Base station and cleaning system

Abstract

The present application discloses a base station and a cleaning system, wherein the base station is used in conjunction with cleaning equipment, and comprises: a base station body, wherein the base station body has at least two layers of accommodating spaces at different heights; a lifting mechanism, which is arranged in the base station body and is configured to: switch the cleaning equipment placed in the base station body between the accommodating spaces at different heights; and a charging module, which is arranged in the base station body and is configured to charge the cleaning equipment entering the base station. According to the base station and the cleaning system of the present application, the base station can be used in conjunction with multiple cleaning equipment at the same time, thereby reducing costs, reducing floor space, and improving cleaning efficiency.

Description

Technical Field

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

[0002] At present, base stations for cleaning devices (such as sweeping robots or mopping robots, etc.) usually only support one cleaning device. The base station can generally only accommodate one cleaning device or can only be used by one cleaning device at a time. When a user has two or more robots, two or more base stations are required, or two or more robots use the base station alternately, which increases costs, increases space occupied, or reduces cleaning efficiency.

[0003] Therefore, improvements are needed to at least partially solve the above problems. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] In order to at least partially solve the above problem, according to a first aspect of the present invention, a base station is provided for use with a cleaning device, comprising:

[0006] A base station body, wherein the base station body has at least two layers of accommodation spaces at different heights;

[0007] A lifting mechanism, disposed on the base station body, configured to: switch the cleaning equipment placed in the base station body between the accommodating spaces at different heights;

[0008] A charging module is arranged in the base station body and is used to charge the cleaning equipment entering the base station.

[0009] Exemplarily, the lifting mechanism includes a lifting plate and a lifting assembly connected to the lifting plate, the lifting plate is used to support the cleaning equipment entering into the base station body, and the lifting assembly is connected to the lifting plate and is used to lift the lifting plate.

[0010] Exemplarily, the lifting assembly includes a first lifting assembly and a second lifting assembly, and the first lifting assembly and the second lifting assembly are respectively arranged on both sides of the lifting plate.

[0011] Exemplarily, the first lifting assembly includes a motor, a screw rod, and a first lifting slide, wherein the output shaft of the motor is drivingly connected to the screw rod, and the first lifting slide is sleeved on the screw rod and is configured to be able to slide along the axial direction of the screw rod.

[0012] Exemplarily, the first lifting assembly also includes a first connecting part and a first rotating shaft, one end of the first connecting part is hingedly connected to the first lifting slide, and the other end of the first connecting part is connected to the lifting plate through the first rotating shaft. A first sliding groove is provided on the side wall of the base station body, and the first rotating shaft is passed through the first sliding groove and is configured to be able to slide along the first sliding groove.

[0013] Exemplarily, the second lifting assembly includes a lifting guide shaft and a second lifting slide, wherein the second lifting slide is sleeved on the lifting guide shaft and is configured to be able to slide along the axial direction of the lifting guide shaft.

[0014] Exemplarily, the second lifting assembly also includes a second connecting portion and a second rotating shaft, one end of the second connecting portion is hingedly connected to the second lifting slide, and the other end of the second connecting portion is connected to the lifting plate through the second rotating shaft. A second sliding groove is provided on the side wall of the base station body, and the second rotating shaft is passed through the second sliding groove and is configured to be able to slide along the second sliding groove.

[0015] Exemplarily, the base station body has an entrance, and the cleaning equipment enters the accommodating space through the entrance. The lifting plate includes a first end and a second end opposite to each other, wherein the second end of the lifting plate is adjacent to the entrance of the base station body, and the lifting mechanism also includes an elastic component, and the first end of the lifting plate is connected to the base station body through the elastic component.

[0016] Exemplarily, the lifting plate is rotatably connected to the lifting assembly, and the connection position between the lifting plate and the lifting assembly is located between the first end and the second end, and the height of the second end of the lifting plate is configured to increase as the center of gravity of the cleaning device moves toward the first end of the lifting plate.

[0017] Exemplarily, a support platform is provided between two adjacent accommodating spaces, the support platform is connected to the base station body, and the support platform is used to receive and support the cleaning device or the cleaning module of the cleaning device on the lifting mechanism.

[0018] According to a second aspect of the present invention, there is provided a cleaning system, the cleaning system comprising:

[0019] A base station as described above; and

[0020] A cleaning device, comprising:

[0021] An equipment body and a cleaning module detachably connected to the equipment body;

[0022] The driving mechanism is used to drive the device body to move forward.

[0023] Exemplarily, the cleaning module includes a sweeping module and a mopping module, and the sweeping module and the mopping module are respectively used to be placed in different accommodating spaces.

[0024] Exemplarily, the cleaning device moves to the base station after cleaning the surface to be cleaned by the cleaning module, the cleaning module is replaced by the mopping module, and the cleaning device then mops the surface to be cleaned by the mopping module.

[0025] Exemplarily, the cleaning module includes a dust box for collecting dirt, and the dust box has a dust discharge port;

[0026] The mopping module comprises a sewage tank for collecting dirt, and the sewage tank has a sewage outlet.

[0027] Exemplarily, the base station includes a first recycling mechanism provided on the base station body, and the first recycling mechanism is used to recycle the dirt collected by the dust box;

[0028] The base station comprises a second recovery mechanism arranged on the base station body, and the second recovery mechanism is used for recovering the dirt collected in the sewage tank.

[0029] Exemplarily, the base station also includes a recycling mechanism arranged on the base station body, the recycling mechanism includes a suction source, a recycling center, a first recycling channel and a second recycling channel, the suction source is connected to the recycling center, the two ends of the first recycling channel are respectively used to connect the recycling center and the dust exhaust port, the suction source is used to generate suction to collect the dirt in the dust box into the recycling center through the first recycling channel, the two ends of the second recycling channel are respectively used to connect the recycling center and the sewage outlet, the suction source is used to generate suction to collect the dirt in the sewage box into the recycling center through the second recycling channel, and the recycling center can be selectively connected to one of the first recycling channel and the second recycling channel according to the type of the cleaning module.

[0030] According to the base station and cleaning system of the present invention, the base station has at least two layers of accommodating space and can drive the cleaning equipment to switch between different accommodating spaces, so that one base station can be used in conjunction with multiple cleaning equipment at the same time, thereby improving the cleaning efficiency. Compared with configuring a base station for each cleaning equipment separately, it effectively reduces costs and reduces space occupied. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The following drawings of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the device and principle of the present application. In the drawings,

[0032] Figure 1 is a schematic structural diagram of a cleaning system according to an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of an explosion of a base station according to an embodiment of the present invention when the lifting plate is in a non-lifting state;

[0034] Figure 3 It is a schematic diagram of the left side structure of a base station according to an embodiment of the present invention when the lifting plate is in a non-lifting state;

[0035] Figure 4 is a schematic diagram of the right side structure of a base station according to an embodiment of the present invention when the lifting plate is in a non-lifted state, wherein the structure inside the main body of the base station is shown in the form of a cross section;

[0036] Figure 5 is a schematic diagram of an explosion of a base station according to an embodiment of the present invention when the lifting plate is in a raised state;

[0037] Figure 6 It is a schematic diagram of the left side structure of a base station according to an embodiment of the present invention when the lifting plate is in a raised state;

[0038] Figure 7 is a schematic diagram of the right side structure of a base station according to an embodiment of the present invention when the lifting plate is in a raised state, wherein the structure inside the main body of the base station is shown in the form of a cross section;

[0039] Figure 8-Figure 10 Schematic diagram of the process of accommodating two cleaning devices at the same time for the base station;

[0040] Figure 11-Figure 12 A schematic diagram of the process of replacing a cleaning module for a cleaning device through different accommodation spaces of a base station;

[0041] Fig.13 is a schematic diagram of a cleaning device connected to a cleaning module according to an embodiment of the present invention;

[0042] Fig.14 is a schematic diagram of a cleaning device connected to a sweeping and mopping module according to an embodiment of the present invention;

[0043] Fig.15 is a bottom view schematic diagram of a cleaning device according to an embodiment of the present invention;

[0044] Fig.16A schematic diagram of the structure of a cleaning module according to an embodiment of the present invention;

[0045] Fig.17 A schematic diagram of splicing a sweeping brush head in a cleaning module according to an embodiment of the present invention;

[0046] Fig.18 is a schematic diagram of the assembly of a cleaning module according to an embodiment of the present invention;

[0047] Fig.19 A schematic diagram of the connection between the cleaning module and the device body according to an embodiment of the present invention;

[0048] Fig. 20 is a structural schematic diagram of a mopping module according to an embodiment of the present invention;

[0049] Fig.21 A schematic diagram of the splicing of mopping brush heads in a mopping module according to an embodiment of the present invention;

[0050] Fig. 22 is an assembly diagram of a mopping module according to an embodiment of the present invention;

[0051] Fig.23 A schematic diagram of the connection between the mopping module and the device body according to an embodiment of the present invention;

[0052] Fig.24 A schematic diagram of a cleaning module and a device body of a cleaning device in an inverted state according to an embodiment of the present invention;

[0053] Fig.25 A schematic diagram of a cleaning module and a main body of a cleaning device according to an embodiment of the present invention, wherein the left side is a bottom view and a side view of the main body of the device, and the right side is a side view and a bottom view of the cleaning module;

[0054] Fig.26 is a cross-sectional schematic diagram of a cleaning module of a cleaning device according to an embodiment of the present invention when the cleaning module is not connected to the device body;

[0055] Fig. 27 A cross-sectional schematic diagram of a cleaning module of a cleaning device according to an embodiment of the present invention being connected to a device body;

[0056] Fig.28 is a cross-sectional schematic diagram of a cleaning module of a cleaning device according to another embodiment of the present invention when the cleaning module is not connected to the device body;

[0057] Fig.29 is a cross-sectional schematic diagram of a cleaning module of a cleaning device according to another embodiment of the present invention being connected to a device body;

[0058] Figure 30 to Figure 31A schematic diagram of a process in which a cleaning device replaces a first cleaning module carried by the cleaning device with a second cleaning module through different accommodation spaces of a base station;

[0059] Figure 32 to Figure 33 A schematic diagram of a process in which a cleaning device replaces a second cleaning module carried by the cleaning device with a first cleaning module through different accommodation spaces of a base station;

[0060] Fig.34 is a schematic diagram of a cleaning device returning to a base station according to an embodiment of the present invention;

[0061] Fig.35 It is a left view of a cleaning device according to an embodiment of the present invention reaching the first-level accommodation space inside the base station body;

[0062] Fig.36 A right side view of a cleaning device according to an embodiment of the present invention reaching the first-level accommodation space inside the base station body;

[0063] Fig.37 A schematic diagram of a cleaning device beginning to enter a base station according to an embodiment of the present invention;

[0064] Fig.38 It is a schematic diagram of a cleaning device according to an embodiment of the present invention reaching the first-layer accommodation space inside the base station body and starting to disassemble the cleaning module;

[0065] Fig.39 It is a schematic diagram of a disassembly mechanism according to an embodiment of the present invention after disassembling and replacing a cleaning module and returning the cleaning module to its original position;

[0066] Fig.40 It is a schematic diagram of a device body being lifted to the second-layer accommodation space of a base station according to an embodiment of the present invention;

[0067] Fig.41 It is a schematic diagram of installing another cleaning module in the second-layer accommodation space of the base station in the equipment body according to one embodiment of the present invention;

[0068] Fig.42 It is a schematic diagram of a device body according to an embodiment of the present invention landing on the first floor of a base station after completing the installation of a cleaning module;

[0069] Fig.43 and Fig.44 It is a schematic diagram showing the principle of disassembling a cleaning module according to a disassembly mechanism according to an embodiment of the present invention;

[0070] Fig.45 is an exploded schematic diagram of a disassembly mechanism according to an embodiment of the present invention;

[0071] Fig.46is a first cross-sectional schematic diagram when the limiting member according to an embodiment of the present invention is not inserted into the limiting groove;

[0072] Fig.47 is a second cross-sectional schematic diagram when the limiting member according to an embodiment of the present invention is not inserted into the limiting groove;

[0073] Fig.48 It is a first cross-sectional schematic diagram of a limiting member when being inserted into a limiting groove according to an embodiment of the present invention;

[0074] Fig.49 is a second cross-sectional schematic diagram of a limiting member when inserted into a limiting groove according to an embodiment of the present invention;

[0075] Fig.50 is an exploded schematic diagram of a driving assembly of a disassembly mechanism according to an embodiment of the present invention;

[0076] Fig.51 and Fig.52 It is a schematic diagram of a driving assembly driving a disassembly mechanism to carry a cleaning module back to its original position according to an embodiment of the present invention;

[0077] Fig.53 and Fig.54 It is a cross-sectional schematic diagram of a driving assembly driving a disassembly mechanism to carry a cleaning module back to its original position according to an embodiment of the present invention.

