sprayed with water to clean the mop piece. Thereby realize can avoiding cleaning machines people 200 to come and go the wet piece of dragging of basic station many times and the electric energy loss problem that leads to, and need not artifical moisturizing to cleaning machines people's water box, accomplished simultaneously to the high-efficient utilization of 1 water source of feed tank.

The above is a first embodiment of a water injection system provided in the embodiments of the present application, and the following is a second embodiment of a water injection system provided in the embodiments of the present application, specifically referring to fig. 1 to 5.

The scheme based on the first embodiment is as follows:

further, taking the second water injection path communicating with the cleaning tank 101 as an example, the water injection unit 6 includes a pump body 2 and a multi-way valve 3. Wherein, the water inlet end of the pump body 2 is communicated with the interior of the water supply tank 1 through a first conduit 51, and the water outlet end of the pump body is communicated with the water inlet end of the multi-way valve 3 through a second conduit 52; and the first valve outlet end of the multi-way valve 3 is connected with a third conduit 53 which can be communicated with the water box 201, and the second valve outlet end is connected with a fourth conduit 54 which is communicated with the cleaning tank 101. That is, the third conduit 53 is directly connected to the water replenishing port of the water box 201, and the fourth conduit 54 is connected to the cleaning tank 101. The third conduit 53 is designed as a rigid pipe, which can limit the position of the end of the third conduit 53 that is butted with the water replenishing port of the water box 201; of course, a hose design could be used, and then other structures could be used to restrain one end of the third conduit 53, without limitation. Similarly, the first conduit 51, the second conduit 52 and the fourth conduit 54 may be of a hose structure or a non-hose structure.

In the above embodiment, the first conduit 51, the pump body 2, the multi-way valve 3 and the third conduit 53 respectively constitute a first water filling waterway; the first conduit 51, the pump body 2, the multi-way valve 3 and the fourth conduit 54 respectively form a second water injection waterway, and the pump body 2 and the multi-way valve 3 are electrically connected with the controller. Can realize that one set of driving system controls two way water routes through pump body 2 and multi-ported valve 3, the material cost is lower, and is favorable to saving the basic station space. Of course, a third water injection waterway, a fourth water injection waterway and the like can be added according to actual needs, so that the water injection needs of more cleaning robots 200 are met, and the specific limitations are not limited.

Further, in order to facilitate the conduction and matching of the third conduit 53 and the water box 201, the water injection assembly 6 of the present application further includes the first water injection nozzle 4. Wherein, first water injection mouth 4 is connected in third pipe 53 is terminal, can realize the spacing of third pipe 53 terminal fixed through first water injection mouth 4, realizes simultaneously with the matching intercommunication of water box 201 water supply mouth. In a similar way, make things convenient for switching on of fourth pipe 54 and washing tank 101 to match, the water injection subassembly 6 of this application still includes second water injection mouth (not shown in the figure), and second water injection mouth is connected in fourth pipe 54 end, can realize through second water injection mouth that fourth pipe 54 is terminal spacing fixed, makes it connect in washing tank 101, realizes switching on with being connected of washing tank 101. The structures of the first water injection nozzle 4 and the second water injection nozzle can be designed according to actual needs, and are not described in detail.

Further, in order to facilitate installation of the pump body 2 and to make the overall structure more compact, a recess 11 extending downward to the bottom of the water supply tank 1 may be provided on the outer peripheral wall of the water supply tank 1 at a position near the top edge; to say that the water supply tank 1 is a square structure, a recess 11 may be formed on an edge of the outer peripheral wall of the water supply tank 1, and the recess 11 may be integrally formed by injection molding, which is not limited. The upward part of the concave part 11 does not extend out of the top of the water supply tank 1, and the top of the concave part 11 can form a mounting table 111 to facilitate the mounting of the pump body 2. Correspondingly, the pump body 2 is disposed on the recess 11 and connected to the mounting platform 111, and the mounting platform 111 is provided with a relief hole (not shown) for the first conduit 51 to extend into, and the first conduit 51 can extend into the bottom of the water supply tank 1 through the relief hole.

