Mop replacement method, apparatus, cleaning base station, cleaning system, medium and product

Abstract

The invention provides a mop replacing method and device, a cleaning base station, a cleaning system, a medium and a product, and relates to the technical field of cleaning equipment.The method comprises the steps that under the condition that a mop replacing requirement exists, a to-be-replaced mop stored in a first storage unit in a rotary storage bin is conveyed to a transition position through a conveying mechanism; under the condition that the detached mop exists in the cleaning disc, the detached mop is stored in the first storage unit through the conveying mechanism; then, the mopping cloth to be replaced on the transition position is moved to the cleaning disc through the moving unit, so that the mopping cloth to be replaced is conveniently installed on the follow-up cleaning equipment; according to the method, mop replacement can be achieved only through one round trip of the conveying mechanism, the mop replacement efficiency is improved, the cleaning base station can store one more set of mop through the transition position, the mop storage number of the cleaning base station is increased, efficient and automatic replacement of the mop is achieved, cross contamination between areas is avoided, and the cleaning base station is suitable for popularization and application. And the continuity of the cleaning process and the effect of user experience are improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202512000238.5 (22) Application Date 2025.12.26 (71) Applicant: Zhuimi Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 Applicant: Zhuimi Intelligent Technology (Shaoxing) Co., Ltd. (72) Inventors: Su Chuang, Jia Guangqi, Yu Fenghua, Wang Hongtao (74) Patent Agency: Beijing Tongli Juncheng Intellectual Property Agency Co., Ltd. 11205 Patent Attorney: Chen Yu (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 28 (2006.01) (54) Invention Name: Mop Replacement Method, Device, Cleaning Base Station, Cleaning System Abstract of Media and Products (57) This application provides a mop replacement method, apparatus, cleaning base station, cleaning system, media and products, relating to the field of cleaning equipment technology. In the event of a mop replacement requirement, the method uses a transport mechanism to transport the mop to be replaced stored in the first storage unit in the rotating storage compartment to the transition position; if there is a disassembled mop in the cleaning tray, the disassembled mop is stored in the first storage unit using the transport mechanism; then, the mop to be replaced on the transition position is moved to the cleaning tray using the moving unit so that the cleaning equipment can install the mop to be replaced. The transport mechanism in this method only needs one round trip to realize the mop replacement, which improves the efficiency of mop replacement. The transition position allows the cleaning base station to store an additional set of mops, increasing the number of mops that can be stored in the cleaning base station. This method also achieves efficient and automatic mop replacement, avoids cross-contamination between areas, and improves the continuity of the cleaning process and the user experience. Claims (3 pages), Description (20 pages), Drawings (4 pages), CN 121606215 A, 2026.03.06, CN 1 21 60 62 15 A. 1. A mop replacement method, characterized in that it is applied to a cleaning base station, the cleaning base station comprising: a rotating storage compartment, a transport mechanism, a cleaning tray, and a moving unit, the rotating storage compartment comprising: multiple storage units for storing mops, the cleaning tray for accommodating mops disassembled from cleaning equipment or for accommodating mops to be replaced from the cleaning equipment; the method comprising: in response to a mop replacement request, transporting the mop to be replaced stored in a first storage unit in the rotating storage compartment to a transition position via the transport mechanism; if a disassembled mop exists in the cleaning tray, storing the disassembled mop in the first storage unit via the transport mechanism; and moving the mop to be replaced from the transition position to the cleaning tray via the moving unit.2. The method according to claim 1, characterized in that, before transporting the mop to be replaced stored in the first storage unit of the rotating storage bin to the transition position via the transport mechanism, the method further includes: determining the first storage unit from a plurality of storage units; determining the rotation angle corresponding to the first storage unit, and rotating the rotating storage bin according to the rotation angle to place the first storage unit in a first position; or, rotating the rotating storage bin until the first storage unit is detected to be in the first position. 3. The method according to claim 2, characterized in that determining the first storage unit from a plurality of storage units includes: determining the mop type corresponding to the area to be cleaned; determining the first storage unit corresponding to the mop type from a plurality of storage units, wherein different storage units correspond to different mop types. 4. The method according to claim 2, wherein rotating the rotating storage bin according to the rotation angle comprises: moving the rotating storage bin away from the second position when the transport mechanism is in the second position; rotating the rotating storage bin according to the rotation angle to place the first storage unit in the first position; moving the rotating storage bin closer to the second position; and rotating the rotating storage bin away from the second position when the transport mechanism is not in the second position, thereby placing the first storage unit in the first position. 5. The method according to claim 4, wherein moving the rotating storage bin comprises: moving the rotating storage bin from a fourth position to a fifth position when the rotating storage bin is away from the second position; moving the rotating storage bin from the fifth position to the fourth position when the rotating storage bin is closer to the second position; and when the rotating storage bin is in the fourth position, the pick-up / drop surface of the transport mechanism in the second position is parallel and opposite to the surface of the first storage unit in the first position, thereby achieving the pick-up or drop of the mop. 6. The method according to claim 1, characterized in that, transporting the mop to be replaced stored in the first storage unit in the rotary storage bin to the transition position via the transport mechanism includes: (Claims 1 / 3 page 2 CN 121606215 A) When the transport mechanism is in a clearance position, moving the transport mechanism from the clearance position to a second position, and picking up the mop to be replaced from the first storage unit in the first position via the transport mechanism; moving the transport mechanism to the transition position and detaching the mop to be replaced. 7. The method according to claim 6, characterized in that, moving the transport mechanism from the clearance position to...Before the second position, the method further includes: rotating the rotating storage bin to position the first storage unit in the first position. 8. The method according to claim 6, wherein storing the disassembled mop in the first storage unit via the transport mechanism includes: moving the transport mechanism from the transition position to the third position corresponding to the cleaning tray and picking up the disassembled mop; moving the transport mechanism to the second position and storing the disassembled mop in the first storage unit. 9. The method according to any one of claims 6-8, wherein moving the mop to be replaced on the transition position to the cleaning tray via the moving unit includes: after the transport mechanism picks up the disassembled mop, moving the mop to be replaced on the transition position to the cleaning tray via the moving unit. 10. The method according to claim 8, wherein on the movement path of the transport mechanism, the third position is located between the second position and the transition position, and the clearance position is located between the second position and the third position. 11. The method according to claim 8, wherein, on the movement path of the transport mechanism, the avoidance position is located outside the second position or outside the third position; or, the avoidance position partially coincides with the second position or the third position; or, the avoidance position is determined based on the deployment position and size of the rotating storage bin. 12. A mop replacement device, characterized in that it is applied to a cleaning base station, the cleaning base station comprising: a rotating storage bin, a transport mechanism, a cleaning tray, and a moving unit, the rotating storage bin comprising: multiple storage units for storing mops, the cleaning tray for accommodating mops disassembled from cleaning equipment or for accommodating mops to be replaced from the cleaning equipment; the method comprising: a transport module, configured to, when disassembled mops are present in the cleaning tray, transport the mops to be replaced stored in the first storage unit of the rotating storage bin to a transition position via the transport mechanism; a pickup module, configured to, via the transport mechanism, store the disassembled mops in the first storage unit; a first moving module, further configured to, via the moving unit, move the mops to be replaced on the transition position to the cleaning tray. 13. A cleaning base station, characterized in that it comprises: a memory; a processor; wherein the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method as described in any one of claims 1-11. 14. A cleaning system, characterized in that the cleaning system comprises: cleaning equipment and a cleaning base station implementing the mop replacement method as described in any one of claims 1-11.15. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 11. 16. A computer program product, characterized in that it includes a computer program, which, when executed by a processor, implements the method as described in any one of claims 1 to 11. Claims 3 / 3 Page 4 CN 121606215 A Mop Replacement Method, Apparatus, Cleaning Base Station, Cleaning System, Medium and Product Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more particularly to a mop replacement method, apparatus, cleaning base station, cleaning system, medium and product. Background Art

[0002] With the popularization of smart home technology, cleaning robots have become an important tool for modern family cleaning. In the home environment, the cleaning needs of different functional areas (such as living room, bedroom, kitchen, bathroom, etc.) vary significantly: the kitchen may have heavily polluted garbage such as oil stains and food residue, the bathroom may have special stains in a humid environment such as water stains, soap scum and even mold, while the bedroom is mainly dust and pet hair.

[0003] Traditional cleaning robots typically use a single mop to clean the entire house or rely on manual mop replacement by the user. However, using a single mop to clean the entire house can lead to cross-contamination between different areas. For example, oil residue in the kitchen may contaminate the bedroom floor, while stains in the bathroom may contaminate other areas, affecting not only the cleaning effect but also potentially causing health concerns for the user. Manual mop replacement by the user is cumbersome and results in a poor user experience.

[0004] Therefore, how to replace the mop of a cleaning robot to avoid cross-contamination between different areas and improve replacement efficiency is a problem that needs to be solved. Summary of the Invention

[0005] This application provides a mop replacement method, device, cleaning base station, cleaning system, medium, and product for automatically replacing the mop of a cleaning robot to avoid cross-contamination between different areas and improve replacement efficiency.

