Cleaning assembly replacement base station and replacement method, cleaning robot and storage medium

Abstract

The embodiment of the invention provides a cleaning assembly replacement base station, and the base station comprises a cleaning assembly carrying unit which is used for carrying a cleaning assembly dismounted from cleaning equipment, and carrying a cleaning assembly to be mounted of the cleaning equipment; the cleaning assembly storage unit is used for storing the detached cleaning assembly and storing the cleaning assembly to be installed; and the cleaning assembly conveying mechanism is used for conveying the detached cleaning assembly from the bearing unit to the storage unit and conveying the cleaning assembly to be installed from the storage unit to the bearing unit.

Description

[0001] This application claims the priority of the Chinese invention patent application with patent application number 202311451596.2, application date November 02, 2023, and invention name "Cleaning component replacement base station and replacement method, cleaning robot and storage medium". Technical Field

[0002] The embodiments of the present application relate to the field of robotics technology, and in particular, to a cleaning component replacement base station and replacement method, a cleaning robot, and a storage medium. Background Art

[0003] With the rapid development of science and technology, robotics technology has been widely used in various fields. Among them, cleaning robots can automatically perform cleaning tasks such as vacuuming, sweeping, and mopping, and are very popular among people.

[0004] In the prior art, during the cleaning process, the cleaning components (such as rags, roller brushes, side brushes, etc.) of the cleaning robot are often used to clean various environments. For example, the rag is used to mop the bathroom and kitchen before mopping the living room. This will reduce the cleaning effect because the cleaning component is not suitable for a certain environment. On the other hand, cross contamination will occur because the same cleaning component is used to clean different environments, which seriously affects the cleaning effect. Summary of the invention

[0005] The embodiment of the present application provides a cleaning robot cleaning component replacement base station and replacement method, a cleaning robot and cleaning method, and a storage medium, so as to realize automatic replacement of cleaning components suitable for different cleaning environments or conditions for the cleaning robot, improve the cleaning effect, avoid cross contamination, and enhance the user experience.

[0006] According to one embodiment of the present application, a cleaning component replacement base station for a cleaning robot is provided, comprising: a cleaning component receiving unit, for receiving a cleaning component removed from a cleaning device, and for receiving a cleaning component to be installed from the cleaning device;

[0007] A cleaning component storage unit, used for storing the removed cleaning components and for storing the cleaning components to be installed;

[0008] The cleaning component transport mechanism is used to transport the disassembled cleaning component from the receiving unit to the storage unit, and to transport the cleaning component to be installed from the storage unit to the receiving unit.

[0009] According to another embodiment of the present application, a method for replacing a cleaning component of a cleaning robot is provided, wherein the method comprises:

[0010] Determine regional characteristic information of the area to be cleaned according to the regional map data;

[0011] The cleaning robot is controlled to return to a base station, and a corresponding cleaning component is replaced according to the regional characteristic information.

[0012] According to another embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when run.

[0013] According to another embodiment of the present application, a mobile robot is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0014] According to another embodiment of the present application, a computer program product is provided, including a computer program, characterized in that when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0015] Through the embodiments provided in the present application, it is possible to automatically replace cleaning components suitable for different cleaning environments or conditions for a cleaning robot, thereby improving cleaning effects, avoiding cross contamination, and enhancing user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a cleaning component replacement base station provided in an embodiment of the present application;

[0017] Figure 2 This is a schematic diagram of an application scenario of replacing a base station with a cleaning component provided in an embodiment of the present application;

[0018] Figure 3 It is a structural schematic diagram of a cleaning robot provided in an embodiment of the present application;

[0019] Figure 4 is a structural schematic diagram of the transport trolley provided in an embodiment of the present application;

[0020] Figure 5 This is a first-perspective structural schematic diagram of the transport trolley provided in an embodiment of the present application when carrying a rag;

[0021] Figure 6 is a second perspective structural schematic diagram of the transport trolley provided in an embodiment of the present application when carrying a rag;

[0022] Figure 7 is a structural schematic diagram of the chassis of the transport trolley provided in an embodiment of the present application;

[0023] Figure 8is a diagram of the coordination structure between the transport trolley and the track provided in an embodiment of the present application;

[0024] Fig. 9 This is a schematic diagram of an application scenario of the picking-up and falling-off mechanism picking up a rag provided in an embodiment of the present application;

[0025] Fig.10 It is a structural schematic diagram of another cleaning component replacement base station provided in an embodiment of the present application;