Further, the pump body 2 may be a diaphragm pump with a flow meter, and has a flow rate detection function. The flow rate conveyed by the first water injection waterway or the second water injection waterway can be detected, so that whether water injection is completed or not is judged. Of course, the controller may determine whether the water filling is completed by providing a liquid level sensor inside the water tank 201 and receiving a signal fed back by the liquid level sensor inside the water tank 201. Similarly, the water injection in the cleaning tank 101 may be performed by additionally installing a liquid level sensor in the cleaning tank 101 to monitor whether the water injection meets the requirement. Of course, the liquid level sensor in the cleaning tank 101 may be disposed at the bottom of the cleaning robot 200, without limitation.

Further, in order to prevent the reverse flow, a check valve may be provided in the second conduit 52. Of course, the third duct 53 or the fourth duct 54 may be disposed on the same, but not limited to.

Further, the multi-way valve 3 may be embodied as a multi-way solenoid valve. For two-way water control, the two-way three-way valve is a concrete two-way three-way valve, and so on.

As shown in fig. 4 to 5, the present application further discloses a base station, which can be used for replenishing water to a water tank 201 of a cleaning robot 200 or cleaning a mop of the cleaning robot 200, and comprises a base station body 100 and the water injection system of the first embodiment or the second embodiment; the water injection system is installed on the base station body 100. As for the structural design of the base station body 100, a cabin into which the cleaning robot 200 travels may be provided, and the cleaning tank 101 is opened at the bottom of the cabin. In order to facilitate the entrance of the cleaning robot 200, the base station body 100 may be provided with a slope 102 at a position connected to the entrance of the cabin so that the cleaning robot 200 can enter. And the water service box 1 may be provided on the top of the base station body 100 without particular limitation.

Further, in order to facilitate cleaning and maintenance of the cleaning tank 101, the cleaning tank 101 may be designed to be detachable. A detachable cleaning seat 104 is specifically designed to be installed at the bottom of the cabin, and the cleaning groove 101 is correspondingly formed in the cleaning seat 104, so that convenience in cleaning and maintenance of the cleaning groove 101 can be realized.

Further, taking the rotating cleaning as an example, in order to further improve the cleaning efficiency, the cleaning tank 101 may further be provided with a scraping and brushing member 103, the scraping and brushing member 103 is installed in the cleaning tank 101 and can be contacted with the mopping member, and in the rotating process of the mopping member, the scraping and brushing member 103 is contacted with the mopping member and accelerates the dirt separation on the mopping member. The cleaning efficiency is improved.

Further, in order to timely recover the sewage after the cleaning of the mopping piece, the base station further comprises a sewage tank 7 and a sewage recovery assembly 8, wherein the sewage tank 7 is installed on the base station body 100; the sewage recovery assembly 8 is mounted on the base station body 100 and is provided with a sewage recovery waterway for conveying water in the cleaning tank 101 to the sewage tank 7; the controller is also electrically connected with the sewage recovery assembly 8 and is used for controlling the on-off of the sewage recovery waterway.

Specifically, the sewage recovery assembly 8 may be designed with reference to the water injection assembly 6, and may also include a corresponding pump structure, a valve structure, a conduit structure, and the like to construct a controllable sewage recovery water path, which is not described in detail.

As shown in fig. 6, the present application further discloses a water injection system control method, which is applied to the water injection system of the first or second embodiment, and includes:

and S1, the controller receives the signal sent by the cleaning robot.

And S21, when the controller judges that the received signal is the signal for only filling water into the water box, only controlling the first water filling waterway to be communicated until the water box is filled with water.

And S22, when the controller judges that the received signal is the signal for only filling water into the cleaning tank, only controlling the second water filling waterway to be conducted until the water filling of the cleaning tank is completed.

And S23, when the controller determines that the received signal is that the water box and the cleaning tank are filled with water together, controlling the first water filling waterway and the second water filling waterway to be communicated until the water box and the cleaning tank are filled with water.

