Base, sweeping robot cleaning system and working method thereof

Abstract

The present invention is applicable to the technical field of sweeping robots, and provides a base, a sweeping robot cleaning system and a working method thereof, wherein the base comprises: a base body; a lifting platform movably arranged on the base body; a lifting mechanism connected to the lifting platform; a driving device, wherein the driving device is connected to the lifting mechanism through a transmission assembly; a locking member, wherein when the lifting platform drives the mop assembly to move downward to a position, the driving mechanism drives the locking member to lock the mop assembly on the lifting platform or the base body; when the lifting platform drives the mop assembly to move upward to install the mop assembly on the robot body, the driving mechanism drives the locking member to release the lock of the mop assembly from the lifting platform or the base body; and a base control unit electrically connected to the driving device. The base provided by the present invention can realize the automatic disassembly or installation of the mop assembly of the sweeping robot by cooperating with the sweeping robot, and reduces the error rate of the installation of the mop assembly, and can improve the reliability of the automatic installation of the mop assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of sweeping robots, and in particular to a base and a sweeping robot cleaning system. Background Art

[0002] With the development of science and technology and the progress of society, people are more and more inclined to use sweeping robots to replace manual labor to complete the floor cleaning work. More and more sweeping robots with the functions of sweeping and mopping are appearing on the market. That is, the sweeping robots can not only clean the garbage on the ground, but also mop the floor after cleaning, so as to realize the cleaning work of sweeping and mopping the floor.

[0003] In the prior art, a sweeping robot generally includes a robot body and a mop assembly detachably connected to the robot body. When the existing sweeping robots need to switch between sweeping and mopping functions or need to clean the mop assembly, the mop assembly needs to be manually disassembled or installed. The manual disassembly and assembly of the mop assembly is cumbersome and inconvenient for users. Summary of the invention

[0004] The present invention provides a base, aiming to solve the problem in the prior art that a mop assembly of a sweeping robot needs to be manually disassembled or installed, which is inconvenient for users.

[0005] The present invention is implemented by providing a base, which is used in conjunction with a sweeping robot, the sweeping robot comprising a robot body and a mop assembly that is detachably fixed by adsorption with an electromagnet on the robot body; the base comprises:

[0006] seat body;

[0007] A lifting platform movably arranged on the base and used to support the mop assembly;

[0008] A lifting mechanism connected to the lifting platform and capable of driving the lifting platform to move up and down;

[0009] A driving device, which is connected to the lifting mechanism through a transmission assembly and can drive the lifting platform to move up and down;

[0010] A locking member driven by a driving mechanism, when the lifting platform drives the mop assembly removed on the lifting platform to move downward to a position, the driving mechanism drives the locking member to lock the mop assembly on the lifting platform or the seat; when the lifting platform drives the mop assembly to move upward to install the mop assembly on the robot body, the driving mechanism drives the locking member to release the lock between the mop assembly and the lifting platform or the seat;

[0011] A base control unit is electrically connected to the drive device.

[0012] The present invention further provides a cleaning system of a sweeping robot, comprising a sweeping robot and the above-mentioned base, wherein the sweeping robot comprises:

[0013] A robot body, wherein the robot body is provided with a walking mechanism, a robot control unit electrically connected to the walking mechanism, and an electromagnet electrically connected to the robot control unit;

[0014] The mop assembly is magnetically adsorbed and fixed to the electromagnet, and the robot control unit can control the electromagnet to be powered off to separate the mop assembly from the electromagnet, and the robot control unit can control the electromagnet to be powered on to adsorb the mop assembly to the electromagnet.

[0015] The present invention also provides a working method of a sweeping robot cleaning system, comprising the following steps:

[0016] When the cleaning robot needs to disassemble the mop assembly, the cleaning robot moves to the base and sends a first control instruction to the base;

[0017] The base receives the first control instruction, and the base control unit of the base controls the driving device to drive the lifting platform to move upward until it abuts against the mopping assembly of the sweeping robot;

[0018] The robot control unit of the sweeping robot controls the electromagnet to be powered off so that the mop assembly can be removed from the lifting platform;

[0019] The base control unit controls the driving device to drive the lifting platform to drive the mop assembly to move downward to a position, and drives the locking member through the driving mechanism to lock the mop assembly on the lifting platform or the base;

[0020] When the cleaning robot needs to install the mop assembly, the cleaning robot moves to the base and sends a second control instruction to the base;

[0021] The base receives the second control instruction, and the base control unit controls the driving device to drive the lifting platform to move upward until the mop assembly abuts against the robot body, and drives the locking member through the driving mechanism to release the lock between the mop assembly and the lifting platform or the base body;

[0022] The robot control unit controls the electromagnet to be energized so that the mopping assembly is installed on the robot body.

[0023] The base provided by the present invention can realize automatic disassembly and installation of the mop assembly by being used in conjunction with the sweeping robot. The sweeping robot can realize automatic disassembly of the mop assembly on the lifting platform of the base by controlling the power off of the electromagnet. The base drives the mop assembly to move upward to abut against the robot body through the lifting platform. The sweeping robot can realize automatic installation of the mop assembly on the robot body by controlling the power on of the electromagnet, so that the sweeping robot can switch between sweeping and mopping functions conveniently without manual disassembly or installation of the mop assembly, which greatly facilitates user use. At the same time, the cooperation between the sweeping robot and the base can prevent the mop assembly from being disassembled after the base is disassembled, and avoid the mop assembly being unable to be installed due to insufficient suction of the electromagnet of the sweeping robot or the mop assembly being shifted during the process of the electromagnet adsorbing the mop assembly and the inability to accurately install the mop assembly, which greatly reduces the error rate of the installation of the mop assembly and can improve the reliability of the automatic installation of the mop assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the structure of a sweeping robot cleaning system provided in Embodiment 1 of the present invention;

[0025] Figure 2 This is a three-dimensional structural exploded view of the cleaning robot cleaning system provided in the first embodiment of the present invention;

[0026] Figure 3 A three-dimensional structural exploded view of a sweeping robot of the sweeping robot cleaning system provided in Embodiment 1 of the present invention;

[0027] Figure 4 A schematic cross-sectional structure diagram of a sweeping robot of the sweeping robot cleaning system provided in Embodiment 1 of the present invention;

[0028] Figure 5 A three-dimensional structural diagram of a base of a sweeping robot cleaning system provided in Embodiment 1 of the present invention;

