Automatic cleaning system

Abstract

The present application relates to an automatic cleaning system, comprising a cleaning robot and a base station, the cleaning robot comprising a main body and a wiping plate mounted on the main body; the base station comprising a wiping plate operation position for mounting or separating the wiping plate from the main body, a wiping member operation position for the wiping plate after being separated from the main body, a wiping member operation position for separating or mounting the wiping member, a driving module and an operation module for moving the wiping plate separated from the main body from the wiping plate operation position to the wiping member operation position, the operation module being configured to act on the wiping plate and / or the wiping member located in the wiping member operation position to mount the wiping member on the wiping plate.

Description

[0001] This application is a divisional application of Chinese patent application No. 202080003028.4, filed on April 30, 2020, entitled “Base Station, Robot Cleaning System and Control Method Thereof”. Technical Field

[0002] This invention relates to a base station, a robotic cleaning system and its control method, and in particular to a robotic cleaning system capable of automatically replacing wiping components. Background Technology

[0003] With the development of technology and people's continuous pursuit of a higher quality of life, household cleaning robots, including but not limited to sweeping robots, mopping robots, and window cleaning robots, are increasingly favored by users because they can help people free themselves from heavy housework.

[0004] Cleaning robots typically use wiping devices (such as paper towels or wiping tools) for cleaning. As the robot moves along a pre-set route, the wiping device moves across the work surface (such as a floor or glass) to perform the cleaning task. Inevitably, as the cleaning process continues, more dirt accumulates on the wiping device, reducing its cleaning effectiveness. Therefore, it becomes necessary to remove the dirty wiping device and replace it with a clean one.

[0005] Existing cleaning robots typically require manual replacement of the wiping components. Users need to continuously monitor the cleaning process and replace the dirty wiping components in a timely manner. This method requires human intervention to manually replace the wiping components, which can easily get users' hands dirty and result in a poor user experience. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, the problem to be solved by the present invention is to provide a cleaning robot that automatically replaces wiping parts without user intervention during normal operation.

[0007] One technical solution adopted by the present invention to solve the problem of the prior art is:

[0008] A base station for parking a cleaning robot, the cleaning robot including a wiping plate, a flexible wiping element replaceably abutting the wiping plate to form a wiping surface for wiping the working surface on which the cleaning robot walks; the base station includes: a storage module for storing continuous wiping substrates; and a feeding module for driving the free end of the wiping substrate to a splitting position so that the free end is split from the wiping substrate to form the wiping element.

[0009] Another technical solution adopted by the present invention to solve the problem of the prior art is:

[0010] A control method for a robotic cleaning system, the robotic cleaning system comprising a cleaning robot and a base station for the cleaning robot to dock, the cleaning robot including a wiping plate for a flexible wiping element to replaceably abut against to form a wiping surface for wiping a working surface; characterized in that the method comprises:

[0011] The free end of the continuous wiping substrate is transferred to the segmentation position;

[0012] The free end is disconnected from the wiping substrate to form a wiping component;

[0013] The wiping component is installed on the wiping plate.

[0014] In one feasible embodiment, the control method further includes separating the wiping element from the wiping plate.

[0015] In one feasible embodiment, the control method further includes: separating the wiping plate from the cleaning robot before separating the wiping component from the wiping plate.

[0016] In one feasible embodiment, the control method further includes: before separating the wiping component from the wiping plate, driving the wiping plate, which is separated from the cleaning robot, to the wiping component operating position.

[0017] In one feasible embodiment, the control method further includes: after the wiping element is installed on the wiping plate, installing the wiping plate on the cleaning robot.

[0018] In one feasible solution, the control method further includes: after separating the wiping plate from the cleaning robot, the cleaning robot moves a preset distance in a first direction.

[0019] In one feasible solution, the control method further includes: after the cleaning robot moves a preset distance in a first direction, the wiping plate is installed on the cleaning robot.

[0020] In one feasible solution, after the wiping component is installed on the wiping plate, the cleaning robot moves a preset distance in a second direction and installs the wiping plate on the cleaning robot, wherein the first direction is opposite to the second direction.

[0021] Another technical solution adopted by the present invention to solve the problem of the prior art is:

[0022] A robotic cleaning system includes a cleaning robot and a base station for the cleaning robot to dock. The cleaning robot includes: a main body; a moving module mounted on the main body for moving the cleaning robot on a working surface; and a wiping plate mounted on the main body for a flexible wiping element to detachably abut against to form a wiping surface for wiping the working surface. The wiping plate includes a loading portion for fixing the wiping element. The base station includes: a storage module for storing wiping substrate; a feeding module for transferring the free end of the wiping substrate to a splitting position so that the free end is split from the wiping substrate to form the wiping element; and an operating module mounted on the main body or the base station for acting on the wiping plate and / or the wiping element to engage the wiping element with the loading portion of the wiping plate.

[0023] In one feasible solution, the base station includes a wiping device operation position for receiving a wiping device to be installed on the wiping plate.

[0024] In one feasible solution, the segmentation position is located at the wiping component operation position, or between the feed module and the wiping component operation position.

[0025] In one feasible solution, the base station includes a segmentation module that acts on the wiping substrate between the storage module and the segmentation location to separate the free end from the wiping substrate to form a wiping element.

[0026] In one feasible approach, at least based on the free end of the wiping substrate reaching the split position, the feed module locks the wiping substrate on at least one side of the weak connection point of the wiping substrate, so that the free end is separated from the wiping substrate by stretching at the weak connection point.

[0027] In one feasible approach, the feed module intermittently clamps and wipes the substrate.

[0028] In one feasible embodiment, the feed module includes a conveyor wheel whose outer contour includes at least two curvatures, such that the surface of the conveyor wheel intermittently contacts the wiping substrate.

[0029] In one feasible approach, the feed module is at least partially above the wiping element operating position, such that the free end of the wiping substrate is at least partially transferred to the wiping element operating position by gravity.

[0030] In one feasible approach, the wiping device extends in a generally vertical direction so that the wiping device extends under the influence of gravity.

[0031] In one feasible solution, the base station includes a limiting device for detecting the position of the wiping component, causing the feed module to transfer the wiping component to the wiping component operation position.

[0032] In one feasible embodiment, the wiping substrate is wound around a spool, and the storage module includes a mounting bracket that mates with the spool to mount the spool to a base station.

[0033] In one feasible embodiment, the mounting bracket includes a first state that maintains the shaft in place and a second state that allows the shaft to be removed.

[0034] In one feasible embodiment, the base station includes an operation module that acts on a wiping element and / or a wiping plate to engage the wiping element with the loading portion of the wiping plate.

[0035] In one feasible approach, the operating module acts on the wiping element and / or wiping plate to separate the wiping element from the loading portion of the wiping plate.

[0036] In one feasible approach, the operating module is detachably installed on the base station.

[0037] In one feasible solution, the base station includes a wiping plate operating position for a cleaning robot to install or detach the wiping plate.

[0038] In one feasible solution, the wiping device operating position is higher than the wiping plate operating position to create space for the cleaning robot to dock.

[0039] In one feasible solution, the base station includes a drive module that drives the wiping plate to move between a wiping plate operation position and a wiping element operation position.

[0040] In one feasible embodiment, the wiping device operation position includes a wiping device mounting position and a wiping device separation position, for wiping plate to separate or mount the wiping device, and the drive module drives the wiping plate to move and / or rotate in a generally horizontal direction to move the wiping plate to the wiping device mounting position or the wiping device separation position.

[0041] In one feasible solution, the base station includes a storage module for storing the wiping component that is separate from the wiping plate.

[0042] In one feasible embodiment, the base station includes a separation module that acts on the wiping element and / or wiping plate to separate the wiping element from the loading portion of the wiping plate.

[0043] In one feasible solution, the storage module is located in the direction of movement of the wiping plate, so that the wiping module compresses the wiping component inside the storage module when it moves to the separation module.

[0044] In one feasible embodiment, in at least one state, the opening of the receiving module for receiving the wiping element is at least partially lower than the operating position of the wiping element, so that the wiping element is at least partially retracted into the receiving module based on gravity.

[0045] In one feasible solution, the storage module is detachably installed on the base station.

[0046] In one feasible solution, a communication module is installed on both the base station and the cleaning robot, and the base station communicates with the cleaning robot to enable the base station and the cleaning robot to work together to replace the wiping parts.

[0047] In one feasible solution, the base station includes a charging module for charging the cleaning robot when it docks with the base station.

[0048] Compared with existing technologies, the advantages of this invention are: the base station continuously outputs wiping substrate and segments the free end of the output wiping substrate to form wiping parts for installation on the wiping plate, enabling the cleaning robot to automatically replace the wiping parts within the base station. Building upon existing cleaning robots that automatically return to the base station for charging, this solution allows the cleaning robot to automatically return to the base station to replace the wiping parts. Compared to traditional cleaning robots, after wiping the surface, the cleaning robot not only eliminates the need for user replacement of wiping parts but also requires minimal user intervention with the base station and the cleaning robot itself. Users only need to install the continuous wiping substrate onto the base station and discard the used wiping parts separated from the cleaning robot.

[0049] One technical solution adopted by the present invention to solve the problem of the prior art is:

[0050] An automated cleaning system includes a cleaning robot and a base station, the cleaning robot comprising:

[0051] main body;

[0052] A wiping plate, mounted on the main body, allows the wiping element to detachably abut against and form a wiping surface for wiping the working surface as the cleaning robot moves on the working surface;

[0053] The base station includes:

[0054] The wiping plate operating position allows the wiping plate to be installed or separated from the main body;

[0055] The wiping component operation position is for separating or installing the wiping plate after it has been separated from the main body;

[0056] A drive module is used to move the wiping plate, which is separated from the main body, from the wiping plate operation position to the wiping component operation position;

[0057] An operating module is configured to act on the wiping plate and / or the wiping element located at the wiping element operating position to mount the wiping element onto the wiping plate.

[0058] In one feasible embodiment, the operating module is configured to act on the wiping plate and / or the wiping element to separate the wiping element from the wiping plate.

[0059] In one feasible embodiment, the base station further includes a separation module configured to act on the wiping element and / or the wiping plate located at the wiping element operation position to separate the wiping element from the wiping plate.

[0060] In one feasible solution, the driving module is located at the base station.

[0061] In one feasible embodiment, the drive module is at least capable of moving the wiping plate in the vertical direction to move the wiping plate between the wiping element operating position and the wiping plate operating position.

[0062] In one feasible embodiment, the wiping device operation position includes a wiping device separation position for separating the wiping device and a wiping device mounting position for mounting the wiping device.

[0063] In one feasible solution, the wiping component separation position and the wiping component mounting position do not coincide, and the automatic cleaning system further includes a drive module for driving the wiping component to move from the wiping component separation position to the wiping component mounting position.

[0064] In one feasible embodiment, the wiping device separation position and the wiping device mounting position are at least partially located on the same horizontal plane, so that the drive module drives the wiping plate to move between the wiping device separation position and the wiping device mounting position in the horizontal direction.

[0065] In one feasible embodiment, the wiping device operation position includes a wiping device separation position for separating the wiping device and a wiping device mounting position for mounting the wiping device, wherein the wiping device separation position and the wiping device mounting position coincide.

[0066] In one feasible embodiment, the cleaning robot includes a connection mechanism detachably connected to the wiping plate.

[0067] In one feasible embodiment, the automatic cleaning system is configured such that, before separating the wiping element from the wiping plate, the cleaning robot separates the wiping plate from the main body, so that the wiping plate, after being separated from the main body, replaces the wiping element at the wiping element operation position.

[0068] In one feasible embodiment, the wiping component operating position is higher than the wiping plate operating position, so as to form a space between the wiping plate operating position and the wiping component operating position for the cleaning robot to dock.

[0069] In one feasible embodiment, the base station includes a storage module for storing the wiping component that is separated from the wiping plate.

[0070] In one feasible embodiment, the wiping device operation position includes a wiping device separation position for separating the wiping device from the wiping plate, and the storage module is provided with an opening, which is lower than the wiping device separation position in at least one state, so that the wiping device after being separated from the wiping plate can fall into the storage module.

[0071] In one feasible solution, the storage module has an upward-facing opening, and when the wiping component separates from the wiping plate, the separation position of the wiping component is located above the storage module, so that the separated wiping component falls directly into the storage module.

[0072] In one feasible embodiment, the wiping device operation position includes a wiping device separation position for separating the wiping device from the wiping plate, and the storage module is disposed below the wiping device separation position so that the wiping device, after being separated from the wiping plate, falls into the storage module.

[0073] In one feasible embodiment, the base station further includes a drive module for driving the wiping plate to move, and the storage module is located in the direction of movement of the wiping plate.

[0074] In one feasible embodiment, the storage module includes a recycling box, and the base station further includes a drive module configured to drive the wiping plate into the recycling box to separate the wiping component from the wiping plate within the recycling box.

[0075] In one feasible embodiment, the storage module includes a recycling box, and the wiping device operation position includes a wiping device separation position for separating the wiping device from the wiping plate, the wiping device separation position being located within the recycling box.

[0076] In one feasible solution, the storage module includes a recycling box with an opening at the top, and the recycling box includes a box body and a support at the bottom of the box body.

[0077] In one feasible solution, when the cleaning robot is parked inside the base station, the distance between the storage module and the bottom surface of the base station is greater than the height of the cleaning robot.

[0078] In one feasible embodiment, the base station further includes a separation module configured to act on the wiping element and / or the wiping plate to separate the wiping element from the wiping plate. The separation module includes a hook-like structure for hooking the wiping element and removing it from the wiping plate.

[0079] In one feasible embodiment, the automatic cleaning system further includes a moving mechanism for moving the wiping plate, the moving mechanism being configured to move the wiping plate through the separation module so that the wiping element on the wiping plate is hooked, scraped off, and falls into the recycling bin.

[0080] In one feasible solution, the base station includes a storage module for storing the wiping component separated from the wiping plate. The storage module includes a recycling box with an opening, and the separation module is disposed at the opening.

[0081] In one feasible embodiment, the separation module is disposed at both ends of the opening.

[0082] In one feasible embodiment, the automatic cleaning system further includes a moving mechanism for driving the wiping plate. The moving mechanism is configured to first drive the wiping plate through the opening into the recycling bin, and then drive the wiping plate back, so that when the wiping plate passes through the separation module, the wiping element on it is hooked and scraped off and falls into the recycling bin.

[0083] In one feasible embodiment, the automatic cleaning system includes a moving mechanism for moving the wiping plate. The automatic cleaning system is configured such that, when separating the wiping component, the moving mechanism moves the wiping plate through the separation module, and the direction of movement of the wiping plate is not parallel to the wiping surface of the wiping component.