[0026] Fig.11 This is a schematic diagram of another application scenario of replacing a base station with a cleaning component provided in an embodiment of the present application;

[0027] Fig.12 is a schematic diagram of the structure of the cleaning component storage unit provided in an embodiment of the present application;

[0028] Fig.13 is a schematic diagram of a regional map provided in an embodiment of the present application;

[0029] Fig.14 It is a schematic diagram of a process of replacing a rag provided in an application example of this application;

[0030] Fig.15 It is a schematic diagram of the structure of a cleaning component provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Figure 1Schematic diagram of an application scenario of a cleaning component replacement base station provided in an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a cleaning component replacement base station, and the base station may include:

[0034] A cleaning component receiving unit 1 is used to receive a cleaning component removed from a cleaning device, and to receive a cleaning component to be installed from the cleaning device;

[0035] A cleaning component storage unit 2, used for storing the removed cleaning components and for storing the cleaning components to be installed;

[0036] The cleaning component transport mechanism 3 is used to transport the disassembled cleaning component from the receiving unit to the storage unit, and to transport the cleaning component to be installed from the storage unit to the receiving unit.

[0037] In this example, the cleaning device includes a cleaning robot, and the cleaning component may include a mop component of the cleaning robot, wherein the cleaning robot includes a sweeping robot, a mopping robot, a floor washing robot, a sweeping and mopping robot, and any other automatic cleaning device with a cleaning function.

[0038] In this example, the cleaning device includes a cleaning robot, and the cleaning component may include a mop component of the cleaning robot. The mop component may be a disk mop component such as a round mop, a triangular mop, etc. Fig.13 As shown, a mounting protrusion is provided at the center of the mop assembly, and a magnetic element such as a magnet can be installed on the mounting protrusion.

[0039] In this example, the cleaning component storage unit may include multiple storage disks for detachably fixing the cleaning component, and the multiple storage disks are distributed from top to bottom on the side wall of the base station, and the bottom of the storage disk is roughly parallel to the side wall of the base station.

[0040] In this example, the transport mechanism may include a transport trolley and a transport track, the transport track is bent to form a lifting section and a translation section, the transport trolley can move to the side of the storage disk along the lifting section, and can move to the top of the receiving unit along the translation section, and the transport trolley is used to transport the cleaning component.

[0041] In this example, the transport trolley has a picking-up and dropping-off mechanism, which is used to pick up the disassembled cleaning component from the receiving unit and to drop the disassembled cleaning component into the storage unit.

[0042] In this example, the picking-up and dropping-off mechanism is also used to pick up the cleaning component to be replaced from the storage unit, and to drop the cleaning component to be replaced into the receiving unit.

[0043] In one embodiment of the present application, the cleaning component can be a disc rag, and the disc rag is provided with a magnet. Correspondingly, the picking-up and dropping mechanism has a first magnetic element that can be attracted by the magnet, and the picking-up and dropping mechanism can use the magnetic element to pick up the cleaning component. The mop component can be a disc rag, a triangular rag, or a disc rag component. Fig.13 As shown, a mounting protrusion is provided at the center of the mop assembly, and a magnetic element such as a magnet can be installed on the mounting protrusion.

[0044] In one embodiment of the present application, the bottom of the receiving unit has a second magnetic element that can be adsorbed by a magnet, and the bottom of the storage disk has a third magnetic element that can be adsorbed by a magnet. The second magnetic element is used to attract and drop the cleaning component adsorbed by the pick-up and drop-off structure into the receiving unit, and the third magnetic element is used to attract and drop the cleaning component adsorbed by the pick-up and drop-off structure into the storage disk.

[0045] In one embodiment of the present application, the receiving unit is provided with a falling stopper for causing the cleaning component adsorbed by the picking-up and falling structure to fall into the receiving unit by contact.

[0046] In some embodiments of the present application, the receiving unit may also have a cleaning component cleaning function, for example, the rag plate replaced by the cleaning robot may be automatically cleaned and then transported to the storage unit, so that the dirty rag can be replaced and cleaned.