[0029] Figure 6 A three-dimensional structural exploded view of the base of the sweeping robot cleaning system provided in Embodiment 1 of the present invention;

[0030] Figure 7 A schematic diagram of a partial structure of a base of a sweeping robot cleaning system provided in Embodiment 1 of the present invention;

[0031] Figure 8 A schematic cross-sectional structure diagram of the lifting platform of the base of the sweeping robot cleaning system provided in the first embodiment of the present invention when it is raised to its position;

[0032] Fig. 9 for Figure 8 A magnified view of the part A in the middle;

[0033] Fig.10A schematic cross-sectional view of the lifting platform of the base of the sweeping robot cleaning system provided in the first embodiment of the present invention when it is lowered into place;

[0034] Fig.11 for Fig.10 A magnified view of the part B in the middle;

[0035] Fig.12 A schematic cross-sectional structure diagram of the lifting platform of the base of the sweeping robot cleaning system provided in the second embodiment of the present invention when it is lowered into place;

[0036] Fig.13 for Fig.12 A magnified view of the local D in the middle;

[0037] Fig.14 This is a schematic diagram of the local structure of the lifting platform of the base of the sweeping robot cleaning system provided in the second embodiment of the present invention when it rises to its position. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] The sweeping robot cleaning system provided by the embodiment of the present invention is provided with a base and a sweeping robot. The sweeping robot realizes automatic disassembly of the mop assembly on the lifting platform of the base by controlling the power off of the electromagnet. The lifting platform drives the mop assembly to move downward into position and locks the mop assembly. The base drives the mop assembly upward through the lifting platform and releases the lock of the mop assembly to install the mop assembly to the robot body. The sweeping robot automatically installs the mop assembly on the lifting platform onto the robot body by controlling the power on of the electromagnet. Thus, the cooperation between the sweeping robot and the base realizes automatic disassembly and installation of the mop assembly, which facilitates the switching of the sweeping robot and the mopping function. There is no need to manually disassemble or install the mop assembly, which greatly facilitates the use of the user. Moreover, the cooperation between the sweeping robot and the base greatly reduces the error rate of the installation of the mop assembly, and can improve the reliability of the automatic installation of the mop assembly.

[0040] Embodiment 1

[0041] Please refer to Figure 1-Figure 5 An embodiment of the present invention provides a cleaning system of a sweeping robot, including a sweeping robot 1 and a base 2.

[0042] In the embodiment of the present invention, the sweeping robot 1 comprises:

[0043] A robot body 11, the robot body 11 is provided with a walking mechanism, a robot control unit (not shown) electrically connected to the walking mechanism, and an electromagnet 113 electrically connected to the robot control unit;

[0044] The mop assembly 12 is magnetically adsorbed and fixed to the electromagnet 113 , and the robot control unit can control the electromagnet 113 to be powered off to separate the mop assembly 12 from the electromagnet 113 , and the robot control unit can control the electromagnet 113 to be powered on to adsorb the mop assembly 12 to the electromagnet 113 .

[0045] In an embodiment of the present invention, the robot body 11 has a walking mechanism, which includes a walking wheel 1112 arranged below the robot body 11, and a walking drive motor (not shown) transmission-connected to the walking wheel 1112. The walking drive motor is electrically connected to the robot control unit. The robot control unit controls the walking drive motor to work, and the walking drive motor drives the walking wheel 1112 to rotate, thereby realizing the walking of the sweeping robot 1.

[0046] As an embodiment of the present invention, the mop assembly 12 includes a mop bracket 121 and a mop 122 fixed to the bottom of the mop bracket 121. The mop bracket 121 is provided with a magnetic body 123, and the mop assembly 12 is fixed by adsorption of the magnetic body 123 and the electromagnet 113.

[0047] In this embodiment, when the mop assembly 12 needs to be removed from the robot body 11, the robot control unit controls the electromagnet 113 to be powered off, so that the magnetic attraction of the electromagnet 113 disappears, and the mop assembly 12 will separate from the electromagnet 113 and fall due to the disappearance of the magnetic attraction of the electromagnet 113, thereby achieving the separation of the mop assembly 12 from the robot body 11. When the sweeping robot 1 needs to reinstall the mop assembly 12, the robot control unit controls the electromagnet 113 to be powered on, and the mop assembly 12 will be re-adsorbed and fixed to the robot body 11 due to the magnetic attraction of the electromagnet 113 so that the magnetic attraction 123 and the electromagnet 113 are adsorbed.

[0048] As an embodiment of the present invention, the number of electromagnets 113 is not limited, and can be one, two, or more than three; the position of the magnetic body 123 corresponds to the position of the electromagnet 113. The material of the magnetic body 123 is not limited, for example, it can be made of iron, or a mixture of iron and other metal materials.

[0049] As an embodiment of the present invention, the robot body 11 is further provided with a positioning hole 114, and the mop assembly 12 is provided with a positioning column 124 that cooperates with the positioning hole 114, and the positioning column 124 is correspondingly inserted into the positioning hole 114. Specifically, the positioning column 124 is arranged on the mop bracket 121. The positioning column 124 cooperates with the positioning hole 114, so that the robot body 11 plays a guiding role when installing the mop assembly 12, so that the mop assembly 12 and the robot body 11 are accurately aligned and fixed.

[0050] As an embodiment of the present invention, the robot body 11 includes a water tank 115 for storing water, and the positioning hole 114 is set at the bottom of the water tank 115. When the sweeping robot 1 performs mopping, the water in the water tank 115 flows out to the mop 122 of the mop assembly 12 to continuously wet the mop 122 to achieve mopping.

[0051] Please refer to Figure 6-Figure 8 In the embodiment of the present invention, the base 2 is used in conjunction with the above-mentioned sweeping robot 1, and the base 2 includes:

[0052] base 21;

[0053] A lifting platform 22 movably disposed on the base 21 and used to support the mop assembly 12;

[0054] A lifting mechanism 23 connected to the lifting platform 22 and capable of driving the lifting platform 22 to move up and down;

[0055] A driving device 24, which is connected to the lifting mechanism 23 through a transmission assembly and can drive the lifting platform 22 to move up and down;

[0056] The lock member 26 is driven by a driving mechanism to move. When the lifting platform 22 drives the mop assembly 12 removed from the lifting platform 22 to move downward to a position, the driving mechanism drives the lock member 26 to lock the mop assembly 12 on the lifting platform 22; when the lifting platform 22 drives the mop assembly 12 to move upward to install the mop assembly 12 on the robot body 11, the driving mechanism drives the lock member 26 to release the lock between the mop assembly 12 and the lifting platform 22;

[0057] A base control unit (not shown) electrically connected to the driving device 24 .