[0078] Description of reference numerals:

[0079] 100, base station body; 110, bottom plate; 111, left side wall; 112, right side wall; 113, support platform; 120, lifting plate; 121, extension part; 130, motor; 131, bearing; 132, screw rod; 133, first lifting slide; 134, first connecting part; 135, first rotating shaft; 136, first sliding groove; 141, bearing; 142, lifting guide shaft; 143, second lifting slide; 144, second connecting part; 145, second rotating shaft; 150, elastic component; 136, second sliding groove;

[0080] 200, cleaning device; 210, device body; 220, driving mechanism; 230, cleaning module; 231, sweeping module; 232, mopping module;

[0081] 211, driving wheel; 212, fan; 213, sensor; 214, driving motor; 215, transmission mechanism; 216, battery;

[0082] 2. First mounting bracket; 20. First brush head quick-release fixing bracket; 21. Sweeping brush head; 22. First brush head driving motor; 23. Second auxiliary wheel; 24. Base station suction port; 25. Dust suction port; 26. Dust box; 27. Second air suction port;

[0083] 3. quick release mechanism; 31. first connecting member; 32. second connecting member;

[0084] 4. Second mounting frame; 40. Second brush head quick-release fixing frame; 41. Mopping brush head; 42. Second brush head driving motor; 43. First auxiliary wheel; 44. Clean water inlet; 45. Sewage outlet; 46. Water suction port; 47. Water spray port; 48. Wiper; 49. Sewage tank; 410. First air suction port; 411. Clean water tank; 412. Water pump;

[0085] 50, quick release mechanism; 51, first connecting mechanism; 52, second connecting mechanism; 61, positioning member; 62, matching portion; 521, locking member; 522, spring; 523, magnetic member; 524, electromagnet; 525, stop member; 71, spring; 72, nut; 73, lead screw; 74, motor;

[0086] Figure 34-Figure 48 , 160, lifting mechanism; 170, disassembly mechanism; 171, limit member; 172, mechanism body; 173, cover plate; 174, electromagnetic component; 175, first reset member; 176, magnetic component; 177, accommodating groove; 180, bearing; 181, driver; 1821, first transmission wheel; 1822, second transmission wheel; 183, conveyor belt; 184, driven wheel; 185, optical axis; 234, limit groove. DETAILED DESCRIPTION

[0087] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described.

[0088] It should be understood that the present application can be implemented in different forms and should not be construed as being limited to the embodiments presented herein. On the contrary, providing these embodiments will make the disclosure thorough and complete and fully convey the scope of the present application to those skilled in the art. In the accompanying drawings, the sizes and relative sizes of layers and regions may be exaggerated for clarity. The same reference numerals throughout represent the same elements.

[0089] It should be understood that although the terms first, second, third, etc. can be used to describe various elements, components, regions, layers and / or parts, these elements, components, regions, layers and / or parts should not be limited by these terms. These terms are only used to distinguish an element, component, region, layer or part from another element, component, region, layer or part. Therefore, without departing from the teachings of the present application, the first element, component, region, layer or part discussed below can be represented as a second element, component, region, layer or part.

[0090] Spatially relative terms such as "under", "beneath", "below", "under", "above", "above", etc., may be used herein for convenience of description to describe the relationship of one element or feature to other elements or features shown in the figures. It should be understood that the spatially relative terms are intended to encompass different orientations of the device in use and operation in addition to the orientation shown in the figures.

[0091] Embodiments of the invention are described herein with reference to cross-sectional views as schematic diagrams of ideal embodiments (and intermediate structures) of the present application. Thus, variations from the shapes shown due to, for example, manufacturing techniques and / or tolerances can be expected. Therefore, embodiments of the present application should not be limited to the specific shapes of the zones shown herein, but include shape deviations due to, for example, manufacturing. Therefore, the zones shown in the figures are schematic in nature, and their shapes are not intended to display the actual shapes of the zones of the device and are not intended to limit the scope of the present application.

[0092] See attached Figure 1-12 A cleaning system according to an embodiment of the present invention is exemplarily described.

[0093] The cleaning system includes a base station and a cleaning device 200, which are used in conjunction with each other. The cleaning device 200 may be a device such as a sweeping robot or a mopping robot that can travel on a working surface (eg, the ground) and clean the working surface.

[0094] See attached Figure 1-7 The base station includes a base station body 100, a lifting mechanism and a charging module (not shown in the figure).

[0095] The base station body 100 may also include at least one accommodating space, which can be used to place a cleaning module and / or cleaning equipment of a cleaning device, wherein, when there are multiple accommodating spaces, the accommodating spaces can be at different heights in the up and down directions, or in different areas in the horizontal direction. Exemplarily, the base station body 100 includes a bottom plate 110 and a side wall, and the side wall surrounds the bottom plate 110 along the circumferential portion of the bottom plate 110, so that one side is open and the other side is closed by the side wall, thereby forming a partially open accommodating space, and the open side is the entrance of the main body of the base station, and the cleaning equipment 200 can enter the accommodating space of the base station body 100 from the entrance. The base station body 100 may also include a top plate located above the side wall. The base station body 100 has two layers of accommodating spaces at different heights in the up and down directions, and the size of each layer of accommodating space is greater than the volume of the cleaning equipment 200, so that each layer of accommodating space can be used to accommodate the cleaning equipment 200. A support platform 113 is provided between the accommodating spaces of two adjacent layers. The support platform 113 is connected to the base station body 100 and may be a partition fixedly connected to the side wall. The support platform 113 is used to receive and support the cleaning device 200 or the cleaning module 230 of the cleaning device 200 on the lifting mechanism.

[0096] The lifting mechanism is provided in the base station body 100, and is configured to switch the cleaning equipment 200 placed in the base station body 100 between two accommodating spaces at different heights. Specifically, the lifting mechanism includes a lifting plate 120 and a lifting assembly connected to the lifting plate 120. The lifting plate 120 is located in the accommodating space of the base station body 100, and includes a first end and a second end opposite to each other. The first end of the lifting plate 120 is located inside the accommodating space, and the second end of the lifting plate 120 is adjacent to the entrance of the base station body 100. The lifting plate 120 is used to support the cleaning equipment 200 entering the base station body 100. The lifting assembly is connected to the lifting plate 120, and is used to lift or lower the lifting plate 120, so that the cleaning equipment 200 supported on the lifting plate 120 can be moved from the accommodating space of the lower layer to the accommodating space of the upper layer, or from the accommodating space of the upper layer to the accommodating space of the lower layer.

[0097] The lifting mechanism also includes an elastic component 150, and the first end of the lifting plate 120 is connected to the base station body 100 through the elastic component 150. The lifting plate 120 is rotatably connected to the lifting assembly, and the connection position between the lifting plate 120 and the lifting assembly is located between the first end and the second end. The lifting assembly can lift or lower the lifting plate 120 from the connection position, and the lifting plate 120 can rotate with the connection position as the rotating shaft during the lifting or lowering process. The height of the second end of the lifting plate 120 is configured to increase as the center of gravity of the cleaning device 200 moves toward the first end of the lifting plate 120. Specifically, in this embodiment, the two side edges of the first end of the lifting plate 120 are respectively provided with an extension 121 extending from the lifting plate 120 to the direction away from the lifting plate 120, and the extension 121 is approximately L-shaped, and the distance between the extensions 121 is greater than the width of the cleaning device 200. The elastic component 150 may be a spring with hooks at both ends. The spring may be connected to a hook provided on the bottom plate 110 of the base station body 100 through the hook at the first end thereof, and connected to a connection hole at one end of the extension 121 away from the lifting plate 120 through the hook at the second end thereof, so that the spring may be extended and retracted during the process of lifting or lowering the lifting plate 120, and may rotate relative to the base station body 100 and the lifting plate 120. Thus, when the cleaning device 200 is located on the lifting plate 120 and needs to enter the accommodating space of the upper layer, the lifting assembly lifts the lifting plate 120 upward from the connection position between the cleaning device 200 and the lifting plate 120, and when the center of gravity of the cleaning device 200 is located between the connection position (the connection position between the lifting plate 120 and the lifting assembly) and the second end of the lifting plate 120, a moment may be formed by the tension of the elastic component 150 to maintain the balance of the lifting plate 120. When the cleaning device 200 on the lifting plate 120 is located in the accommodating space of the upper layer and gradually moves to the supporting platform 113, the center of gravity of the cleaning device 200 is located between the connection position and the supporting platform 113, and the cleaning device 200 can be supported on the lifting plate 120 and the supporting platform 113 at the same time, and the tension of the elastic component 150 drives the lifting plate 120 to rotate, so that the second end of the lifting plate 120 is raised. Through the tension of the elastic component 150 and the rotation of the lifting plate 120, the height of the second end of the lifting plate 120 can be increased as the center of gravity of the cleaning device 200 moves toward the first end of the lifting plate 120. Therefore, when the cleaning device 200 is completely located in the upper storage space, the height of the second end of the lifting plate 120 relative to the bottom plate 110 of the base station body 100 is greater than the height of the cleaning device 200, and the lifting plate 120 is horizontal or approximately horizontal, so that the storage space below the lifting plate 120 can accommodate another cleaning device 200, that is, the upper and lower storage spaces of the base station body 100 can accommodate two cleaning devices at the same time.

[0098] In this embodiment, the lifting assembly includes a first lifting assembly and a second lifting assembly, and the first lifting assembly and the second lifting assembly are respectively arranged on both sides of the lifting plate 120. The lifting plate 120 is lifted from both sides of the lifting plate 120 so that the lifting plate 120 can change its position in the up and down directions, thereby driving the cleaning equipment 200 supported on the lifting plate 120 to switch between two layers of accommodating spaces at different heights.

[0099] The first lifting assembly includes a motor 130, a screw rod 132 and a first lifting slide 133. The motor 130 can be fixedly or detachably arranged on the outside of the left side wall 111 of the base station body 100. The output shaft of the motor 130 is connected to the screw rod 132 in a driving manner. The screw rod 132 is rotatably arranged on the outside of the left side wall 111 of the base station body 100 and is connected to the base station body 100 through a bearing 131. Specifically, a coaxial sleeve portion is fixedly arranged on the outside of the left side wall 111 of the base station body 100 in the up-down direction, and both ends of the screw rod 132 are rotatably connected to the sleeve portion through the bearing 131. The motor 130 is used to drive the screw rod 132 to rotate around its central axis. The first lifting slide 133 is sleeved on the screw rod 132 and is configured to slide up and down along the axial direction of the screw rod 132. The first lifting slide 133 may be a ball nut. The first lifting slide 133 and the screw rod 132 may form a ball screw pair, so that when the screw rod 132 rotates, the first lifting slide 133 sleeved on the screw rod 132 will slide in the axial direction of the screw rod 132 as the screw rod 132 rotates. The first lifting assembly also includes a first connecting portion 134 and a first rotating shaft 135. One end of the first connecting portion 134 is hingedly connected to the first lifting slide 133, and the other end of the first connecting portion 134 is connected to the lifting plate 120 through the first rotating shaft 135. The first rotating shaft 135 may be rotatably connected to the first connecting portion 134 and fixedly connected to the lifting plate 120 (or the first rotating shaft 135 may be rotatably connected to the lifting plate 120 and fixedly connected to the first connecting portion 134). A first sliding groove 136 penetrating the side wall is provided on the left side wall 111 of the base station body 100, and the first rotating shaft 135 is passed through the first sliding groove 136 and configured to be able to slide along the first sliding groove 136. The first sliding groove 136 is used to guide the first rotating shaft 135 so that it can only move along the extension direction of the first sliding groove 136.