[0047] Figure 2 Schematic diagram of an application scenario of a cleaning component replacement base station provided in an embodiment of the present application. Figure 2As shown, it includes the following modules. 1. H1 grabbing mechanism, 2. H2 lifting mechanism, 3. H3 rotating mechanism. The storage module is composed of multiple storage units, each of which can store two mop assemblies. The grabbing mechanism, as shown in the figure H1, is used to pick up and place the mop module. The lifting mechanism, as shown in the figure H2, controls the displacement of the picking mechanism in the vertical direction. The rotating mechanism, as shown in the figure H3, turns the spare grabbing mechanism to the mop assembly disassembled by the sweeper through the rotating mechanism. Specifically, the process of replacing the mop using the base station is as follows: after the sweeper K returns to the base station J, it cleans the mop (1) in the mop cleaning module J4. After cleaning, the sweeper K automatically removes the mop, the J2 lifting trolley descends, and there is a J21 grabbing mechanism on the J2 lifting trolley, which grabs the cleaned mop (1). The J2 lifting trolley climbs along the track to the vacant storage unit position, and puts the mop (1) into the storage unit. The lifting trolley ascends and descends along the track to another mop tray storage bin position, grabs the mop (2), and the climbing trolley descends along the track. The grabbing mechanism on the lifting trolley releases the mop (2) and drops it into the cleaning unit. The lifting trolley climbs, and the sweeper automatically installs the mop. The replacement of the mop is completed. Among them, the grabbing mechanism H1, the lifting mechanism H2, and the rotating mechanism H3 together constitute the cleaning component transportation mechanism, and the mop component is a type of cleaning component.

[0048] like Figure 1 As shown, the base station includes a cleaning tray, a lifting trolley, a lifting track, a storage tray, and a rag drying duct. The cleaning tray is a type of cleaning component, and the lifting trolley and the lifting track together constitute the cleaning component transportation mechanism. Figure 4 It is a structural schematic diagram of the transport trolley provided in an embodiment of the present application. Figure 5 This is a first-perspective structural schematic diagram of the transport trolley provided in an embodiment of the present application when carrying a rag. Figure 6 This is a second perspective structural schematic diagram of the transport trolley provided in an embodiment of the present application when carrying a rag. Figure 7 It is a schematic structural diagram of the chassis of the transport trolley provided in an embodiment of the present application. Figure 8 It is a diagram of the coordination structure between the transport trolley and the track provided in an embodiment of the present application. Fig. 9 Schematic diagram of the application scenario of the picking-up and falling-off mechanism picking up a rag provided in the embodiment of the present application. Figure 5-Figure 9 As shown, the transport trolley may include ① a lifting trolley chassis, ② a picking and dropping mechanism, and ③ a positioning module. The specific description is as follows:

[0049] ①The composition of the chassis of the car: drive motor, gearbox, active wheel, passive wheel, chassis, Hall sensor, bull's eye wheel.

[0050] ② The composition of the picking-up and shedding mechanism: picking-up motor, iron block, sliding structure, and guide structure. Picking up and shedding the rag is achieved by adjusting the magnetic force. The magnetic force is adjusted by adjusting the distance between the magnet and the iron block, thereby achieving the picking-up and shedding function of the rag.

[0051] ③ The positioning structure can use photoelectric sensors, Hall sensors and micro switches. Among them, the climbing of the lifting trolley relies on the static friction between the trolley tire and the track to achieve the climbing of the trolley. When the trolley rises vertically, because the trolley itself cannot provide positive pressure, a pulley is added next to the trolley tire. This pulley is coaxial with the tire and rolls in the track 2. The pulley and track 2 cooperate to squeeze the tire 1. The rebound force generated by the deformation of the tire provides positive pressure for the tire to ensure that the trolley will not slip when moving on the track. When picking up the rag, the suction on the picking mechanism is greater than the cleaning disc and greater than the suction of the storage disc on the rag, realizing the rag picking function.

[0052] Fig.10 1 is a schematic diagram of another cleaning component replacement base station provided in an embodiment of the present application. In this example, the cleaning component storage unit may include a plurality of storage disks, which are arranged on the side wall of the base station from top to bottom, and are roughly parallel to the side wall of the base station, for holding cleaning units.

[0053] In this example, the transport mechanism includes a lifting mechanism and a grabbing mechanism, the lifting mechanism is used to lift the grabbing mechanism to a predetermined height, and the grabbing mechanism is used to grab the cleaning component from the storage tray at the predetermined height.

[0054] In this example, the lifting mechanism and the grabbing mechanism may be movably connected via a telescopic mechanism, and the telescopic mechanism may drive the grabbing mechanism to move in a horizontal direction.