[0058] In the embodiment of the present invention, the seat body 21 includes a base 211 and a cover body 212 installed on the base 211. The cover body 212 is provided with a cavity 2121 with an opening, and the cover body 212 is provided with a clearance groove 2122 located inside the cavity 2121 and corresponding to the position of the lifting platform 22, so that the lifting platform 22 can drive the mop assembly 12 to move up and down through the clearance groove 2122. When the sweeping robot 1 moves to the base 2, the sweeping robot 1 moves into the cavity 2121 to disassemble and install the mop assembly 12.

[0059] In the embodiment of the present invention, a charging electrode sheet (not shown) for charging the sweeping robot 1 is provided in the cover body 212. The sweeping robot 1 uses the electrode sheet thereon to dock with the charging electrode sheet of the base 2 to achieve charging. Therefore, the base 2 can cooperate with the sweeping robot 1 to achieve the disassembly and installation of the mop assembly 12, and can also be used to charge the sweeping robot 1, thereby enriching the function of the base 2.

[0060] As an embodiment of the present invention, the seat body 21 is further provided with a guide post 2110 , the lifting platform 22 is provided with a guide hole or guide groove matching with the guide post 2110 , and the guide post 211 is inserted into the guide hole or guide groove. Specifically, the guide post 2110 is provided on the base 211 .

[0061] In this embodiment, by setting the guide column 2110 on the seat body 21, the lifting platform 22 is guided and limited by the cooperation of the guide column 2110 and the guide hole or guide groove during the up and down movement of the lifting platform 22, so that the lifting platform 22 moves more smoothly during the up and down movement. The lifting platform 22 is provided with guide holes on both sides, and the seat body 21 is provided with guide columns 2110 at positions corresponding to the two guide holes.

[0062] The base 2 and the sweeping robot 1 are connected to each other in communication, so that the base 2 and the sweeping robot 1 can communicate with each other. When the sweeping robot 1 needs to disassemble the mop assembly 12, the sweeping robot 1 moves to the base 21 of the base 2, so that the mop assembly 12 is located directly above the lifting platform 22. At this time, the sweeping robot 1 sends a first control instruction to the base 2. After the base 2 receives the first control instruction, the base control unit controls the driving device 24 to drive the lifting mechanism 23 to drive the lifting platform 22 to move upward. When the lifting platform 22 moves upward to its position and contacts the mop assembly 12, the robot control unit controls the electromagnet 113 to cut off the power supply. At this time, the magnetic attraction of the electromagnet 113 disappears, and the mop assembly 12 will fall onto the lifting platform 22 due to the disappearance of the magnetic attraction of the electromagnet 113, causing the magnetic body 123 to separate from the electromagnet 113, so that the mop assembly 12 is separated from the robot body 11, and then the base control unit controls the driving device 24 to work. The driving device 24 drives the lifting platform 22 to move downward through the lifting mechanism 23, and the mop assembly 12 and the lifting platform 22 move downward to their positions synchronously. The driving mechanism drives the locking member 26 to move to lock the mop assembly 12 on the lifting platform 22, so that the mop assembly 12 is stably fixed on the base 2. The sweeping robot 1 can complete the disassembly of the mop assembly 12 and enter the sweeping mode by withdrawing from the base 2.

[0063] When the sweeping robot 1 needs to reinstall the mop assembly 12, the sweeping robot 1 moves to the base 21 of the base 2, and the sweeping robot 1 sends a second control command to the base 2. After the base 2 receives the second control command, the base control unit controls the driving device 24 to work, and the driving device 24 drives the lifting platform 22 to move upward through the lifting mechanism 23, and the driving mechanism drives the locking member 26 to release the lock between the mop assembly 12 and the lifting platform 22. When the lifting platform 22 moves upward to the right position, the mop assembly 12 abuts against the robot body 11, and the robot control unit controls the electromagnet 113 to be energized. At this time, the mop assembly 12 will be attracted to the electromagnet 113 by the magnetic attraction of the electromagnet 113, so that the mop assembly 12 and the sweeping robot 1 are re-adsorbed and fixed, and the mop assembly 12 of the sweeping robot 1 is automatically installed. At this time, the sweeping robot 1 exits from the base 2 to enter the mopping mode.

[0064] In the embodiment of the present invention, when the sweeping robot 1 disassembles the mop assembly 12, the lifting mechanism 23 of the base 2 drives the lifting platform 22 to move upward to support the mop assembly 12, so as to prevent the mop assembly 12 of the sweeping robot 1 from falling and shifting; at the same time, after the sweeping robot 1 disassembles the mop assembly 12 on the lifting platform 22, the lifting platform 22 drives the mop assembly 12 to move downward to the right position and uses the locking member 26 to lock the mop assembly 12, so as to prevent the mop assembly 12 from being shifted after being disassembled from the base 2, so that the disassembled mop assembly 12 cannot be accurately reinstalled on the robot body 11; when installing the mop assembly 12, the driving mechanism drives the locking member 26 to release the locking member 26 for locking the mop assembly 12. The cloth assembly 12 is locked, and the lifting platform 22 drives the mop assembly 12 to move upward to install the mop assembly 12 on the robot body 11. The lifting platform 22 moves upward to drive the mop assembly 12 to abut against the robot body 11, and then the electromagnet 113 on the robot body 11 is used to adsorb and fix the mop assembly 12. The mop assembly 12 can be quickly and accurately installed on the robot body 11, avoiding the inability to install the mop assembly 12 due to insufficient suction force of the electromagnet 113 during the process of adsorbing the mop assembly 12 or the inability to accurately install the mop assembly 12 due to displacement, which greatly reduces the error rate of the installation of the mop assembly 12 and can improve the reliability of the automatic installation of the mop assembly 12.

[0065] Please refer to Figure 7-Figure 8 As an embodiment of the present invention, the lifting mechanism 23 includes:

[0066] A linkage ring 231 fixedly connected to the lifting platform 22;

[0067] The eccentric wheel 232 is transmission-connected to the driving device 24, and a connecting shaft 233 is provided on the eccentric wheel 232, which is located on one side of the rotation center of the eccentric wheel 232. The connecting shaft 233 is connected to the linkage ring 231. The driving device 24 can drive the eccentric wheel 231 to rotate to drive the lifting platform 22 to rise and fall.