[0100] The second lifting assembly includes a lifting guide shaft 142 and a second lifting slide 143. The lifting guide shaft 142 can be an optical axis and is rotatably arranged on the outside of the right side wall 112 of the base station body 100. The two ends of the lifting guide shaft 142 are connected to the base station body 100 through bearings 141 and can rotate around its own central axis. In some other embodiments, the lifting guide shaft 142 can also be fixedly arranged on the outside of the right side wall 112 of the base station body 100 and cannot rotate. The second lifting slide 143 is sleeved on the lifting guide shaft 142 and is configured to be able to slide along the axial direction of the lifting guide shaft 142. The second lifting slide 143 can be an optical axis slider. The second lifting assembly further includes a second connection part 144 and a second rotating shaft 145. One end of the second connection part 144 is hingedly connected to the second lifting slide 143. The other end of the second connection part 144 is connected to the lifting plate 120 through the second rotating shaft 145. The second rotating shaft 145 can be rotatably connected to the second connection part 144 and fixedly connected to the lifting plate 120 (or the second rotating shaft 145 can be rotatably connected to the lifting plate 120 and fixedly connected to the second connection part 144). The right side wall 112 of the base station body 100 is provided with a second sliding groove 136 that penetrates the side wall. The second rotating shaft 145 is penetrated in the second sliding groove 136 and is configured to be able to slide along the second sliding groove 136. The second sliding groove 136 is used to guide the second rotating shaft 145 so that it can only move along the extension direction of the second sliding groove 136.

[0101] By means of the first lifting assembly and the second lifting assembly, the lifting plate 120 can be lifted, so that the cleaning device 200 located in the accommodation space at least partially in the lower layer of the base station body 100 on the lifting plate 120 is moved to the accommodation space in the upper layer of the base station body 100. Afterwards, the lower layer accommodation space between the lifting plate 120 and the bottom plate 110 can accommodate another cleaning device 200, that is, the base station can accommodate two cleaning devices 200 at the same time. Figure 8-10 The specific process of accommodating two cleaning devices 200 in the base station is exemplified. Figure 8 When the lifting plate 120 is in the vicinity Figure 2-4In the unlifted state shown, the second end of the lifting plate 120 is approximately flush with the ground or the bottom plate 110 of the base station body 100, and the cleaning device 200 can move from the second end of the lifting plate 120 to the lifting plate 120. At this time, the cleaning device 200 is at least partially located in the accommodation space of the lower layer of the base station body 100. After that, the motor 130 drives the screw rod 132 to rotate, and the first lifting slide 133 moves upward through the screw rod 132. The first lifting slide 133 drives the first rotating shaft 135 to move upward along the first sliding groove 136 through the first connecting portion 134, thereby lifting the lifting plate 120. The lifting plate 120 drives the second rotating shaft 145 to move upward along the second sliding groove 146, and the second rotating shaft 145 drives the second lifting slide 143 to move upward on the upper lifting guide shaft 142 through the second connecting portion 144. Through the joint action of the first lifting assembly and the second lifting assembly located on the left and right sides of the lifting plate 120, it is ensured that the entire lifting mechanism can move up and down smoothly, reduce the deflection torque, and avoid damage to the mechanism. At the same time, the lifting assembly adopts a screw drive, because the screw drive itself has a self-locking property. When the motor 130 is not moving, the entire structure can maintain a balanced state, and the force will not be transmitted to the motor 130, ensuring the reliability and life of the motor 130. Fig. 9 When the lifting plate 120 is lifted to the adjacent Figure 5-7 113, the cleaning device 200 moves forward to the support platform 113, and the cleaning device 200 is supported by the lifting plate 120 and the support platform 113 and is in the upper accommodation space. The change in the center of gravity formed by the forward and backward movement of the cleaning device 200 and the balancing torque formed by the spring tension make the lifting plate 120 in a horizontal or approximately horizontal state when the cleaning device 200 moves to the support platform 113. The height of the second end of the lifting plate 120 relative to the bottom plate 110 of the base station body 100 is greater than the height of the cleaning device 200. The lower accommodation space between the lifting plate 120 and the bottom plate 110 of the base station body 100 can be used to accommodate another cleaning device 200. See the attached Fig.10 , another cleaning device 200 moves onto the bottom plate 110 of the base station body 100 and is located in the accommodating space at the lower layer of the base station body 100 , and the base station accommodates two cleaning devices 200 at the same time.

[0102] The base station body 100 of this embodiment has only two layers of accommodation space. In some other embodiments, the base station body 100 may have three or more layers of accommodation space at different heights, and the lifting mechanism only needs to be configured accordingly so that the cleaning device 200 in the base station body 100 can be switched between accommodation spaces at different heights. For example, by controlling the height and rotation angle of the lifting plate 120, the cleaning device 200 thereon can be switched between accommodation spaces at different heights.

[0103] The base station also includes a charging module, which is arranged in the base station body 100 and is used to charge the cleaning equipment 200 entering the base station. Specifically, the charging module includes at least one output terminal, which can be arranged in at least one layer of the accommodation space of the base station body 100. When the cleaning equipment 200 enters the preset position in the accommodation space of the corresponding layer, the input terminal on the cleaning equipment 200 is electrically connected to the output terminal of the charging module, and the charging module charges the cleaning equipment 200. The charging module can receive an external power supply to charge the cleaning equipment 200, or it can charge the cleaning equipment 200 through the rechargeable battery in the charging module. Thus, the base station can be used to charge multiple cleaning equipment 200 in different layers of accommodation space at the same time, and one base station can be used with multiple cleaning equipment 200, so that multiple cleaning equipment 200 can complete charging and cleaning work more quickly, which can effectively improve the cleaning efficiency, and there is no need to configure a base station for charging each cleaning equipment 200 separately, which effectively reduces the cost and reduces the space occupied by the base station.

[0104] See attached Figure 13-Figure 23 A cleaning device 200 according to an embodiment of the present invention is exemplarily described.

[0105] Reference Fig.13 and Fig.14 A cleaning device 200, wherein the cleaning device 200 includes a device body 210, a cleaning module 230 and a quick release mechanism 3, wherein the cleaning module 230 is used to clean a surface to be cleaned (e.g., a floor, a carpet surface, or other surfaces that need to be cleaned). The cleaning module 230 includes a cleaning module 231 and a mopping module 232, wherein one of the cleaning module 231 and the mopping module 232 is connected to the device body 210 via the quick release mechanism 3, so that the cleaning device 200 acts as a common module of a minimum system during both the sweeping and mopping processes, i.e., each functional module in the device body 210 is involved in both the sweeping and mopping processes, without any extra load, and both the space volume and efficiency can be optimized.

[0106] The cleaning module 230 can be any module for cleaning the work surface, for example, it can also be a waxing module, or other suitable modules. In the present application, the replacement of the cleaning module can be replacing the sweeping module with a mopping module, or replacing the mopping module with a waxing module, or it can also be replacing between cleaning modules with different bristle lengths, etc. By replacing the module, various working requirements of the cleaning equipment can be met.

[0107] like Fig.15 As shown, the device body 210 is provided with a driving mechanism 220 (see Figure 1), fan 212, air duct, sensor 213, drive motor 214, transmission mechanism 215 and battery 216. The drive mechanism 220 is used to drive the device body 210 to move forward. In the present embodiment, the drive mechanism 220 is arranged on the drive wheel 211 at the bottom of the device body 210, and the cleaning device 200 moves on the working surface through the drive wheel 211. In some other embodiments, the drive wheel 211 can be a drive track arranged on both sides or the bottom of the device body 210 or can also be a roller. The drive wheel 211 is installed at the bottom of the device body 210 to realize the movement of the cleaning device 200, and the drive motor 214 is installed inside the device body 210 to drive the rotation of the drive wheel 211. The drive wheel 211 and the drive motor 214 are both installed at the bottom of the device body 210 with two and one-to-one correspondence, and the two drive wheels 211 are installed on both sides of the bottom of the device body 210 and are symmetrically arranged. The transmission mechanism 215 is installed at the bottom of the device body 210 and is used to connect the drive motor 214 and the drive wheel 211. In some embodiments, the transmission mechanism 215 uses chains, belts, gears, etc. When the drive motor 214 is working, the drive wheel 211 is driven to rotate through the transmission mechanism 215.

[0108] The fan 212 is installed inside the device body 210, and the air duct is opened on the device body 210 and is connected to the air inlet of the fan 212. The bottom opening of the air duct is located at the bottom of the device body 210. When the fan 212 is working, air is taken in through the air duct to absorb dust and debris, and assist in floor cleaning when the device body 210 moves.

[0109] The battery 216 is installed inside the device body 210 , and the drive motor 214 and the fan 212 are both electrically connected to the battery 216 to provide power for the drive motor 214 and the fan 212 to operate.

[0110] The device body 210 of the present application also includes a sensor module, which can be detachably connected to the device body 210. The sensor module can include one or more sensors, and the sensor can include one or more of a laser ranging sensor, an infrared ranging sensor, an image recognition sensor, a pressure sensor, a contact sensor and a proximity sensor. For example, the sensor module includes a sensor 213, and at least two sensors 213 are installed at the bottom of the device body 210. The sensor 213 is electrically connected to the battery 216 and connected to the control center of the cleaning device 200 to transmit the collected sensor signal. The type of sensor 213 can be selected according to the usage scenario.

[0111] Reference Figure 16-Figure 18The cleaning module 231 is described, wherein the cleaning module 231 and the device body 210 are detachably connected, and the cleaning module 231 includes a dust box 26, a sweeping brush head 21, and a first driving mechanism connected to the sweeping brush head 21, the first driving mechanism is used to drive the sweeping brush head 21 to move to clean the working surface, and the dust box 26 is used to collect garbage swept by the sweeping brush head 21. Optionally, the sweeping brush head 21 is provided with a plurality of uneven pattern structures for cleaning. In some embodiments, the sweeping brush head 21 is installed and connected with a plurality of bristles for cleaning operations.

[0112] The dust box 26 is provided with an opening, for example, the opening is provided at the top of the dust box 26 or other suitable positions, and a dust suction port 25 for communicating with the outside is provided at the bottom of the dust box 26, and the opening of the dust suction port 25 is provided toward the sweeping brush head 21. A second air suction port 27 is provided on the dust box 26, and the second air suction port 27 is located on the side wall of the dust box 26 away from the dust suction port 25. The second air suction port 27 and the device body 210 (see Fig.15 ) is connected to the air duct on the working surface. The sweeping brush head 21, which has a certain interference with the working surface, sweeps up the garbage on the working surface and rolls it to the front of the dust suction port 25 between the sweeping brush head 21 and the dust box 26. When the fan 212 on the device body 210 is working, the fan 212 generates and passes through the dust box structure. The air with dust and dirt is sucked through the air duct and the dust suction port 25 on the dust box 26, and finally the garbage, dust, etc. are temporarily stored in the dust box structure. A filtering device such as a filter net (not shown in the drawings) is installed at the air inlet of the fan 212. The dust and air separation is achieved by changing the filtering device, thereby preventing dust from entering the fan and causing a negative impact on the fan. After the fan 212 sucks the air, the dust and dirt are left in the dust box 26, so that the sweeping operation is better performed by the fan and its associated structure in cooperation with the sweeping brush head 21.