[0084] In one feasible embodiment, the automatic cleaning system includes a moving mechanism for moving the wiping plate, the automatic cleaning system being configured such that, when separating the wiping component, the moving mechanism moves the wiping plate in a direction perpendicular to the wiping surface and passes through the separation module.

[0085] In one feasible embodiment, the separation module is configured to act on the wiping member to separate the wiping member from the wiping plate in a direction away from the wiping plate.

[0086] In one feasible embodiment, the separation module is configured to act on the wiping member to separate the wiping member from the wiping plate in a direction perpendicular to the wiping surface.

[0087] In one feasible embodiment, the cleaning robot includes an adhesive component mounted on a wiping plate for attaching the wiping element.

[0088] In one feasible embodiment, the adhesive components are disposed on both sides of the wiping plate.

[0089] In one feasible embodiment, the wiping plate includes two inclined surfaces, and the adhesive component is disposed on the two inclined surfaces.

[0090] In one feasible embodiment, the automatic cleaning system is configured to apply pressure to the wiping element via the wiping plate during installation, thereby adhering the wiping element to the bottom of the wiping plate.

[0091] In one feasible embodiment, the automatic cleaning system is configured to apply downward pressure to the wiping element via the wiping plate during installation, thereby adhering the wiping element to the bottom of the wiping plate.

[0092] In one feasible embodiment, the automatic cleaning system is configured such that when the wiping plate is in the wiping element mounting position, the wiping element is located below the wiping plate.

[0093] In one feasible solution, an acquisition unit is also included for acquiring the wiping component or separating the wiping component.

[0094] In one feasible embodiment, the base station includes a storage module for storing clean wiping items.

[0095] In one feasible solution, when the cleaning robot is parked inside the base station, the distance between the storage module and the bottom surface of the base station is greater than the height of the cleaning robot.

[0096] In one feasible embodiment, the width of the wiping plate is smaller than the width of the wiping element.

[0097] In one feasible embodiment, the width of the cleaning robot is smaller than the width of the wiping component.

[0098] In one feasible solution, the width of the storage module is greater than the width of the wiping element.

[0099] In one feasible embodiment, the operating module includes an adsorption plate for fixing the wiping plate.

[0100] In one feasible embodiment, the adsorption plate and the wiping plate are attracted to each other by magnetic force.

[0101] In one feasible embodiment, the wiping plate is configured such that it is adsorbed onto the lower end of the adsorption plate under the action of the magnetic force.

[0102] In one feasible solution, the base station also includes a positioning element for clamping the wiping plate.

[0103] In one feasible embodiment, the base station also includes a positioning mechanism for positioning the wiping device at the wiping device operating position.

[0104] In one feasible embodiment, the wiping plate operation position includes a wiping plate mounting position and a wiping plate separation position, wherein the wiping plate mounting position and the wiping plate separation position are at the same location.

[0105] In one feasible embodiment, the wiping plate operation position includes a wiping plate mounting position and a wiping plate separation position, wherein the wiping plate mounting position and the wiping plate separation position are located at different positions of the base station.

[0106] In one feasible embodiment, the storage module is configured to be detachably installed on the base station.

[0107] In one feasible solution, the base station is configured to remind the user to replace the storage module when it detects that the storage module's capacity is insufficient.

[0108] In one feasible embodiment, the base station further includes an alert mechanism configured to issue an alert signal when the number of wipes to be used in the storage module falls below a predetermined number.

[0109] In one feasible embodiment, the storage module includes a cover that can be opened by a user to replace the wiping device.

[0110] In one feasible solution, the wiping plate is detachably connected to the main body via a connecting mechanism. The main body is also provided with a lifting mechanism that drives the connecting mechanism to move up and down, thereby causing the wiping plate to rise or fall. When the cleaning robot returns to the base station and removes the wiping plate, the wiping plate is configured to remain in a raised state.

[0111] One technical solution adopted by the present invention to solve the problem of the prior art is:

[0112] An automated cleaning system includes a cleaning robot and a base station, the cleaning robot comprising:

[0113] main body;

[0114] A cleaning module equipped with a wiping plate is installed on the main body, allowing the wiping element to detachably abut against and form a wiping surface for wiping the working surface when the cleaning robot moves on the working surface;

[0115] The base station includes:

[0116] A wiping component operation position is provided for separating the wiping plate or installing the wiping component;

[0117] The automatic cleaning system also includes an operation module configured to work in conjunction with the cleaning module to replace the wiping element for the cleaning module at the wiping element operation position.

[0118] In one feasible embodiment, the cleaning robot further includes a connection mechanism detachably connected to the cleaning module, and the operating module is configured to act on the cleaning module detached from the connection mechanism to replace the wiping component thereon.

[0119] One technical solution adopted by the present invention to solve the problem of the prior art is:

[0120] An automated cleaning system includes a cleaning robot and a base station, the cleaning robot comprising:

[0121] main body;

[0122] A wiping plate, mounted on the main body, allows the wiping element to detachably abut against and form a wiping surface for wiping the working surface as the cleaning robot moves on the working surface;

[0123] The base station includes:

[0124] A wiping component operation position is provided for separating the wiping plate or installing the wiping component;

[0125] The automatic cleaning system is configured such that, when replacing the wiping component, the cleaning robot first removes the wiping plate and places it inside the base station, and then the base station replaces the wiping component at the wiping component operation position.

[0126] One technical solution adopted by the present invention to solve the problem of the prior art is:

[0127] A control method for an automatic cleaning system, comprising:

[0128] Separate the wiping plate from the cleaning robot;

[0129] Separate the wiping component from the wiping plate;

[0130] Install the wiping device onto the wiping plate;

[0131] The wiping plate is installed on the cleaning robot.

[0132] In one feasible embodiment, the method further includes: after the wiping plate is separated from the cleaning robot, and before the wiping element is separated from the wiping plate, driving the wiping plate separated from the cleaning robot to move from the wiping plate operating position to the wiping element operating position.

[0133] In one feasible solution, the method further includes: after separating the wiping plate from the cleaning robot, controlling the cleaning robot to move a preset distance in a first direction away from the wiping plate operating position, so as to make room for the movement of the wiping plate.

[0134] In one feasible embodiment, the method further includes: after installing the wiping component onto the wiping plate, controlling the cleaning robot to move a preset distance in a second direction opposite to the first direction back to the wiping plate operating position, so as to install the wiping plate onto the cleaning robot. Attached Figure Description

[0135] The objectives, technical solutions, and beneficial effects of the present invention described above can be achieved through the following figures:

[0136] Figures 1 to 3This is a schematic diagram of the first feasible solution of the cleaning system in the first embodiment of the present invention;

[0137] Figure 4 for Figures 1 to 3 The diagram shows the structure of the cleaning module configured with the cleaning robot in the cleaning system shown.

[0138] Figure 5 for Figure 4 The cleaning module shown is a top view in a working state;

[0139] Figure 6 for Figure 5 The side view of the cleaning module shown;

[0140] Figure 7 and Figure 8 This is a partial structural diagram of the cleaning system according to the first embodiment of the present invention;

[0141] Figure 9 This is a schematic diagram of the first feasible solution for a base station;

[0142] Figure 10 This is a schematic diagram of the second feasible solution for the base station.

[0143] Figures 11 to 12 This is a structural diagram of the third feasible solution for a base station.

[0144] Figure 13 This is a structural diagram of the fourth feasible solution for a base station.

[0145] Figure 14 A schematic diagram of a feasible solution for mounting a wiping substrate 500 on a base station;

[0146] Figure 15a and Figure 15b This is a structural diagram of the fifth feasible solution for a base station;

[0147] Figure 16 This is a structural diagram of the sixth feasible solution for a base station;

[0148] Figure 17 This is a structural diagram of the seventh feasible solution for a base station;

[0149] Figure 18 This is a structural diagram of the eighth feasible solution for a base station;

[0150] Figure 19 This is a structural diagram of the ninth feasible solution for a base station;

[0151] Figure 20 This is a structural diagram of the tenth feasible solution for a base station;

[0152] Figure 21 This is a structural diagram of the eleventh feasible solution for the base station;

[0153] Figure 22 for Figure 21 A partially enlarged view of the base station in the illustrated embodiment;

[0154] Figure 23 This is a structural diagram of the twelfth feasible solution for a base station.

[0155] Figures 24 to 26 This is a schematic diagram of a second feasible solution for the cleaning system according to the first embodiment of the present invention;

[0156] Figures 27 to 29 This is a schematic diagram of a third feasible solution for the cleaning system according to the first embodiment of the present invention;

[0157] Figure 30 and Figure 31 This is a partial structural diagram of the thirteenth feasible solution for a base station;

[0158] Figure 32 This is a schematic diagram of the fourth feasible solution of the cleaning system according to the first embodiment of the present invention;

[0159] Figure 33 This is a schematic diagram of the fifth feasible solution of the cleaning system according to the first embodiment of the present invention;

[0160] Figure 34 and Figure 35 This is a partial structural diagram of the thirteenth feasible solution for a base station;

[0161] Figure 36 This is a top view of the sixth feasible solution of the cleaning system according to the first embodiment of the present invention.

[0162] Figures 37A to 37L This is a process diagram of the base station being a cleaning robot replacing the wiping component in the first feasible solution of the second embodiment of the present invention;

[0163] Figure 38A and Figure 38B This is a schematic diagram showing the structure of the wiping tray in both the unfolded and folded states.

[0164] Figure 39A and Figure 39B This is a structural diagram showing the loading section in both the clamped and open states.

[0165] Figure 40 An exploded view of the assembly of the operation module and the cleaning module;

[0166] Figures 41A to 43A A diagram illustrating the process of installing the wiping component from the cleaning module to the operation module.

[0167] Figures 41B to 43B They are respectively Figures 41A to 43A Side view;

[0168] Figures 41C to 43C They are respectively Figures 41A to 43A A sectional view;

[0169] Figures 44A to 44I This is a diagram illustrating the process of replacing the wiping component in the base station of the second feasible solution in the second embodiment of the present invention, where the base station is a cleaning robot.

[0170] Figure 45 for Figures 44A to 44I Schematic diagram of the translation and transposition mechanism;

[0171] Figures 46A to 46L This is a diagram illustrating the process of replacing the wiping component in the base station of the third feasible solution in the second embodiment of the present invention, where the base station is a cleaning robot.

[0172] Figure 47 This is a schematic diagram of the first feasible solution of the cleaning system in the third embodiment of the present invention;

[0173] Figure 48 for Figure 47 A schematic diagram of the structure of the wiping component collection mechanism;

[0174] Figure 49 This is a schematic diagram of the base station structure of a second feasible solution for the cleaning system according to the third embodiment of the present invention;

[0175] Figure 50 for Figure 49 The diagram shows the exploded structure of the base station.

[0176] Figure 51 This is a three-dimensional structural diagram of the base station according to the fourth embodiment of the present invention;

[0177] Figure 52 For cleaning robots located in Figure 51 The diagram shows the internal structure of the base station.

[0178] Figure 53 This is a schematic diagram of the clamping mechanism.

[0179] Figure 54 A schematic diagram of the base station structure when the clamping mechanism is in its first working state;

[0180] Figure 55 A schematic diagram of the base station structure when the clamping mechanism is in its second working state;

[0181] Figure 56 This is a schematic diagram of the base station structure when the clamping mechanism is in the third working state;

[0182] Figure 57 This is a schematic diagram of the base station structure in the fifth embodiment of the present invention;

[0183] Figure 58 for Figure 57 Schematic diagram of the baseband structure;

[0184] Figure 59 for Figure 57 A schematic diagram of the structure of the first roll, the second roll, and the baseband;

[0185] Figure 60 A schematic diagram of the structure in preparation for the cleaning robot to enter the base station;

[0186] Figure 61 for Figure 60 A schematic diagram of the baseband structure of the wiping device operating position in the specified state;

[0187] Figure 62 A schematic diagram of the cleaning components removed from the cleaning robot and located on the baseband.

[0188] Figure 63 This is a schematic diagram of the structure for moving a new cleaning component to the wiping component operating position using a baseband. Detailed Implementation

[0189] With the technical solutions provided by the various embodiments of the present invention, the cleaning robot can automatically replace the wiping parts without user intervention, and the degree of automation and intelligence of the wiping parts replacement is high, resulting in a better user experience.

[0190] like Figures 1 to 63 As shown, the automatic cleaning system 300 includes a cleaning robot 100 and a base station 200. The cleaning robot 100 includes a main body 101 and wiping plates (122, 1201) mounted on the main body 101. Flexible wiping elements abut against the wiping plates (122, 1201) to form a wiping surface, so that when the cleaning robot 100 moves on the working surface, the wiping surface can act on the working surface to wipe it.

[0191] In one feasible approach, such as Figure 1 and Figure 14 As shown, the base station 200 includes a storage module (213, 520) for storing the wiping substrate 500. The base station 200 includes a feeding module (220, 421) that transmits the free end of the wiping substrate 500 to a dividing position, thereby dividing the free end from the body of the wiping substrate 500 to form a wiping component.

[0192] In one feasible embodiment, the length and width of the wiping element are related to the length and width of the wiping plate (122, 1201), and generally, the length and width of the wiping element are both greater than those of the wiping plate (122, 1201). The wiping element is obtained by separating the free end of the wiping substrate 500 from the body of the wiping substrate 500. Optionally, such as Figure 19 As shown, the wiping substrate 500 is composed of several standard-length wiping elements connected together. The connection strength between the wiping elements is relatively weak. For example, multiple spaced holes are provided between the wiping elements to create weak connection points. When the two sides of the weak connection points are subjected to tension, the wiping element can be separated from the wiping substrate 500. Optionally, as... Figure 23 As shown, the wiping substrate 500 can be made of a flexible material whose length is much greater than that of the wiping component and which does not have weak connection points in the middle. After the wiping substrate 500 is installed on the base station 200, the free end of the wiping substrate 500 is separated from the body of the wiping substrate 500 by the segmentation module 280 of the base station 200 to obtain the wiping component.

[0193] In a feasible manner, such as Figure 14 As shown, one end of the wiping substrate 500 is fixed to the rotating shaft 510, and the wiping substrate 500 is wound around the rotating shaft 510 starting from this end. The storage module 520 includes a mounting frame 51, which is mounted on the base station 200. The mounting frame 51 is matched with the rotating shaft 510 on which the wiping substrate 500 is wound, so that the rotating shaft 510 can be mounted on the mounting frame 51. Optionally, the rotating shaft 510 can rotate relative to the mounting frame 51. When the free end of the wiping substrate 500 is subjected to force by the feed modules (220, 421), the wiping substrate 500 drives the rotating shaft 510 to rotate relative to the mounting frame 51, thereby transmitting the free end of the wiping substrate 500 to a distance. Optionally, the rotating shaft 510 is mounted on and fixed relative to the mounting bracket 51. The portion of the mounting bracket 51 connected to the rotating shaft 510 can rotate under the drive of the feed modules (220, 421), thereby causing the rotating shaft 510 to rotate and transmitting the free end of the wiping substrate 500 to a distance. In this manner, the feed modules (220, 421) include motors that drive the mounting bracket 51 to rotate.