[0006] In a first aspect, this application provides a mop replacement method applied to a cleaning base station. The cleaning base station includes: a rotating storage compartment, a transport mechanism, a cleaning tray, and a moving unit. The rotating storage compartment includes: multiple storage units for storing mops, and the cleaning tray for accommodating mops removed from cleaning equipment or for accommodating mops to be replaced from cleaning equipment. The method includes:

[0007] In response to a mop replacement request, transporting the mop to be replaced stored in the first storage unit in the rotating storage compartment to a transition position via the transport mechanism;

[0008] If a removed mop is present in the cleaning tray, storing the removed mop in the first storage unit via the transport mechanism;

[0009] Moving the mop to be replaced from the transition position to the cleaning tray via the moving unit.

[0010] In one possible implementation, before transporting the mop to be replaced stored in the first storage unit of the rotating storage bin to the transition position by a transport mechanism, the method further includes:

[0011] determining the first storage unit from a plurality of storage units;

[0012] determining the rotation angle corresponding to the first storage unit, and rotating the rotating storage bin according to the rotation angle to place the first storage unit in a first position;

[0013] or, rotating the rotating storage bin until the first storage unit is detected to be in the first position.

[0014] In one possible implementation, determining the first storage unit from a plurality of storage units includes:

[0015] determining the mop type corresponding to the area to be cleaned; Specification 1 / 20 page 5 CN 121606215 A

[0016] determining the first storage unit corresponding to the mop type from a plurality of storage units, wherein different storage units correspond to different mop types.

[0017] In one possible implementation, rotating the rotating storage bin according to a rotation angle includes:

[0018] When the transport mechanism is in the second position, moving the rotating storage bin away from the second position;

[0019] Rotating the rotating storage bin according to a rotation angle to place the first storage unit in the first position;

[0020] Moving the rotating storage bin closer to the second position;

[0021] When the transport mechanism is not in the second position, rotating the rotating storage bin according to a rotation angle to place the first storage unit in the first position;

[0022] In one possible implementation, moving the rotating storage bin includes:

[0023] When the rotating storage bin is away from the second position, moving the rotating storage bin from the fourth position to the fifth position;

[0024] When the rotating storage bin is closer to the second position, moving the rotating storage bin from the fifth position to the fourth position;

[0025] When the rotating storage bin is in the fourth position, the pick-up and drop surface of the transport mechanism in the second position is parallel and opposite to the surface of the first storage unit in the first position, so as to pick up or drop the mop.

[0026] In one possible implementation, transporting the mop to be replaced stored in the first storage unit in the rotating storage bin to the transition position by means of the transport mechanism includes:

[0027] When the transport mechanism is in the clearance position, moving the transport mechanism from the clearance position to the second position, and picking up the mop to be replaced from the first storage unit in the first position by means of the transport mechanism;

[0028] Moving the transport mechanism to the transition position and dropping the mop to be replaced.

[0029] In one possible implementation, before moving the transport mechanism from the clearance position to the second position, the method further includes:

[0030] Rotating the rotating storage bin so that the first storage unit is in the first position.

[0031] In one possible implementation, storing the disassembled mop in a first storage unit via a transport mechanism includes:

[0032] moving the transport mechanism from the transition position to a third position corresponding to the washing tray and picking up the disassembled mop;

[0033] moving the transport mechanism to a second position and storing the disassembled mop in the first storage unit.

[0034] In one possible implementation, moving the mop to be replaced on the transition position to the washing tray via a moving unit includes:

[0035] after the transport mechanism picks up the disassembled mop, moving the mop to be replaced on the transition position to the washing tray via the moving unit.

[0036] In one possible implementation, on the movement path of the transport mechanism, the third position is located between the second position and the transition position, and the clearance position is located between the second position and the third position.

[0037] In one possible implementation, the clearance position is located outside the second position or outside the third position on the movement path of the transport mechanism;

[0038] or,

[0039] the clearance position partially overlaps with the second or third position;

[0040] or,

[0041] the clearance position is determined based on the deployment location and size of the rotating storage bin.

[0042] In a second aspect, this application provides a mop replacement device applied to a cleaning base station. The cleaning base station includes: a rotating storage compartment, a transport mechanism, a cleaning tray, and a moving unit. The rotating storage compartment includes: multiple storage units for storing mops, and the cleaning tray for accommodating mops removed from the cleaning equipment or for accommodating mops to be replaced from the cleaning equipment. The device includes:

[0043] a transport module for transporting, in response to a mop replacement request, the mop to be replaced stored in the first storage unit in the rotating storage compartment to a transition position via the transport mechanism;

[0044] a pickup module for storing, in the case that a removed mop exists in the cleaning tray, the removed mop to be stored in the first storage unit via the transport mechanism;

[0045] a first moving module for moving the mop to be replaced on the transition position to the cleaning tray via the moving unit.

[0046] In one possible implementation, the device further includes: a determining module and a rotating module;

[0047] The determining module is configured to determine a first storage unit from a plurality of storage units;

[0048] The determining module is further configured to determine a rotation angle corresponding to the first storage unit;

[0049] The rotating module is configured to rotate the rotating storage bin according to the rotation angle, so that the first storage unit is in a first position;

[0050] The rotating module is configured to rotate the rotating storage bin until the first storage unit is detected to be in the first position.

[0051] In one possible implementation, the determining module is configured to determine the type of mop corresponding to the area to be cleaned; toAnd determine a first storage unit corresponding to a mop type from multiple storage units, wherein different storage units correspond to different mop types.

[0052] In one possible implementation, the device further includes: a second moving module;

[0053] the second moving module is used to move the rotating storage bin away from the second position when the transport mechanism is in the second position;

[0054] the rotating module is used to rotate the rotating storage bin according to a rotation angle so that the first storage unit is in the first position;

[0055] the second moving module is used to move the rotating storage bin closer to the second position;

[0056] the rotating module is used to rotate the rotating storage bin according to a rotation angle so that the first storage unit is in the first position when the transport mechanism is not in the second position;

[0057] In one possible case, the second moving module is used to move the rotating storage bin from the fourth position to the fifth position when the rotating storage bin is away from the second position; and to move the rotating storage bin from the fifth position to the fourth position when the rotating storage bin is close to the second position;

[0058] When the rotating storage bin is in the fourth position, the pick-up and drop surface of the transport mechanism in the second position is parallel and opposite to the surface of the first storage unit in the first position, so as to pick up or drop the mop.

[0059] In one possible implementation, the transport module is used to move the transport mechanism from the avoidance position to the second position when the transport mechanism is in the avoidance position;

[0060] The pick-up module is also used to pick up the mop to be replaced from the first storage unit in the first position via the transport mechanism;

[0061] The transport module is used to move the transport mechanism to the transition position;

[0062] The pick-up module is also used to drop the mop to be replaced.

[0063] In one possible implementation, the rotation module is also used to rotate the rotating storage bin so that the first storage unit is in the first position.

[0064] In one possible implementation, a transport module is used to move the transport mechanism from the transition position to the third position corresponding to the cleaning tray (page 3 / 20, CN 121606215 A);

[0065] a pickup module is also used to pick up the disassembled mop;

[0066] the transport module is also used to move the transport mechanism to the second position;

[0067] the pickup module is also used to store the disassembled mop in a first storage unit.

[0068] In one possible implementation, a first moving module is used to move the mop to be replaced on the transition position to the cleaning tray via a moving unit after the transport mechanism picks up the disassembled mop.

[0069] In one possible implementation, on the movement path of the transport mechanism, the third position is located between the second position and the transition position, and the avoidance position is located between the second position and the third position.

[0070] In one possible implementation, the clearance position is located outside the second position or outside the third position on the movement path of the transport mechanism; or, the clearance position partially coincides with the second or third position; or, the clearance position is determined based on the deployment position and size of the rotating storage bin.

[0071] In a third aspect, this application provides a cleaning base station, including: a processor, and a memory communicatively connected to the processor;

[0072] The memory stores computer-executable instructions;

[0073] The processor executes the computer-executable instructions stored in the memory to implement the mop replacement method as shown in the first aspect and / or various possible implementations of the first aspect above.

[0074] In a fourth aspect, this application provides a cleaning system, the cleaning system including: a cleaning device and a cleaning base station as shown in the third aspect.

[0075] In a fifth aspect, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the mop replacement method as shown in the first aspect and / or various possible implementations of the first aspect above.

[0076] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the mop replacement method as shown in the first aspect and / or various possible implementations of the first aspect.