[0068] In this embodiment, when the driving device 24 is working, the driving device 24 drives the eccentric wheel 232 to make a circular motion, and the eccentric wheel 232 drives the linkage ring 231 to move up and down through the connecting shaft 233, thereby driving the lifting platform 22 to make a linear reciprocating motion up and down, realizing the lifting and lowering motion of the lifting platform 22, so that the circular motion of the driving device 24 can be converted into a linear motion, making the structure more compact and reducing the overall size of the base 2.

[0069] As an embodiment of the present invention, a lifting mechanism 23 is respectively provided on both sides of the lifting platform 22. The two lifting mechanisms 23 are respectively connected to the driving device 24 and can drive the lifting platform 22 to rise and fall at the same time.

[0070] In this embodiment, two lifting mechanisms 23 are symmetrically arranged on both sides of the lifting platform 22. The two lifting mechanisms 23 simultaneously drive the lifting platform 22 to move up and down, so that the lifting platform 22 is subjected to more balanced forces and moves more smoothly. The driving device 24 is a motor.

[0071] As an embodiment of the present invention, the transmission assembly includes a first gear reduction box 281 and a second gear reduction box 282 respectively arranged on both sides of the lifting platform 22, the driving device 24 is connected to the input shaft of the first gear reduction box 281, a gear in the first gear reduction box 281 is connected to the eccentric wheel 232 of one of the lifting mechanisms 23 through the first shaft 283, another gear in the first gear reduction box 281 is connected to the input shaft of the second gear reduction box 282 through the connecting cross bar 284, and a gear of the second gear reduction box 282 is connected to the eccentric wheel 232 of another lifting mechanism 23 through the second shaft 285. The second shaft 285 and the first shaft 283 have the same rotation speed, so that the two eccentric wheels 232 rotate synchronously.

[0072] In this embodiment, the driving device 24 uses the first gear reduction box 281 and the second gear reduction box 282 to realize the transmission of the two lifting mechanisms 23. A set of power devices can be used to drive the two lifting mechanisms 23 to move at the same time, which can reduce production costs and avoid the interference of the lifting mechanism 23 with the movement of the lifting platform 22, and can ensure the synchronous movement of the two lifting mechanisms 23. In addition to this embodiment, the two lifting mechanisms 23 can also be driven by two driving devices 24 respectively.

[0073] Please refer to Figure 7-Figure 11 As an embodiment of the present invention, the locking member 26 is rotatably disposed on the lifting platform 22; the driving mechanism can drive the locking member 26 to rotate in a first direction to lock the mop assembly 12 on the lifting platform 22, and the driving mechanism can drive the locking member 26 to rotate in a second direction to release the lock between the mop assembly 12 and the lifting platform 22.

[0074] In this embodiment, the driving mechanism is used to drive the locking member 26 to rotate to lock or unlock the mop assembly 12. The locking member 26 is simple in locking or unlocking the mop assembly 12, which is convenient for controlling the locking or unlocking of the mop assembly 12 and has low implementation cost.

[0075] As an embodiment of the present invention, the driving mechanism includes a driving part 221 disposed on the lifting platform 22, and an elastic member 252 connected to the locking member 26 and used to reset the locking member 26;

[0076] When the lifting platform 22 moves downward to the right position, the driving part 221 drives the locking part 26 to lock the mop assembly 12 on the lifting platform 22; when the lifting platform 22 moves upward, the elastic part 252 drives the locking part 26 to release the lock between the mop assembly 12 and the lifting platform 22. The driving part 221 is a part of the lifting platform 22, and the driving part 221 is located on one side of the lifting platform 22. Among them, the elastic part 252 is a torsion spring.

[0077] In this embodiment, the lifting platform 22 is utilized to drive the locking member 26 to lock the mop assembly 12 when it moves downward, and the elastic member 252 is utilized to drive the locking member 26 to release the lock of the mop assembly 12 when the lifting platform 22 moves upward. The lifting platform 22 is cleverly utilized to link the locking member 26, and there is no need to separately set up a power device to drive the locking member 26 to move. Moreover, the locking member 26 can be synchronously cooperated with the lifting platform 22 to realize the automatic disassembly and installation of the mop assembly 12, with a simple structure and low implementation cost.

[0078] As an embodiment of the present invention, the locking member 26 is rotatably disposed on the lifting platform 22 and is lifted and lowered synchronously with the lifting platform 22; the base 2 further includes a limiting portion 201 fixed to the base body 21 and located on one side of the lifting platform 22, and the locking member 26 is disposed between the driving portion 221 and the limiting portion 201;

[0079] When the driving part 221 of the lifting platform 22 drives the locking member 26 to move downward, the limiting part 201 pushes the locking member 26 to rotate in the first direction, so that the locking member 26 locks the mop assembly 12 on the lifting platform 22; when the lifting platform 22 drives the locking member 26 to move upward, the elastic member 252 drives the locking member 26 to rotate in the second direction, so that the locking member 26 releases the lock between the mop assembly 12 and the lifting platform 22.

[0080] In this embodiment, there are two locking members 26, and the two locking members 26 are rotatably disposed on both sides of the lifting platform 22, and each locking member 26 is correspondingly provided with a limiting portion 201. The lifting platform 22 moves downward to drive the two locking members 26 to rotate toward the lifting platform 22 to achieve locking of the mop assembly 12, making the locking and fixing of the mop assembly 12 more stable. When the lifting platform 22 moves upward, the two locking members 26 are driven to rotate away from the lifting platform 22 to achieve unlocking of the mop assembly 12.

[0081] In this embodiment, when the driving device 24 drives the lifting platform 22 to move downward through the lifting mechanism 23, the driving part 221 on the lifting platform 22 drives the locking member 26 to move downward synchronously. During this process, one side of the locking member 26 abuts against the limiting part 201, and the limiting part 201 continuously pushes the locking member 26 to rotate in the direction of the lifting platform 22 until the lifting platform 22 moves downward to the right position, at which time the locking member 26 completely locks the mop assembly 12 on the lifting platform 22; when the driving device 24 drives the lifting platform 22 to move upward through the lifting mechanism 23, the driving part 221 on the lifting platform 22 drives the locking member 26 to move upward synchronously. When one side of the locking member 26 is disengaged from the limiting part 201, the elastic member 252 drives the locking member 26 to rotate in the direction away from the lifting platform 22, so that the locking member 26 releases the lock between the mop assembly 12 and the lifting platform 22. The lifting platform 22 is used to drive the locking member 26 to move up and down synchronously. When the lifting platform 22 moves downward, it drives the locking member 26 to lock in linkage. When the lifting platform 22 moves upward, the elastic member 252 is used to drive the locking member 26 to release the lock of the mop assembly 12. There is no need to set up a separate power device to drive the locking member 26 to move, and the locking member 26 can cooperate with the lifting platform 22 synchronously to realize the automatic disassembly and installation of the mop assembly 12.