[0194] In one feasible embodiment, the mounting bracket 51 includes a first state and a second state. When the mounting bracket 51 is in the first state, it can hold the rotating shaft 510 in the installed state, preventing it from detaching from the mounting bracket 51. When the user needs to install or remove the rotating shaft 510, the mounting bracket 51 is in the second state, allowing the rotating shaft 510 to detach from the mounting bracket 51. Optionally, the mounting bracket 51 includes a first bracket and a second bracket arranged opposite to each other, which cooperate with the left and right ends of the rotating shaft 510, respectively. When the mounting bracket 51 is in the first state, the relative distance between the first bracket and the second bracket is relatively close; when the mounting bracket 51 is in the second state, the relative distance between the first bracket and the second bracket is relatively far. In one feasible embodiment, the first state of the mounting bracket 51 is the state of being installed on the base station, and the second state is the state of being disassembled. When the mounting bracket 51 is in the disassembled state, the rotating shaft 510 can be installed on the mounting bracket 51 or disassembled from the mounting bracket 51.

[0195] Base station 200 includes wiping device operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420) for installing or detaching the wiping device from the wiping plate (122, 1201). In one feasible embodiment, the separation position includes the wiping device operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420). Figure 46I As shown, the feed module (220, 421) transfers the free end of the wiping substrate 500 to the wiping element operation position 420 and locks it on one side of the weak connection point of the wiping substrate 500. During the installation of the wiping substrate 500 onto the wiping plate (122, 1201), a tensile force is generated between the free end of the wiping substrate 500 and the body of the wiping substrate 500, thereby separating the body of the wiping substrate 500 on one side of the weak connection point from the free end of the wiping substrate 500 on the other side, forming a wiping element. Optionally, after the free end of the wiping substrate 500 reaches the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420), the cleaning robot 100 installs the free end of the wiping substrate 500 onto the wiping plate (122, 1201). When the cleaning robot 100 moves, the free end of the wiping substrate 500 is stretched along with the wiping plate (122, 1201) and the body of the wiping substrate 500, thereby disconnecting from the wiping substrate 500.

[0196] In a feasible manner, such as Figure 46IAs shown, the feed modules (220, 421) transfer the free end of the wiping substrate 500 to the wiping component operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420), and then stop transferring. After the free end of the wiping substrate 500 is fixed at the wiping component mounting positions (2021, 2022, 215, 217, 218, 13, 4221, 420), the feed modules (220, 421) stretch the wiping substrate 500 in the opposite direction, causing the body of the wiping substrate 500 on one side of the weak connection point to separate from the free end of the wiping substrate 500 on the other side, forming a wiping component.

[0197] In a feasible manner, such as Figure 1 As shown, the base station 200 includes a segmentation module 280 that acts on the wiping substrate 500 to segment it. Optionally, the segmentation module 280 may include a device such as a metal blade or a plastic blade that applies force to the wiping substrate 500 to separate it. The feed modules (220, 421) transmit the free end of the wiping substrate 500 to the wiping element operation position, and then stop transmitting to the wiping element operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420). After the free end of the wiping substrate 500 and the body of the wiping substrate 500 on the wiping element operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420) are locked respectively, the segmentation module 280 acts on the wiping substrate 500 to segment it, forming a wiping element. Optionally, the segmentation module 280 may also include a laser blade or other device that does not apply force to the wiping substrate 500 to separate it. The feed modules (220, 421) transfer the free end of the wiping substrate 500 to the wiping operation position (2021, 2022, 215, 217, 218, 13, 4221, 420), and then stop transferring. The separation module 280 separates the free end of the wiping substrate 500 from the body of the wiping substrate 500 after the transfer of the wiping substrate 500 stops.

[0198] In one feasible approach, the splitting position includes the intermediate position between the feed module (220, 421) and the wiping element operation position. Before the feed module (220, 421) transfers the free end of the wiping substrate 500 to the wiping element operation position (2021, 2022, 215, 217, 218, 13, 4221, 420), the free end of the wiping substrate 500 is first split from the body of the wiping substrate 500 to form a wiping element. The feed module (220, 421) then transfers the wiping element to the wiping element operation position (2021, 2022, 215, 217, 218, 13, 4221, 420).

[0199] In one feasible embodiment, the feed module (220, 421) includes conveyor wheels (2041, 278), optionally consisting of two conveyor wheels (2041, 278) clamping each other to transfer the clamped wiping substrate 500 outward during rotation. Since the wiping substrate 500 is flexible, if wrinkles form on it, the conveyor wheels (2041, 278) cannot unfold the wrinkles during continuous rotation while clamping the substrate 500. This results in the wiping element formed after the free end of the substrate 500 is divided also maintaining a certain wrinkled shape, preventing the wiping element from being installed on the wiping plate in a flat, unfolded state. Therefore, the conveyor wheels (2041, 278) intermittently clamp the wiping substrate 500, allowing it to be intermittently relieved of pressure during movement and naturally flattened. Optionally, the outer contour of the conveyor wheels (2041, 278) includes at least two curvatures, such as an ellipse, causing the conveyor wheels (2041, 278) to compress and separate during rotation. Optionally, the conveyor wheels (2041, 278) automatically separate intermittently, causing the conveyor wheels (2041, 278) to separate from the other surface they contact. Optionally, to prevent the free end of the wiping collection unit 500 from falling off when the feed modules (220, 421) separate, damping can be provided in the storage modules (213, 520), or damping can be provided in the conveyor wheels (2041, 278), etc.

[0200] In a feasible manner, such as Figure 1 As shown in Figure 37, the feed modules (220, 421) are at least partially above the wiping element operating position. Since the feed modules (220, 421) transfer the free end of the wiping substrate 500 to the wiping element operating position (2021, 2022, 215, 217, 218, 13, 4221, 420), when the feed modules (220, 421) are above the wiping element operating position (2021, 2022, 215, 217, 218, 13, 4221, 420), the wiping substrate 500 can be partially moved to the wiping element operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) by gravity.

[0201] In one feasible manner, as shown in Figure 44, the wiping element operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420) extend in a generally vertical direction. With the feed module (220, 421) above the wiping element operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420), the feed module (220, 421) only needs to output the wiping substrate 500 outward. The wiping substrate 500 can then naturally extend at the wiping element operation positions by gravity without the need for other devices to change the direction of movement of the wiping substrate 500 to correspond to the extension direction of the wiping element operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420).

[0202] In one feasible embodiment, base station 200 includes a limiting module 260 for detecting the position of the wiping element, enabling the wiping element to be segmented with a roughly accurate length and delivered to a roughly accurate position. Optionally, the limiting module 260 includes a sensor assembly 261 for detecting the edge of the wiping element. The sensor assembly 261 is positioned at the boundary of the wiping element mounting position. When the sensor assembly 261 detects the edge of the wiping element, indicating that the feed modules (220, 421) have delivered the wiping element to the wiping element operating position, the feed modules (220, 421) stop delivering the wiping element outward. Optionally, the sensor assembly 261 is used to detect the position marker of the wiping element, such as... Figure 19 As shown, sensor assembly 261 is located on the other edge of the wiping component operation position. Sensor 261 detects position marks set on the wiping substrate 500, such as holes spaced apart at weak connection points of the wiping substrate 500. When sensor assembly 261 detects a position mark, it indicates that the feed module (220, 421) has transferred the wiping component to the wiping component operation position, and the feed module (220, 421) stops transferring it outward.

[0203] In one feasible approach, such as Figure 4-8 As shown, the wiping plate (122, 1201) includes a loading portion (123, 127), and the wiping member is fixed to the wiping plate (122, 1201) by engaging with the loading portion (123, 127). Specifically, the loading portion (123, 127) may include a clamping structure that mechanically clamps at least a portion of the edge of the wiping member between the loading portion (123, 127) and the wiping plate (122, 1201), or fixes at least a portion of the edge of the wiping member to the wiping plate (122, 1201) by adhering the wiping member.

[0204] In one feasible manner, the automatic cleaning system 300 includes an operation module (125, 400), which may be optionally installed on the main body 101 of the cleaning robot 100 or on the base station 200, or may be partially installed on the main body 101 of the cleaning robot 100 and partially installed on the base station 200. The operation modules (125, 400) correspond to the wiping component operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420) of the base station 200. When both the wiping plate (122, 1201) and the wiping component are located at the wiping component operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420), the operation modules (125, 400) can act on the wiping plate (122, 1201) and / or the wiping component, and cooperate with the loading part (123, 127) of the wiping plate (122, 1201) to install the wiping component onto the wiping plate (122, 1201). Optionally, the operation modules (125, 400) can be detachably installed on the cleaning robot 100 or the base station 200 for easy maintenance. Optionally, the operation module (125, 400) can be used to install the wiping component onto the wiping plate (122, 1201) or to separate the wiping component from the wiping plate (122, 1201). Optionally, as shown in Figure 46, the operation module (125, 400) is only used to install the wiping component onto the wiping plate (122, 1201). The base station 200 also includes a separation module 422, which acts on the wiping plate (122, 1201) and / or the wiping component to separate the wiping component from the wiping plate (122, 1201).

[0205] In a feasible manner, such as Figure 1 and Figure 51 As shown, the base station 200 includes a storage module (211, 15, 206, 240) for storing wiping components separate from the wiping plate (122, 1201). Optionally, the storage module (211, 15, 206, 240) has an opening for the user to place a bag containing the wiping components into the storage module (211, 15, 206, 240). When the capacity of the bag is insufficient, the base station 200 can detect this and remind the user to replace it. Optionally, the storage module (211, 15, 206, 240) is detachable. After the user removes the storage module (211, 15, 206, 240) from the base station 200, the wiping components stored in the storage module (211, 15, 206, 240) can be emptied.

[0206] In one feasible embodiment, the recycling device 270 applies a force to the wiping element separated from the wiping plate (122, 1201), recycling the wiping element into the storage module (211, 15, 206, 240). Specific implementations of the recycling device 270 are described in the following embodiments.

[0207] In one feasible embodiment, as shown in Figures 37-43, the operation module 400 is installed on the base station 200. In this embodiment, the base station 200 includes wiping plate operation positions (215, 2021, 2022, 2023, 218, 13), which allow the cleaning robot 100 to install or detach the wiping plate (122, 1201) with wiping components from the main body 101. When the cleaning robot 100 returns to the base station 200, it detaches the wiping plate (122, 1201) with wiping components from the main body 101. The base station 200 includes a drive module (207, 205, 412), which moves the wiping plate (122, 1201) separated from the main body 101 to the wiping component operation position (2021, 2022, 215, 217, 218, 13, 4221, 420), so that the operation module (125, 400) separates the used wiping component from the wiping plate (122, 1201). Optionally, the wiping component operating positions (2021, 2022, 215, 217, 218, 13, 4221, 420) are higher than the wiping plate operating positions, as shown in Figure 37. A space is formed between the wiping component operating positions (2021, 2022, 215, 217, 218, 13, 4221, 420) and the wiping plate operating positions for the cleaning robot 100 to park. This design optimizes the horizontal dimensions of the base station 200, making its structure more compact.

[0208] In one feasible embodiment, as shown in Figure 46, the wiping device operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420) include a wiping device separation position 4221 and a wiping device mounting position 420, which are on substantially the same horizontal plane, enabling the drive modules (207, 205, 412) to drive the wiping plate horizontally between the wiping device separation position and the wiping device mounting position 420.

[0209] In one feasible manner, the receiving module (211, 15, 206, 240) is used to receive the opening of the wiping device in at least one state below the wiping device operating position (2021, 2022, 215, 217, 218, 13, 4221, 420), specifically, below the wiping device separation position 217. For example... Figure 1As shown, in one embodiment, the cleaning robot 100 separates the wiping components at the wiping component separation position 217. A storage module (211, 15, 206, 240) is positioned below the wiping component separation position 217, allowing the wiping components to fall into the storage module (211, 15, 206, 240). In this manner, the wiping components compress against each other due to their own gravity, allowing the storage module (211, 15, 206, 240) to hold more wiping components. As shown in Figure 37, in one embodiment, the opening of the storage module (211, 15, 206, 240) is higher than the wiping component separation position 217 in one state and lower than it in another state. In this embodiment, the storage module 211 can move in the height direction to create space within the base station 200 for the cleaning robot 100 to dock. When the cleaning robot 100 is docked inside the base station 200, the distance between the storage modules (211, 15, 206, 240) and the bottom surface of the base station 200 is greater than the height of the cleaning robot 100. Optionally, the storage modules (211, 15, 206, 240) are driven to move in the height direction by the drive modules (207, 205, 412), that is, the drive modules (207, 205, 412) simultaneously drive the wiping plates (122, 1201) and the storage modules (211, 15, 206, 240) to move.

[0210] In one feasible embodiment, the storage module 211 is located in the direction of movement of the wiping plates (122, 1201). As shown in Figure 46, the storage module (211, 15, 206, 240) includes a collection box 206, and the drive modules (207, 205, 412) drive the wiping plates (122, 1201) to move towards the collection box 206 to hold the wiping items and the wiping plates (122, 1201) within the collection box 206. Furthermore, when the drive modules (207, 205, 412) drive the wiping plates (122, 1201) towards 206, the wiping plates (122, 1201) compress the wiping items within the collection box 206 to facilitate the collection box 206 storing more wiping items.

[0211] In one feasible approach, the control method for the automatic cleaning system 300 includes the following steps:

[0212] The free end of the continuous wiping substrate 500 is transferred to the segmentation position;

[0213] The free end of the wiping substrate 500 is disconnected from the wiping substrate 500 to form a wiping component;

[0214] Install the wiping component onto the wiping plate (122, 1201).

[0215] The process of disconnecting the free end of the wiping substrate 500 from the wiping substrate 500 can be performed simultaneously with the installation of the wiping component on the wiping plate (122, 1201), or the wiping component can be installed on the wiping plate (122, 1201) first, and then the free end of the wiping substrate 500 can be disconnected from the wiping substrate 500.

[0216] Specifically, the free end of the continuous wiping substrate 500 is transferred to the dividing position, including: the free end of the wiping substrate 500 stored in the storage module 213 is transferred to the dividing position through the feed module (220, 421).