[0077] The mop replacement method, apparatus, cleaning base station, cleaning system, medium, and product provided in this application are applied to a cleaning base station, which includes: a rotating storage compartment, a transport mechanism, a washing tray, and a moving unit. The rotating storage compartment includes: multiple storage units for storing mops, and the washing tray for accommodating mops removed from cleaning equipment or for accommodating mops to be replaced from cleaning equipment. When there is a need to replace the mop, the method uses a transport mechanism to transport the mop to be replaced stored in the first storage unit in the rotating storage compartment to the transition position; when there is a disassembled mop in the cleaning tray, the transport mechanism stores the disassembled mop in the first storage unit; then, the moving unit moves the mop to be replaced on the transition position to the cleaning tray so that the cleaning equipment can install the mop to be replaced. The transport mechanism in this method only needs one round trip to realize the mop replacement, which improves the efficiency of mop replacement. The transition position allows the cleaning base station to store an additional set of mops, increasing the number of mops that can be stored in the cleaning base station. This method also achieves efficient and automatic mop replacement, avoids cross-contamination between areas, and improves the continuity of the cleaning process and the user experience. Brief Description of the Drawings

[0078] The accompanying drawings are incorporated in and constitute a part of this specification, illustrating embodiments consistent with this application, and together with the description, serve to explain the principles of this application.

[0079] Figure 1 is a schematic diagram of a scenario of a mop replacement method provided by an embodiment of this application; Specification 4 / 20 pages 8 CN121606215 A

[0080] Figure 2 is a schematic diagram of the structure of a cleaning base station provided in an embodiment of this application;

[0081] Figure 3 is a schematic diagram of the structure of a cleaning base station provided in an embodiment of this application;

[0082] Figure 4 is a schematic diagram of the structure of a rotating storage bin provided in an embodiment of this application;

[0083] Figure 5 is a flowchart of a mop replacement method provided in an embodiment of this application;

[0084] Figure 6 is a schematic diagram of the structure of a mop replacement device provided in an embodiment of this application;

[0085] Figure 7 is a schematic diagram of the structure of a cleaning base station provided in an embodiment of this application;

[0086] Figure 8 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application.

[0087] The above figures have shown specific embodiments of this application, which will be described in more detail below. These figures and descriptions are not intended to limit the scope of the concept of this application in any way, but are intended to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0088] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0089] In the embodiments of this application, the words "first" and "second" are used to distinguish the same or similar items with basically the same function and effect, without limiting their order. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" are not necessarily different.

[0090] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or more advantageous than other embodiments or design schemes. To be precise, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0091] With the popularization and deepening of smart home technology, cleaning robots have gradually become an important tool for daily cleaning in modern families. However, in the actual home environment, there are significant differences in the cleaning scenarios and stain types of different functional areas: kitchen floors often face heavy pollution with strong adhesion such as oil stains and food residues; bathrooms are prone to residual water stains, soap scum, and even special stains in humid environments such as mold; while bedrooms, living rooms, etc. are mainly dry pollutants such as dust, dander, and pet hair. This regionalized cleaning demand places higher demands on the working mode of cleaning robots.

[0092] Currently, traditional cleaning robots mostly use a single mop to complete whole-house cleaning, or require users to manually change the mop between different areas.

[0093] Using a single mop to clean the whole house can lead to cross-contamination between different areas. For example, a mop carrying kitchen grease may leave hard-to-clean grease stains on a bedroom wooden floor, and may even affect the floor material; bacteria and water stains in the bathroom may also be carried to other living areas, not only reducing the cleaning effect, but also potentially becoming a health hazard.

[0094] Relying on users to manually change the mop has disadvantages such as cumbersome operation, high time cost, and frequent intervention, which seriously affects the automated experience of the cleaning process and user satisfaction.

[0095] Therefore, how to achieve efficient and automatic mop replacement to completely avoid cross-contamination between areas, while improving the continuity of the cleaning process and user experience, has become a key technical problem that the industry urgently needs to solve.

[0096] To address the above problems, this application provides a mop replacement method. This method is applied to a cleaning base station. The cleaning base station includes a rotating storage compartment, a transport mechanism, a cleaning tray, and a moving unit. The rotating storage compartment includes multiple storage units for storing mops. The cleaning tray is used to hold mops removed from the cleaning equipment or to hold mops to be replaced from the cleaning equipment. When mop replacement is required, the transport mechanism transports the mops to be replaced stored in the first storage unit of the rotating storage compartment to a transition position. Then, the transport mechanism stores the mops removed from the cleaning tray into the first storage unit. Finally, the moving unit moves the mops to be replaced from the transition position into the cleaning tray. This allows for the installation of replacement mops on subsequent cleaning equipment. The transport mechanism in this method only needs one round trip to replace the mop, improving the efficiency of mop replacement at the cleaning base station. Furthermore, by setting a transition position, the cleaning base station can store an additional set of mops, increasing the number of mops it can store. This method also achieves efficient and automatic mop replacement, avoiding cross-contamination between areas and improving the continuity of the cleaning process and user experience.

[0097] Figure 1 is a schematic diagram of a mop replacement method provided in this application embodiment. Figure 2 is a schematic diagram of the structure of a cleaning base station provided in this application embodiment. Figure 3 is a schematic diagram of the structure of a cleaning base station provided in this application embodiment. Figure 4 is a schematic diagram of the structure of a rotating storage bin provided in this application embodiment. As shown in Figures 1-4, this application scenario includes: a cleaning device 100 and a cleaning base station 200.

[0098] The cleaning device 100 is the main body performing the cleaning task. The cleaning device shown in this embodiment can be, for example, a cleaning robot, such as a sweeping robot, a sweeping and mopping robot, or a mopping robot. This application does not limit the specific type of cleaning device.

[0099] It is understandable that the cleaning device 100 can automatically or through user settings divide the indoor space into zones. For example, it can divide the space according to the function of the room, such as dividing the indoor space into a bedroom, living room, bathroom, kitchen, balcony, etc.; it can also divide the space according to the degree of pollution of the room, such as dividing the indoor space into lightly polluted areas, moderately polluted areas, heavily polluted areas, etc.; or it can be manually divided by the user based on their own usage scenario.

[0100] Each zone is equipped with a corresponding dedicated mop. The shape and material of the mops corresponding to any two zones can be the same or different. This application does not impose any restrictions on this.

[0101] Before performing the cleaning task, the cleaning device 100 can generate a corresponding cleaning planning path based on the corresponding cleaning task (the cleaning planning path can also be customized by the user), and then complete the cleaning tasks of different zones, such as zones A, B, C, etc., in sequence according to the pre-planned cleaning path. After completing the cleaning of zone A, the cleaning device 100 can return to the cleaning base station 200 to automatically switch to the dedicated mop for zone B, and then perform the cleaning of zone B, thereby avoiding cross-contamination between different zones.

[0102] The cleaning base station 200 may include, for example, a rotating storage compartment 201, a cleaning tray 202, a transport mechanism 203, and a moving unit 204.

[0103] The rotating storage compartment 201 may include multiple storage units for storing mops 101. Each storage unit may store one mop 101 or a group of mops 101 (e.g., a pair). The shape and material of the mops 101 stored in different storage units may be the same or different.

[0104] For example, the rotating storage compartment 201 may be a triangular prism structure or a quadrangular prism structure. The cross-section of the triangular prism structure is triangular, and the cross-section of the quadrangular prism structure is quadrilateral.

[0105] It is understood that each prism has a corresponding storage unit on its side. Accordingly, the rotating storage compartment of the triangular prism structure can store three groups of mops 101, and the rotating storage compartment of the quadrangular prism structure can store four pairs of mops 101.

[0106] In this embodiment, the rotating storage bin 201 can rotate along the central rotation axis to rotate the corresponding storage unit to a first position where the transport mechanism can store and pick up the mop.

[0107] The moving mechanism is connected to the rotating mechanism and is used to drive the rotating mechanism away from or towards the second position. Specification 6 / 20 pages 10 CN 121606215 A

[0108] Specifically, the rotating storage bin 201 can be fixedly installed in the cleaning base station 200. The rotating storage bin 201 includes a drive assembly, a rotating mechanism, a moving mechanism, and multiple storage units; the rotating mechanism has multiple sides, and each side is provided with a storage unit; the drive assembly is used to drive the rotating mechanism to rotate so as to rotate the storage unit provided on the side to the first position, therebyThe mop is stored and detached through the transport mechanism in the second position and the storage unit in the first position.

[0109] It should be noted that the height of the rotating storage bin 201 fixed in the cleaning base station 200 is not specifically limited in this embodiment of the application. It can realize the mop replacement process and can accommodate the cleaning equipment 100 to drive into the cleaning base station 200.

[0110] It can be understood that the rotating mechanism can be a structure with a central rotating axis and multiple sides for installing storage units, forming a structure such as a column, prism or turret. The side is a radial side and the storage units are installed in a circumferentially distributed manner.

[0111] In one possible implementation, the storage unit may include a fixing unit for detachably fixing the mop to the storage mop.

[0112] In this embodiment, a special mechanical interface can be fixed on the fixing unit to realize the connection-hold-separation with the mop. In the non-working state, the fixing unit can firmly lock the mop on the storage unit; when the mop needs to be replaced, the fixing unit can release the mop.

[0113] This application does not specifically limit the mechanical structure of the fixing unit, as long as it can achieve a detachable fixing connection of the mop. For example, it can be magnetic fixing, snap-fit ​​fixing, plug-in fixing, clamp fixing, etc.