[0082] In this embodiment, the locking member 26 is generally in a claw-shaped structure, wherein a buckle portion 260 is provided at one end of the locking member 26, a middle portion of the locking member 26 is rotatably connected to the driving portion 221 of the lifting platform 22, the buckle portion 260 abuts against the mop assembly 12 to lock the mop assembly 12 on the lifting platform 22, and the buckle portion 260 is disengaged from the mop assembly 12 to release the lock of the mop assembly 12.

[0083] As an embodiment of the present invention, the locking member 26 is protruded on one side close to the limiting portion 201 to form a contact portion 261, and there is a line-surface contact between the contact portion 261 and the limiting portion 201. The contact portion 261 is an arc-shaped protrusion structure protruding toward the limiting portion 201, the top of the contact portion 261 is a linear structure, and the position of the limiting portion 201 in contact with the contact portion 261 is a plane structure, and the line-surface contact is used to reduce the sliding friction between the contact portion 261 and the driving portion 221, so that the lifting platform 22 can be lifted and lowered more smoothly.

[0084] In this embodiment, when the lifting mechanism 23 drives the lifting platform 22 to move downward, the contact portion 261 of the lock member 26 abuts against the limiting portion 201 and applies a pushing force to the lock member 26, forcing the lock member 26 to rotate in the direction of the lifting platform 22, so that the lock member 26 can lock the mop assembly 12 on the lifting platform 22; when the lifting mechanism 23 drives the lifting platform 22 to move upward to the right position, when the contact portion 261 of the lock member 26 is separated from the limiting portion 201, the limiting portion 201 loses the pushing force on the lock member 26, and the elastic member 252 drives the lock member 26 to rotate away from the lifting platform 22, so that the lock member 26 releases the lock of the mop assembly 12 and the lifting platform 22. The locking and unlocking of the lock member 26 are realized by the cooperation of the driving portion 221 of the lifting platform 22 and the limiting portion 201, so that the locking and unlocking of the lock member 26 are reliable and simple in structure. In addition to this embodiment, the driving mechanism can also be a driving component directly connected to the locking member 26 and connected to the base control unit. The driving component can directly drive the locking member 26 to rotate so as to lock the mop assembly 12 on the lifting platform 22 or drive the locking member 26 to rotate to release the lock between the mop assembly 12 and the lifting platform 22.

[0085] As an embodiment of the present invention, the base 2 further includes:

[0086] A cleaning device is provided on the base body 21 and is used for cleaning the mop assembly 12. The cleaning device is electrically connected to the base control unit.

[0087] In this embodiment, when the sweeping robot 1 needs to clean the mop assembly 12 or switch from the mopping mode to the sweeping mode, the sweeping robot 1 moves to the base 2, and the sweeping robot 1 disassembles the mop assembly 12 from the lifting platform 22 of the base 2, and the lifting platform 22 then drives the mop assembly 12 to move downward to a position, and the locking member 26 locks the mop assembly 12 on the lifting platform 22, and at this time, the base control unit controls the cleaning device to automatically clean the mop assembly 12. Since the locking member 26 locks the mop assembly 12 on the lifting platform 22, the mop assembly 12 will not shift during the cleaning process of the mop assembly 12, which can ensure that the mop assembly 12 is reliably cleaned, and also prevent the mop assembly 12 from shifting during the cleaning process, resulting in the inability to accurately and reliably reinstall the cleaned mop assembly 12 on the robot body 11.

[0088] As an embodiment of the present invention, the cleaning device includes a cleaning brush 291 disposed below the lifting platform 22, a water tank (not shown) disposed inside the cover 212, and a water pump (not shown) disposed inside the cover 212 and connected to the base control unit, and the water pump is connected to the water tank and the cleaning brush through pipelines. In this embodiment, when the mop assembly 12 is being cleaned, the base control unit controls the water pump to continuously pump water from the water tank to the cleaning brush 291, and the water spray holes on the surface of the cleaning brush 291 continuously spray water to the mop of the mop assembly 12, so that the automatic cleaning function of the mop assembly 12 of the sweeping robot 1 can be realized, which greatly enriches the function of the base 2.

[0089] In this embodiment, the middle of the lifting platform 22 is hollowed out to form a cleaning position, and the cleaning brush 25 is located below the cleaning position, so that after the lifting platform 22 drives the mop assembly 12 to move downward to its position, the cleaning brush 291 can directly rinse the mop assembly 12.

[0090] As an embodiment of the present invention, a cleaning brush 291 is movably disposed below the lifting platform 22. Specifically, the cleaning brush 291 is fixed on a transmission belt 293. When the cleaning brush 291 cleans the mop assembly 12, the transmission belt 293 is driven by a power device to reciprocate, so that the transmission belt 293 drives the cleaning brush 291 to reciprocate to clean the mop assembly 12, so that the cleaning effect of the mop assembly 12 is good.

[0091] Please refer to Figure 7 As an embodiment of the present invention, the base 2 also includes a cleaning storage cavity 20 disposed on the seat body 21 and located below the cleaning brush 25. The cleaning storage cavity 20 has a receiving cavity 200, and the lifting platform 11 is located above the receiving cavity 200. The receiving cavity 200 is used to receive the sewage that flows out of the cleaning brush 291 when spraying water to the mop assembly 12, so as to facilitate the collection of the sewage. Among them, the two limiting parts 201 are two side walls that are arranged opposite to each other of the cleaning storage cavity 20. By using the side walls of the cleaning storage cavity 20 as the limiting parts 201, multiple uses can be achieved. In addition, the limiting parts 201 can also be separately arranged on the seat body 21.