[0217] Installing the wiping component onto the wiping plate (122, 1201) includes: installing the wiping component onto the loading section (123, 127) of the wiping plate (122, 1201) via the operation module (125, 400).

[0218] The process of detaching the free end from the wiping substrate 500 to form a wiping element includes: detaching the free end from the wiping substrate 500 to form a wiping element by locking and / or stretching the wiping substrate 500 through the feed modules (220, 421).

[0219] The process of detaching the free end from the wiping substrate 500 to form a wiping member includes: detaching the free end from the wiping substrate 500 to form a wiping member using a dividing device 280.

[0220] In one feasible manner, the control method of the automatic cleaning system 300 includes the following steps: separating the wiping element from the wiping plate (122, 1201). After the wiping element is separated from the wiping plate (122, 1201), the wiping plate is fitted with a new wiping element through the above steps to achieve automatic replacement of the wiping element.

[0221] In one feasible manner, the control method of the automatic cleaning system 300 includes the following steps: separating the wiping plate (122, 1201) from the cleaning robot 100 before separating the wiping element from the wiping plate (122, 1201). After the wiping plate (122, 1201) is separated from the cleaning robot 100, the base station 200 operates only on the separated wiping plate (122, 1201) with the wiping element, causing the wiping plate to replace the wiping element.

[0222] In one feasible embodiment, as shown in Figures 37-43, the control method of the automatic cleaning system 300 includes the following steps: before separating the wiping component from the wiping plate (122, 1201), the wiping plate, which is separated from the cleaning robot, is driven to move to the wiping component operation position (2021, 2022, 215, 217, 218, 13, 4221, 420). In this embodiment, the separation of the wiping plate (122, 1201) from the cleaning robot 100 is completed at the wiping plate operation position, and the separation of the wiping component from the wiping plate (122, 1201) is completed at the wiping component operation position (2021, 2022, 215, 217, 218, 13, 4221, 420). Therefore, after the wiping plate (122, 1201) is separated from the cleaning robot 100, the drive module (207, 205, 412) moves the wiping plate (122, 1201) from the wiping plate operation position to the wiping component operation position (2021, 2022, 215, 217, 218, 13, 4221, 420), and then completes the replacement of the wiping component.

[0223] In one feasible manner, the control method of the automatic cleaning system 300 includes the following steps: after the wiping element is installed on the wiping plate (122, 1201), the wiping plate (122, 1201) is installed on the cleaning robot 100.

[0224] In one feasible manner, the control method of the automatic cleaning system 300 includes the following steps: after the wiping plate (122, 1201) is separated from the cleaning robot 100, the cleaning robot 100 moves a preset distance in a first direction. As shown in Figures 37-43, since the wiping component operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420) are located above the wiping plate operation position, when the wiping plate (122, 1201) is separated from the cleaning robot, the drive modules (207, 205, 412) drive the wiping module from the wiping plate operation position to the wiping component operation positions (2021, 2022, 215, 217, 218, 13, 4221, 420). If the cleaning robot 100 remains in the wiping plate operating position, the main body 101 of the cleaning robot 100 will obstruct the drive modules (207, 205, 412) from driving the mop plates (122, 1201) to move vertically. Therefore, the cleaning robot 100 moves in the first direction, preferably the opposite direction of the first direction of movement of the cleaning robot 100, to make room for the movement of the mop plates (122, 1201).

[0225] In one feasible approach, the control method of the automatic cleaning system 300 includes the following steps: As shown in FIG44, after the cleaning robot 100 moves a preset distance in a first direction, the wiping plates (122, 1201) are installed on the cleaning robot 100. In this embodiment, the base station 200 includes a wiping plate mounting position 2022 and a wiping plate separation position 2021. After the cleaning robot 100 separates the wiping plates (122, 1201) at the wiping plate separation position 2021, the cleaning robot moves in the first direction to reach the wiping plate mounting position. Preferably, the first direction is the opposite direction to the moving direction of the cleaning robot 100.

[0226] Figure 44 shows an embodiment where the wiping plate mounting position and the wiping plate separation position are separately configured. In this embodiment, the separation and installation of the wiping plate (122, 1201) from the cleaning robot 100 are completed at different times. Of course, in some embodiments, the wiping plate mounting position and the wiping plate separation position can be the same location, that is, the separation and installation of the wiping plate (122, 1201) from the cleaning robot 100 are completed at the same location, such as... Figures 1 to 36 Figure 37, Figure 46 Figures 58 to 63 In the embodiments shown, the wiping plate operating position serves as both the wiping plate mounting position and the wiping plate disengagement position.

[0227] In one feasible manner, the control method of the automatic cleaning system 300 includes the following steps: As shown in Figure 37, in this real-time mode, the wiping plate operation position of the base station 200 allows the cleaning robot 100 to separate and install the wiping plates (122, 1201) at the same position. After the wiping component is installed on the wiping plate (122, 1201), the cleaning robot 100 moves a preset distance in the second direction back to the wiping plate operation position and installs the wiping plate (122, 1201) on the cleaning robot 100. The first direction is opposite to the second direction.

[0228] like Figures 1 to 36 The accompanying drawings shown are those relating to the first embodiment of the present invention. Figures 1 to 3 This is a schematic diagram of the first feasible solution of the cleaning system 300 in this embodiment, which includes a cleaning robot 100 and a base station 200. The cleaning robot 100 can be an automatic mopping robot, an automatic mopping and sweeping robot, or an automatic sweeping robot, etc. The cleaning robot 100 works in the working area, completing tasks such as mopping and sweeping. When it needs to return to the base station 200, such as when it detects that the wiping parts need to be replaced or the cleaning robot 100 needs to be charged, the return procedure is initiated, and the cleaning robot 100 returns to the base station 200 to complete the automatic replacement of the wiping parts or charging.

[0229] like Figure 1As shown, the cleaning robot 100 includes a main body 101 and a moving module located at the bottom of the main body 101 for moving the main body 101 on a working surface. The moving module includes wheels 110; it is understood that the moving module may also include a track structure. The cleaning robot 100 also includes a cleaning mechanism. In this embodiment, the cleaning module 120 serves as the cleaning mechanism, and the cleaning robot 100 performs mopping work on the working surface through the cleaning module 120. In other embodiments, the cleaning mechanism of the cleaning robot 100 may also include a roller brush and side brushes for cleaning dust and debris such as dirt from the floor and corners. The side brushes concentrate the debris for processing by the roller brush, and the dust is collected into a dust collection box.

[0230] The cleaning robot 100 also includes a power mechanism, a power source, and a sensor system. The power mechanism includes a motor and a transmission mechanism connected to the motor. The transmission mechanism is connected to the moving module, and the motor drives the transmission mechanism to work, causing the moving module to move. The transmission mechanism can be a worm gear mechanism, a bevel gear mechanism, etc.

[0231] The power source for the cleaning robot 100 is configured to provide energy to the power mechanism, enabling the cleaning robot 100 to move and perform tasks. The power source is typically a battery pack. When the battery pack's energy consumption reaches a threshold, the cleaning robot 100 automatically returns to the base station 200 to replenish its energy, and continues working after recharging.

[0232] The sensor system of the cleaning robot 100 includes a cliff sensor, which detects the presence of a cliff and changes the walking strategy; a side sensor, which detects the side of the work area and generates a side-walking strategy; a tilt sensor, which detects that the machine tilts and changes the working strategy and issues instructions to the user; and various other common sensors, which will not be described in detail here.

[0233] The cleaning robot 100 also includes a control module, which can be an embedded digital signal processor, microprocessor, specific integrated circuit, central processing unit, or field-programmable gate array, etc. The control module can control the operation of the cleaning robot 100 according to preset conditions or instructions received by the cleaning robot 100. Specifically, the control module can control the moving module to move randomly within the working area of ​​the cleaning robot 100 or follow a preset walking path. While the moving module drives the cleaning robot 100 to move, the cleaning mechanism works, thereby cleaning stains, dust, and other debris from the surface of the working area.

[0234] In this embodiment, the cleaning module 120 is equipped with wiping components for wiping dust or stains adhering to the work surface. The wiping substrate 500 can be divided into at least two wiping components. The wiping components are sheet-like, less than 0.5 cm thick, and include natural fabrics such as cotton and linen, or chemical fabrics such as polyester and nylon fibers, or sponge products such as rubber and wood pulp cotton, paper products such as virgin wood pulp and degreased cotton, and soft disposable items such as the aforementioned synthetic products. In one embodiment, the wiping component can generate static electricity through friction with the work surface, such as electrostatic paper, thereby attracting dust such as hair from the work surface. In one embodiment, the wiping component has a water-absorbing function and can maintain the integrity of the wiping component for a period of time.

[0235] In this embodiment, the base station 200 includes a storage device for storing wiping substrate 500. The storage device includes a storage module 211 for storing used wiping components, and a storage module 213 for storing wiping substrate 500 to be used.

[0236] like Figure 2 As shown, the base station 200 includes a wiping component separation position 217 and a wiping component mounting position 215. When the cleaning robot 100 returns to the base station 200 and moves to the wiping component separation position 217, so that the wiping component installed by the cleaning robot 100 is located above the wiping component separation position 217, the used wiping component can be separated, and the separated wiping component enters the storage module 211.

[0237] like Figure 3 As shown, after the cleaning robot 100 separates the wiping component at the wiping component separation position 217, it retreats to the wiping component mounting position 215. In this embodiment, the base station 200 includes a feeding module 220, used to export the wiping component from the storage module 213 to the wiping component mounting position 215 for installation by the cleaning robot 100. Under the action of the feeding module 220, the wiping component is exported from the storage module 213 and moves to the wiping component mounting position 215 in a direction approximately parallel to the wiping component mounting position 215, keeping the wiping component as flat as possible.

[0238] Since the wiping substrate 500 in the storage module 213 is continuous, the feeding module 220 stops working when the length of the wiping component on the wiping component mounting position 215 meets the preset length. The base station 200 also includes a limiting module 260 for detecting the length of the wiping component on the wiping component mounting position 215, and the control module controls the feeding module 220 according to the detection result of the limiting module 260. In this embodiment, the wiping component separation position 217 and the wiping component mounting position 215 are located at different positions in the base station 200. In other embodiments, the wiping component separation position 217 and the wiping component mounting position 215 may partially or completely overlap.

[0239] Optionally, the base station 200 includes a flattening module 250. Since the wiping component is relatively soft and prone to wrinkling, after the feeding module 220 extends the free end of the wiping substrate 500, the wiping component needs to be kept relatively flat in order to facilitate the normal installation of the wiping component by the cleaning robot 100. The flattening module 250 keeps the wiping component flat by means of airflow, pressure rods, etc.

[0240] Optionally, the base station 200 includes a segmentation module 280 for separating the free end of the wiping substrate 500 on the wiping component mounting position 215 from the wiping substrate 500 in the storage module 213. To ensure that the wiping substrate 500 in the storage module 213 can continue to be exported under the action of the feeding module 220 after the user has completed installation, the wiping substrate 500 stored in the storage module 213 is continuous. If the length of the wiping component detected by the limit module 260 meets the preset length, the free end of the wiping substrate 500 on the wiping component mounting position 215 needs to be separated from the wiping substrate 500 in the storage module 213.

[0241] In one scenario, the continuous wiping substrate 500 in the storage module 213 is composed of several standard-length wiping pieces connected together, and the connection strength is relatively weak. The cleaning robot 100 can naturally separate the wiping pieces during the installation process. In another scenario, when the wiping piece on the wiping piece mounting position 215 meets the preset length, the segmentation module 280 operates to separate the free end of the wiping substrate 500 from the main body.

[0242] In this embodiment, the wiping component mounting position 215 includes a first position away from the storage module 213 and a second position close to the storage module 213. When the wiping component reaches the second position, it indicates that the length of the wiping component on the wiping component mounting position 215 meets the preset length requirement, and the control module can control the feeding module 220 to stop working. The storage module 213 includes an outlet 2111, the width of which is greater than the width of the wiping component. The feeding module 220 guides the wiping substrate 500 from the outlet 2111 to the wiping component mounting position 215. Optionally, the storage module 213 includes a pivotable cover 2113 for the user to open to replace the wiping substrate 500. The storage module 211 includes an outlet for the user to open to dispose of the used wiping components stored in the storage module 211. Optionally, the storage module 211 includes a garbage bag storage structure, allowing the user to put a garbage bag into the storage module 211, where the used wiping components are directly stored, and the user can directly remove the garbage bag from the outlet.

[0243] In one embodiment, the storage module 213 is provided with a mounting bracket 51 parallel to the ground, with bearings supporting both ends of the mounting bracket 51. Accordingly, the wiping substrate 500 that the storage module 213 can store is in the form of a roll-type wiping substrate 500, including a cylindrical hollow rolling element, wrapped with a length much greater than that required for a single use. The user can pass the hollow rolling element through the mounting bracket 51 and install it inside the storage module 213, allowing the hollow rolling element to rotate around the mounting bracket 51.

[0244] In one embodiment, the moving module includes auxiliary wheels 102. When the cleaning robot 100 returns to the base station 200, the cleaning module 120 is raised, the auxiliary wheels 102 are lowered, and the moving module drives the cleaning robot 100 into the base station 200. The cleaning module 120 remains raised before the cleaning robot 100 initiates the wiping component installation procedure. When the cleaning robot 100 initiates the wiping component installation procedure, the auxiliary wheels 102 are raised, and the cleaning module 120 descends to the wiping component mounting position 215 to complete the wiping component installation.

[0245] like Figure 4 As shown, the cleaning module 120 includes an acquisition unit 121 for acquiring new wiping components or separating old wiping components, thereby replacing the wiping components without user intervention. Figure 4 As shown, in this embodiment, the acquisition unit 121 includes a wiping plate 122 and a clamping assembly 123. The clamping assembly 123 includes an external clamping member 1231 and an internal clamping member 1233, which are mounted on the wiping plate 122 via a transmission assembly 125.

[0246] The transmission assembly 125 includes a first horizontal gear 1251, a second horizontal gear 1253, and an intermediate gear 1255. Two external clamping members 1231 are respectively located on opposite sides of the wiping plate 122. The first horizontal gear 1251 and the second horizontal gear 1253 are fixedly connected to the two external clamping members 1231, causing them to move simultaneously. The first horizontal gear 1251 and the second horizontal gear 1253 are meshed through the intermediate gear 1255, reciprocating in opposite directions. The first horizontal gear 1251 is connected to the external clamping members 1231, causing them to reciprocate simultaneously. The intermediate gear 1255 is driven by a motor. When the intermediate gear 1255 rotates in the first direction, the first horizontal gear 1251 and the second horizontal gear 1253 simultaneously retract inwards, causing the two external clamping members 1231 to retract inwards. When the outer clamping member 1231 retracts inward, the inner clamping member 1233 also retracts inward. The spring member (not shown) is connected to the inner clamping member 1233, and the spring member is in a compressed state when the inner clamping member 1233 retracts inward. When the motor drives the intermediate gear 1255 to rotate in the second direction, the compressive force of the spring member pushes outward, and the inner clamping member 1233 connected to it also separates outward together.