[0114] Magnetic fixing involves embedding a permanent magnet in the fixing unit and embedding an iron sheet or a reverse magnet in the corresponding position of the mop. Magnetic force is used to achieve rapid adsorption and separation.

[0115] Snap-fit ​​fixing involves designing elastic claws or hooks on the fixing unit and designing corresponding slots or platforms on the mop. Fixing and releasing are achieved by pressing in, flipping, or pulling out with a specific force.

[0116] Plug-in fixing involves designing pins, slots, or guide rails on the fixing unit and corresponding insertion holes or grooves on the mop. Connection is achieved through precise insertion.

[0117] Clamp fixing uses a miniature clamp driven by a motor or electromagnet. When fixation is required, the clamp closes, gripping the dedicated clamping part on the mop; when release is required, the clamp opens.

[0118] Therefore, this detachable design in the fixing unit makes the picking up and putting down of the mop a quick and standardized action. This allows the transport mechanism 203 to complete the handover between the mop and the storage unit only at the fixed second position, greatly improving replacement efficiency and success rate. Moreover, reliable fixing prevents the mop from loosening or falling off due to inertia or vibration during storage and rotation, thus preventing potential mechanical jamming, replacement failure, or equipment damage, greatly improving the reliability of the cleaning base station 200. Furthermore, since each mop can be fixed in the storage unit position through the fixing unit, the mop is neatly stored, allowing the cleaning base station 200 to accurately identify and pick up the mop.

[0119] The cleaning tray 202 is used to hold mop 101 removed from the cleaning device 100 or to hold mop 101 to be replaced from the cleaning device.

[0120] It is understood that the cleaning device 100 can remove the used mop in the cleaning tray 202 so that the transport mechanism 203 can store the mop removed from the cleaning device in the cleaning tray 202 into the rotating storage compartment 201.

[0121] The cleaning device 100 can also install the mop 101 to be replaced in the cleaning tray 202 so as to perform the cleaning task corresponding to the next area.

[0122] The transport mechanism 203 can move on the corresponding transport track to transport the mop 101 removed from the cleaning device 100 from the cleaning tray 202 to the corresponding storage unit, or to transport the mop 101 to be replaced stored in the rotating storage compartment 201 to the transition position.

[0123] The moving unit 204 is used to move the mop to be replaced on the transition position to the cleaning tray 202.

[0124] FIG5 is a flowchart of a mop replacement method provided in an embodiment of this application. This embodiment can be applied to the cleaning base station described in the above embodiment. As shown in FIG5, the mop replacement method provided in this embodiment includes:

[0125] S401, in response to a mop replacement request, the mop to be replaced stored in the first storage unit in the rotating storage compartment is transported to the transition position by a transport mechanism.

[0126] The mop replacement request may be sent by the cleaning equipment, or it may be determined by whether there is a mop removed from the cleaning equipment in the cleaning tray, or it may be triggered by a mop replacement message remotely sent by the user terminal. This application does not limit this.

[0127] For example, the mop replacement request may include any of the following: receiving a user's mop replacement instruction, determining based on preset cleaning logic that the area to be cleaned does not match the current mop component.

[0128] In the scenario where the cleaning device sends a mop replacement request to the cleaning base station, the timing of sending the mop replacement request can be, for example, after the cleaning device returns to the cleaning base station, or before the cleaning device returns to the cleaning base station.

[0129] It is understood that before returning to the cleaning base station, the cleaning device can send the mop information to be used in subsequent cleaning tasks to the cleaning base station. At this time, before the cleaning device returns to the cleaning base station, the cleaning base station can first transport the mop to be replaced corresponding to the mop information to the transition position through the transportation mechanism, so that after the cleaning device returns to the cleaning base station and removes the mop, it can install the mop to be replaced more quickly, thereby improving the mop replacement efficiency and enhancing the continuity of the cleaning process and user experience.

[0130] Taking the rotating storage compartment as a triangular prism structure as an example. When the cleaning device is not performing a cleaning task, the cleaning device...The cleaning equipment may or may not have a set of mops installed; in this case, each of the three storage units of the rotating storage compartment stores a set of mops.

[0131] It is understood that if the cleaning equipment does not have a mop installed, the fourth set of mops may be stored in the transition position first; if the cleaning equipment has a set of mops installed, the transition position does not store mops.

[0132] Before the cleaning equipment performs a cleaning task, and if it does not have a mop installed, the moving unit can move the fourth set of mops stored in the transition position to the cleaning tray, and then the cleaning equipment can go to the cleaning tray and install the fourth set of mops.

[0133] It is understood that since the cleaning base station has a transition position inside, even if four sets of mops are stored inside the cleaning base station, it can still replace the mops.

[0134] In one possible implementation, the cleaning base station described in this embodiment can serve one cleaning equipment or multiple cleaning equipment. This application does not limit this.

[0135] In scenarios where the cleaning base station serves one cleaning device and that cleaning device performs a cleaning task, or in scenarios where the cleaning base station serves multiple cleaning devices and only one cleaning device performs a cleaning task, there are no idle storage units in the rotating storage bin.

[0136] In scenarios where the cleaning base station serves two cleaning devices and both cleaning devices perform cleaning tasks simultaneously, there is one idle storage unit in the rotating storage bin.

[0137] When a cleaning device needs to replace its mop (e.g., the current mop is stained or the area to be cleaned has changed), the transport mechanism picks up the mop to be replaced from the first storage unit in the rotating storage bin that contains the mop to be replaced; then the transport mechanism carries the mop to be replaced to the transition position and detaches the mop to be replaced from the transition position.

[0138] In one possible implementation, before this step, it is also necessary to determine whether the mop to be replaced is in the corresponding first position. The process is as follows: Specification 8 / 20 page 12 CN 121606215 A

[0139] Determine the position of the first storage unit from multiple storage units; if the first storage unit is in the first position, then directly execute step 501.

[0140] If the first storage unit is not in the first position, it is necessary to determine the rotation angle corresponding to rotating the first storage unit to the first position, and then rotate the rotating storage bin according to the rotation angle so that the first storage unit is in the first position.

[0141] It is understood that when the rotating storage bin is a triangular prism structure, it can rotate the new storage unit to the first position by rotating 120 degrees each time. When the rotating storage bin is a quadrangular prism structure, it can rotate the new storage unit to the first position by rotating 90 degrees each time.

[0142] Continuing to refer to Figures 2 and 3, in this step, it is necessary to first determine the position of the first storage unit storing the mop to be replaced.The position is determined, and then the corresponding rotation angle is determined based on the current position of the first storage unit.

[0143] If the first storage unit is currently located at the upper right of the rotating storage compartment (as shown in Figure 2) and the rotation direction is clockwise, the rotation angle required to rotate the first storage unit to the first position is 240 degrees.

[0144] If the first storage unit is currently located at the upper right of the rotating storage compartment, but the rotation direction is counterclockwise, the rotation angle required to rotate the first storage unit to the first position is 120 degrees.

[0145] For example, if the first storage unit is not in the first position, the rotating storage compartment can be controlled to rotate based on the current position of the storage unit so that the first storage unit is in the first position.

[0146] In one possible implementation, the cleaning base station 200 may further include a second position detection unit, which is used to detect the actual position of the storage unit and generate a corresponding second detection signal. This embodiment does not limit the setting position of the second position detection unit. For example, the second position detection unit can be set on the inner wall of the cleaning base station 200 or on the rotating storage compartment 201.

[0147] For example, when the rotating storage compartment 201 performs a rotation action, the second position detection unit monitors the actual position of the first storage unit in real time and generates a second detection signal. The system receives the second detection signal and compares the actual position of the first storage unit with the preset first position. If the comparison result indicates that the two are inconsistent, the rotating storage compartment 201 continues to rotate until the comparison result indicates that the two are consistent, that is, when the first storage unit has accurately reached the first position, the rotation stops.

[0148] In one possible implementation, when determining the first storage unit from multiple storage units, the type of mop corresponding to the area to be cleaned by the cleaning device can be determined first, and then the first storage unit corresponding to the type of mop can be determined from multiple storage units. The types of mops corresponding to different storage units are different.

[0149] The following describes various scenarios of rotating the rotating storage compartment according to the rotation angle in conjunction with Figures 2 and 3.

[0150] Scenario 1: When the transport mechanism is in the second position.

[0151] In this scenario, since the transport mechanism is in the second position, if the rotating mechanism rotates in its original position, it may collide with the transport mechanism in the second position. Therefore, before rotating the rotating mechanism, it is necessary to use the moving mechanism to move the rotating mechanism away from the second position to avoid collision with the transport mechanism during rotation.

[0152] As shown in Figure 2, the second position is located to the left of the rotating mechanism. The moving mechanism moves the rotating mechanism horizontally (left and right) to move it away from the second position.

[0153] As shown in Figure 3, the second position is located above the rotating mechanism. The moving mechanism moves the rotating mechanism vertically (upward) to move it away from the second position.