[0092] The working process of the sweeping robot cleaning system provided in this embodiment is as follows:

[0093] When the sweeping robot 1 needs to switch from the mopping mode to the sweeping mode, the robot control unit of the sweeping robot 1 controls the walking mechanism to work, and the walking mechanism drives the sweeping robot 1 to move to the base 21 of the base 2. The sweeping robot 1 sends a first control instruction to the base 2, and the base 2 receives the first control instruction. The base control unit controls the driving device 24 to drive the lifting platform 22 to move upward until it abuts against the mopping assembly 12 of the sweeping robot 1. Then the robot control unit controls the electromagnet 113 to cut off the power, and the mopping assembly 12 is separated from the robot body 11 and falls on the lifting platform 22 due to the disappearance of the magnetic attraction of the electromagnet 113. The sweeping robot 1 then sends the corresponding control instruction to the base 2. After the base 2 receives the control command, the driving device 24 of the base 2 drives the lifting platform 22 to move downward. During the downward movement of the lifting platform 22, the two locking members 26 are driven to move downward synchronously. During this process, the limiting portion 201 pushes the two locking members 26 to rotate toward the lifting platform 22 respectively until the lifting platform 22 moves downward into place. The two locking members 26 completely lock the mop assembly 12 on the lifting platform 22. At this time, the base control unit controls the cleaning device to work to clean the mop assembly 12, and the sweeping robot 1 exits the base 2, and the sweeping robot 1 can enter the sweeping mode.

[0094] When the sweeping robot 1 needs to switch from the sweeping mode to the mopping mode, the robot control unit of the sweeping robot 1 controls the walking mechanism to work, and the walking mechanism drives the sweeping robot 1 to move to the base 21 of the base 2, and the sweeping robot 1 sends a second control command to the base 2. After the base 2 receives the control command, the base control unit controls the driving device 24 to work, and the driving device 24 drives the lifting platform 22 to move upward, and the lifting platform 22 drives the two locking members 26 to move upward synchronously. In this process, the two locking members 26 gradually rotate toward the lifting platform 22 under the action of the elastic member 252; when the lifting platform 22 drives the mopping assembly 12 to move to abut against the robot body 11, the two locking members 26 completely release the lock on the mopping assembly 12. Then the base 2 sends a control command to the sweeping robot 1, and the robot control unit controls the electromagnet 113 to be energized. Due to the magnetic attraction of the electromagnet 113, the mop assembly 12 is adsorbed and fixed to the magnetic body 123 on the mop assembly 12, so that the mop assembly 12 and the robot body 11 are re-fixed and installed. At this time, the sweeping robot 1 exits the base 2, and the sweeping robot 1 can enter the mopping mode.

[0095] This embodiment further provides a working method of a sweeping robot cleaning system, which is applied to the above-mentioned sweeping robot cleaning system. The working method of the sweeping robot cleaning system includes the following steps:

[0096] When the cleaning robot 1 needs to disassemble the mop assembly 12, the cleaning robot 1 moves to the base 2 and sends a first control instruction to the base 2;

[0097] The base 2 receives the first control instruction, and the base control unit of the base 2 controls the driving device 24 to drive the lifting platform 22 to move upward until it abuts against the mopping assembly 12 of the sweeping robot 1;

[0098] The robot control unit of the sweeping robot 1 controls the electromagnet 113 to be powered off so that the mopping assembly 12 is disassembled on the lifting platform 22;

[0099] The base control unit controls the driving device 24 to drive the lifting platform 22 to drive the mop assembly 12 to move downward to the position, and drives the locking member 26 through the driving mechanism to lock the mop assembly 12 on the lifting platform 22;

[0100] When the cleaning robot 1 needs to install the mop assembly 12, the cleaning robot 1 moves to the base 2 and sends a second control instruction to the base 2;

[0101] The base 2 receives the second control instruction, and the base control unit controls the driving device 24 to drive the lifting platform 22 to move upward until the mop assembly 12 abuts against the robot body 11, and drives the locking member 26 through the driving mechanism to release the lock between the mop assembly 12 and the lifting platform 22;

[0102] The robot control unit controls the electromagnet 113 to be energized so that the mopping assembly 12 is installed on the robot body 11 .

[0103] The sweeping robot cleaning system provided by the embodiment of the present invention is provided with a base and a sweeping robot. The sweeping robot realizes automatic disassembly of the mop assembly on the lifting platform of the base by controlling the power off of the electromagnet. The lifting platform drives the mop assembly to move downward into position and locks the mop assembly on the lifting platform. The base drives the mop assembly upward through the lifting platform and releases the lock of the mop assembly to install the mop assembly to the robot body. The sweeping robot automatically installs the mop assembly on the lifting platform onto the robot body by controlling the power on of the electromagnet. Thus, the cooperation between the sweeping robot and the base realizes automatic disassembly and installation of the mop assembly, which facilitates the switching of the sweeping and mopping functions of the sweeping robot. There is no need to manually disassemble or install the mop assembly, which greatly facilitates user use and greatly reduces the error rate of the installation of the mop assembly, thereby improving the reliability of the automatic installation of the mop assembly.

[0104] Embodiment 2

[0105] Please refer to Figure 12-14The second embodiment provides a cleaning system of a sweeping robot. The structure of the sweeping robot 1 of the present embodiment is the same as that of the sweeping robot 1 of the first embodiment. The structure of the base 2 of the present embodiment is substantially the same as that of the base of the first embodiment. The difference is that:

[0106] In this embodiment, when the lifting platform 22 drives the mop assembly 12 removed from the lifting platform 22 to move downward to its position, the driving mechanism drives the locking member 26 to lock the mop assembly 12 on the base 21; when the lifting platform 22 drives the mop assembly 12 to move upward to install the mop assembly 12 to the robot body 11, the driving mechanism drives the locking member 26 to release the lock between the mop assembly 12 and the base 21.

[0107] In this embodiment, the locking member 26 is rotatably disposed on the base 21; the driving mechanism can drive the locking member 26 to rotate in a first direction to lock the mop assembly 12 on the base 21, and the driving mechanism can drive the locking member 26 to rotate in a second direction to release the lock between the mop assembly 12 and the base 21.

[0108] Similar to the first embodiment, in this embodiment, the driving mechanism also includes a driving portion 221 disposed on the lifting platform 22 , and an elastic member 252 connected to the locking member 26 and used for resetting the locking member 26 .