[0247] In one embodiment, a spring (not shown) is provided at the end of the second horizontal gear 1253, and the spring is repeatedly compressed and relaxed when the first horizontal gear 1251 reciprocates. When the intermediate gear 1255 drives the first horizontal gear 1251 to move inward, the spring is compressed, and the outer clamping member 1231 clamps the wiping member. When the intermediate gear 1255 drives the outer first horizontal gear 1251 to move outward, the compression force of the compressed spring causes the outer clamping member 1231 to separate outward, releasing the wiping member clamped between the inner clamping member 1233 and the outer clamping member 1231. In other embodiments, a spring may also be provided at the end of the second horizontal gear 1251, thereby creating twice the compression force.

[0248] like Figure 5 and Figure 6 As shown, when the cleaning robot 100 moves to the base station 200 to acquire the wiping component, the wiping component is detachably fixed to the cleaning robot 100 under the action of the acquisition unit 121. When the intermediate gear 1255 moves in the first direction (e.g., ... Figure 5When rotated (in the indicated clockwise direction), the outer clamping member 1231 moves horizontally inward, and the pawl of the outer clamping member 1231 drives both sides of the wiping member to move inward, causing the portion of the wiping member near the pawl to bulge upward. When the outer clamping member 1231 contacts the inner clamping member 1233, the upwardly bulging wiping member is clamped between the two. The inner side of the inner clamping member 1233 includes an inclined surface. When the outer clamping member 1231 drives the inner clamping member 1233 to move further inward, the inclined surface of the inner clamping member 1233 abuts against the wiping plate 122, causing the inner clamping member 1233 to move along the inclined surface, and driving the outer clamping member 1231 to move along the inclined surface. Correspondingly, the wiping member between the outer clamping member 1231 and the inner clamping member 1233 also moves upward, and the wiping member below the wiping plate 122 is tensioned. Once the intermediate gear 1255 can no longer rotate, the outer clamping member 1231 and the inner clamping member 1233 reach the tensioned position. At this time, the wiping member is maximally tensioned and clamped between the outer clamping member 1231 and the inner clamping member 1233, making it less likely to fall off during operation.

[0249] like Figure 7 and Figure 8 As shown, in one embodiment, the acquisition unit 121 of the cleaning robot 100 includes a wiping plate 122 and an adhesive component 127, with the adhesive component 127 mounted on both sides of the wiping plate 122. When the wiping element comes into contact with the adhesive component 127, it can be relatively stably adhered to the adhesive component 127, thus allowing the wiping element to be mounted on the wiping plate 122. Specifically, the adhesive component 127 can be a device such as Velcro that is detachably connected to the wiping element.

[0250] The base station 200 includes an operation module 290 for assisting in the installation of the wiping component onto the cleaning robot 100. The operation module 290 is located below the wiping component mounting position 215 and includes a first pressure plate and a second pressure plate. When the cleaning robot 100 reaches the wiping component mounting position 215, the first and second pressure plates pivot upwards, pressing the wiping component onto the adhesive assembly 127.

[0251] like Figure 8As shown, in this embodiment, the first pressure plate and the second pressure plate are respectively mounted on the first gear and the second gear. The first gear is engaged with the first rack, and the second gear is engaged with the second rack. The first racks are connected to each other and move in the same direction. Specifically, the tooth core of the first gear is relatively fixedly mounted on the base station 200, and the first gear can rotate relative to the tooth core. The second gear is similar. The first gear is mounted above the first rack, and the second gear is mounted below the second rack. When the first rack and the second rack move towards the first rack, the first gear rotates clockwise, thereby driving the first pressure plate to rotate clockwise. The second gear rotates counterclockwise, thereby driving the second pressure plate to rotate counterclockwise. In order to match the working surfaces of the first pressure plate and the second pressure plate, the corresponding two sides of the wiping plate 122 are inclined surfaces, that is, the adhesive component 127 is provided on the two inclined surfaces of the wiping plate 122, thereby adhering to the first pressure plate and the second pressure plate.

[0252] like Figure 9 As shown, the feeding module 220 includes a roller assembly 221. In this embodiment, the roller assembly 221 includes a driving roller and a driven roller. A motor drives the driving roller to rotate in a first direction, thereby driving the driven roller to rotate in a second direction. The free end of the wiping substrate 500 is sandwiched between the roller assemblies 221. The pressure between the driving roller and the driven roller creates a frictional force on the wiping substrate 500, thereby driving the wiping substrate 500 away from the hollow rolling body and to the wiping component mounting position 215. In other embodiments, the roller assembly 221 may include two or more rollers, such as two sets of cooperating rollers. The wiping substrate 500 is driven out by the two sets of rollers, which can provide greater traction. In other embodiments, the roller assembly 221 may include one roller. The roller acts on one surface of the base station 200. Utilizing the frictional force on the wiping substrate 500, the free end of the wiping substrate 500 is driven out while the roller rotates.

[0253] like Figure 10 As shown, the flattening module 250 includes a fan 251. When the feeding module 220 is working, the control module controls the fan 251 to operate. The air outlet of the fan 251 faces the first position, so that the airflow direction of the fan 251 is approximately from the second position to the first position. The wiping component moves towards the first position under the influence of the airflow. Furthermore, because the airflow from the fan 251 outlet exerts a force on the wiping component in a direction parallel to it, the wiping component remains in a horizontally unfolded state.

[0254] In one embodiment, the cavity containing the air inlet of the fan 251 is in air communication with the wiping component mounting position 215, and the air outlet faces the outside of the base station 200. When the wiping component is led out to the wiping component mounting position 215, the gas near the wiping component mounting position 215 flows into the fan 251, thereby generating a negative pressure in the wiping component mounting position 215, adsorbing the wiping component onto the wiping component mounting position 215, thus making it less susceptible to external forces and able to remain in a relatively stable state in the wiping component mounting position 215, waiting for the cleaning robot 100 to install.

[0255] like Figure 11 As shown, the fan 251 has two air inlet channels. The first air inlet channel is directly connected to the outside of the base station 200 and does not affect other modules of the base station 200. The second air inlet channel is connected to the wiping component mounting position 215. Valves, such as three-way valves, are installed between the two air inlet channels and the air inlet of the fan 251. The air outlet of the fan 251 acts on the wiping component along the wiping component's outgoing direction. During the wiping component's outgoing process, the air inlet of the fan 251 is connected to the first air inlet channel, and the control module controls the valve to close the second air inlet channel. With the assistance of the fan 251, the wiping component is outgoing to the wiping component mounting position 215. Figure 12 As shown, when the wiping device reaches the wiping device mounting position 215, the air inlet of the fan 251 connects with the second air inlet channel, and the control module controls the valve to close the first air inlet channel. The wiping device mounting position 215 generates negative pressure under the action of the fan 251, which adsorbs the wiping device onto the wiping device mounting position 215.

[0256] like Figure 13 As shown, the flattening module 250 includes a timing belt assembly 253, specifically comprising a front wheel and a rear wheel, and a timing belt wound around the front wheel and the rear wheel. The front wheel or the rear wheel drives the timing belt to move. After the feeding module 220 guides the wiping component to the position of the front wheel, the timing belt drives the wiping component to move towards the first position. In this embodiment, to enable the timing belt to better drive the wiping component, a felt is provided on the timing belt. The felt generates a large frictional force after contacting the wiping component, assisting the wiping component to move towards the first position. Furthermore, after the wiping component reaches the wiping component mounting position 215, the wiping component will not move easily under the action of the felt, preventing wrinkles in the wiping component.

[0257] like Figure 15a and Figure 15bAs shown, the flattening module 250 includes a pressure rod 255, which acts on the wiping element and moves to a second position, causing the wiping element to be tensioned as the pressure rod 255 moves. In this embodiment, the pressure rod 255 is connected to a four-bar linkage 257, which includes a frame, a connecting rod, and a crank. The frame is fixed to the base station 200 and coincides with the second point of the wiping element mounting position 215 in the height direction. The connecting rod moves in the height and horizontal directions under the drive of the crank, and the pressure rod 255 is connected to the connecting rod through a torsion spring. When the connecting rod is in position A, the pressure rod 255 is at its highest point in the height direction and does not contact the wiping element mounting position 215. When the connecting rod is in position B, the pressure rod 255 contacts the wiping element mounting position 215. When the connecting rod is in position C, the pressure rod 255 reaches its lowest point under the drive of the connecting rod, and the torsion spring exerts pressure on the pressure rod 255, thereby exerting pressure on the wiping element on the wiping element mounting position 215. When the connecting rod is at position D, the pressure rod 255 moves to the second position, thereby pulling the wiping component between the pressure rod 255 and the wiping component mounting position 215 to the second position. In this embodiment, a groove 2150 is provided at the second position of the wiping component mounting position 215, so that the pressure rod 255 is pressed downward into the groove 2150 by the torsion spring, pulling the wiping component downward to achieve tension. When the cleaning robot 100 is installed, the control connecting rod moves upward to position E, and the pressure rod 255 leaves the wiping component mounting position 215.

[0258] like Figure 16 As shown, the pressure rod 255 is mounted on the synchronous belt assembly 253 and moves synchronously with it. When the free end of the wiping substrate 500 is led out from the storage module 213 to the first position, the synchronous belt assembly 253 rotates counterclockwise, causing the pressure rod 255 to move downward to position a. When the pressure rod 255 is at its lowest position, it applies pressure to the wiping substrate 500. Driven by the synchronous belt assembly 253, the pressure rod 255 moves to position b, thereby moving the wiping substrate 500. When the pressure rod 255 reaches position c, the wiping substrate 500 also reaches the second position, awaiting installation by the cleaning robot 100, and the wiping substrate 500 is tensioned under the action of the pressure rod 255. After the cleaning robot 100 is installed, the synchronous belt assembly 253 continues to move, lifting the pressure rod 255.

[0259] like Figure 17 As shown, the limiting module 260 includes a sensor assembly 261 for detecting the length of the wiping component extending from the wiping component mounting position 215. Specifically, it may include a photoelectric sensor or a Hall sensor. In this embodiment, the sensor assembly 261 is mounted at the second position of the wiping component mounting position 215. When the sensor assembly 261 detects the wiping component at the second position, it indicates that the length of the wiping component extending from the second position has reached the preset length requirement, and the control module controls the feeding module 220 to stop working.

[0260] like Figure 18 As shown, sensor assembly 261 is mounted on roller assembly 221 and is used to detect the rotation angle of roller assembly 221. Sensor assembly 261 may include angular displacement sensors, etc. Since the free end of wiping substrate 500 is led to wiping component mounting position 215 by roller assembly 221, the circumference of one rotation of roller assembly 221 is consistent with the corresponding wiping component extension length when there is no slippage. Therefore, the extension length of wiping component can be calculated by detecting the rotation angle of roller assembly 221. If the rotation angle of roller detected by sensor assembly 261 reaches a preset angle, it means that the extension length of wiping component has reached the preset length requirement, and the control module controls roller assembly 221 to stop working.

[0261] like Figure 19 As shown, the wiping substrate 500 stored in the storage module 213 can be composed of multiple standard-length wiping pieces connected together. The connection strength between each wiping piece is relatively small, making it easy to disconnect. In this embodiment, there are multiple light-transmitting holes between each wiping piece. Therefore, the length of the free end of the wiping substrate 500 can be detected by detecting the light-transmitting holes. The sensor assembly 261 is installed in the second position. If the sensor assembly 261 detects a light-transmitting hole, it indicates that the length of the free end of the wiping substrate 500 has reached the preset length requirement, and the control module controls the feeding module 220 to stop working. In this embodiment, the sensor assembly 261 includes a light emitter and a light receiver. When the light receiver detects the light emitted by the light emitter through the light-transmitting holes between the wiping pieces, the sensor assembly 261 outputs a signal, and the control module controls the feeding module 220 to stop working based on the signal output by the sensor assembly 261.

[0262] like Figure 20 As shown, the limiting module 260 includes a sensor component 263 for detecting the remaining storage amount of the wiping substrate 500 in the storage module 213. When the remaining storage amount is less than a preset amount, the control module reminds the user to replace it, preventing the cleaning robot 100 from failing to install a new wiping component when returning to the base station 200. The sensor component 263 may include a micro switch, a Hall element, or an optocoupler element, etc. In this embodiment, the sensor component 263 is located between the mounting bracket 51 and the wiping component mounting position 215. Since the wiping substrate 500 can be continuously exported when there is sufficient remaining storage, if the sensor component 263 does not detect the wiping substrate 500, the remaining length of the wiping substrate 500 is less than the usable length or less than the recommended length, requiring the user to be reminded to replace it. In this embodiment, the base station 200 is equipped with an indicator light or a buzzer, etc., and the control module controls the indicator light or buzzer to work to remind the user. In other embodiments, the base station 200 can communicate with the user equipment. If the sensor component 263 does not detect the wiping substrate 500, the control module sends a prompt message to the user equipment.

[0263] like Figure 21 As shown, sensor assembly 263 is used to detect the height of the wiping substrate 500, thereby detecting the remaining storage capacity of the wiping substrate 500. For the roll-type wiping substrate 500, the more times the wiping substrate 500 wraps around the hollow rolling element, the higher its height. Therefore, the preset remaining storage capacity of the wiping substrate 500 corresponds to a preset height. If the height of the wiping substrate 500 is lower than the preset height, the remaining length of the wiping substrate 500 is less than the recommended length, and the user needs to be reminded to replace it.

[0264] In one embodiment, sensor assembly 263 is used to detect the weight of the roll-type wiping substrate 500, thereby detecting the remaining storage capacity of the wiping substrate 500. In this embodiment, sensor assembly 263 is mounted on the mounting bracket 51 of the roll-type wiping substrate 500. Since the weight of the roll-type wiping substrate 500 in the storage module 213 decreases as the wiping substrate 500 decreases, when the weight of the wiping substrate 500 is less than a preset weight, or when the ratio of the weight of the wiping substrate 500 to the initial weight is less than a preset ratio, the remaining length of the wiping substrate 500 is less than the recommended length, and the user needs to be reminded to replace it.

[0265] In one embodiment, the control module counts the signals output by the sensor 261. Each time the length of the wiping element reaches the preset length requirement, the count is incremented by 1. When the count value is greater than or equal to the preset value, it indicates that the storage capacity in the storage module 213 is less than the preset capacity, and the control module prompts for replacement.