[0055] Fig.12 Schematic diagram of the structure of the cleaning component storage unit provided in the embodiment of the present application. Fig.10 , Fig.12 As shown, the base station can be composed of the following mechanisms: 1. F1 grabbing mechanism, 2. F2 lifting mechanism, 3. F3 telescopic mechanism. The storage module is composed of a plurality of storage units, and each storage unit F4 can store two mop assemblies.

[0056] The grabbing mechanism, as shown in Figure F1, is used to pick up and place the mop module.

[0057] Lifting mechanism, as shown in Figure F2, controls the vertical displacement of the pickup mechanism

[0058] The telescopic mechanism, as shown in Figure F3, controls the horizontal displacement of the grasping mechanism.

[0059] The storage unit, as shown in Figure F4, is used to store the mop modules of each area.

[0060] The specific process of replacing the cleaning components is that after the cleaning robot returns to the base station, it cleans the mop (1) in the H4 mop cleaning module. After the cleaning is completed, the I sweeper automatically removes the mop, the H2 lifting structure descends, the H1 grabbing mechanism grabs the cleaned mop (1), the H2 lifting structure rises, the H3 rotating mechanism rotates, the H2 lifting structure descends, the grabbing mechanism releases the mop (2), and it falls into the cleaning unit, the H2 lifting structure rises, and the I sweeper automatically installs the mop. The replacement of the mop is completed. Fig.12 As shown, a plurality of storage units a1, b1, c1, etc. are arranged up and down on the side wall of the base station.

[0061] Fig.11 This is another application scenario schematic diagram of a cleaning component replacement base station provided in an embodiment of the present application. In this example, the base station may include:

[0062] A cleaning component receiving unit, used to receive a cleaning component removed from a cleaning device, and used to receive a cleaning component to be installed from the cleaning device;

[0063] The cleaning component storage and transportation unit is used to store the disassembled cleaning components and the cleaning components to be installed, and is also used to transport the cleaning components to be installed to the receiving unit.

[0064] Wherein, the storage and transportation unit includes a lifting mechanism, a grabbing mechanism, and a rotating mechanism.

[0065] like Fig.11 As shown, the base station may include 1. H1 a grabbing mechanism, 2. H2 a lifting mechanism, and 3. H3 a rotating mechanism. The storage module is composed of a plurality of storage units, each of which can store two mop assemblies.

[0066] The grabbing mechanism, as shown in Figure H1, is used to pick up and place the mop module.

[0067] The lifting mechanism, as shown in Figure H2, controls the vertical displacement of the picking mechanism.

[0068] The rotating mechanism, as shown in the figure H3, turns the spare gripping mechanism to the mop assembly disassembled by the sweeper through the rotating mechanism. Specifically, the process of replacing the cleaning assembly of the cleaning robot is as follows: after the sweeper K returns to the base station J, it cleans the mop (1) in the mop cleaning module J4. After cleaning, the sweeper K automatically removes the mop, the J2 lifting trolley descends, and there is a J21 gripping mechanism on the J2 lifting trolley, which grabs the cleaned mop (1). The J2 lifting trolley climbs along the track to the position of the spare storage unit, and puts the mop (1) into the storage unit. The lifting trolley rises and falls along the track to another mop tray storage bin position, grabs the mop (2), and the climbing trolley descends along the track. The gripping mechanism on the lifting trolley releases the mop (2) and falls into the cleaning unit. The lifting trolley climbs, and the sweeper automatically installs the mop. The replacement of the mop is completed.

[0069] An embodiment of the present application further provides a method for replacing a cleaning component of a cleaning robot, which can be used in the base station and the corresponding cleaning robot system described in the above embodiments, and can also be applied to other base stations and robot systems that can replace rags. Correspondingly, the method may include:

[0070] S1: Determine regional characteristic information of the area to be cleaned according to the regional map data:.

[0071] S2: Control the cleaning robot to return to the base station and replace the corresponding cleaning components according to the regional feature information.

[0072] The area characteristic information includes any one or more of the pollution degree information of the area to be cleaned, area type information, cleaning surface material information, and cleaning component information set by the user.

[0073] In some embodiments of the present application, the area map data may be pre-stored in a storage unit of the cleaning robot, and the area map data may include the area feature information, which may be obtained by the cleaning robot through a sensor or pre-input by a user.