[0109] In this embodiment, when the lifting platform 22 moves downward to the right position, the driving part 221 drives the locking part 26 to lock the mop assembly 12 on the base 21; when the lifting platform 22 moves upward, the elastic part 252 drives the locking part 26 to release the lock between the mop assembly 12 and the base 21. The driving part 221 is a part of the lifting platform 22, and the driving part 221 is located at the bottom of the lifting platform 22. Among them, the elastic part 252 is a torsion spring.

[0110] In this embodiment, when the lifting platform 22 drives the mop assembly 12 to move downward to the position, the mop assembly 12 is supported on the base 21, and the driving part 221 drives the locking member 26 to rotate in the first direction to lock the mop assembly 12 on the base 21; when the lifting platform 22 drives the mop assembly 12 to move upward, the elastic member 252 drives the locking member 26 to rotate in the second direction so that the locking member 26 releases the lock between the mop assembly 12 and the base 21.

[0111] Specifically, the base 21 includes a support frame 213 disposed on the base 211 and used to support the mop assembly 12. The lifting platform 22 can move up and down relative to the support frame 213, and the lock member 26 is rotatably disposed on the base 211. When the lifting platform 22 drives the mop assembly 12 to move downward to a position, the driving part 221 drives the lock member 26 to rotate in the direction of the support frame 213 to lock the mop assembly 12 on the support frame 213; when the lifting platform 22 moves upward, the elastic member 252 drives the lock member 26 to rotate in a direction away from the support frame 213, so that the lock member 26 releases the lock between the mop assembly 12 and the support frame 213. Similarly, the driving mechanism can also be a driving component directly connected to the lock member 26 and connected to the base control unit, and the driving component can directly drive the lock member 26 to rotate so as to lock the mop assembly 12 on the support frame 213 or drive the lock member 26 to rotate to release the lock between the mop assembly 12 and the support frame 213.

[0112] In this embodiment, the lifting platform 22 is arranged around the support frame 213, and the center of the support frame 213 is hollowed out. When the lifting platform 22 moves downward, the mop assembly 12 on the lifting platform 22 will first support the support frame 213, and the lifting platform 22 will continue to move downward. When the lifting platform 22 moves downward to the right position, the lock member 26 completely locks the mop assembly 12 on the support frame 213. Among them, the cleaning brush 291 is arranged below the support frame 213. When the lifting platform 22 moves downward to the right position, the lock member 26 locks the mop assembly 12 on the support frame 213, and the cleaning brush 291 cleans the mop assembly 12.

[0113] In this embodiment, a buckle portion 260 is provided at one end of the lock member 26, a mating end 262 is provided at the other end of the lock member 26, and the middle portion of the lock member 26 is rotatably connected to the base 211. The lifting platform 22 drives the mating end 262 through the driving portion 221 to drive the lock member 26 to rotate so that the buckle portion 260 abuts against the mop assembly 12 to lock the mop assembly 12 on the lifting platform 22. When the driving portion 221 is disengaged from the mating end 262, the elastic member 252 drives the buckle portion 260 of the lock member 26 to disengage from the mop assembly 12 to release the lock of the mop assembly 12.

[0114] In this embodiment, when the sweeping robot 1 moves into the base 2 to disassemble the mop assembly 12, the robot control unit controls the electromagnet 113 to cut off the power, and the mop assembly 12 falls on the lifting platform 22. The driving device 24 drives the lifting platform 22 to move downward through the lifting mechanism 23, and the mop assembly 12 on the lifting platform 22 will first be supported on the support frame 213, and the lifting platform 22 continues to move downward. When the lifting platform 22 moves to the point where the driving part 221 and the mating end 262 of the locking member 26 begin to contact, the driving part 221 starts to drive the locking member 26 to rotate toward the support frame 213. When the lifting mechanism 23 drives the lifting platform 22 to move downward to the position, the locking member 26 completely locks the mop assembly 12 on the support frame 213, and the mop assembly 12 can be cleaned at this time.

[0115] When the sweeping robot 1 moves into the base 2 to install the mop assembly 12, the driving device 24 drives the lifting platform 22 to move upward through the lifting mechanism 23. When the driving part 221 of the lifting platform 22 is disengaged from the mating end 262 of the locking member 26, the elastic member 252 drives the locking member 26 to release the lock between the mop assembly 12 and the support frame 213, and the lifting platform 22 moves upward again to push the mop assembly 12 on the support frame 213 to abut against the robot body 11. The robot control unit then controls the electromagnet 113 to be energized, and the mop assembly 12 will be adsorbed and fixed to the magnetic body 123 on the mop assembly 12 due to the magnetic attraction of the electromagnet 113, so that the mop assembly 12 and the robot body 11 are re-fixed and installed. The locking member 26 is directly driven to be locked by the downward movement of the lifting platform 22. When the lifting platform 22 moves upward and disengages from the locking member 26, the elastic member 252 is used to drive the locking member 26 to release the lock of the mop assembly 12. The locking and unlocking structure of the mop assembly 12 is simple, which is conducive to reducing costs.

[0116] After the lifting platform 22 moves downward and drives the mop assembly 12 to be supported on the support frame 213, when the lifting platform 22 is lowered into place, there is a gap H between the lifting platform 22 and the mop assembly 12 to ensure that the lifting platform 22 can be linked to the movement of the fastener 26, and to ensure the engagement amount of the fastener 26 with the mop assembly 12 and to avoid interference between the fastener 26 and the mop assembly 12 during movement. The size of the gap H can be set according to actual applications. In this embodiment, the gap H is 2.5 mm.

[0117] This embodiment also provides a working method of a sweeping robot cleaning system, comprising the following steps:

[0118] When the cleaning robot 1 needs to disassemble the mop assembly 12, the cleaning robot 1 moves to the base 2 and sends a first control instruction to the base 2;

[0119] The base 2 receives the first control instruction, and the base control unit of the base 2 controls the driving device 24 to drive the lifting platform 22 to move upward until it abuts against the mopping assembly 12 of the sweeping robot 1;

[0120] The robot control unit of the sweeping robot 1 controls the electromagnet 113 to be powered off so that the mopping assembly 12 is disassembled on the lifting platform 22;

[0121] The base control unit controls the driving device 24 to drive the lifting platform 22 to drive the mop assembly 12 to move downward to the position, and drives the locking member 26 through the driving mechanism to lock the mop assembly 12 on the base body 21;

[0122] When the cleaning robot 1 needs to install the mop assembly 12, the cleaning robot 1 moves to the base 2 and sends a second control instruction to the base 2;

[0123] The base 2 receives the second control instruction, and the base control unit controls the driving device 24 to drive the lifting platform 22 to move upward until the mop assembly 12 abuts against the robot body 11, and drives the locking member 26 through the driving mechanism to release the lock between the mop assembly 12 and the base 21;

[0124] The robot control unit controls the electromagnet 113 to be energized so that the mopping assembly 12 is installed on the robot body 11 .