[0154] For example, the moving mechanism can also drive the rotating mechanism to move back and forth in the horizontal direction to move away from the second position. Specification 9 / 20 pages 13 CN 121606215 A After the moving mechanism drives the rotating mechanism away from the second position, the rotating storage compartment can be rotated according to the rotation angle.

[0155] Specifically, when the rotating storage compartment is away from the second position, the rotating storage compartment moves from the fourth position (original position) to the fifth position (preset position);

[0156] When the rotating storage compartment is close to the second position, the rotating storage compartment moves from the fifth position (preset position) to the fourth position (original position). It can be understood that after the moving mechanism drives the rotating mechanism to the fifth position (preset position), the rotating mechanism can be driven to rotate by the drive motor to make the first storage unit in the first position; or the rotating mechanism can be driven to rotate by the drive motor at the same time as the moving mechanism drives the rotating mechanism to the fifth position (preset position) to make the first storage unit in the first position. This application does not specifically limit the timing of the drive component driving the rotating mechanism to rotate. As long as the collision between the rotating mechanism and the transport mechanism during rotation can be avoided.

[0157] For example, as shown in Figure 2, during the process of the moving mechanism driving the rotating mechanism to the fifth position (to the right of the fourth position), the rotating mechanism rotates simultaneously so that when the rotating mechanism moves to the fifth position, the first storage unit is in the first position.

[0158] As shown in Figure 3, the rotating mechanism moves from the fourth position to the fifth position (below the fourth position) based on the moving mechanism, and then rotates the first storage unit to the first position at a preset position.

[0159] When the first storage unit is rotated to the first position, the rotating storage bin is moved again so that the rotating storage bin is close to the second position.

[0160] It can be understood that the direction of approaching in this step is the opposite of the direction of moving away in the above steps. Its purpose is to make the rotating storage bin return to its original position.

[0161] When the rotating storage bin is in the fourth position, the pick-up and drop surface of the transport mechanism in the second position is parallel and opposite to the surface of the first storage unit in the first position, so as to realize the pick-up or drop of the mop.

[0162] Scenario 2: When the transport mechanism is not in the second position.

[0163] In this scenario, since the transport mechanism is not in the second position, even if the rotating mechanism rotates in its original position, it will not collide with the transport mechanism. Therefore, the rotating mechanism can be rotated directly according to the rotation angle.

[0164] It is understood that the transport mechanism can be in any position other than the second position, such as the third position, the avoidance position, the transition position, the left side of the second position, or the right side of the second position. This application does not limit this.

[0165] If the transport mechanism is in a clearance position before picking up the mop to be replaced, one possible implementation of this step is as follows:

[0166] The transport mechanism is moved from the clearance position to the second position, and the mop to be replaced is picked up from the first storage unit in the first position via the transport mechanism; then the transport mechanism is moved to the transition position, and the mop to be replaced is dropped to the transition position.

[0167] In one possible implementation, the third position is located between the second position and the transition position on the movement path of the transport mechanism, that is, the transition position can be set outside the third position, and the distance between the transition position and the third position is relatively close.

[0168] Since the transport mechanism needs to go to the third position to pick up the mop removed from the cleaning equipment after dropping the mop to be replaced to the transition position, the closer the transition position is to the third position, the better, so as to reduce the movement distance of the transport mechanism and thus improve the mop replacement efficiency.

[0169] In one possible implementation, the clearance position can be located between the second position and the third position on the movement path of the transport mechanism.

[0170] In one possible implementation, the clearance position can also be located outside the second position or outside the third position on the movement path of the transport mechanism. For example, it can be located to the left of the third position, or above the second position on page 10 / 20 of the specification 14 CN 121606215 A.

[0171] In one possible implementation, the clearance position can partially overlap with the second position. For example, the lower half of the clearance position can overlap with the upper half of the second position, or the upper half of the clearance position can overlap with the lower half of the second position, as long as it can be ensured that the rotating storage bin will not collide with the transport mechanism when rotating.

[0172] In one possible implementation, the clearance position can overlap with the third position, or partially overlap.

[0173] In one possible implementation, the clearance position can also be determined based on the deployment position and size of the rotating storage bin.

[0174] Referring again to Figures 2 and 3, the rotating storage bin 201 can rotate around the rotation axis 22 in the corresponding rotation direction. Based on this, a circle can be drawn with the rotation axis 22 as the center and the length between the rotation axis 22 and one end of any storage unit as the radius. The area within this circle is the area that the rotating storage bin 201 passes through when rotating.

[0175] Therefore, when the clearance position is set in another area that does not coincide with the area where the circle is located, the transport mechanism moving to the clearance position will not affect the rotation of the rotating storage bin 201.

[0176] It can be understood that the rotation direction of the rotating storage bin can be, for example, clockwise as shown in FIG2, counterclockwise, or determined based on the actual position of the storage unit, or based on the rotating storageThe shape of the storage compartment or the location of other components is determined. This embodiment does not specifically limit the rotation direction and the angle of each rotation of the rotating storage compartment.

[0177] The transport mechanism 203 may include, for example, a transport trolley 31, a transport track 32, and a mop pick-up and release mechanism.

[0178] It is understood that the execution end of the mop pick-up and release mechanism may be a mechanical claw, a magnetic head, a locking mechanism, etc., for fitting with the docking structure on the mop. This application does not limit the specific method of the execution end of the mop pick-up and release mechanism, as long as it can grab and release the mop.

[0179] Based on the design of the mop pick-up and release mechanism, the docking of the mop with the transport mechanism 203 can be realized, thereby realizing accurate and reliable grabbing and releasing of the mop. Moreover, concentrating the complex grabbing and releasing functions on the transport mechanism 203 can simplify the design complexity of the cleaning base station 200 and the storage unit, that is, the storage unit only needs to provide a fixed storage function. Furthermore, the mop pick-up and detachment mechanism is located inside the transport mechanism 203. While realizing the grabbing and detachment functions, it does not interfere with the operation of other components or modules, thereby optimizing the internal space layout of the cleaning base station 200.

[0180] In one possible implementation, the mop has a protruding structure 11 (e.g., located on the back of the mop), and the mop pick-up and detachment mechanism has a groove 12 to accommodate the protruding structure 11. The protruding structure and the groove 12 are detachably connected.

[0181] In this application, the detachable connection can be a magnetic connection, a snap-fit ​​connection, etc., and this application does not specifically limit it. It can achieve the following working principle: when it is necessary to grab the mop, the mop pick-up and detachment mechanism moves, so that its groove aligns with and fits the protruding structure on the mop, thereby achieving connection and locking; or when it is necessary to detach the mop, an unlocking action is performed to separate the groove from the protruding structure.

[0182] Thus, based on the engagement of the protrusion structure 11 and the groove 12, the connection strength is high, which can effectively withstand the forces generated in various directions during the movement of the transport mechanism 203, prevent the mop from accidentally falling off, and improve the stability of the connection. In addition, during the engagement of the protrusion structure 11 and the groove 12, the protrusion structure 11 is embedded in the groove 12, ensuring that the mop can be installed in a precise position, providing a precise guiding and positioning effect.

[0183] The transport track 32 may, for example, have a translation track and a lifting track. The transport trolley 31 moves laterally along the translation track and moves up and down along the lifting track.

[0184] Wherein, the translation track is used to provide the horizontal movement path of the transport trolley 31, and the lifting track is used to provide the vertical movement path of the transport trolley 31. The translation track and the lifting track are connected in sequence. Specification 11 / 20 pages 15 CN 121606215 A

[0185] Optionally, the transport track 32 may be formed by a part of the cleaning base station 200 body to form a transport guide rail. This application focuses on the transportThe deployment location and structure of the transport track 32 are not specifically limited. Optionally, the transport trolley 31 may have a drive motor inside, used to drive the transport trolley 31 to move laterally along the translation track and move up and down along the lifting track.

[0186] In one possible implementation, the transport mechanism 203 further includes a first position detection unit, which is used to drive the transport trolley 31 to move or stop through the first detection signal output by the first position detection unit.

[0187] The first position detection unit may be an optocoupler, gyroscope, grating ruler, magnetic grating ruler, photoelectric sensor, Hall sensor combination or rotary encoder, etc. This embodiment does not limit the specific device and setting location of the first position detection unit, as long as it can be used for position detection of the transport trolley 31. For example, the first position detection unit is set on the transport trolley 31.

[0188] For example, the first position detection unit monitors the position of the transport trolley 31 in real time and generates a first detection signal. The control system of the cleaning base station 200, such as a microcontroller unit (MCU), can compare the first detection signal with a preset target position. Based on the comparison results, the control system controls the transport trolley 31 to move or stop at the corresponding position.

[0189] It should be noted that the transport trolley 31 may be located at any position on the transport track 32 during operation.

[0190] Optionally, real-time position feedback can be performed through the first detection signal, and speed curve planning can be performed on the transport trolley 31 to achieve smooth acceleration and deceleration, avoiding the impact, vibration and noise caused by rigid start and stop, and improving the user experience and mechanical life of the product.