[0074] Fig.13 is a schematic diagram of a regional map provided in an embodiment of the present application. Fig.13As shown, the cleaning robot can use the sensors on the robot and the stored algorithm to create a regional map. In the regional map, the indoor space can be divided into N areas, which can be called A, B, C... and other areas. The robot can obtain the area type based on the regional characteristic information, and then obtain the cleaning components that can be used corresponding to the area type, such as rags and trays. Specifically, the regional characteristic information can be classified according to the function of the room, such as bedroom, living room, bathroom, kitchen, balcony, etc., and can also be divided according to the degree of pollution, such as lightly polluted areas, medium-polluted areas, heavily polluted areas, etc. The user can manually divide the area on the APP according to their own usage scenarios, that is, manually input the regional characteristic information such as the area type corresponding to each area in advance. As Fig.12 As shown, corresponding mops a, b, c, ... are configured for areas A, B, C, ..., such as Fig.12 As shown, the sweeping robot base station has corresponding mop tray storage units a1, b1, c1... (mop b generally refers to the mopping mechanism adapted to area B. If area B is a prohibited mopping area such as a carpet, then mop b is an empty tray. The present invention is not limited to this correspondence method, and areas a and b can be set to correspond to b1 mop tray). The mop tray storage unit is the cleaning component storage unit.

[0075] Before the robot cleans, it completes S1 cleaning path planning (the path can be automatically planned by the program, and users can also customize the cleaning path), and completes the cleaning of the first, second, third and other areas according to the path planning; after completing the cleaning of the first area, the sweeper replaces the special mop for the second area through the automatic mop replacement module on the base station, and then cleans the second area, and so on to complete the cleaning and mop replacement of subsequent areas to avoid cross contamination when cleaning different areas.

[0076] What can be added to the solution is that this system has a mop cleaning function to ensure the reuse of the mop.

[0077] Fig.14 This is a schematic diagram of a process for replacing a rag provided in the application example of this application. Fig.14 As shown, the specific process of replacing the rag is as follows:

[0078] In step S1, a cleaning path is planned, for example: start-ABC-end cleaning, or: start-BCD-end cleaning; that is, after starting cleaning, the cleaning path passes through area A, area B, and area C in sequence and then ends cleaning, or after starting cleaning, the cleaning path passes through area B, area C, and area D in sequence.

[0079] Step S2, determining the cleaning area, for example, A, for example, the cleaning area is area A;

[0080] Step S3, replacing the mop a corresponding to area A, that is, replacing the cleaning component with the cleaning component corresponding to area A;

[0081] Step S4: area cleaning; if the mop is dirty during area cleaning, it can be returned to the base station for mop cleaning. Mop cleaning is completed in the "area cleaning" step.

[0082] Step S5, returning to the base station and self-cleaning the mop, i.e., automatically cleaning the cleaning component using the base station cleaning tank;

[0083] Step S6, determining whether there is an area to be cleaned, if so, returning to step S2, i.e. redetermining the cleaning area and determining the cleaning components corresponding to the area;

[0084] If not, execute step S7 to end the cleaning task.

[0085] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when executed.

[0086] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0087] According to another aspect of the embodiments of the present application, a cleaning robot is provided, comprising a storage unit and a control unit, wherein a computer program is stored in the storage unit, and the control unit is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0088] In an exemplary embodiment, the cleaning robot may further include a transmission device and an input / output device, wherein the transmission device is connected to the input / output resource pool, and the input / output device is connected to the input / output resource pool.

[0089] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0090] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0091] The above description is only the preferred embodiment of the present application and is not intended to limit the embodiments of the present application. For those skilled in the art, the embodiments of the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.

Claims

1. A cleaning component replacement base station, It is characterized in that The base station comprises: A cleaning component receiving unit, used to receive a cleaning component removed from a cleaning device, and used to receive a cleaning component to be installed from the cleaning device; A cleaning component storage unit, used for storing the removed cleaning components and for storing the cleaning components to be installed; The cleaning component transport mechanism is used to transport the disassembled cleaning component from the receiving unit to the storage unit, and to transport the cleaning component to be installed from the storage unit to the receiving unit.

2. A cleaning component replacement base station as claimed in claim 1, It is characterized in that The cleaning device comprises a cleaning robot, and the cleaning component comprises a mop component of the cleaning robot.

3. A cleaning component replacement base station as claimed in claim 1 or 2, It is characterized in that The cleaning component storage unit includes a plurality of storage trays for detachably fixing the cleaning component. The plurality of storage trays are distributed from top to bottom on the side wall of the base station, and the bottom of the storage trays is substantially parallel to the side wall of the base station.