[0125] The sweeping robot cleaning system provided in the present embodiment is provided with a base and a sweeping robot. The sweeping robot and the base cooperate to realize automatic disassembly and automatic installation of the mop assembly, which facilitates the sweeping robot to switch between sweeping and mopping functions. There is no need for manual disassembly or installation of the mop assembly, which greatly facilitates user use and greatly reduces the error rate of installation of the mop assembly, thereby improving the reliability of automatic installation of the mop assembly.

[0126] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A base, characterized in that: The base is used in conjunction with a sweeping robot, the sweeping robot comprising a robot body and a mop assembly that is detachably fixed by adsorption with an electromagnet on the robot body; the base comprises: seat body; A lifting platform movably arranged on the base and used to support the mop assembly; A lifting mechanism connected to the lifting platform and capable of driving the lifting platform to move up and down; A driving device, the driving device is connected to the lifting mechanism through a transmission assembly and can drive the lifting platform to move up and down; a base control unit electrically connected to the driving device; A locking member is driven to move by a driving mechanism. When the lifting platform drives the mop assembly removed on the lifting platform to move downward to a position, the driving mechanism drives the locking member to lock the mop assembly on the lifting platform or the base. When the lifting platform drives the mop assembly to move upward to install the mop assembly on the robot body, the driving mechanism drives the locking member to release the lock between the mop assembly and the lifting platform or the base.

2. The base according to claim 1, characterized in that: The locking member is rotatably disposed on the lifting platform or the seat body; The driving mechanism can drive the locking member to rotate in a first direction to lock the mop assembly on the lifting platform or the seat, and the driving mechanism can drive the locking member to rotate in a second direction to release the lock between the mop assembly and the lifting platform or the seat.

3. The base according to claim 1, characterized in that: The driving mechanism includes a driving part arranged on the lifting platform, and an elastic member connected to the locking member and used for resetting the locking member; When the lifting platform moves downward to its position, the driving part drives the locking part to lock the mop assembly on the lifting platform or the seat; when the lifting platform moves upward, the elastic part drives the locking part to release the lock between the mop assembly and the lifting platform or the seat.

4. The base according to claim 3, characterized in that: The locking member is rotatably arranged on the lifting platform and is lifted and lowered synchronously with the lifting platform; the base further comprises a limiting portion fixed on the base body and located on one side of the lifting platform, and the locking member is arranged between the driving portion and the limiting portion; When the lifting platform drives the locking member to move downward, the limiting portion pushes the locking member to rotate in a first direction so that the locking member locks the mop assembly on the lifting platform; when the lifting platform drives the locking member to move upward, the elastic member drives the locking member to rotate in a second direction so that the locking member releases the lock between the mop assembly and the lifting platform.

5. The base according to claim 4, characterized in that: A side of the locking member close to the driving portion is protruded to form a contact portion, and the contact portion is in line-surface contact with the limiting portion.

6. The base according to claim 3, characterized in that: The locking member is rotatably disposed on the seat body; When the lifting platform drives the mop assembly to move downward to a position, the mop assembly is supported on the base, and the driving part drives the locking member to rotate in a first direction to lock the mop assembly on the base; when the lifting platform drives the mop assembly to move upward, the elastic member drives the locking member to rotate in a second direction to enable the locking member to release the lock between the mop assembly and the base.

7. The base according to claim 1, characterized in that The base also includes: A cleaning device is provided on the base body and is used for cleaning the mop assembly. The cleaning device is electrically connected to the base control unit.

8. The base according to claim 1, characterized in that A lifting mechanism is respectively arranged on both sides of the lifting platform, and the two lifting mechanisms are respectively connected to the driving device in a transmission manner and can simultaneously drive the lifting platform to rise and fall, and the lifting mechanism comprises: A linkage ring fixedly connected to the lifting platform; An eccentric wheel is transmission-connected to the driving device, and the eccentric wheel is provided with a connecting shaft located on one side of the rotation center of the eccentric wheel, and the connecting shaft is connected to the linkage ring. The driving device can drive the eccentric wheel to rotate to drive the lifting platform to rise and fall.

9. A sweeping robot cleaning system, characterized in that: The invention comprises a sweeping robot and a base according to any one of claims 1 to 8, wherein the sweeping robot comprises: A robot body, wherein the robot body is provided with a walking mechanism, a robot control unit electrically connected to the walking mechanism, and an electromagnet electrically connected to the robot control unit; The mop assembly is magnetically adsorbed and fixed to the electromagnet, and the robot control unit can control the electromagnet to be powered off to separate the mop assembly from the electromagnet, and the robot control unit can control the electromagnet to be powered on to adsorb the mop assembly to the electromagnet.

10. The sweeping robot cleaning system according to claim 9, characterized in that: The mop assembly comprises a mop bracket and a mop fixed to the bottom of the mop bracket. A magnetic body is provided on the mop bracket, and the mop assembly is fixed by adsorption of the magnetic body and the electromagnet.

11. A working method of a sweeping robot cleaning system, characterized in that: The following steps are involved: When the cleaning robot needs to disassemble the mop assembly, the cleaning robot moves to the base according to any one of claims 1 to 8 and sends a first control instruction to the base; The base receives the first control instruction, and the base control unit of the base controls the driving device to drive the lifting platform to move upward until it abuts against the mopping assembly of the sweeping robot; The robot control unit of the sweeping robot controls the electromagnet to be powered off so that the mop assembly can be removed from the lifting platform; The base control unit controls the driving device to drive the lifting platform to drive the mop assembly to move downward to a position, and drives the locking member through the driving mechanism to lock the mop assembly on the lifting platform or the base; When the cleaning robot needs to install the mop assembly, the cleaning robot moves to the base and sends a second control instruction to the base; The base receives the second control instruction, and the base control unit controls the driving device to drive the lifting platform to move upward until the mop assembly abuts against the robot body, and drives the locking member through the driving mechanism to release the lock between the mop assembly and the lifting platform or the base body; The robot control unit controls the electromagnet to be energized so that the mopping assembly is installed on the robot body.

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