[0113] In some embodiments, a base station dust suction port 2524 is further provided on the dust box 26, and the base station dust suction port 2524 is connected to the dust box 26. Through the base station dust suction port 2524, the garbage in the dust box 26 can be sent to the base station that cooperates with the cleaning device 200 for centralized processing. For example, a dust suction device (not shown) can be provided in the base station, and the dust suction device is connected to the base station dust suction port 2524, so that the garbage in the dust box 26 can be sucked into the base station that cooperates with the cleaning device 200 for centralized processing.

[0114] The cleaning module 231 also includes a first mounting frame 2, which can be used for a dust box 26, a sweeping brush head 21, a first driving mechanism such as a first brush head driving motor 22, etc. The sweeping brush head 21 is detachably mounted on the first mounting frame 2, and a first brush head quick-release fixing frame 20 is connected to the sweeping brush head 21. The first brush head quick-release fixing frame 20 and the first mounting frame 2 are detachably connected. The first brush head quick-release fixing frame 20 can be connected to the first mounting frame 2 by means of a buckle, etc., so as to facilitate users to regularly replace the brush head. The sweeping brush head 21 is rotatably connected to the first brush head quick-release fixing frame 20 through a rotating shaft, and the sweeping brush head 21 rotates along its own axis. Optionally, a first accommodating space is provided in the sweeping brush head 21, and a first driving mechanism is provided in the first accommodating space. For example, the first driving mechanism includes a first brush head driving motor 22 mounted on the first mounting frame 2, and the first brush head driving motor 22 is located in the first accommodating space of the sweeping brush head 21. The first brush head driving motor 22 is connected to the sweeping brush head 21 to drive the sweeping brush head 21 to rotate. Optionally, the first brush head driving motor 22 and the sweeping brush head 21 can be directly connected, or can also be connected through a transmission assembly. In some embodiments, a groove is also provided on the first brush head quick-release fixing frame 20, and a protrusion that cooperates with the groove is provided at the end of the first mounting frame 2. The protrusion and the groove are interference fit, which is used to detachably connect the first mounting frame 2 and the first brush head quick-release fixing frame 20. Alternatively, in some embodiments, a protrusion is also provided on the first brush head quick-release fixing frame 20, and a groove that cooperates with the groove is provided at the end of the first mounting frame 2. The protrusion and the groove are interference fit, which is used to detachably connect the first mounting frame 2 and the first brush head quick-release fixing frame 20.

[0115] The cleaning module 231 further includes a second auxiliary wheel 23, which is disposed at the bottom of the cleaning module 231. For example, the second auxiliary wheel 23 is mounted at the bottom of the first mounting frame 2 and is rotatably connected to the first mounting frame 2. The rotation centerline of the second auxiliary wheel 23 is parallel to the axis of the sweeping brush head 21. The number of the second auxiliary wheels 23 can be one or more, and when the cleaning device moves, the second auxiliary wheel 23 provides support for the cleaning device and assists the cleaning device in moving.

[0116] Quick release mechanism 3 (see Fig.19 ) includes a first connection member 31 and a second connection member 32 matching the first connection member 31. The first connection member 31 is installed on both the cleaning module 231 and the mopping module 232, and the second connection member 32 is installed on the device body 210. The device body 210 is detachably connected to the first connection member 31 of the cleaning module 231 through the second connection member 32, or the device body 210 is detachably connected to the first connection member 31 on the mopping module 232 through the second connection member 32.

[0117] For the quick release mechanism 3, in some embodiments, the first connecting member 31 includes a quick release male port installed on the cleaning module 231, and the second connecting member 32 is a quick release female port opened on the device body 210, and the positions of the quick release male port and the quick release female port correspond one to one, wherein the number of the quick release male port and the quick release female port can be 1 or 2 or more. In some embodiments, the quick release male port is installed on the dust box 26, the quick release male port is a raised buckle, and the quick release female port is a slot opened on the device body 210, or the quick release male port is a raised slot, and the quick release female port is a buckle opened on the device body 210, and the slot and the buckle cooperate with each other to realize the detachable connection between the cleaning module 231 and the device body 210.

[0118] In other embodiments, one of the first connecting member and the second connecting member is a card slot, and the other is a retractable connecting member (such as a plunger spring). The retractable connecting member cooperates with the card slot. When the retractable connecting member is inserted into the card slot, connection is achieved. When the retractable connecting member is detached from the card slot, separation is achieved, thereby achieving a detachable connection between the device body 210 and the cleaning module 231.

[0119] In some other embodiments, the detachable connection between the first connector and the second connector can be achieved by magnetic adsorption, wherein at least one of the first connector and the second connector is a magnetic component, and the first connector and the second connector are detachably connected by magnetic adsorption. For example, the first connector and the second connector can both be magnetic components such as magnets or electromagnets, and the two have opposite polarities, thereby achieving adsorption, or one of the two is a magnet or an electromagnet, and the other is a metal such as iron, thereby forming a magnetic force between the two and achieving adsorption connection.

[0120] Reference Figure 17-Figure 19 When the device body 210 is connected to the cleaning module 231, the working process is as follows:

[0121] The device body 210 realizes the installation of the cleaning module 231 in the base station, and moves away from the base station to the working surface for cleaning. When the device body 210 moves, the first brush head driving motor 22 rotates to drive the sweeping brush head 21 to rotate, and the dust and garbage are rolled to the dust suction port 25. Through the fan 212 and the second suction port 27, the dust and garbage are sucked into the dust box 26, completing the sweeping and dust collection. The base station dust suction port 24 is used to connect the base station and the cleaning module 231. The garbage in the dust box 26 collected by the sweeping robot is sucked away by the corresponding mechanism of the base station and concentrated in the base station for unified treatment.

[0122] Then refer to Figure 20-23, an exemplary structure of the mopping module 232 is described. The mopping module 232 may include a water tank, a mopping brush head 41, and a second driving mechanism that is transmission-connected to the mopping brush head 41. The mopping module 232 is detachably connected to the device body 210 through a quick-release mechanism 3. Optionally, the mopping brush head 41 and the sweeping brush head 21 are both cylindrical, and a sponge, a mop, etc. can be set on the outside of the mopping brush head 41 for mopping and washing. The mopping brush head 41 is connected to a second brush head quick-release fixing frame 40, and the mopping brush head 41 is rotationally connected to the second brush head quick-release fixing frame 40, and the mopping brush head 41 rotates along its own axis. The mopping module 232 also includes a second mounting frame 4, and the second brush head quick-release fixing frame 40 is detachably connected to the second mounting frame 4, so as to facilitate users to regularly replace the brush head.

[0123] The second mounting frame 4 can be realized by the structure of the aforementioned first mounting frame 2. For example, a protrusion is provided on the second mounting frame 4, and a groove matching with the protrusion is provided on the second brush head quick-release fixing frame 40. The second brush head quick-release fixing frame 40 and the second mounting frame 4 are detachably connected by interference fit between the groove and the protrusion. In some embodiments, at least one of the second brush head fixing frame or the protrusion is a magnetic member such as a magnet, and the second brush head quick-release fixing frame 40 and the second mounting frame 4 are connected by magnetic adsorption.

[0124] Optionally, the second driving mechanism may include a second brush head driving motor 42, which is mounted on the second mounting frame 4. A second accommodating space is provided inside the mopping brush head 41, and the second driving mechanism is provided in the second accommodating space. For example, one end of the second brush head driving motor 42 is fixedly connected to the second mounting frame 4, and the output shaft at the other end is connected to the mopping brush head 41 and drives the mopping brush head 41 to rotate, thereby realizing the driving of the mopping brush head 41.

[0125] The mopping module 232 further includes a first auxiliary wheel 43, which is disposed at the bottom of the mopping module 232. For example, the first auxiliary wheel 43 is mounted at the bottom of the second mounting frame 4 and is rotatably connected to the second mounting frame 4. The rotation centerline of the first auxiliary wheel 43 is parallel to the mopping axis. The number of the first auxiliary wheel 43 can be one or more, and when the cleaning device moves, the first auxiliary wheel 43 provides support for the cleaning device and assists the cleaning device in moving.

[0126] Similar to the cleaning module 231, the mopping module 232 is also detachably connected to the device body through the first connecting member 31 and the second connecting member 32 of the quick release mechanism 3. The first connecting member 31 is installed on both the cleaning module 231 and the mopping module 232, and the second connecting member 32 is installed on the device body 210.

[0127] For the quick-release mechanism 3 and the mopping module 232, in some embodiments, the first connecting member 31 is two quick-release male ports installed on the mopping module 232, and the second connecting member 32 is two quick-release female ports opened on the device body 210, and the positions of the quick-release male ports and the quick-release female ports correspond one to one. Among them, the quick-release male port is installed on the water tank of the mopping module 232, the quick-release male port is a raised buckle, and the quick-release female port is a slot opened on the device body 210. The slot and the buckle cooperate with each other to realize the detachable connection between the mopping module 232 and the device body 210.

[0128] In some embodiments, the first connecting member 31 is a slot provided on the mopping module 232 , and the second connecting member 32 is a buckle installed on the device body 210 , which also realizes a detachable connection between the device body 210 and the mopping module 232 .

[0129] In some embodiments, at least one of the first connecting member 31 and the second connecting member 32 is a magnetic component, such as a magnet, a magnetic ring, etc., and the first connecting member 31 and the second connecting member 32 are detachably connected by magnetic adsorption.

[0130] In some embodiments, the first connecting member 31 or the second connecting member 32 is a slot, and the other is a retractable connecting member (such as a plunger spring, or a retractable rod with a hook). The retractable connecting member enters the slot and cooperates with the slot to achieve a detachable connection between the first connecting member 31 and the second connecting member 32.

[0131] Through the structural design of the quick-release mechanism 3, when it is necessary to connect the device body 210 and the mopping module 232, the connection can be quickly achieved through the cooperation of the first connecting member 31 and the second connecting member 32, which is more convenient to use. When mopping the floor is required after sweeping, the switch between the cleaning module 231 and the mopping module 232 can also be quickly completed to improve work efficiency. The cleaning module 231 and the mopping module 232 are not just a simple replacement of the brush head, but a replacement of two systems. Only the common modules of the two cleaning systems (such as fans, batteries, drive wheels, sensors, etc.) are retained on the device body 210, so that whether in the sweeping process or the mopping process, the cleaning robot works with the minimum system each time, without any excess load to reduce efficiency, so that the cleaning efficiency can be optimized each time. At the same time, without increasing the overall volume of the device, the space for the dust box 26 and the water tank is as large as possible, which can further improve the cleaning coverage of the cleaning equipment.

[0132] In some embodiments, the water tank includes a clean water tank 411 and a dirty water tank 49 that are separated from each other. For example, the water tank in the mopping module 232 is connected to the second mounting frame 4, and a partition is provided in the water tank to divide the water tank into the clean water tank 411 and the dirty water tank 49 that are separated from each other. The clean water tank 411 is used to provide cleaning liquid (such as clean water) used by the mopping module 232 to mop the working surface, and the dirty water tank 49 is used to recover dirty liquid. The mopping brush head in the form of a roller brush is equipped with a clean water tank and a dirty water tank, so that the mopping brush head can be self-cleaned in real time during the mopping cleaning process, ensuring that when encountering diffuse dirt, it can be self-cleaned in time to ensure that the dirt does not spread further, and prevent secondary pollution of the cleaned area.