The specific water injection process may be, for example, as follows:

when the cleaning robot 200 performs cleaning operation for the first time, it drives into the base station body 100 first, and sends a signal indicating that the water tank 201 is short of water to the controller. The controller receives the signal and controls the pump body 2 to pump water from the water supply tank 1, and the water in the water supply tank 1 flows through the first conduit 51, the second conduit 52, the multi-way valve 3, and only the third conduit 53 into the water box 201. When the water tank of the cleaning robot 200 reaches a preset water level, a signal of completing water injection is fed back to the controller. The controller receives the command and controls the pump body 2 to stop pumping water.

After the water is filled, the cleaning robot 200 can drive away from the base station body 100 to start cleaning, and when the cleaning is completed according to the predetermined route, the cleaning robot 200 automatically returns to the base station body 100 and sends a water shortage signal of the water box 201 to the controller again. Of course, it is also possible to send a signal to the controller at the same time, at this time, the controller can control the pump body 2 to pump water from the water supply tank 1 and respectively deliver the water to the water box 201 and the cleaning tank 101 through the multi-way valve 3, and after the water injection of the cleaning tank 101 is completed, the rotation of the mop can be started, so as to realize the cleaning work of the mop. After the water is filled into the water tank 201 and the mop is cleaned, the cleaning robot 200 can move away from the base station body 100 again to perform subsequent cleaning operations. Of course, the cleaning mop is fed back after the cleaning is started for a period of time or a certain route without water filling supplement of the water box 201, and the cleaning mop can be specifically set according to needs without limitation.

In summary, in the base station and the cleaning robot 200 to which the water filling system of the first or second embodiment is applied, when the water tank 201 is exhausted during the cleaning operation, water can be supplied and replenished through the water supply tank 1 of the base station; when the mopping piece reaches a certain degree of dirt, water can be automatically supplied to clean through the water supply tank 1 of the base station. The problem of electric energy loss caused by the fact that the cleaning robot 200 equipped with the water-free box 201 needs to frequently go and return the base station to wet the mopping piece can be solved, and meanwhile, the problem that the cleaning robot 200 equipped with the water box 201 needs to manually supplement water can be solved. Meanwhile, the water source of the base station water supply tank 1 is not only the supplementary water source of the machine water box 201, but also the cleaning water source of the cleaning machine dragging piece, and the purpose of efficiently utilizing the water resource in the water supply tank 1 is realized.

In summary, the water injection system, the base station and the control method provided in the present application are described in detail, and a person skilled in the art may change the specific implementation manner and the application scope according to the idea of the embodiment of the present application.

Claims

1. A water injection system is applied to a base station body and is characterized in that;

comprises a water supply tank, a water injection assembly and a controller;

the second water injection waterway is used for conveying water in the water supply tank to a cleaning tank of the base station body or to the position of a mopping piece of the spray cleaning robot;

2. The water injection system of claim 1, wherein the water injection assembly comprises a pump body and a multi-way valve;

3. The water injection system of claim 2, wherein the water injection assembly further comprises: the first water injection nozzle is connected to the tail end of the third guide pipe; and/or the water-saving device comprises a second water injection water nozzle which is connected to the tail end of the fourth guide pipe.

4. The water injection system of claim 2, wherein the peripheral wall of the water service box is provided with a recess extending downwardly beyond the bottom of the water service box at a location adjacent the top edge;

the top of the concave part forms a mounting table-board;

5. The water injection system of claim 2, wherein the pump body is a diaphragm pump with a flow meter.

6. The water injection system of claim 2, wherein the second conduit is provided with a one-way valve.

7. The water injection system of claim 2, wherein the multi-way valve is a multi-way solenoid valve.

8. A base station that can be used to refill a water tank of a cleaning robot or to clean a mop of a cleaning robot, characterized in that it comprises a base station body with a cleaning tank and a water injection system according to any one of claims 1 to 7.

9. The base station of claim 8, further comprising a wiper;

10. A water injection system control method, applied to the water injection system of any one of claims 1 to 7, comprising:

the controller receives a signal sent by the cleaning robot;