[0191] Therefore, the first position detection unit can detect the movement status of the transport trolley 31 in real time. If it is detected that the transport trolley 31 has not moved as expected (i.e., stalled) or has exceeded its range, the motor power can be cut off and an alarm can be triggered, effectively preventing motor burnout, mechanical damage and other faults, improving the safety and fault tolerance of the cleaning base station 200. Alternatively, if it is detected that the transport trolley 31 has not moved to the expected position, the transport trolley 31 can be controlled to move again until it moves to the expected position, so that the transport trolley 31 can stop accurately at the expected position, achieve precise positioning, and ensure the success rate of the transport operation.

[0192] The transport trolley 31 can carry a mop (or not carry a mop) and move between any two points on the transport track inside the cleaning base station 200. A mop pickup and detachment mechanism can be installed inside the transport trolley 31, for example. When the transport trolley 31 moves to the corresponding position along the transport track 32, the mop pickup and detachment mechanism inside the transport trolley 31 starts working to complete the pickup or storage of the mop.

[0193] In the event of a mop replacement requirement, the transport trolley 31 can be moved to a second position, where the mop is picked up and detached.The mechanism picks up the mop to be replaced stored in the first storage unit at the first position, and then controls the transport trolley 31 to carry the mop to be replaced and move it from the second position to the transition position along the transport track 32. The mop picking and dropping mechanism drops the previously picked-up mop to the clearance position.

[0194] It is understood that when the rotating storage bin is in the fourth position, the picking and dropping surface of the transport trolley 31 in the second position is parallel and opposite to the surface of the first storage unit in the first position to achieve the picking or dropping of the mop.

[0195] It is understood that when the transport mechanism picks up the mop corresponding to the current area to be cleaned (the mop to be replaced stored in the first storage unit) from multiple storage units of the rotating storage bin and transports the mop to be replaced to the transition position, since the transport mechanism needs to store the mop removed from the cleaning equipment in an empty storage unit later, the first storage unit is kept in the first position.

[0196] S402. If a disassembled mop is present in the cleaning tray, the disassembled mop is stored in the first storage unit by the transport mechanism. (Instruction manual 12 / 20 pages 16 CN 121606215 A)

[0197] Wherein, if the time when the transport mechanism completes dropping the mop to be replaced to the transition position is earlier than the time when the cleaning equipment completes dropping the disassembled mop, then after the transport mechanism drops the mop to be replaced to the transition position, the transport mechanism can remain at the transition position until the cleaning equipment drops the disassembled mop to the cleaning tray and leaves the cleaning base station.

[0198] If the time when the transport mechanism completes dropping the mop to be replaced to the transition position is later than the time when the cleaning equipment completes dropping the disassembled mop, then after the transport mechanism drops the mop to be replaced to the transition position, it can directly move from the transition position to the third position, pick up the disassembled mop present in the cleaning tray, then move the transport mechanism to the second position, and store the disassembled mop in the empty first storage unit.

[0199] S403. The moving unit moves the mop to be replaced on the transition position to the washing tray.

[0200] The moving unit can be located, for example, below the transition position or to the left of the transition position, and can move the mop to be replaced on the transition position to the washing tray.

[0201] For example, when the moving unit is located to the left of the transition position, it can be a push rod with a drive unit. If there is a mop to be replaced on the transition position, the push rod can be driven by the drive unit to push the mop to be replaced to the right until the mop to be replaced is moved into the washing tray.

[0202] When the moving unit is located below the transition position, it can be, for example, a trolley with a drive unit, a spring, or a push rod. If there is a mop to be replaced on the transition position, the trolley can be driven by the drive unit to carry the mop to be replaced.Move to the right until the mop to be replaced is moved into the washing tray; if there is a mop to be replaced in the transition position, the spring or push rod can lift the left side of the receiving cavity corresponding to the mop to be replaced under the drive of the drive unit, so that the mop to be replaced is in a state of left high and right low, at which time the mop to be replaced can slide into the washing tray.

[0203] In one possible implementation, if there is a disassembled mop in the washing tray, the mop to be replaced in the transition position cannot be moved into the washing tray at this time. Therefore, after the transport mechanism picks up the disassembled mop, the mop to be replaced in the transition position is moved to the washing tray by the moving unit.

[0204] It can be understood that in the above mop process, the transport mechanism only needs to pick up the mop to be replaced from the second position, carry the mop to be replaced to the transition position, and then move from the transition position to the third position to pick up the disassembled mop, and then carry the disassembled mop back to the second position. Its movement trajectory on the transport track is: second position → transition position → third position → second position. The moving unit only needs to move the mop to be replaced from the transition position to the third position. Therefore, the entire mop replacement process can be completed in one round trip by the transport mechanism. This reduces the transport path while achieving efficient and automatic mop replacement, avoiding cross-contamination between areas, and improving the continuity of the cleaning process and the user experience.

[0205] The mop replacement method provided in this application embodiment, when there is a need to replace the mop, transports the mop to be replaced stored in the first storage unit in the rotating storage compartment to the transition position through a transport mechanism; when there is a disassembled mop in the cleaning tray, the disassembled mop is stored in the first storage unit through a transport mechanism; then, the mop to be replaced on the transition position is moved to the cleaning tray through a moving unit so that the subsequent cleaning equipment can install the mop to be replaced; the transport mechanism in this method only needs to make one round trip to replace the mop, which improves the efficiency of replacing the mop at the cleaning base station, and by setting the transition position, the cleaning base station can store an additional set of mops, which increases the number of mops stored at the cleaning base station. This method also achieves efficient and automatic replacement of mops, avoids cross-contamination between areas, and improves the continuity of the cleaning process and the user experience.

[0206] In one possible implementation, the cleaning base station also includes a third position detection unit, and the moving mechanism can drive the rotating mechanism away from or towards the second position according to the third detection signal output by the third position detection unit.

[0207] In this embodiment, the third position detection unit and the first position detection unit may be of the same type or different. This application does not specifically limit this, but can refer to the description of the first position detection unit in the above embodiment. The functions of the two are similar.

[0208] The third position detection unit is used to detect the position of the rotating mechanism, and the third detection signal is used to indicate the position of the rotating mechanism.Current position.

[0209] It is understood that when the moving mechanism drives the rotating mechanism away from or near the second position, the position of the rotating mechanism changes in real time. If it is detected that the rotating mechanism has not undergone the expected displacement (such as the current position not matching the expected position), the motor power can be cut off and an alarm can be triggered to prevent motor burnout, mechanical structure damage and other faults, thereby improving the safety and fault tolerance of the cleaning base station; or, if it is detected that the rotating mechanism has not undergone the expected displacement (such as the current position not matching the expected position), the moving mechanism is controlled again to drive the rotating mechanism to move until the current position of the rotating mechanism matches the expected position. This allows the rotating mechanism to move accurately to the expected position, achieving precise positioning of the rotating mechanism and avoiding collisions with other components when the rotating mechanism performs rotation operations, thereby improving the safety of the cleaning base station.

[0210] In one possible implementation, the cleaning base station 200 further includes a drying device, which has a first air outlet facing the position of the cleaning tray 202, and / or, the drying device has at least one second air outlet facing the position of the storage unit.

[0211] The first air outlet faces the cleaning tray 202 and is used to clean and dry the mop cloths removed from the cleaning equipment 100.

[0212] Optionally, the cleaning base station 200 also includes a hot air generator, which includes a heating element and a fan. The heating element includes a first heating wire, and the fan transports the heat from the first heating wire to the receiving unit 202 in the form of airflow through a ventilation channel. The first air outlet is connected to the ventilation channel.

[0213] The second air outlet faces the storage unit and is used to dry the mop cloths stored in the storage unit. In this way, after the cleaning equipment 100 cleans the removed mop cloths, there is no need to dry them. Instead, they are transported to the storage unit and then dried, which greatly improves the efficiency of mop cloth replacement.

[0214] Optionally, the heating element also includes a second heating wire, and the fan transports the heat from the second heating wire to the storage unit in the form of airflow through a ventilation channel. At least one second air outlet is connected to the ventilation channel.

[0215] Optionally, if one heating wire fails, the other heating wire can still provide partial heating, which improves the reliability of the cleaning base station 200.

[0216] Optionally, when there is only one second air outlet, it can be configured as a storage unit facing any side of the rotating storage chamber 201. This allows the rotating storage chamber 201 to be continuously or intermittently driven to achieve uniform drying during the drying process.

[0217] When there are multiple second air outlets, they can be configured as storage units facing each side of the rotating storage chamber 201. This allows each second air outlet to be opened during the drying process, achieving full drying coverage, or partial storage.Even if the unit does not have a corresponding second air outlet, or the second air outlet is not open, the rotating storage chamber 201 can still be driven to rotate continuously or intermittently.

[0218] Since a damp mop may produce bacteria and odors, the above-mentioned drying device, which dries the mop with hot air, can inhibit the growth of bacteria and mold on the mop and solve hygiene and odor problems. Moreover, this application does not limit the number and specific location of the air outlets of the drying device, which greatly improves the flexibility of drying. In particular, the design of the second air outlet can shorten the time of washing-drying-storage-replacement, thereby improving cleaning efficiency.