[0266] like Figure 21 As shown, in one embodiment, the limiting module 260 includes a sensor assembly 265, which is mounted on the storage module 211. In this embodiment, the sensor assembly 265 is mounted above the storage module 211 in the height direction to detect whether the wiping component in the storage module 211 has reached the installation position. It is understood that the more wiping components there are in the storage module 211, the higher its height. Therefore, when the sensor assembly 265 detects that a wiping component has reached the installation position, it issues a prompt signal, prompting the user to dispose of the wiping component in the storage module 211. In other embodiments, the sensor assembly 265 can be used to detect parameters such as the weight of the storage module 211, and remind the user to handle the issue by setting a threshold.

[0267] like Figure 2As shown, in one embodiment, the wiping component segmentation module 280 includes a cutting device 281 and a transmission device 283. When the free end of the wiping substrate 500 reaches a preset length, the control module controls the cutting device 281 to contact and act on the wiping substrate 500 through the transmission device 283, thereby cutting the wiping substrate 500. In this embodiment, the cutting device 281 includes a blade mounted on a blade holder, and the transmission device 283 includes a cam. The lower part of the blade holder contacts the cam, and the cam rotates under the action of a motor, causing the blade holder to move in the height direction. The upper part of the blade holder is connected to a spring, which provides a force to move the blade holder downward, keeping the blade holder pressed against the cam. The control module controls the motor to drive the cam to rotate around the motor output shaft, and the changing diameter of the cam forms an upward thrust on the blade holder, thereby controlling the blade holder to move in the height direction, so that the blade contacts or does not contact the wiping substrate 500.

[0268] like Figure 22 As shown, in one embodiment, the cutting device 281 is installed inside the storage module 213. Since the cutting device 281 includes a sharp cutting device such as a blade, to ensure user safety, the width of the outlet 2111 of the storage module 213 is less than or equal to 3 cm to prevent the user from reaching into the storage module 213 and contacting the cutting device 281. In one embodiment, the cutting device 281 is installed outside the storage module 213. To ensure user safety, an additional protective cover is required, which includes an outlet with a width less than or equal to 3 cm.

[0269] like Figure 23 As shown, the cutting device 281 moves horizontally, and its bottom can contact the wiping element mounting position 215. In this embodiment, the transmission device 283 includes a horizontal guide rail, and the cutting device 281 is mounted on the slider. As the slider moves in the guide rail, the cutting device 281 can move horizontally. When the feed module 250 is working, the cutting device 281 is biased to one side. When the free end of the wiping substrate 500 reaches a preset length, the control module controls the cutting device 281 to move horizontally to the other side in the width direction of the wiping substrate 500, thereby cutting the wiping substrate 500. In this embodiment, the blade is circular and pivotally mounted on the slider. When the slider moves, the blade rubs against the wiping substrate 500, thereby generating rotation. In other embodiments, blades of other shapes can also cut the wiping substrate 500 under the action of the slider.

[0270] like Figure 1As shown, in one embodiment, the storage module 211 opens upwards, and the wiping component separation position 217 is located above the storage module 211. When the cleaning robot 100 moves to the wiping component separation position 217, the cleaning module 120 separates the wiping component, causing it to fall directly into the storage module 211. In this embodiment, the wiping component separation position 217 does not coincide with the wiping component mounting position 215, and the wiping component separation position 217 is located at the front of the cleaning robot 100 in the direction of movement. After the cleaning robot 100 separates the wiping component, it can return to the wiping component mounting position 215 to install the wiping component. After installation, it can exit the base station 200 to perform cleaning work.

[0271] like Figures 24 to 26 As shown, in one embodiment, the base station 200 includes a wiping component recycling module 270 for recycling wiping components from the wiping component separation position 217 into a storage module 211. In this embodiment, the wiping component recycling module 270 is mounted on the storage module 211. The wiping component recycling module 270 includes a storage component 271 and a rotating shaft 273 connected to the storage component 271, the rotating shaft 273 being pivotally mounted on one side of the storage module 211. When the rotating shaft 273 rotates downwards, the first surface of the storage component 271 faces upwards. At this time, the storage component 271 is located at the first recycling position, and the first surface of the storage component 271 is used to receive used old wiping components. The first recycling position coincides with or partially coincides with the wiping component separation position 217. After the cleaning module 120 of the cleaning robot 100 moves to the wiping component separation position 217, it separates the wiping component, causing the wiping component to fall onto the first surface of the storage component 271. After the cleaning robot 100 separates the wiping component and leaves the wiping component separation position 217, the control module controls the rotating shaft 273 to pivot upwards, and the storage component 271 pivots synchronously with the rotating shaft 273. When the rotating shaft 273 reaches its maximum pivot angle, the first surface of the storage component 271 faces downwards. At this time, the storage component 271 is located in the second recovery position, and the wiping component on the storage component 271 falls into the storage module 211. It can be understood that in this embodiment, the opening position of the storage module 211 is higher than the wiping component separation position 217, and the wiping component recovery is achieved by the pivoting of the wiping component recovery module 270 in the height direction.

[0272] In one embodiment, the wiping component separation position 217 coincides with or partially coincides with the wiping component mounting position 215, and the wiping component recycling module 270 is displaced in the height direction during operation. The steps for the cleaning robot 100 to return to the base station 200 to replace the wiping component are as follows:

[0273] S1: The cleaning robot 100 moves to the wiping component mounting position 215, so that the acquisition unit 121 is aligned with the wiping component separation position 217;

[0274] S2: Cleaning robot 100 separate wiping component;

[0275] S3: The cleaning robot 100 moves to a position other than the wiping component separation position 217;

[0276] S4: Base station 200 recycling wipes;

[0277] S5: Base station 200 exports a new wiping piece to wiping piece mounting position 215;

[0278] S6: Cleaning robot 100 moves to wiping component mounting position 215;

[0279] S7: Cleaning robot 100 with wiping attachment installed.

[0280] like Figures 27 to 29 As shown, in one embodiment, the wiping component recycling module 270 includes a storage component 271 and a lifting assembly 275. The storage component 271 is mounted on the lifting assembly 275, allowing it to move vertically with the lifting assembly 275. When the storage component 271 is at its lowest point on the lifting assembly 275, it is located at the first recycling position. In this embodiment, the first recycling position coincides with or partially coincides with the wiping component separation position 217. After the cleaning module 120 of the cleaning robot 100 moves to the wiping component separation position 217, it separates the wiping component, causing it to fall into the storage component 271. When the cleaning robot 100 separates the used wiping component and leaves the wiping component separation position 217, the lifting assembly 275 lifts the storage component 271 and continues to rotate it towards the storage module 211, so that the first surface of the storage component 271 faces downwards. At this time, the storage component 271 is located at the second recycling position, and the wiping component falls into the storage module 211. In this embodiment, the lifting assembly 275 includes a timing belt. When the storage component 271 reaches its highest point under the action of the timing belt, the timing belt continues to move, and the storage component 271 rotates together with the timing belt, reaching the second retraction position. In other embodiments, the lifting assembly 275 may also be a sliding rod or other similar device.

[0281] like Figure 30 and Figure 31As shown, the wiping component recycling module 270 includes a lever 277 mounted on the wiping component separation position 217 and pivoting horizontally. When the cleaning robot 100 separates the used wiping component, the lever 277 pivots towards the storage module 211, causing the wiping component on the wiping component separation position 217 to enter the storage module 211 under the action of the lever 277. In this embodiment, the opening of the storage module 211 is at the same height as the wiping component separation position 217, or the opening of the storage module 211 is lower than the wiping component separation position 217; and the wiping component recycling module 270 is adjacent to the storage module 211. When the lever 277 rotates towards the storage module 211, the wiping component can fall into the storage module 211. In this embodiment, the wiping component installation position 215 can coincide with the wiping component separation position 217, and the cleaning robot 100 can remain stationary after separating the wiping component, waiting for the base station 200 to complete the recycling of the old wiping component and export the new wiping component before installation, and then exiting the base station 200.

[0282] like Figure 32 As shown, the wiping component recycling module 270 includes a fan 279, which is installed within the storage module 211. The storage module 211 includes an inlet 2701 facing the wiping component separation position 217. When the fan 279 is operating, airflow near the wiping component mounting position 215 enters the fan 279 through the inlet 2701. The storage module 211 includes an outlet 2703, from which gas flowing out during fan operation is discharged. The outlet 2703 can be positioned above the storage module 211, or in another direction that does not affect the operation of the base station 200. When the fan 279 is operating, the air inside the storage module 211 is discharged under the action of the fan 279, creating a negative pressure inside the storage module 211, causing the wiping component on the wiping component separation position 217 to enter the storage module 211 through the inlet 2701. The wiping component recycling module 270 also includes a filter device 274 installed between the fan 279 and the inlet 2701 to filter out larger particles in the air to avoid damaging the fan 279. Furthermore, since the wiping component may move upwards inside the storage module 211 under the action of the fan 279, the filter device 274 can prevent the wiping component from blocking the air inlet of the fan 279.

[0283] In one embodiment, the wiping component separation position 217 coincides with the wiping component installation position 215, and the wiping component recycling module 270 does not shift in the height direction when it is working. That is, when the cleaning robot 100 is located at the wiping component separation position 217 and the wiping component recycling module 270 is working, the base station 200 and the cleaning robot 100 do not affect each other. The cleaning robot 100 can wait for the wiping component recycling module 270 to complete the wiping component recycling while the feeding module 250 exports the wiping component, and then install the wiping component. The entire process requires no movement. The steps for the cleaning robot 100 to return to the base station 200 to replace the wiping component are as follows:

[0284] S10: The cleaning robot 100 moves to the base station 200, so that the acquisition unit 121 is aligned with the wiping part separation position 217;

[0285] S20: Cleaning robot with 100 separate wiping components;

[0286] S30: Base station 200 recycling wiper parts;

[0287] S40: Base station 200 exports the wiping component to wiping component mounting position 215;

[0288] S50: Cleaning robot 100 with wiping attachment.

[0289] like Figure 33 As shown, the storage module 211 is located below the wiping component separation position 217. The wiping component recycling module 270 includes a roller assembly 278, comprising an active roller driven by a motor and a driven roller rotated by the active roller. In this embodiment, the active roller rotates clockwise, and the driven roller rotates counterclockwise. When the wiping component is located at the wiping component separation position 217, the active roller and the driven roller are in direct contact with the wiping component, and the wiping component folds from the middle and moves downward under the action of the roller 278. When the roller 278 rotates further, the wiping component falls further downward into the storage module 211. In one embodiment, since the storage module 211 is located below the wiping component separation position 217, if the bottom surface of the base station 200 and the working surface of the cleaning robot 100 are on the same horizontal plane, the wiping component separation position 217 is higher than the working surface of the cleaning robot 100. Therefore, the surface where the wiping component separation position 217 is located is an inclined surface, which facilitates the cleaning robot 100 to move from the working surface to the wiping component separation position 217. In this embodiment, the wiping component separation position 217 and the wiping component installation position 215 are at the same location, that is, the cleaning robot 100 can complete the wiping component separation and installation at the same position after moving to the wiping component installation position 215 / wiping component separation position 217.

[0290] like Figure 34 and Figure 35 As shown, the base station 200 includes an interface 201 for mounting a bracket for a handheld vacuum cleaner, through which the handheld vacuum cleaner is integrated into the base station 200. For users who use the cleaning robot 100 while using a handheld vacuum cleaner or other handheld devices, the interface 201 expands the storage space in the vertical direction, improving space utilization.

[0291] like Figure 36As shown, the direction of movement of the cleaning robot 100 is taken as the length direction, the direction perpendicular to the working surface is taken as the height direction, and the direction perpendicular to both the length and height directions is taken as the width direction. In one embodiment, the width of the wiping plate 122 is smaller than the width of the wiping element, so that both sides of the wiping element in the width direction can be fixed to the wiping plate 122, thereby realizing the installation of the wiping element. In other embodiments, in order to make the width of the main body 101 of the cleaning robot 100 equal to or slightly larger than the width of the wiping plate 122, the width of the cleaning robot 100 is smaller than the width of the wiping element, thereby improving the compactness of the cleaning robot 100.

[0292] In one embodiment, the width of the storage module 211 is greater than the width of the wiping component, thereby ensuring that the wiping component can be stored flat within the storage module 211. That is, the width of the base station 200 is greater than the width of the wiping component. In another embodiment, the width of the cleaning robot 100 is less than the width of the base station 200.

[0293] like Figures 37A to 46L The accompanying drawings shown are those relating to the second embodiment of the present invention. Guided by the technical essence of this second embodiment, three different technical solutions are derived, as follows: Figures 37A to 37L The first scheme shown, such as Figures 44A to 44I The second scheme shown and as Figures 46A to 46L The third option shown.

[0294] The second embodiment specifically provides a cleaning module 120 for mounting or carrying on a cleaning robot 100, an operation module 400 used in conjunction with the cleaning module 120 to replace the wiping parts of the cleaning module 120, a base station 200 including or configuring the operation module 400, and a cleaning system 300 using or configuring the base station 200. In a feasible embodiment, the cleaning robot 100 may be exactly the same as the cleaning robot in the first embodiment above, and will not be described again here.

[0295] like Figure 37AAs shown, in the first embodiment, the bottom of the main body 101 of the cleaning robot 100 may be provided with a connecting mechanism (not shown) located between the walking wheels 110 and the auxiliary wheels 102 for connecting the cleaning module 120. A lifting mechanism may also be provided within the main body 101 to drive the connecting mechanism up and down, thereby raising or lowering the cleaning module 120. This lifting mechanism may employ a known cam structure. The top of the main body 101 may be provided with a detection element, such as a laser scanning module, connected to the control module, for detecting whether there are obstacles in front of the cleaning robot 100 in its walking direction. When the detection element detects an obstacle in front of the cleaning robot 100 in its walking direction, the control module controls the lifting mechanism to lift the cleaning module 120 and lower the auxiliary wheels 102. At this time, the cleaning robot 100 is in obstacle-crossing mode. After the cleaning robot 100 crosses the obstacle, the control module again controls the lifting mechanism to lower the cleaning module 120 and retract the auxiliary wheels 102. At this time, the cleaning robot 100 is in working mode and can perform cleaning operations.

[0296] The connecting mechanism is detachably connected to the cleaning module 120. After the cleaning robot 100 has been working for a certain period of time, the wiping component becomes dirty. The control module then controls the cleaning robot 100 to move to the base station 200, whereby the cleaning robot 100 detaches the cleaning module 120 and releases it into the base station 200. Subsequently, the base station 200 replaces the wiping component of the cleaning module 120 detached from the cleaning robot 100. Specifically, this includes removing the dirty wiping component originally carried on the cleaning module 120 and replacing it with a new or clean wiping component.