[0133] In order to spray clean water on the mopping roller brush during mopping, in some embodiments, the mopping module 232 further includes a pumping device and a water spray port 47. Optionally, the pumping device may include a water pump 412, and the pumping device may be installed in the second mounting frame 4. Optionally, the mopping module further includes a water spray port 47 arranged facing the mopping brush head and / or the working surface, the pumping device is connected to the clean water tank 411 and the water spray port 47, and the cleaning liquid in the clean water tank 411 enters the water spray port through the pumping pump to spray the cleaning liquid, such as clean water or a cleaning liquid containing a cleaning liquid, etc., to the mopping brush head and / or the working surface through the water spray port 47, and the pumping device of the water pump 412 is connected to the clean water tank 411 through a pipeline. Optionally, the pumping device of the water pump 412 may also be connected to the water spray port 47 through a pipeline, and the water spray port 47 may be opened on the second mounting frame 4, and the clean water is sprayed out through the water spray port 47. The water spray port 47 is arranged toward the mopping brush head 41 or the working surface, and the cleaning liquid finally falls on the mopping brush head 41 and / or the working surface. When the mopping brush head 41 rotates, it carries the cleaning liquid for cleaning, thereby improving the cleaning effect.

[0134] In some embodiments, the mopping module 232 further includes a wiper 48 and a water suction port 46. The wiper 48 can be mounted on the second mounting frame 4 on a side facing the mopping brush head 41, and the wiper 48 and the mopping brush head 41 are against each other. When the mopping brush head 41 rotates, the wiper 48 will scrape the dirty liquid on the mopping brush head 41. The water suction port 46 is connected to the sewage tank 49, and the dirty liquid enters the sewage tank 49 through the water suction port 46.

[0135] In order to make it easier for the dirty liquid to be collected in the sewage tank 49, in some embodiments, the sewage tank 49 is further provided with a first air suction port 410. Fig.15) is connected to the first air suction port 410, for example, the two are connected through an air duct. When the fan 212 is working, air will be drawn through the first air suction port 410. Under the action of negative pressure, the water suction port 46 will absorb the dirty liquid such as sewage scraped from the wiper 48 and send it into the sewage tank 49, so that the dirty liquid generated during cleaning is concentrated in the sewage tank 49. The mopping module and the sweeping module can share one fan 212, thereby saving more space and cost.

[0136] In order to facilitate the injection of cleaning liquid into the clean water tank 411, illustratively, the clean water tank 411 is provided with a clean water inlet 44, which is used to connect a water injection device to provide cleaning liquid into the clean water tank 411. The water injection device may include a pipeline and a water pump, etc. The water injection device may also be connected to a tap or a faucet, so that cleaning liquid such as clean water can be automatically or manually injected into the clean water tank 411 when necessary.

[0137] In order to facilitate the discharge of dirty liquid in the sewage tank 49, illustratively, a sewage outlet 45 is provided in the sewage tank 49, and the sewage outlet 45 is used to discharge the dirty liquid in the sewage tank 49. For example, the sewage outlet 45 can also be connected to the sewer floor drain. When in use, the sewage outlet can be blocked by a sealing cover, and when discharging sewage, the sealing cover is opened to discharge the dirty liquid.

[0138] When the device body 210 is connected to the mopping module 232, an exemplary working process is as follows: after the device body 210 replaces the mopping module 232 in the base station, the residual sewage is sucked away through the sewage outlet 45 to ensure that the sewage tank 49 is emptied, and at the same time, the clean water tank 411 is filled with available clean water through the clean water inlet 44. After that, the cleaning device starts working. The clean water in the clean water tank 411 enters the water spray port 47 through the action of the water pump 412, and is sprayed onto the mopping brush head 41. The mopping brush head 41 rotates driven by the second brush head driving motor 42. After the water is sprayed, the wet mopping brush head 41 rotates with the ground to take away the dirt on the ground. When the mopping brush head 41 rotates one circle to the wiper 48, the dirty liquid on the mopping brush head 41 is scraped off by the wiper 48 and falls into the water suction port 46. The fan 212 starts working, and the dirty liquid is sucked into the sewage tank 49 under the action of the fan 212 and the air duct connected to the first air suction port, completing the mopping process.

[0139] The cleaning module 231 and the mopping module 232 of the present application are connected to the device body 210 through the quick release mechanism 3, respectively, so that quick connection or separation can be achieved. When sweeping the floor, the device body 210 does not need to carry the mopping module 232 that does not participate in the work, and does not need to carry the cleaning module 231 that does not participate in the work when mopping the floor. The device body 210 does not need to carry an additional load, which reduces the waste of energy. When the mopping module 232 is mopping the floor, the brush head can be cleaned and the sewage can be collected through the clean water box and the sewage box while mopping the floor, so that the brush head can be self-cleaned during the work process, and the work efficiency and cleaning effect are improved. The cleaning and mopping work are carried out separately, and each item can be optimized. In addition, it can also prevent the deterioration of cleaning caused by mopping the floor without cleaning it cleanly when sweeping and mopping the floor are working together.

[0140] In another embodiment, in order to facilitate the installation of the cleaning module to the device body, as Fig.24 and Fig.25 As shown, a groove for accommodating the cleaning module is provided on the device body, and the opening size of the groove gradually decreases along the installation direction of the cleaning module to ensure the assembly accuracy of the cleaning module and the device body. The size of the groove matches the size of the cleaning module. Optionally, the groove can be provided at the bottom of the device body, or other suitable position, with a first opening facing the working surface so that the installed cleaning module faces the working surface. For example, in order to facilitate the installation of the cleaning module, a second opening can also be provided on one side of the groove located on the side of the cleaning device body.

[0141] In order to ensure the assembly accuracy and tighten in the locking position to ensure that the cleaning module does not fall off, such as Fig.24 and Fig.25 As shown, a positioning member 61 is provided on the device body, and a matching portion 62 matching the positioning member 61 is provided on the cleaning module. The positioning member 61 is used to align the first connection mechanism 51 and the second connection mechanism 52 when the cleaning module is installed on the device body, so as to ensure assembly accuracy. For example, the positioning member 61 has a first positioning surface and a second positioning surface arranged opposite to the first positioning surface. Both the first positioning surface and the second positioning surface are inclined toward the outside of the cleaning device relative to the disassembly direction of the cleaning module, that is, both the first positioning surface and the second positioning surface are inclined surfaces, wherein the disassembly direction of the cleaning module is parallel to the forward direction of the cleaning device, as shown in FIG. Fig.24 and Fig.25As shown, the mating portion 62 of the cleaning module includes a first positioning surface and a second positioning surface respectively matching the first mating surface and the second mating surface. The first positioning surface and the second positioning surface can also limit the movement of the cleaning module in a direction perpendicular to the disassembly direction of the cleaning module, thereby preventing the cleaning module from falling off the equipment body. In addition, since the first positioning surface and the second positioning surface are inclined, the first positioning surface and the second positioning surface can provide an upward supporting force to the cleaning module, thereby preventing the cleaning module from falling off the equipment body.

[0142] The first positioning surface and the second positioning surface serve as partial side walls of the groove, and together with the surface of the bottom of the device body and the surface perpendicular to the disassembly direction of the cleaning module, form a groove for accommodating the cleaning module.

[0143] In order to realize the automatic disassembly and installation of the cleaning module and the equipment body, refer to Figure 24 to Figure 29 The cleaning device of the present application may also include a quick-release mechanism 50, through which the cleaning module is detachably connected to the device body. The quick-release mechanism 50 is used to realize automatic installation and disassembly of the cleaning module, thereby realizing the function of automatic disassembly and installation and replacement of the cleaning module, freeing the user's hands and making it more convenient, clean and safe.

[0144] In some embodiments, Fig.24 As shown, the quick-release mechanism 50 includes a first connecting mechanism 51 and a second connecting mechanism 52, one of the first connecting mechanism 51 and the second connecting mechanism 52 is arranged on the cleaning module, and the other is arranged on the equipment body, and the first connecting mechanism 51 and the second connecting mechanism 52 can be plug-connected, and the plug-in can refer to that part of one of the first connecting mechanism 51 and the second connecting mechanism 52 is inserted into the other.

[0145] The first connection mechanism 51 and the second connection mechanism 52 can be implemented as any suitable structure that can be automatically plugged in and automatically separated, so as to realize the function of automatically disassembling and installing and replacing the cleaning module, which can free the user's hands and is more convenient, clean and safe. In one embodiment, the quick-release mechanism 50 includes a first connection mechanism 51 and a second connection mechanism 52, one of the first connection mechanism 51 and the second connection mechanism 52 is set on the cleaning module, and the other is set on the device body. The first connection mechanism 51 and the second connection mechanism 52 can be detachably plugged in and connected, for example, Fig.26 He Ru Fig. 27 As shown, the first connection mechanism 51 is arranged on the cleaning module, and the second connection mechanism 52 is arranged on the device body. In a specific example, the first connection mechanism 51 includes a latch, and the second connection mechanism 52 includes a slot matching the latch, and part of the latch can be inserted into the slot.

[0146] In order to achieve locking and unlocking of the first connecting mechanism 51, as Fig.26 He Ru Fig. 27 As shown, the quick release mechanism 50 further includes a locking component and an unlocking component, wherein the locking component is used to limit the separation of the first connecting mechanism 51 and the second connecting mechanism 52 in a connected state, and the unlocking component is used to unlock the locking component so that the first connecting mechanism 51 and the second connecting mechanism 52 can be separated, and the locking component and the unlocking component can be implemented as any suitable component capable of locking and unlocking. Optionally, the locking component and the unlocking component can both be arranged on the device body.

[0147] In one example, the locking assembly may include a locking piece 521, which may be, for example, a steel ball or other suitable component. An opening matching the locking piece 521 is provided on the side wall of the slot. The locking piece is movably arranged in the opening between a locking position and an unlocking position. The locking piece at the locking position abuts against the slot to lock the latch, while the locking piece at the unlocking position no longer presses the latch, thereby unlocking the connection between the latch and the slot.

[0148] In a specific example, the first connecting mechanism 51 includes a latch, the second connecting mechanism 52 includes a slot matching the latch, and the locking assembly includes a locking member 521 (such as a steel ball or other suitable component). When the latch is inserted into the slot, the locking member 521 presses the latch to achieve locking to limit the separation of the latch from the slot. For example, a slot is also provided on the latch, such as on the side wall of the latch. When the latch is inserted into the slot, the locking member 521 abuts against the slot, thereby pressing the latch to achieve locking to limit the separation of the latch from the slot.

[0149] In order to achieve locking and unlocking between the first connecting mechanism 51 and the second connecting mechanism 52, in a specific example, the locking assembly also includes a limit member 525, which is movably arranged on the outside of the slot between a first position and a second position. When the pin is inserted into the slot, the limit member 525 is in the first position and abuts against the locking member 521 to apply a force toward the pin, such as toward the slot on the pin, to the locking member 521, so that the locking member 521 presses the pin to achieve locking, so as to limit the separation of the pin from the slot.

[0150] In order to realize automatic unlocking of the first connection mechanism 51 and the second connection mechanism 52, optionally, the unlocking assembly is connected to the limiting member 525, and is used to move the limiting member 525 from the first position to the second position to unlock the locking member so that the latch and the slot can be separated. For example, when the limiting member 525 is in the first position, the distance between the side of the limiting member 525 and the opening where the locking member 521 is set is a first distance, and when the limiting member 525 is in the second position, the distance between the side of the limiting member 525 and the opening where the locking member 521 is set is a second distance, wherein the second distance The distance is greater than the first distance, so that when the limit member 525 switches from the first position to the second position, the pin moving in the direction opposite to the insertion direction applies a force toward the limit member 525 to the locking member, causing the locking member to switch from the locked position to the unlocked position, which can make the locking member 521 move a certain distance to the outside of the slot so that the pin can be pulled out of the slot, and when the limit member 525 switches from the second position to the first position, the locking member 521 can move a certain distance into the slot, that is, switch from the unlocked position to the locked position, so as to compress the pin and achieve locking.