4. A cleaning component replacement base station as claimed in claim 3, It is characterized in that The transport mechanism includes a transport trolley and a transport track, the transport track is bent to form a lifting section and a translation section, the transport trolley can move to the side of the storage disk along the lifting section, and can move to the top of the receiving unit along the translation section, and the transport trolley is used to transport the cleaning component.

5. A cleaning component replacement base station as claimed in claim 4, It is characterized in that The transport trolley has a picking-up and dropping-off mechanism, which is used to pick up the disassembled cleaning component from the receiving unit and to drop the disassembled cleaning component into the storage unit.

6. A cleaning component replacement base station as claimed in claim 5, It is characterized in that The picking-up and dropping-off mechanism is also used for picking up the cleaning component to be replaced from the storage unit, and for dropping the cleaning component to be replaced into the receiving unit.

7. A cleaning component replacement base station as claimed in claim 5 or 6, It is characterized in that The cleaning component is a disc rag, and the disc rag is provided with a magnet. Correspondingly, the picking-up and dropping-off mechanism has a first magnetic element that can be adsorbed by the magnet, and the picking-up and dropping-off mechanism can pick up the cleaning component by using the magnetic element.

8. A cleaning component replacement base station as claimed in claim 7, It is characterized in that The bottom of the receiving unit has a second magnetic element that can be attracted by a magnet, and the bottom of the storage disk has a third magnetic element that can be attracted by a magnet. The second magnetic element is used to attract the cleaning component attracted by the pick-up and shedding structure to fall into the receiving unit, and the third magnetic element is used to attract the cleaning component attracted by the pick-up and shedding structure to fall into the storage disk.

9. A cleaning component replacement base station as claimed in claim 7, It is characterized in that The receiving unit is provided with a falling stopper, which is used to make the cleaning component adsorbed by the picking-up and falling structure fall into the receiving unit by contact.

10. A cleaning component replacement base station as claimed in claim 1 or 2, It is characterized in that The cleaning component storage unit includes a plurality of storage trays, which are arranged on the side wall of the base station from top to bottom, are substantially parallel to the side wall of the base station, and are used to hold cleaning units.

11. A cleaning component replacement base station as claimed in claim 10, It is characterized in that The transport mechanism comprises a lifting mechanism and a grabbing mechanism, wherein the lifting mechanism is used to lift the grabbing mechanism to a predetermined height, and the grabbing mechanism is used to grab the cleaning component from the storage tray at the predetermined height.

12. A cleaning component replacement base station as claimed in claim 11, It is characterized in that The lifting mechanism and the grabbing mechanism are movably connected via a telescopic mechanism, and the telescopic mechanism can drive the grabbing mechanism to move in a horizontal direction.

13. A cleaning component replacement base station, It is characterized in that The base station comprises: A cleaning component receiving unit, used to receive a cleaning component removed from a cleaning device, and used to receive a cleaning component to be installed from the cleaning device; The cleaning component storage and transportation unit is used to store the disassembled cleaning components and the cleaning components to be installed, and is also used to transport the cleaning components to be installed to the receiving unit.

14. A cleaning component replacement base station as claimed in claim 13, It is characterized in that The storage and transportation unit comprises a lifting mechanism, a grabbing mechanism and a rotating mechanism.

15. A method for replacing a cleaning component of a cleaning robot, It is characterized in that The method comprises: Determine regional characteristic information of the area to be cleaned according to the regional map data; The cleaning robot is controlled to return to a base station, and a corresponding cleaning component is replaced according to the regional characteristic information.

16. A method for replacing a cleaning component of a cleaning robot as claimed in claim 15, It is characterized in that The area characteristic information includes any one or more of the pollution degree information of the area to be cleaned, area type information, cleaning surface material information, and cleaning component information set by the user.

17. A method for replacing a cleaning component of a cleaning robot as claimed in claim 15 or 16, It is characterized in that The area map data is pre-stored in a storage unit of the cleaning robot, and the area map data includes the area feature information, which is obtained by the cleaning robot through sensor recognition or pre-input by a user.

18. A cleaning robot, It is characterized in that include: a storage unit storing a computer program; A control unit configured to run the computer program to perform the method according to any one of claims 15 to 17.

19. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of the method as claimed in any one of claims 15 to 17 when executed by a processor.

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