[0297] like Figure 39A and Figure 39B As shown, in one embodiment of the present invention, the cleaning module 120 may include a wiping plate 1201 and a loading portion 1202 rotatably connected to the wiping plate 1201, and the wiping member may be clamped between the wiping plate 1201 and the loading portion 1202. The wiping plate 1201 is generally plate-shaped, including but not limited to... Figure 39A and Figure 39B The rectangular plate shown can have a smoothly transitioned arc or a flat surface on its lower surface.

[0298] The wiping plate 1201 has a first clamping surface 1211, and the loading portion 1202 has a second clamping surface 1212 opposite to the first clamping surface 1211. In one embodiment, the first clamping surface 1211 is a portion of the upper surface of the wiping plate 1201, which is close to the edge of the upper surface of the wiping plate 1201 and extends along the long side of the wiping plate 1201, and can be generally elongated. Correspondingly, the second clamping surface 1212 is the lower surface of the loading portion 1202, and is preferably the same as or matches the shape of the first clamping surface 1211, and is elongated.

[0299] The loading unit 1202 may include a clamping body 1213 and a pivoting portion 1215 connected to the clamping body 1213. The clamping body 1213 may be generally elongated rod-shaped, with a second clamping surface 1212 formed on its lower surface. The pivoting portion 1215 is rotatably connected to the wiping plate 1201, meaning the loading unit 1202 is rotatably connected to the wiping plate 1201 via the pivoting portion 1215.

[0300] To improve the stability of the rotational connection between the loading section 1202 and the wiping plate 1201, the number of pivoting portions 1215 connected to a clamping body 1213 is preferably more than one, for example, two or more. The two or more pivoting portions 1215 are located on the same side along the axial direction of the clamping body 1213, and all pivoting portions 1215 are arranged substantially perpendicular to the clamping body 1213. Figure 39A and Figure 39B As shown, in an illustrative embodiment, there are two pivot portions 1215, respectively located at both ends of the clamping body 1213. Preferably, the pivot portions 1215 can be formed by bending both ends of the clamping body 1213 in the same direction (bending angle approximately 90°). In this embodiment, the pivot portions 1215 and the clamping body 1213 are integrally constructed, but this is not a limitation in practice.

[0301] Since the loading part 1202 is rotatably connected to the wiping plate 1201, the loading part 1202 has a clamping state that can clamp the wiping member, and an open state that releases the clamping of the wiping member.

[0302] like Figure 39A As shown, when the loading part 1202 is in the clamped state, the first clamping surface 1211 and the second clamping surface 1212 are in contact, thereby clamping the wiping member between them. At this time, the wiping member can wrap around or cover the lower surface of the wiping plate 1201, and its end is clamped between the two contacting clamping surfaces. Figure 39B As shown, when the loading part 1202 is in the open state, the first clamping surface 1211 and the second clamping surface 1212 separate, and the original wiping member is released.

[0303] To improve the clamping strength of the wiping component and minimize the risk of the wiping component detaching from the cleaning module 120 during cleaning operations, the cleaning module 120 may further include a clamping and maintaining component for applying a clamping force to the loading section 1202 to maintain it in a clamped state or to switch it to a clamped state. The presence of this clamping force causes the loading section 1202 to always tend to be in a clamped state, or to always tend to move towards a clamped state. Therefore, in the absence of an external force acting in the opposite direction to the clamping force, the loading section 1202 is normally in a clamped state.

[0304] In one feasible embodiment, the clamping force can be applied by the elastic force exerted by the elastic member. Specifically, the clamping and maintaining member may include an elastic member disposed between the wiping plate 1201 and the loading portion 1202. In this embodiment, the clamping force is the elastic force generated by the elastic member.

[0305] One implementation of the above embodiment is that the pivoting portion 1215 is rotatably connected to the wiping plate 1201 via a pin. The elastic element can be a torsion spring sleeved outside the pin, with its two ends abutting against the wiping plate 1201 and the loading portion 1202 respectively, and applying a spring force to the loading portion 1202 to ensure it always rotates towards the first clamping surface 1211 of the wiping plate 1201. Specifically, it can be as follows: Figure 39A and Figure 39B As shown, the torsion spring applies a spring force to the loading part 1202 to make it rotate downward or maintain clamping.

[0306] Alternatively, another feasible solution is to use a tension spring as the elastic element, with its two ends connected to the first clamping surface 1211 and the second clamping surface 1212, respectively. The tension spring is always in a stretched state. Thus, the tension spring can always apply an elastic tension to the loading part 1202. To reduce the space occupied by the tension spring on the two clamping surfaces and to avoid obstructing or interfering with the wiping component, the tension spring can be located near the end of the clamping body 1213.

[0307] Alternatively, another feasible solution is that the elastic element can be a spring sheet, which is fixed to the wiping plate 1201, and the end of the pivoting portion 1215 abuts against the spring sheet. Specifically, as shown... Figure 39A and Figure 39B As shown, the wiping plate 1201 is provided with a relief groove 1203 corresponding to the pivot portion 1215. The rotational connection point between the pivot portion 1215 and the wiping plate 1201 is located between the two ends of the pivot portion 1215, that is, the rotational connection point between the pivot portion 1215 and the wiping plate 1201 is approximately located in the middle of the pivot portion 1215. At this time, the end of the clamping body 1213 and the pivot portion 1215 facing away from the clamping body 1213 (named the trigger end 1214) can form a lever structure. The fulcrum of this lever structure is the rotational connection point between the pivot portion 1215 and the wiping plate 1201. The spring is provided in the relief groove 1203, and the lower surface of the trigger end 1214 of the pivot portion 1215 abuts against the spring, so that the spring always applies an upward elastic force to the trigger end 1214. Furthermore, based on the lever principle, the clamping body 1213 always has a tendency to rotate downwards or maintain the clamping body 101.

[0308] The above embodiments apply clamping force through elastic elements (torsion springs, tension springs, and spring sheets). It should be noted that in practice, any one of the three implementation methods described above can be used, or any two or all of the three implementation methods can be combined.

[0309] Of course, the application of clamping force is not limited to the elastic force described in the above embodiments. In another feasible embodiment, the clamping force can also be applied by magnetic field force. Specifically, the clamping and holding component may include a holding element (not shown) disposed on the first clamping surface 1211 and a matching element (not shown) disposed on the second clamping surface 1212 and corresponding to the holding element. One of the holding element and the matching element is a magnetic element, and the other is a magnetizable element or a magnetic element. In this embodiment, the clamping force is the magnetic attraction force generated by the holding element on the matching element.

[0310] The clamping force is applied by using magnetic force, eliminating the need for physical connecting components and thus simplifying the structure.

[0311] In this embodiment, the magnetic element can be a magnetic element capable of generating a magnetic field, such as a magnet that is itself magnetic (e.g., a permanent magnet or a hard magnet), or an electromagnetic element that generates magnetism when energized (e.g., an electromagnet). The magnetizable element can be made of magnetizable materials such as iron, cobalt, nickel, etc., and can be attracted by magnetic force.

[0312] One of the sustaining element and the matching element is a magnetic element, and the other is a magnetizable element. Alternatively, both the sustaining element and the matching element may be magnetic elements. When both the sustaining element and the matching element are magnetic elements, the polarity of the sustaining element facing the matching element is different from the polarity of the matching element facing the sustaining element.

[0313] In a further preferred embodiment, to reduce the overall weight of the cleaning module 120, the entire loading section 1202 or the clamping body 1213 is made of a magnetizable material. Thus, the loading section 1202 itself or the clamping body 1213 constitutes a mating element. This avoids the increase in weight caused by additional mating elements on the loading section 1202.

[0314] The holding elements can be magnets, and there are multiple magnets evenly arranged along the length of the first clamping surface 1211. Thus, the holding elements can magnetically attract the clamping body 1213 evenly along the length, resulting in a better clamping effect of the loading part 1202. Specifically, the first clamping surface 1211 can be recessed inward to form multiple receiving grooves, and the holding elements are respectively disposed in the corresponding receiving grooves. Furthermore, the holding elements, after being placed in the receiving grooves, preferably do not protrude above the first clamping surface 1211. This allows the second clamping surface 1212 to better fit with the first clamping surface 1211, avoiding gaps between the two clamping surfaces. This improves the clamping force on the wiping component and ensures a good clamping effect.

[0315] The above describes an embodiment of applying clamping force via a magnetic field. It should be noted that both of these clamping force implementations can be simultaneously configured in the cleaning module 120, or either one can be selected. That is, the clamping force can be either the elastic force generated by the elastic element or the magnetic attraction force generated by the holding element on the matching element, or it can be a superposition of the two forces.

[0316] To further improve the clamping strength of the loading part 1202 on the wiping component, there can be two loading parts 1202, with the two loading parts 1202 respectively located on opposite sides of the wiping plate 1201 (e.g., Figure 39A and Figure 39B (As shown on the left and right sides). In this way, both ends of the wiping component can be clamped between the first clamping surface 1211 and the second clamping surface 1212 respectively, and the clamping strength of the wiping component is high.

[0317] With two loading sections 1202, when the loading sections 1202 are in a clamped state, the cleaning module 120 presents a flat surface with a smooth upper surface (e.g., Figure 39A (As shown). However, when the loading section 1202 is in the open state, the outer ends (clamping body 1213) of the two loading sections 1202 are folded upwards or lifted up respectively, so that the cleaning module 120 as a whole presents a state of concave upper surface (as shown). Figure 39B (As shown).

[0318] By employing the above-described embodiment of applying clamping force and symmetrically arranging two loading parts 1202, the clamping strength of the wiping component can be greatly improved, minimizing the possibility of the wiping component falling off the cleaning module 120 during the cleaning operation of the cleaning robot 100 carrying or assembling the cleaning module 120.

[0319] Since the clamping force applied to the loading section 1202 by the clamping retainer is always present, the loading section 1202 is generally in a clamped state when no external force is applied. Therefore, in order to switch the loading section 1202 from the clamped state to the open state, an external force is needed to overcome the clamping force. Specifically, continuing from the above description, the trigger end 1214 of the pivot portion 1215 facing away from the clamping body 1213 can be configured to receive an external operating force. When the operating force is greater than a preset threshold, the loading section 1202 can rotate around its rotational connection point with the wiping plate 1201, thus switching from the clamped state to the open state.

[0320] In this embodiment, the preset threshold is set based on the lever arm size. According to the lever principle F1S1=F2S2, given the distance S1 between the trigger end 1214 and the fulcrum, the distance S2 between the clamping body 1213 and the fulcrum, and the clamping force F2 on the clamping body 1213, the operating force F1=F2S2 / S1. Therefore, in practice, when the operating force applied to the trigger end 1214 reaches or exceeds the preset threshold F2S2 / S1, the loading section 1202 can be opened.

[0321] Furthermore, to ensure that the trigger end 1214 can be smoothly opened under the action of external operating force, the wiping plate 1201 is provided with a relief groove 1203 corresponding to the pivot part 1215. For example... Figure 39A As shown, when the clamping member is in the clamped state, the trigger end 1214 is at least partially located outside the clearance groove 1203 to facilitate the engagement of external components (specifically, the top protrusion 404 mentioned below) with the trigger end 1214. When the external operating force exceeds a preset threshold, the loading part 1202 opens, and the trigger end 1214 rotates downward and enters the clearance groove 1203. In this way, the wiping plate 1201 avoids obstructing or interfering with the trigger end 1214, ensuring that the loading part 1202 can rotate and open smoothly. In addition, by providing the clearance groove 1203, the pivot part 1215 can be at least partially accommodated therein when the loading part 1202 is in the clamped state, thereby making the upper surface of the cleaning module 120 as flat as possible to facilitate the installation of the cleaning module 120 and the cleaning robot 100.

[0322] like Figures 40 to 43C As shown, the device 400 for replacing the wiping component of the cleaning module 120 provided in this embodiment of the invention may include: a support frame 401 for being detachably attached to the wiping plate 1201 of the cleaning module 120, a first moving mechanism 402 provided on the support frame 401, and a power mechanism 410 for driving the first moving mechanism 402 to move inward or outward along a first direction L1 on the support frame 401.

[0323] When the wiping plate 1201 of the cleaning module 120 is attached to the support frame 401, the loading part 1202 is in the open state. The first moving mechanism 402 can move inward along the first direction L1 under the drive of the power mechanism 410 to push the wiping member toward the first clamping surface 1211 of the wiping plate 1201. When the cleaning module 120 is separated from the support frame 401, the loading part 1202 switches to the clamping state.

[0324] In this embodiment, the support frame 401 may be plate-shaped, similar in shape to the wiping plate 1201 of the cleaning module 120, and may include, but is not limited to, the following: Figure 40 The shape is a rectangular plate as shown. The first moving mechanism 402 is mounted on the support frame 401 and can move inward or outward along a first direction L1 on the support frame 401 under the drive of the power mechanism 410. The first direction L1 is as follows: Figure 40 The direction of the arrow shown in L1 is either... Figure 41A , Figure 41C , Figure 42A , Figure 42C , Figure 43A and Figure 43C The horizontal left and right directions are indicated. "Move inward" means that the first moving mechanism 402 moves towards the interior or center of the support frame 401, and "move outward" means that the first moving mechanism 402 moves away from the interior or center of the support frame 401. The above explanation also applies to the second moving mechanism 403 described below.

[0325] When the first moving mechanism 402 is driven to move inward, it can push new or clean wiping pieces toward the first clamping surface 1211 of the wiping plate 1201. Therefore, its number should match or be equal to the number of loading parts 1202. As described above, where two loading parts 1202 are preferred, the number of first moving mechanisms 402 is also preferably two, and the two first moving mechanisms 402 are arranged along the first direction L1 on opposite sides of the support frame 401, specifically as follows: Figure 40 , Figure 41A , Figure 41C , Figure 42A , Figure 42C , Figure 43A and Figure 43C The left and right sides are shown. Furthermore, the two first moving mechanisms 402 are preferably arranged symmetrically.

[0326] like Figure 40As shown, in a feasible embodiment, the first moving mechanism 402 may include a translation member 4021 and a rake member 4022 rotatably connected to the translation member 4021. The power mechanism 410 can drive the translation member 4021 to move along a first direction L1, which in turn drives the rake member 4022 to move. The translation member 4021 and the rake member 4022 are generally long rods, arranged generally parallel to each other. Both ends of the rake member 4022 are provided with connecting ears extending towards the translation member 4021, and the rake member 4022 is rotatably connected to both ends of the translation member 4021 through the two connecting ears. The outer end of the rake member 4022 is provided with an inwardly bent hook-like structure to better contact the wiping member and push the wiping member towards the wiping plate 1201.