[0151] In order to automatically unlock the locking component through the unlocking component so that the pin and the slot can be separated, in some embodiments, the unlocking component includes an electromagnet 524 and a magnetic member 523, the magnetic member 523 is connected to the limit member 525, the electromagnet 524 is energized to attract the magnetic member 523 to move toward the electromagnet 524, thereby driving the limit member 525 to move from the first position to the second position, thereby realizing the unlocking of the locking component such as the locking member 521, and after the unlocking is completed, the pin and the slot can be separated from each other, for example, the cleaning module can be automatically disassembled by the disassembly mechanism to move to the side away from the device body, and the pin inserted in the slot can be pulled out, or the cleaning module can be stationary while the device body moves to the side away from the cleaning module to pull out the pin inserted in the slot.

[0152] Optionally, the magnetic conductive member 523 may be, for example, iron or other suitable magnetic conductive member 523, or may also be a permanent magnet, such as a magnet or a neodymium iron boron magnet.

[0153] The locking assembly also includes a reset member, which is used to reset the limit member 525 to the first position. For example, the reset member can be a spring 522 or other elastic component. For example, the reset member of the spring 522 can connect the limit member 525 and the magnetic member 523, so that when the electromagnet 524 is energized, the magnetic member 523 drives the limit member 525 to move toward the electromagnet 524 and compresses the reset member such as the spring 522. When the electromagnet 524 is de-energized, there is no attraction between the magnetic member 523 and the electromagnet 524, so that the reset member such as the spring 522 restores its deformation and applies a force to the limit member 525, thereby resetting the limit member 525 to the first position.

[0154] It is worth mentioning that after the latch leaves the slot, the locking member 521 , such as a steel ball, may further move a predetermined distance into the slot due to the absence of the latch blocking it.

[0155] This application also provides another quick release mechanism, such as Fig.28 and Fig.29 As shown, the quick release mechanism can also be used to realize the automatic disassembly and installation of the cleaning module and the main body of the equipment, for example, the first connecting mechanism of the quick release mechanism includes a driver and a first connecting part connected to the driver by transmission, the second connecting mechanism includes a second connecting part, the driver is used to drive the first connecting part to rotate so that the first connecting part is threadedly connected to the second connecting part, thereby connecting the main body of the equipment with the cleaning module, and the driver is also used to drive the first connecting part to rotate in the opposite direction so that the first connecting part is separated from the second connecting part, thereby separating the main body of the equipment from the cleaning module. Optionally, the driver can include a motor 74 or other suitable driving devices, and the first connecting part can include a lead screw 73 or other suitable structures, and the motor 74 is connected to the lead screw 73, for driving the lead screw to rotate in a first rotation direction, or for driving the lead screw 73 to rotate in a second rotation direction, and the first rotation direction and the second rotation direction are opposite to each other. The automatic connection and separation of the first connecting mechanism and the second connecting mechanism can be realized by the driver driving of, for example, the motor 74, thereby installing and separating the main body of the equipment and the cleaning module.

[0156] In one example, if Fig.28 and Fig.29 As shown, the first connection mechanism can be arranged on the device body, the second connection mechanism can be arranged on the cleaning module, a fixing hole is further arranged in the cleaning module, the second connection part is arranged inside or outside the fixing hole, and the second connection part is, for example, a nut 72 or other structure with threads. Optionally, the diameter of the fixing hole can be larger than the diameter of the first connection part, for example, the lead screw 73, so that part of the lead screw 73 can be inserted into the fixing hole, and the first connection part can be a nut 72 with internal threads, and the lead screw 73 can be threadedly connected to the nut 72.

[0157] In one embodiment, the second connecting mechanism also includes an intermediate component such as a spring 71 or other elastic component, wherein the intermediate component abuts the second connecting part, and when the first connecting part is inserted into the second connecting part, the intermediate component applies a force on the second connecting part that is opposite to the insertion direction, so that the second connecting part contacts the first connecting part, thereby ensuring that the second connecting part and the first connecting part can be threadedly connected.

[0158] like Fig.28 and 29As shown, the installation and removal process of the cleaning module is as follows: when installing, the cleaning module is positioned and merged to the corresponding alignment position according to the positioning mechanism (such as two inclined surfaces), the lead screw 73 is inserted into the fixing hole, the spring 71 continuously outputs force to ensure that the nut 72 is in contact with the lead screw 73, and the lead screw 73 motor 74 starts to tighten the nut 72 to achieve locking. When unlocking, the lead screw 73 motor 74 reverses to loosen the nut 72 engagement, and the cleaning module can be unlocked, so that the cleaning module can be automatically removed.

[0159] The sensor module of the cleaning device of the present application can be used to sense the surrounding environment, so that with the cooperation of various sensors, adaptive operations can be achieved in various environments. For example, the sensor module can sense that the cleaning device enters the base station to disassemble the cleaning module, and the processor of the cleaning device can control the quick release mechanism to automatically unlock the connection between the first connecting mechanism and the second connecting mechanism through the acquired sensing information, such as controlling the power supply to the electromagnet or controlling the reverse rotation of the screw motor. The processor can also be used to control the device body to move to the storage area of ​​the base station for placing another cleaning module when the sensor module obtains that the disassembly is completed, so as to install the cleaning module. When it is obtained that the cleaning module needs to be installed, the device body and the cleaning module can be controlled to move relative to each other until the cleaning module and the device body are automatically connected and installed through the quick release mechanism, so that the automatic replacement between multiple cleaning modules can be achieved without the user having to do it.

[0160] When a cleaning module is replaced in the base station, it can be placed in the base station to perform pre-cleaning preparation and post-processing work, such as washing mops, adding clean water, draining sewage, collecting dust, etc. At this time, the cleaning equipment can continue to perform work without waiting for the preparation work of the cleaning module to be completed, which greatly improves the cleaning efficiency of the cleaning equipment.

[0161] The base station of the present application is used for the cleaning equipment to dock, and the cleaning equipment is used to complete the disassembly and installation of the equipment body and the cleaning module on the base station. Figure 30 to Figure 33 , an exemplary description is given of the action logic of the cleaning device of the present application entering the base station to replace the cleaning module:

[0162] 1. The action logic of returning to the base station to replace the second cleaning module is as follows: First, Fig.30 As shown, the cleaning device with the first cleaning module returns to the base station, for example, returns to the first floor of the base station, removes the first cleaning module on the first floor of the base station, and temporarily stores the first cleaning module on the first floor of the base station. Fig.31As shown, the main body of the cleaning device is moved backward to avoid obstacles and lifted up by the lifting mechanism. The cleaning device climbs up to the second layer by its own power or the power provided by the lifting mechanism. The second cleaning module is stored on the second layer and installed on the second layer. After the installation is completed, the cleaning device exits the base station and continues to work with the second cleaning module.

[0163] 2. The action logic of returning to the base station to replace the first cleaning module is as follows: First, Fig.32 As shown, the cleaning device with the second cleaning module returns to the base station and is placed on the lifting mechanism. The cleaning device is lifted by the lifting mechanism. The cleaning device climbs up to the second floor by its own power or the power provided by the lifting mechanism, and the second cleaning module is disassembled. The disassembled second cleaning module is temporarily stored on the second floor of the base station. Afterwards, Fig.33 As shown, the main body of the cleaning equipment is moved backward to avoid obstacles through the lifting mechanism, and is lowered and laid flat so that the cleaning equipment can enter the first floor of the base station and install the first cleaning module on the first floor. After the installation is completed, the cleaning equipment exits the base station and continues to work with the second cleaning module.

[0164] Further, if Figure 34 to Figure 36 As shown, after the device body 210 returns to the base station with the cleaning module, such as the sweeping module 231 or the mopping module, it first comes to the lifting plate 120 of the lifting mechanism 160 on the first floor. For the description of the lifting mechanism 160, please refer to the previous text. The lifting plate 120 is connected to the lifting component fixed to the side of the base station body 100 and connected to the lifting plate 120. The lifting component drives the lifting plate 120 to move up and down, thereby driving the device body 210 to move up and down. Fig.37 As shown, when the device body 210 returns to the base station with, for example, a cleaning module 231 or a mopping module, in order to realize the disassembly and installation of the cleaning module in the base station, a disassembly mechanism 170 is provided inside the base station body 100. The disassembly mechanism 170 is connected to the base station body, and the disassembly mechanism 170 is used to disassemble the cleaning module from the device body or install the cleaning module to the device body.

[0165] Optionally, the base station body in the present application includes at least two accommodating spaces, each accommodating space is used to place a cleaning module, each accommodating space can be used to place cleaning modules with different functions or cleaning modules with the same function, in order to realize the disassembly or installation of each cleaning module, a disassembly mechanism 170 can be provided in each accommodating space, for example, Fig.37As shown, a disassembly mechanism 170 is placed in the accommodation space on the first floor of the base station, which is retracted and fixed at the innermost position of the base station, and the innermost position is far away from the entrance of the base station, and a disassembly mechanism 170 is placed in the solute space on the second floor of the base station, and the disassembly mechanism 170 is fixed to accommodate another cleaning module, such as a mopping module 232. Alternatively, in some embodiments, at least two accommodation spaces share one disassembly mechanism 170, and the disassembly and installation of all cleaning modules are achieved through one disassembly mechanism 170.

[0166] Furthermore, the base station of the present application also includes a moving mechanism, which is used to move the cleaning equipment between the various accommodating spaces. The moving mechanism can be a translational moving mechanism or can also be a lifting mechanism 160. For example, the moving mechanism can be a lifting mechanism 160. At least two accommodating spaces are different accommodating spaces arranged in upper and lower layers. The lifting mechanism 160 is used to lift the cleaning equipment between accommodating spaces of different heights. The lifting mechanism 160 can be implemented as the lifting mechanism described above or can also be implemented by other applicable lifting mechanisms.

[0167] In one example, the base station further includes a charging module, which is disposed on the mobile mechanism to charge the device body on the mobile mechanism. During the operation of the base station, the device body can always remain in a relative position on the lifting mechanism 160, which is conducive to charging through the charging module on the lifting mechanism 160, so that when the cleaning module is replaced inside the base station, the device body can be charged in a fragmented manner, taking into account both the use and charging functions.

[0168] Taking at least two accommodating spaces as different accommodating spaces arranged in upper and lower layers as an example, refer to Fig.38 and Fig.39 When the device body 210 carries the cleaning module, such as the cleaning module 231, back to the bottom of the base station, it will return to the top of the lifting plate 120 of the lifting mechanism 160. At this time, the disassembly mechanism 170 automatically moves toward the side where the cleaning device is located, and moves to the bottom of the cleaning module, such as the cleaning module 231, and automatically disassembles the cleaning module, such as the cleaning module 231. Then the disassembly mechanism 170 automatically moves with the cleaning module 231 to the side away from the device body, thereby returning to the storage position inside the base station body.

[0169] Further, if Fig.40 and Fig.41 As shown, after the cleaning module 231 is disassembled, the device body 210 is lifted by the lifting plate 120 and is lifted to the height of the second floor by the movement of the lifting assembly, as shown in FIG. Fig.41 As shown, at this time, the second-layer disassembly mechanism 170 automatically moves toward the device body 210 with another cleaning module, such as the mopping module 232, and inserts the mopping module 232 into the device body 210 to achieve the installation of another cleaning module.

[0170] like Fig.42 As shown, after the device body 210 is connected to another cleaning module such as the mopping module 232, the 2-layer disassembly mechanism 170 automatically moves to the side away from the device body 210 and returns to the fixed storage position. At this time, the synchronous lifting plate 120 carries the device body 210 down to the storage space of the first layer of the base station. After that, the cleaning device automatically retreats and leaves the base station, and uses another cleaning module such as the mopping module 232 to carry out a new round of cleaning activities.