[0219] Optionally, the cleaning base station 200 also includes an identification device, which is set on the inner wall of the cleaning base station 200 and close to the rotating storage chamber 201 for identifying the type of mop. Specification 14 / 20 pages 18 CN 121606215 A

[0220] In this application, the identification device can be a color sensor, a vision sensor, an artificial intelligence camera, etc. This application does not limit the specific type of the identification device.

[0221] The identification device identifies the type of mop by recognizing visual patterns, colors, shapes, or labels, etc., to distinguish the type of mop. The type of mop can include high-cleaning mop, high-water-locking mop, phase-change mop, etc.

[0222] The high-cleaning mop, when used with cleaning fluid, can be used for deep cleaning. It has high friction and is especially suitable for durable surfaces such as ceramic tiles. The high-water-locking mop can absorb surface liquids from the surface to be cleaned. The phase-change mop can perform heat-insulating cleaning. This application does not specifically limit the type of mop; the above is only an example.

[0223] For example, when the rotating storage compartment 201 rotates the storage unit with the mop to the identification area, the identification device collects data on the features of the mop. The collected data is sent to the control system of the cleaning base station 200. The control system compares and analyzes the data using a built-in algorithm or database to determine the specific type of the current mop. Then, the control system automatically calls a preset working strategy that matches the identified mop type. For example, different storage units can be allocated to different types of mops, different cleaning processes can be planned, different drying times can be set, or corresponding mode switching can be performed when changing mops.

[0224] Optionally, the cleaning base station 200 also includes a display device, which is used to display the working status of the cleaning base station 200.

[0225] In this application, the working status may include the mop replacement status, cleaning progress, drying progress, mop inventory quantity, water tank level, fault code, network connection status, etc. This application does not limit the specific content corresponding to the working status, which may be various operating parameters and working modes of the cleaning base station 200.

[0226] Optionally, the display device can present the information to the user in the form of graphics, icons, text, numbers, or light colors, etc. This application does not specifically limit this.

[0227] By displaying the working status of the cleaning base station 200 through the display device, the working status can be made transparent and visualized, and timely status feedback and fault diagnosis can be provided, thereby improving the user experience.

[0228] The following describes the execution steps of a possible implementation of the mop replacement process, taking the rotating storage bin as a triangular prism structure and the situation of a cleaning device performing a cleaning task, in conjunction with Figure 2.

[0229] The rotating storage bin contains mops in all three storage units. The cleaning device sends a mop replacement request to the cleaning base station.

[0230] The cleaning base station determines the current position of the transport mechanism. If the transport mechanism is in a clearance position, it controls the rotating storage bin to perform a rotation action, so that the first storage unit corresponding to the mop replacement request is in the first position.

[0231] If the transport mechanism is in the second position, the rotating storage bin is first controlled to move away from the second position, and then the rotation action is performed to make the first storage unit corresponding to the mop replacement request in the first position, and then the rotating storage bin is controlled to move closer to the second position.

[0232] When the transport mechanism is in the avoidance position, the transport mechanism moves from the avoidance position to the second position, picks up the new mop from the first storage unit, carries the new mop to the transition position, and drops the new mop to the transition position.

[0233] The cleaning equipment enters the cleaning base station and removes the old mop into the washing tray, and then the cleaning equipment leaves the cleaning base station.

[0234] The transport mechanism moves from the transition position to the third position and picks up the old mop from the washing tray, and then moves from the third position to the second position and stores the old mop in the first storage unit. Specification 15 / 20 pages 19 CN 121606215 A

[0235] After the transport mechanism picks up the old mop from the washing tray, the moving unit moves the new mop into the washing tray. The cleaning equipment moves to the washing tray to install a new mop, thereby completing the mop replacement process.

[0236] Figure 6 is a structural schematic diagram of a mop replacement device provided in an embodiment of this application. This embodiment is applied to the cleaning base station described in the above embodiment. The cleaning base station includes: a rotating storage compartment, a transport mechanism, a washing tray, and a moving unit. The rotating storage compartment includes: multiple storage units, which are used to store mops. The washing tray is used to accommodate mops removed from the cleaning equipment or to accommodate mops to be replaced from the cleaning equipment. As shown in Figure 6, the mop replacement device 600 provided in this embodiment includes:

[0237] a transport module 601, used to transport the mops to be replaced stored in the first storage unit in the rotating storage compartment to a transition position via the transport mechanism in response to a mop replacement request;

[0238] a pickup module 602, used to pick up the mops removed from the washing tray via the transport mechanism when there are removed mops in the washing tray.The removed mop is stored in the first storage unit;

[0239] The first moving module 603 is used to move the mop to be replaced on the transition position to the cleaning tray via the moving unit.

[0240] In one possible implementation, the device further includes: a determining module 604 and a rotating module 605;

[0241] The determining module 604 is used to determine the first storage unit from a plurality of storage units;

[0242] The determining module 604 is also used to determine the rotation angle corresponding to the first storage unit;

[0243] The rotating module 605 is used to rotate the rotating storage compartment according to the rotation angle so that the first storage unit is in a first position;

[0244] The rotating module 605 is used to rotate the rotating storage compartment until the first storage unit is detected to be in the first position.

[0245] In one possible implementation, the determining module 604 is used to determine the mop type corresponding to the area to be cleaned; and to determine the first storage unit corresponding to the mop type from a plurality of storage units, wherein different storage units correspond to different mop types.

[0246] In one possible implementation, the device further includes: a second moving module 606;

[0247] the second moving module 606 is configured to move the rotating storage bin away from the second position when the transport mechanism is in the second position;

[0248] a rotating module 605 is configured to rotate the rotating storage bin according to a rotation angle to place the first storage unit in the first position;

[0249] the second moving module 606 is configured to move the rotating storage bin closer to the first position;

[0250] the rotating module 605 is configured to rotate the rotating storage bin according to a rotation angle when the transport mechanism is not in the second position to place the first storage unit in the first position;

[0251] In one possible implementation, the second moving module 606 is configured to move the rotating storage bin from the fourth position to the fifth position when the rotating storage bin is away from the second position; and to move the rotating storage bin from the fifth position to the fourth position when the rotating storage bin is close to the second position;

[0252] When the rotating storage compartment is in the fourth position, the pick-up and drop surface of the transport mechanism in the second position is parallel and opposite to the surface of the first storage unit in the first position, so as to pick up or drop the mop.

[0253] In one possible implementation, the transport module 601 is used to move the transport mechanism from the avoidance position to the second position when the transport mechanism is in the avoidance position;

[0254] The pick-up module 602 is also used to pick up the mop to be replaced from the first storage unit in the first position via the transport mechanism;

[0255] The transport module 601 is used to move the transport mechanism to the transition position; Specification 16 / 20 pages 20 CN 121606215 A

[0256] The pick-up module 602 is also used to drop the mop to be replaced.

[0257] In one possible implementation, the rotation module 605 is further configured to rotate the rotating storage bin to position the first storage unit in the first position.

[0258] In one possible implementation, the transport module 601 is configured to move the transport mechanism from the transition position to the third position corresponding to the cleaning tray;

[0259] The pick-up module 602 is further configured to pick up the disassembled mop;

[0260] The transport module 601 is further configured to move the transport mechanism to the second position;

[0261] The pick-up module 602 is further configured to store the disassembled mop in the first storage unit.

[0262] In one possible implementation, the second moving module 606 is configured to move the mop to be replaced on the transition position to the cleaning tray via the moving unit after the transport mechanism picks up the disassembled mop.

[0263] In one possible implementation, on the movement path of the transport mechanism, the third position is located between the second position and the transition position, and the avoidance position is located between the second position and the third position.

[0264] In one possible implementation, the clearance position is located outside the second position or outside the third position on the movement path of the transport mechanism; or, the clearance position partially overlaps with the second or third position; or, the clearance position is determined based on the deployment position and size of the rotating storage bin.

[0265] The mop replacement device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described in detail here.

[0266] Figure 7 is a schematic diagram of the structure of a cleaning base station provided in an embodiment of this application. As shown in Figure 7, the cleaning base station 700 provided in this embodiment includes: at least one processor 701 and a memory 702. Optionally, the cleaning base station 700 also includes a communication interface 703. The processor 701, the memory 702 and the communication interface 703 are connected through a bus 704.

[0267] In a specific implementation process, at least one processor 701 executes computer execution instructions stored in the memory 702, causing at least one processor 701 to execute the above method.

[0268] The specific implementation process of processor 701 can be found in the above method embodiments, and its implementation principle and technical effect are similar. Therefore, it will not be repeated here.

[0269] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor.Processors, etc. The steps of the method disclosed in the invention can be directly embodied in the execution of hardware processors, or the execution of hardware and software modules in the processor.

[0270] The memory may include high-speed memory (Random Access Memory, RAM), and may also include non-volatile memory (NVM), such as at least one disk storage.

[0271] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, the bus in the accompanying drawings of this application is not limited to only one bus or one type of bus.