[0171] In one example, if Fig.37 and Fig.44 As shown, the base station of the present application also includes a disassembly mechanism 170, which is connected to the base station body, and the disassembly mechanism 170 is used to disassemble the cleaning module from the device body or install the cleaning module to the device body; and also includes a drive component, which is transmission-connected to the disassembly mechanism 170, and the drive component is configured to: drive the disassembly mechanism 170 to move toward or away from the cleaning device to disassemble or install the cleaning module. The disassembly mechanism 170 of the present application does not require the user to use his hands, and the replacement of the cleaning module can be realized without contact and automatically, which is faster, more sanitary and intelligent, and improves the user experience.

[0172] In order to realize the installation and disassembly of the cleaning module, the disassembly mechanism 170 includes: a mechanism body 172 and a disassembly member arranged on the mechanism body 172, the driving assembly is in transmission connection with the mechanism body 172, the disassembly member is used to contact the cleaning module to disassemble or install the cleaning module, for example, the disassembly member includes a clamping mechanism, the clamping mechanism is used to clamp the cleaning module to disassemble or install the cleaning module, and optionally, the clamping mechanism may include but is not limited to a manipulator or other suitable mechanism. Alternatively, the disassembly mechanism 170 may also be implemented as follows Figures 43 to 50 The structure shown, some details will be described below.

[0173] In one example, if Fig.43 and Fig.44 As shown, a limiting groove 234 can be set at the bottom of a cleaning module, such as a sweeping module 231 or a mopping module 232. The number of the limiting grooves 234 can be reasonably set according to actual needs, for example, it can be one or more. The drawings of the present application only show the case where there are two limiting grooves 234. A disassembly part is provided on the mechanism body 172 of the disassembly mechanism 170 corresponding to the cleaning module. The disassembly part may include a limiting part 171, and the limiting part 171 is retractably arranged on the mechanism body 172. When the mechanism body 172 moves to the bottom of a cleaning module, such as a sweeping module 231, the limiting part 171 pops up and enters and exits the limiting groove 234 corresponding to the bottom of the cleaning module, thereby realizing the fixed disassembly of the cleaning module.

[0174] Below, reference Figures 45 to 49 , an exemplary disassembly mechanism 170 of the present application is described, such as Fig.45 As shown, the disassembly mechanism 170 includes a mechanism body 172, on which a receiving groove 177 is provided, and the disassembly member includes a limit member 171, which is retractably provided on the mechanism body 172, and the limit member 171 is penetrated in the receiving groove 177, and the limit member 171 is configured to be able to extend outside the receiving groove 177 or to be retracted in the receiving groove 177, wherein the limit member 171 is also used to extend into the limit groove 234 on the cleaning module, and the limit member 171 may include one or more vertical protrusions, for example, Fig.45 As shown, the limiting member 171 includes two protrusions, and the two protrusions are connected by a connecting plate to achieve synchronous extension and retraction of the two protrusion structures.

[0175] Continue to refer Fig.45 In order to realize the control of the extension and retraction of the limit member 171, illustratively, the disassembly mechanism 170 also includes a magnetic attraction component, which is used to extend the limit member 171 outside the receiving groove 177. For example, the magnetic attraction component includes a magnetic component 176 and an electromagnetic component 174. Optionally, the magnetic component 176 includes but is not limited to a permanent magnet or other magnetic components 176. One of the magnetic component 176 and the electromagnetic component 174 is arranged on the mechanism body 172, and the other is arranged on the limit member 171. For example, the magnetic component 176 is installed on the limit member 171, and the magnetic component 176 can be arranged on The upper surface or lower surface of the connection plate of the stopper 171 may be embedded in the connection plate, and optionally, it may also be connected to the connection plate by bonding or other fixing methods or directly adsorbed on the connection plate (for example, the magnetic component 176 may include a permanent magnet or other suitable magnetic component, and the connection plate contains ferrous metal or alloy). The electromagnetic component 174 (for example, an electromagnetic switch) is installed on the mechanism body 172 (for example, embedded in the mechanism body 172). When the electromagnetic component 174 is energized, a magnetic force is formed between the electromagnetic component 174 and the magnetic component 176, and the magnetic force causes the stopper 171 to extend outside the accommodation groove 177. Optionally, the electromagnetic component 174 and the magnetic component 176 are arranged relative to each other so that a magnetic force can be generated between the two.

[0176] Continue to refer Fig.45 The disassembly mechanism 170 also includes a cover plate 173, which is disposed at the bottom of the mechanism body 172 and is detachably connected to the mechanism body 172, and can be used to support and shield the limit member 171, the first reset member 175, the magnetic component and other components above it.

[0177] In one example, if Fig.45As shown, the disassembly mechanism 170 also includes a first reset member 175, which is used to reset the limiting member 171 so that the limiting member 171 shrinks in the receiving groove 177. Optionally, the first reset member 175 can be any suitable structure that can achieve reset, for example, the first reset member 175 is a spring, such as a tension spring or a compression spring. Exemplarily, when the first reset member 175 is a tension spring, one end of the tension spring is connected to the limiting member 171, such as a connecting plate connected to the limiting member 171, and the other end can be connected to the cover plate 173 located below the limiting member 171, so as to always provide a force to make the protrusion of the limiting member 171 accommodated in the receiving groove 177, and when the electromagnetic component 174 is energized, the tension of the tension spring is overcome to make the protrusion of the limiting member 171 extend to the outside of the receiving groove 177 and extend into the limiting groove 2 at the bottom of the cleaning module. 34. For another example, when the first reset member 175 is a compression spring, one end of the compression spring is connected to the limit member 171, and the other end abuts against the mechanism body 172 which is opposite to the connecting plate of the limit member 171 and located above the connecting plate, thereby always providing a force to make the protrusion of the limit member 171 be accommodated in the receiving groove 177. When the electromagnetic component 174 is energized, the pressure of the compression spring is overcome to make the protrusion of the limit member 171 extend to the outside of the receiving groove 177 and extend into the limit groove 234 at the bottom of the cleaning module.

[0178] like Fig.46 and Fig.47 As shown, under normal circumstances, the first reset member 175, such as a spring, generates elastic force to shrink the limit member 171 into the receiving groove 177 without protruding out of the receiving groove 177. When it is aligned with the limit groove 234 at the bottom of the cleaning module, it will not extend into the limit groove 234. Fig.48 and Fig.49 As shown, when the electromagnetic component 174, such as an electromagnetic switch, is turned on, a magnetic force will be generated to attract the limit member 171 to move upward. At this time, the two protrusions of the limit member 171 will protrude out of the accommodating groove 177 (that is, extend above the surface of the mechanism body 172), thereby entering and exiting the cleaning module, such as the limit groove 234 at the bottom of the cleaning module 231, for disassembly or installation.

[0179] In some embodiments, the disassembly mechanism 170 further includes a second reset member, which is used to shrink when subjected to pressure so that the limit member 171 shrinks into the receiving groove, and reset the limit member 171 so that part of the limit member 171 extends out of the receiving groove 177. Optionally, the second reset member can be a spring, such as a compression spring or a tension spring. When the second reset member is a compression spring, one end of the compression spring is connected to the limit member 171, such as a connecting plate connected to the limit member 171, and the other end can be connected to the cover plate 173 located below the limit member 171, so as to always provide a convex position of the limit member 171. The force that causes the protrusion of the limit member 171 to extend to the outside of the receiving groove 177 is exerted, and when the limit member 171 is subjected to pressure, the pressure of the compression spring is overcome and the protrusion of the limit member 171 is received in the receiving groove 177. For another example, when the second reset member is a tension spring, one end of the tension spring is connected to the limit member 171, and the other end is connected to the mechanism body 172 which is opposite to the connecting plate of the limit member 171 and located above the connecting plate, thereby always providing a force that causes the protrusion of the limit member 171 to extend to the outside of the receiving groove 177, and when the limit member 171 is subjected to pressure, the tension of the tension spring is overcome and the protrusion of the limit member 171 is received in the receiving groove 177.

[0180] In some embodiments, the aforementioned magnetic suction component is used to retract the limiting member 171 into the receiving groove 177, and it can be used in conjunction with the second resetting member to retract the limiting member 171 into the receiving groove 177 so as to separate the disassembly mechanism 170 and the cleaning module. For example, when the disassembly mechanism 170 is installed, the limiting member 171 can be retracted into the receiving groove 177 through the magnetic suction component, thereby disengaging from the limiting groove 234 at the bottom of the cleaning module, and the disassembly mechanism 170 and the cleaning module can be separated.

[0181] In one embodiment, the base station also includes a controller (not shown) such as a microcontroller unit (MCU), which is used to control the disassembly mechanism 170 to disassemble the cleaning module of the cleaning device or install the cleaning module to the cleaning device. The control includes but is limited to controlling the electromagnetic component 174 (such as an electromagnetic switch) of the disassembly mechanism 170 to turn on or off, and controlling the driving component of the disassembly mechanism 170 to drive the disassembly mechanism 170 to move toward or retreat toward the cleaning device.

[0182] Exemplarily, the cleaning device includes a sensor module such as a distance sensor, which is used to detect the distance information between the cleaning device and the disassembly mechanism 170. The base station includes a communication interface for communicating with the cleaning device. The controller is used to: obtain the distance information, and determine whether the limit member 171 of the disassembly mechanism 170 is aligned with the limit groove 234 on the cleaning module based on the distance information. When it is determined based on the distance information that the limit member 171 of the disassembly mechanism 170 is aligned with the limit groove 234 on the cleaning module, the limit member 171 is controlled to extend into the limit groove 234, the disassembly mechanism 170 retreats or the cleaning device retreats or the two move in opposite directions, so that the cleaning module and the device body can be separated.

[0183] In order to realize the movement of the disassembly mechanism 170 so as to install or disassemble the cleaning module, the driving assembly for driving the disassembly mechanism 170 to move can be implemented as follows: Figure 50 to Figure 54 In the structure shown, the driving component includes: a driver 181 and a first transmission component mechanically coupled to the driver 181, the driver 181 is used to drive the first transmission component to move, the first transmission component is connected to the mechanism body 172, and is used to drive the mechanism body 172 to move toward or away from the cleaning device. Optionally, the first transmission component includes a first transmission wheel 1821, a second transmission wheel 1822 and a conveyor belt 183, the driver 181 is connected to the first transmission wheel 1821 for transmission, the conveyor belt 183 is mounted on the first transmission wheel 1821 and the second transmission wheel 1822, and the conveyor belt 183 is connected to the mechanism body 172.

[0184] A set of driving components can be set on both opposite sides inside the base station. Only one set of driving components can have the driver 181 while the other set can not be provided with the driver 181, or both sets of driving components can have their own drivers 181. The specific settings can be reasonable according to actual needs.

[0185] In a specific example, a group of driving components are arranged on opposite sides inside the base station. The first transmission wheel 1821 and the second transmission wheel 1822 can be gears. Bearing 180 fixing positions are respectively arranged on the first side (also called the left side) and the second side (also called the right side) opposite to the first side inside the base station body. The bearing 180 fixing positions are used to fix the bearing 180. Each first transmission wheel 1821 and the second transmission wheel 1822 are connected to the bearing 180. For example, a transmission belt 183 of a gear belt is sleeved on the first transmission wheel 1821 and the second transmission wheel 1822, and the transmission belt 183 is connected to the mechanism body 172 through the optical axis 185. The first transmission wheel 1821 on the first side is axially connected to the driver 181, such as a power motor, to drive the second transmission wheel 1822 to rotate, thereby driving the transmission belt to move, and then driving the disassembly mechanism 170 to move forward and backward (for example, move toward the cleaning equipment or move away from the cleaning equipment).