[0272] Figure 8 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application. As shown in Figure 8, the cleaning system 800 includes a cleaning device 100 and a cleaning base station 200 described in the above embodiment.

[0273] It should be noted that the specific implementation principle and effect of the above-mentioned cleaning system 800 can be found in the relevant description and effect of the above embodiment on page 17 / 20 of the specification 21 CN 121606215 A, which will not be elaborated here.

[0274] This application also provides a computer program product, including a computer program, which implements the above-mentioned method when executed by a processor.

[0275] This application also provides a computer-readable storage medium, which stores computer-executable instructions, and implements the above-mentioned method when the processor executes the computer-executable instructions.

[0276] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0277] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located on an Application Specific Integrated Circuit (ASIC).In Circuits (ASICs). Of course, the processor and readable storage medium can also exist as discrete components in the device.

[0278] The division of units is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0279] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed on multiple network units. Some or all of the units can be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0280] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0281] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drive, mobile hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, and other media that can store program code.

[0282] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk, or optical disk, and other media that can store program code.

[0283] It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand...It is understood that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application. Specification 18 / 20 pages 22 CN 121606215 A

[0284] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0285] It should be understood that the above device embodiments are only illustrative, and the device of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components can be combined, integrated into another system, or some features can be ignored or not executed.

[0286] In addition, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or in the form of software program modules.

[0287] When the integrated units / modules are implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic or magneto-optical storage medium, such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic random access memory (EDRAM), high-bandwidth memory (HBM), and hybrid memory cube (HMC).Memory Cube, etc.

[0288] When the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of this application, in essence or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes: USB flash drive, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk, or optical disk, etc., and various media that can store program code.

[0289] In the above embodiments, the descriptions of each embodiment have their own emphasis. For the parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should all be considered to be within the scope of this specification.

[0290] Other embodiments of this application will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means in the art that are not disclosed in this application. The specification and embodiments are to be regarded as exemplary only, and the true scope and spirit of this application are indicated by the following claims. Specification 19 / 20 pages 23 CN 121606215 A

[0291] It should be understood that this application is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims. Instruction manual 20 / 20 pages 24 CN 121606215 A Figure 1 Figure 2 Instruction manual drawing 1 / 4 pages 25 CN 121606215 A Figure 3 Figure 4 Instruction manual drawing 2 / 4 pages 26 CN 121606215 A Figure 5 Figure 6 Instruction manual drawing 3 / 4 pages 27 CN 121606215 A Figure 7 Figure 8 Instruction manual drawing 4 / 4 pages 28 CN 121606215 A MOP REPLACEMENT METHOD, APPARATUS,CLEANING BASE STATION, CLEANING SYSTEM, MEDIUM AND PRODUCT Abstract The present application provides a mop replacement method, an apparatus, a cleaning base station, a cleaning system, a storage medium and a computer program product, and relates to the technical field of cleaning equipment. When a mop replacement demand exists, the method transports a to-be-replaced mop stored in a first storage unit of a rotary storage bin to a transition position through a conveying mechanism. When a detached mop is arranged in a cleaning disc, the detached mop is stored in the first storage unit by the conveying mechanism. Thereafter, a moving unit moves the to-be-replaced mop at the transition position to the cleaning disc, so that the cleaning equipment can install the to-be-replaced mop in a subsequent process. In the method, the conveying mechanism only needs one round trip to complete mop replacement, which effectively improves the mop replacement efficiency. Meanwhile, the transition positionenables the cleaning base station to store one more set of mops and increases the mop storage capacity of the cleaning base station. The present invention realizes efficient and automatic mop replacement, avoids cross-contamination between areas, and improves the coherence of the cleaning process as well as user experience.

Claims

1. A mopping cloth replacement method characterized by, The application is applied to a cleaning base station, and the cleaning base station comprises a rotating storage bin, a conveying mechanism, a cleaning disc and a moving unit. The rotating storage bin comprises a plurality of storage units, and the storage units are used for storing mops. The cleaning disc is used for accommodating the mops removed from cleaning equipment or used for accommodating the mops to be replaced of the cleaning equipment. The method comprises the following steps: In response to a mop replacement request, the mop to be replaced stored in the first storage unit in the rotating storage bin is conveyed to a transition position by the conveying mechanism; In the case that there is a removed mop in the cleaning disc, the removed mop is stored in the first storage unit by the conveying mechanism; The mop to be replaced at the transition position is moved to the cleaning disc by the moving unit.

2. The method of claim 1, wherein, Before the step of conveying the mop to be replaced stored in the first storage unit in the rotating storage bin to the transition position by the conveying mechanism, the method further comprises the following steps: The first storage unit is determined from a plurality of storage units; A rotation angle corresponding to the first storage unit is determined, and the rotating storage bin is rotated according to the rotation angle, so that the first storage unit is located at a first position; Or, The rotating storage bin is rotated until it is detected that the first storage unit is located at the first position.

3. The method of claim 2, wherein, The first storage unit is determined from a plurality of storage units, which comprises the following steps: The type of mop corresponding to a cleaning area is determined; The first storage unit corresponding to the type of mop is determined from a plurality of storage units, wherein the types of mop corresponding to different storage units are different.

4. The method of claim 2, wherein, The rotating storage bin is rotated according to the rotation angle, which comprises the following steps: In the case that the conveying mechanism is located at a second position, the rotating storage bin is moved away from the second position; The rotating storage bin is rotated according to the rotation angle, so that the first storage unit is located at the first position; The rotating storage bin is moved to be close to the second position; In the case that the conveying mechanism is not located at the second position, the rotating storage bin is rotated according to the rotation angle, so that the first storage unit is located at the first position.

5. The method of claim 4, wherein, The rotating storage bin is moved, which comprises the following steps: In the case that the rotating storage bin is away from the second position, the rotating storage bin is moved from a fourth position to a fifth position; In the case that the rotating storage bin is close to the second position, the rotating storage bin is moved from the fifth position to the fourth position; In the case that the rotating storage bin is located at the fourth position, a pickup and drop-off surface of the conveying mechanism located at the second position is parallel to and opposite to a surface of the first storage unit located at the first position, so as to realize pickup or drop-off of the mop.

6. The method of claim 1, wherein, The mop to be replaced stored in the first storage unit in the rotating storage bin is conveyed to the transition position by the conveying mechanism, which comprises the following steps: In the case that the conveying mechanism is located at an avoiding position, the conveying mechanism is moved from the avoiding position to the second position, and the mop to be replaced is picked up from the first storage unit located at the first position by the conveying mechanism; moving the transport mechanism to the transition position and dropping the to-be-replaced mop.

7. The method of claim 6, wherein, Before moving the transport mechanism from the avoidance position to the second position, the method further comprises: rotating the rotating storage bin so that the first storage unit is in the first position.

8. The method of claim 6, wherein, The storing, by the transport mechanism, of the detached mop into the first storage unit comprises: moving the transport mechanism from the transition position to a third position corresponding to the cleaning disc, and picking up the detached mop; moving the transport mechanism to the second position and storing the detached mop into the first storage unit.

9. The method according to any one of claims 6-8, characterized in that, The moving, by the moving unit, of the to-be-replaced mop on the transition position to the cleaning disc comprises: After the transport mechanism picks up the detached mop, the moving, by the moving unit, of the to-be-replaced mop on the transition position to the cleaning disc.

10. The method of claim 8, wherein, On the moving path of the transport mechanism, the third position is between the second position and the transition position, and the avoidance position is between the second position and the third position.

11. The method of claim 8, wherein, On the moving path of the transport mechanism, the avoidance position is outside the second position or outside the third position. Alternatively, The avoidance position partially overlaps with the second position or the third position. Alternatively, The avoidance position is determined based on the deployment position and size of the rotating storage bin.

12. A mop changing device characterized by comprising: The method is applied to a cleaning base station, and the cleaning base station comprises a rotating storage bin, a transport mechanism, a cleaning disc, and a moving unit. The rotating storage bin comprises a plurality of storage units, a storage unit being used to store a mop, and the cleaning disc is used to accommodate a mop detached from a cleaning device or to accommodate a to-be-replaced mop of the cleaning device. The method comprises: a transport module, used to, in the case that there is a detached mop in the cleaning disc, transport, by the transport mechanism, a to-be-replaced mop stored in a first storage unit in the rotating storage bin to a transition position; a picking-up module, used to, by the transport mechanism, store the detached mop into the first storage unit; a first moving module, further used to, by the moving unit, move the to-be-replaced mop on the transition position to the cleaning disc.

13. A cleaning base station, characterized by, comprise: a memory; a processor; wherein the memory stores computer-executed instructions; the processor executes the computer-executed instructions stored in the memory to implement the method according to any one of claims 1-11.

14. A cleaning system characterized by, The cleaning system comprises a cleaning device and a cleaning base station implementing the mop replacement method according to any one of claims 1-11.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executed instructions, and the computer-executed instructions are executed by the processor to implement the method according to any one of claims 1-11.

16. A computer program product, characterised in that, The computer program is executed by the processor to implement the method according to any one of claims 1-11.

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