[0186] Optionally, the structure of the disassembly mechanism 170 is substantially symmetrical on the left and right, that is, symmetrical about the central axis of the disassembly mechanism 170, and its central axis is parallel to the installation direction of the cleaning module. The driving force can be generated only by connecting the structure of the mechanism body 172 of the disassembly mechanism 170 located on the first side of the base station body to the driver 181, and the structure adjacent to the mechanism body 172 located on the second side of the base station body is connected to the second transmission wheel 1822 of another group of drive components, and the conveyor belt 183 of the other group of drive components is connected to the mechanism body 172 through the optical axis 185.

[0187] In one example, a shaft sleeve may be further provided on the conveyor belt 183 , and the optical axis 185 is passed through the shaft sleeve and connected to the mechanism body 172 , thereby driving the mechanism body 172 to move forward and backward under the drive of the driver 181 .

[0188] Continue to refer Figure 50 to Figure 54 The driving assembly also includes a driven wheel 184, which is connected to the mechanism body 172. The base station body is provided with a sliding groove, in which the driven wheel 184 can be slidably arranged. The sliding groove is used to accommodate the driven wheel 184 to move back and forth therein. Optionally, the driven wheel 184 includes but is not limited to a bearing 180 roller. The sliding groove can allow the bearing 180 wheel to be nested therein. When the mechanism body 172 is moved by the transmission belt, the driven wheel 184 is moved together in the sliding groove.

[0189] like Figure 51 to Figure 54 As shown, the driving component can drive the disassembly mechanism 170 to disassemble the cleaning module, such as the cleaning module 231, and drive the disassembly mechanism 170 to carry the disassembled cleaning module to the storage position in the base station, so as to store the disassembled cleaning module in the accommodating space of the base station.

[0190] Through the above-mentioned disassembly mechanism and drive assembly, the cleaning device can enter the base station to replace the cleaning module. For example, the storage spaces at different heights of the base station can be used to place different cleaning modules 230, and the cleaning device 200 can enter the storage spaces at different levels in turn to replace the cleaning modules 230. Figure 11-12 , to explain the process in detail. The device body 210 is first detachably connected to the cleaning module 231, and the cleaning module 231 is used to clean the surface to be cleaned. After the cleaning is completed, when the lifting plate 120 is in the lifted state, the cleaning device 200 enters the lower storage space of the base station body 100, removes the cleaning module 231, and leaves the cleaning module 231 in the lower space. The device body 210 exits the base station, and then the lifting plate 120 descends to the unlifted state. See the attached Fig.12 , the device body 210 moves toward the lifting plate 120 that is not lifted, and when the device body 210 is located on the lifting plate 120, the lifting plate 120 is lifted. Fig.12 , the lifting plate 120 lifts the device body 210 to the upper accommodating space, and the device body 210 moves forward until it is connected to the mopping module 232 placed in the upper accommodating space. After the mopping module 232 is connected to the device body 210, the lifting plate 120 drives the cleaning device 200 (including the device body 210 and the mopping module 232) thereon to descend to an unlifted state, and the cleaning device 200 moves from the lifting plate 120 to the surface to be cleaned outside the base station, and mops the surface to be cleaned through the mopping module 232 thereon. Thus, the cleaning device 200 can replace different cleaning modules 230 in the accommodating spaces of different layers of the base station to clean the surface to be cleaned. By cleaning the surface to be cleaned with two different cleaning modules 230, the cleaning effect can be effectively improved.

[0191] In some embodiments, the base station further includes a recycling mechanism provided in the base station body 100, and the recycling mechanism includes a suction source, a recycling center, a first recycling channel, and a second recycling channel. The suction source may include a fan 212, and the recycling center may include a dirt collection box. The suction source is connected to the recycling center, and the two ends of the first recycling channel are respectively used to connect the recycling center and the dust discharge port in the dust box 26 of the cleaning module 231 located at a preset position in the base station, and the suction source is used to generate suction to collect the dirt in the dust box 26 through the first recycling channel to the dirt collection box in the recycling center. The two ends of the second recycling channel are respectively used to connect the recycling center and the sewage outlet 45 of the sewage tank 49 in the mopping module 232 located at a preset position in the base station, and the suction source is used to generate suction to collect the dirt in the sewage tank 49 through the second recycling channel to the dirt collection box in the recycling center, and the recycling center can selectively connect to one of the first recycling channel and the second recycling channel according to the type of the cleaning module 230. Specifically, the recycling center can identify the type of the cleaning module 230 in the base station body (for example, identify whether it is a cleaning module 231 or a mopping module 232), and then selectively connect it to one of the first recycling channel and the second recycling channel through a medium flow control device such as a three-way control valve. For example, after identifying that it is a cleaning module 231. The recycling center is connected to the first recycling channel, and the dust outlet in the dust box 26 of the cleaning module 231 is connected through the first recycling channel to collect the dirt in the dust box 26 of the cleaning module 231; after identifying that it is a mopping module 232. The recycling center is connected to the second recycling channel, and the sewage outlet 45 in the sewage tank 49 of the mopping module 232 is connected through the second recycling channel to collect the dirt in the sewage tank 49 of the mopping module 232.

[0192] In summary, the cleaning system according to the present invention can have the following beneficial effects:

[0193] 1. The space utilization rate of the base station in the height direction is fully utilized. The base station can accommodate multiple cleaning devices 200 or multiple cleaning modules 230 of the cleaning devices 200 through multi-layer accommodating spaces, so that the cleaning devices 200 can be stored, dirt collected, or the cleaning modules 230 replaced in the accommodating spaces on different layers.

[0194] 2. The base station can cooperate with multiple cleaning devices 200, so it can be effectively applied to the scene where multiple cleaning devices 200 work together to improve the cleaning efficiency; it can also be used for a single cleaning device 200 to replace different modules to work and improve the cleaning effect.

[0195] 3. The cleaning module of the cleaning equipment can be automatically replaced, and the removed cleaning module can be left in the base station for self-cleaning, so that the cleaning equipment can keep working continuously;

[0196] 4. The cleaning system of the present application can realize the equipment body of the same cleaning device by automatically replacing the cleaning module to realize different functions, such as short-bristle brush, long-bristle brush, mop, etc., thereby expanding the function of the cleaning device.

[0197] 5. It can avoid users from manually touching the cleaning module, thus making it easier for users to use and making it more convenient, clean and safe.

[0198] 6. The cleaning system of the present invention can realize automatic replacement of cleaning modules. By replacing them inside the base station, the cleaning equipment can select different cleaning modules for different material environments, such as carpets, wooden floors, tiles, etc., to achieve automatic identification and automatic adaptive cleaning of complex environments throughout the house, which is more intelligent.

[0199] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0200] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0201] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0202] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0203] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstract and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0204] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0205] It should be noted that the above embodiments illustrate rather than limit the present application, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

Claims

1. A cleaning system, characterized in that: The cleaning system comprises: Base stations; and A cleaning device, comprising: An equipment body and a cleaning module detachably connected to the equipment body; the cleaning module includes a sweeping module and a mopping module, and one of the sweeping module and the mopping module is selectively connected to the equipment body; A driving mechanism, used for driving the main body of the device to move forward; The base station is used in conjunction with the cleaning equipment, including: A base station body, wherein the base station body has at least two layers of accommodation spaces at different heights; A lifting mechanism, disposed on the base station body, configured to: switch the cleaning equipment placed in the base station body between the accommodating spaces at different heights; A charging module, disposed in the base station body, for charging the cleaning device entering the base station; A disassembly mechanism connected to the base station body, the disassembly mechanism being used to disassemble the cleaning module from the device body or to install the cleaning module to the device body; The lifting mechanism includes a lifting plate and a lifting assembly connected to the lifting plate, the lifting plate is used to support the cleaning equipment entering the base station body, and the lifting assembly is connected to the lifting plate to lift the lifting plate; The base station body has an entrance, the cleaning device enters the accommodating space through the entrance, the lifting plate includes a first end and a second end opposite to each other, wherein the second end of the lifting plate is adjacent to the entrance of the base station body, the lifting mechanism further includes an elastic component, and the first end of the lifting plate is connected to the base station body through the elastic component; The lifting plate is rotatably connected to the lifting assembly, and a connection position between the lifting plate and the lifting assembly is located between the first end and the second end, and a height of the second end of the lifting plate is configured to increase as the center of gravity of the cleaning device moves toward the first end of the lifting plate.

2. The cleaning system according to claim 1, characterized in that The lifting assembly includes a first lifting assembly and a second lifting assembly, and the first lifting assembly and the second lifting assembly are respectively arranged on both sides of the lifting plate.

3. The cleaning system according to claim 2, characterized in that The first lifting assembly includes a motor, a screw rod, and a first lifting slide, wherein the output shaft of the motor is drivingly connected to the screw rod, and the first lifting slide is sleeved on the screw rod and is configured to be able to slide along the axial direction of the screw rod.

4. The cleaning system according to claim 3, characterized in that The first lifting assembly also includes a first connecting portion and a first rotating shaft, one end of the first connecting portion is hingedly connected to the first lifting slide, and the other end of the first connecting portion is connected to the lifting plate via the first rotating shaft. A first sliding groove is provided on the side wall of the base station body, and the first rotating shaft is inserted into the first sliding groove and is configured to be able to slide along the first sliding groove.

5. The cleaning system according to claim 2, characterized in that The second lifting assembly includes a lifting guide shaft and a second lifting slide, wherein the second lifting slide is sleeved on the lifting guide shaft and is configured to be able to slide along the axial direction of the lifting guide shaft.

6. The cleaning system according to claim 5, characterized in that The second lifting assembly also includes a second connecting portion and a second rotating shaft, one end of the second connecting portion is hingedly connected to the second lifting slide, and the other end of the second connecting portion is connected to the lifting plate via the second rotating shaft. A second sliding groove is provided on the side wall of the base station body, and the second rotating shaft is passed through the second sliding groove and is configured to be able to slide along the second sliding groove.

7. The cleaning system according to claim 1, characterized in that A supporting platform is provided between two adjacent accommodating spaces, the supporting platform is connected to the base station body, and the supporting platform is used to receive and support the cleaning device or the cleaning module of the cleaning device on the lifting mechanism.

8. The cleaning system according to claim 1, characterized in that The cleaning module and the mopping module are respectively used to be placed in different accommodating spaces.

9. The cleaning system according to claim 8, characterized in that The cleaning device moves to the base station after cleaning the surface to be cleaned by the cleaning module, the cleaning module is replaced by the mopping module, and the cleaning device then mops the surface to be cleaned by the mopping module.

10. The cleaning system according to claim 8, characterized in that The cleaning module comprises a dust box for collecting dirt, and the dust box has a dust discharge port; The mopping module comprises a sewage tank for collecting dirt, and the sewage tank has a sewage outlet.

11. The cleaning system according to claim 10, characterized in that The base station includes a first recovery mechanism disposed on the base station body, the first recovery mechanism being used to recover dirt collected by the dust box; The base station comprises a second recovery mechanism arranged on the base station body, and the second recovery mechanism is used for recovering the dirt collected in the sewage tank.

12. The cleaning system according to claim 10, characterized in that The base station also includes a recycling mechanism arranged on the base station body, the recycling mechanism includes a suction source, a recycling center, a first recycling channel and a second recycling channel, the suction source is connected to the recycling center, the two ends of the first recycling channel are respectively used to connect the recycling center and the dust exhaust port, the suction source is used to generate suction to collect the dirt in the dust box into the recycling center through the first recycling channel, the two ends of the second recycling channel are respectively used to connect the recycling center and the sewage outlet, the suction source is used to generate suction to collect the dirt in the sewage tank into the recycling center through the second recycling channel, and the recycling center can be selectively connected to one of the first recycling channel and the second recycling channel according to the type of the cleaning module.

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