[0327] The first moving mechanism 402 can be driven to move by being directly driven by the power mechanism 410, or indirectly or passively driven through linkage with the second moving mechanism 403 described below. The indirect or passive driving method through linkage with the second moving mechanism 403 will be described below; here, we will focus on the method of direct driving by the power mechanism.

[0328] When there is only one first moving mechanism 402, the power mechanism 410 can directly drive the first moving mechanism 402 to move inward or outward. In this embodiment, the power mechanism 410 can be a cylinder, a hydraulic cylinder, etc., or the power mechanism 410 can also be a motor driving a gear that meshes with a rack provided on the first moving mechanism 402.

[0329] When there are two first moving mechanisms 402, both first moving mechanisms 402 need to move outward or inward simultaneously. Therefore, they can be driven by two separate power mechanisms to move outward or inward simultaneously, as described in the above embodiment. Alternatively, a single power mechanism can be used to achieve the simultaneous outward or inward movement of the two first moving mechanisms 402. Specifically, each of the two first moving mechanisms 402 can be equipped with a rack, which meshes with the same gear, and the racks are located on opposite sides of the gear.

[0330] Furthermore, in order to attach the wiping plate 1201 of the cleaning module 120 to the support frame 401, the loading part 1202 switches from a clamped state to an open state, such as... Figure 43C As shown, the support frame 401 may be provided with a top protrusion 404, which can be formed by the bottom of the support frame 401 protruding downwards. When the cleaning module 120 is attached to the support frame 401, the top protrusion 404 can abut against the trigger end 1214 of the pivot portion 1215. This causes the loading portion 1202 to open, releasing the dirty wiping component.

[0331] In fact, after the top protrusion 404 touches the trigger end 1214, external force is still required to be applied to the cleaning module 120 in order to open the loading part 1202. The specific process will be described below. After the loading part 1202 is opened, in order for the new wiping part to be installed on the cleaning module 120, the cleaning module 120 still needs to be attached to the support frame 401.

[0332] To achieve this purpose, the cleaning module 120 can also be attached to the support frame 401 by means of magnetic force. Specifically, the wiping plate 1201 of the cleaning module 120 may be provided with a first attachment element (not shown), and the support frame 401 may be provided with a second attachment element (not shown) corresponding to the first attachment element. Specifically, the first attachment element is provided on the upper surface of the wiping plate 1201, and the second attachment element is provided on the lower surface of the support frame 401. One of the first and second attachment elements is a magnetic element, and the other is a magnetizable element or a magnetic element. The magnetizable element and the magnetic element are explained above and will not be repeated here. The magnetic attraction force generated by the first attachment element to the second attachment element keeps the cleaning module 120 attached to the support frame 401.

[0333] After the cleaning module 120 has replaced the wiping plate, it needs to be separated from the support frame 401. For this purpose, a separating member 405 is rotatably provided on the support frame 401. The separating member 405 has a retracted state where it is stored within the support frame 401, and an extended state where its outer end extends outside the support frame 401. When the separating member 405 is in the retracted state, the cleaning module 120 is attached to the support frame 401; when the separating member 405 switches to the extended state, it contacts the wiping plate 1201 of the cleaning module 120, thus separating it from the support frame 401.

[0334] like Figure 40 , Figure 41B , Figure 42B and Figure 43B As shown, a through hole 406 is provided near the end of the support frame 401, and the upper end of the separating member 405 can be rotatably connected to the inner wall of the through hole 406 via a pin. The lower end face of the separating member 405 can be a smoothly transitioned arc shape, and as the separating member 405 gradually switches from the retracted state to the extended state, the distance by which the lower end face of the separating member 405 extends out of the support frame 401 gradually increases, thereby gradually increasing the force applied to the wiping plate 1201 of the cleaning module 120, and finally pushing the wiping plate 1201 open.

[0335] Furthermore, a reset member may be provided between the separating member 405 and the support frame 401. The reset member applies a reset force to the separating member 405 to maintain it in a retracted state or switch it to a retracted state. In this embodiment, the reset member may be a torsion spring, sleeved on a pin, applying a force to the separating member 405 to retract it inward, thereby allowing the separating member 405 to be retracted into the support frame 401 without external force.

[0336] To drive the separation component 405 to switch to the deployed state, a second moving mechanism 403 is provided on the support frame 401. When the first moving mechanism 402 moves inward or outward along the first direction L1, the second moving mechanism 403 correspondingly moves outward or inward along the second direction L2, which is approximately perpendicular to the first direction L1. Specifically, when the first moving mechanism 402 moves inward along the first direction L1, the second moving mechanism 403 correspondingly moves outward along the second direction L2. Similarly, when the first moving mechanism 402 moves outward along the first direction L1, the second moving mechanism 403 correspondingly moves inward along the second direction L2. The second direction L2 is as follows: Figure 40 The direction of the arrow shown in L2 is either... Figure 41A , Figure 41B , Figure 42A , Figure 42B , Figure 43A and Figure 43B The vertical direction shown.

[0337] The separating member 405 is located outside the second moving mechanism 403 along the second direction L2. For example... Figure 42B and Figure 43B As shown, when the second moving mechanism 403 moves outward along the second direction L2, it pushes the separating member 405 from the retracted state to the extended state. Specifically, as the second moving mechanism 403 moves outward, it gradually approaches the separating member 405 and eventually comes into contact with it. As the second moving mechanism 403 continues to move outward, it pushes the separating member 405 to rotate, causing its lower end to gradually extend out of the support frame 401. The extended lower end of the separating member 405 touches the wiping plate 1201 of the cleaning module 120, and as the extension length of the lower end of the separating member 405 increases, the force of the separating member 405 touching the wiping plate 1201 also gradually increases, eventually overcoming the magnetic attraction between the first attachment element and the second attachment element, causing the wiping plate 1201 to separate from the support frame 401.

[0338] Of course, the attachment and separation of the wiping plate 1201 and the support frame 401 are not limited to the above embodiments. In another feasible embodiment, the separation member 405 and the second moving mechanism 403 may not be necessary, and the above objective can be achieved simply by changing the first attachment element and the second attachment element.

[0339] Specifically, one of the first and second attachment elements is an electromagnetic element, and the other is a magnetic element or a magnetizable element. For example, the first attachment element is an electromagnetic element, and the second attachment element is a magnetic element or a magnetizable element, or vice versa. When the electromagnetic element is energized, it generates a magnetic field, which attracts the second attachment element, causing the wiping plate 1201 to attach to the support frame 401, allowing for the replacement of the wiping component. After the wiping component is replaced, the power supply to the electromagnetic element is disconnected, the magnetic field disappears, and the wiping plate 1201 falls under the influence of gravity, naturally separating from the support frame 401.

[0340] In this embodiment, the second moving mechanism 403 is composed of a plate-like structure. Furthermore, two second moving mechanisms 403 are preferably arranged along the second direction L2 on opposite sides of the support frame 401. Specifically, as follows... Figure 40 , Figure 41A , Figure 41B , Figure 42A , Figure 42B , Figure 43A and Figure 43B The upper and lower sides are shown. Furthermore, the two first moving mechanisms 402 are preferably arranged symmetrically.

[0341] To enable one power mechanism 410 to simultaneously drive two moving mechanisms, combined with Figure 41A , Figure 42A and Figure 43A The first moving mechanism 402 is provided with a first contouring part 4023, and the second moving mechanism 403 is provided with a second contouring part 4032, which cooperates with the first contouring part 4023. The cooperation between the first contouring part 4023 and the second contouring part 4032 is used to transmit driving power from one moving mechanism to the other. When one of the two moving mechanisms moves inward or outward in its corresponding direction, the other moving mechanism moves outward or inward in its corresponding direction under the cooperation of the first contouring part 4023 and the second contouring part 4032.

[0342] In one embodiment, one of the first contouring portion 4023 and the second contouring portion 4032 is a groove, and the other is a protrusion embedded in the groove. Figure 40In the illustrated embodiment, the first contouring part 4023 is a protrusion, and the second contouring part 4032 is a groove. Specifically, the first moving mechanism 402 is positioned between the support frame 401 and the second moving mechanism 403, meaning the first moving mechanism 402 is located on the lower layer, and the second moving mechanism 403 is located on the upper layer. The translation member 4021 of the first moving mechanism 402 has two support arms 4024, each with a protrusion. Correspondingly, the second moving mechanism 403 has two grooves. When one of the moving mechanisms is driven by a power mechanism, the interaction between the protrusion and the groove causes the other moving mechanism to move.

[0343] like Figure 41A , Figure 42A and Figure 43A As shown, the chute is segmented, comprising two sections: an inclined section and a straight section, with the straight section connected to the inner end of the inclined section. The inclined section is inclined outward along the second direction L2, and the straight section is parallel to the second direction L2.

[0344] In one embodiment, the power mechanism 410 may include a gear 407 driven to rotate by a motor and a rack 408 meshing with the gear 407. The rack 408 is disposed on either the first moving mechanism 402 or the second moving mechanism 403. When there are two first moving mechanisms 402 and two moving mechanisms 403, a single power mechanism 410 enables both moving mechanisms to move simultaneously inward or outward. Two racks 408 are disposed on either the two first moving mechanisms 402 or the two second moving mechanisms 403. Furthermore, the two racks 408 are located on opposite sides of the gear 407.

[0345] There are two ways in which the power mechanism can simultaneously drive two moving mechanisms:

[0346] (i) The power mechanism directly drives the first moving mechanism 402 to move along the first direction L1, while the movement of the first moving mechanism 402 drives the second moving mechanism 403 to move along the second direction L2 through the cooperation of the first contouring part 4023 and the second contouring part 4032. That is, the first moving mechanism 402 is directly driven to move by the power mechanism 410, while the second moving mechanism 403 is indirectly driven to move by the power mechanism 410 through the cooperation of the first contouring part 4023 and the second contouring part 4032.

[0347] (ii) The power mechanism 410 directly drives the second moving mechanism 403 to move along the second direction L2, while the movement of the second moving mechanism 403 drives the first moving mechanism 402 to move along the first direction L1 through the cooperation of the first contouring part 4023 and the second contouring part 4032. That is, the second moving mechanism 403 is directly driven to move by the power mechanism 410, while the first moving mechanism 402 is indirectly driven to move by the power mechanism 410 through the cooperation of the first contouring part 4023 and the second contouring part 4032.

[0348] like Figure 40 , Figure 41A , Figure 42A and Figure 43A The illustrated embodiment is the second method described above. The following is a combination of... Figure 40 , Figure 41A , Figure 42A and Figure 43A This section describes the process by which the power mechanism 410 simultaneously drives two moving mechanisms.

[0349] In this illustrative embodiment, the first moving mechanism 402 is mounted on the support frame 401, and the second moving mechanism 403 is mounted on the first moving mechanism 402, i.e., the first moving mechanism 402 and the second moving mechanism 403 are sequentially mounted on the support frame 401 from bottom to top. There are two of each of the two moving mechanisms 402 and 403. The first contouring part 4023 is a protrusion, and the second contouring part 4032 is a sliding groove. Each second moving mechanism 403 is provided with a rack 408. A gear 407 meshes with the two racks 408, and the two racks 408 are positioned on opposite sides of the gear 407. When the gear 407 is driven to rotate by a motor, it drives the two oppositely positioned racks 408, thereby causing the second moving mechanisms 403 to move towards each other (inward) or away from each other (outward). Conversely, with the cooperation of the protrusion and the sliding groove, the first moving mechanism 402 is correspondingly driven to move away from each other (outward) or towards each other (inward).

[0350] To achieve the first driving method described above, based on the illustrative embodiment, the positions of the first moving mechanism 402 and the second moving mechanism 403 can be interchanged. The first contouring part 4023 and the second contouring part 4032 can be the same as or opposite to those in the above embodiment, and the rack 408 can be mounted on the first moving mechanism 402. Accordingly, when the gear 407 is driven to rotate by the motor, it drives the two opposing racks 408, thereby causing the first moving mechanism 402 to move towards each other (inward) or away from each other (outward). With the help of the cooperation between the protrusion and the groove, the second moving mechanism 403 is correspondingly driven to move away from each other (outward) or towards each other (inward).

[0351] Furthermore, a top cover 409 may be provided on the support frame 401, covering the two moving mechanisms. The top cover 409 has an elongated hole in which the rack 408 is housed, serving to guide and straighten the movement of the rack 408. In addition, a motor for driving the gear 407 may be provided on the top cover 409.

[0352] The following is combined with Figures 41A to 43C This describes the process by which the operation module 400 of this embodiment replaces the cleaning module 120 with a new or clean wiping element 600.

[0353] like Figures 41A to 41C As shown, the wiping plate 1201 of the cleaning module 120 is attached to the bottom of the support frame 401 through the magnetic attraction between the first and second attachment elements. A protrusion 404 at the bottom of the support frame 401 contacts the trigger end 1214 of the pivot portion 1215, causing the pivot portion 1215 to rotate upwards and opening the loading portion 1202. The gear 407 is driven to rotate forward, as... Figure 41A As shown, a clockwise rotation drives the left rack 408 upward and the right rack 408 downward. Correspondingly, the lower second moving mechanism 403 moves upward and the upper second moving mechanism 403 moves downward. That is, both second moving mechanisms 403 move inward. Simultaneously, under the combined action of the protrusion and the inclined section of the groove, the left first moving mechanism 402 moves to the left and the right first moving mechanism 402 moves to the right. That is, both second moving mechanisms 403 move outward.

[0354] like Figures 42A to 42C As shown, gear 407 is driven to reverse, as... Figure 42A As shown, a counter-clockwise rotation drives the left rack 408 downward and the right rack 408 upward. Correspondingly, the lower second moving mechanism 403 moves downward and the upper second moving mechanism 403 moves upward. That is, both second moving mechanisms 403 move outward. Simultaneously, under the combined action of the protrusion and the inclined section of the groove, the left first moving mechanism 402 moves to the right and the right first moving mechanism 402 moves inward. That is, both second moving mechanisms 403 move inward. This pushes both ends of the wiping member 600 towards the first clamping surface 1211 of the wiping plate 1201, and the lower ends of the second moving mechanisms 403 press the ends of the wiping member 600 onto the first clamping surface 1211 of the wiping plate 1201. This continues until the protrusion moves to the junction of the inclined section and the straight section of the groove.

[0355] like Figures 43A to 43CAs shown, gear 407 is driven by the motor to continue reversing, at which point the protrusion enters the straight section of the slide and abuts against the bottom wall of the straight section. The second moving mechanism 403 then continues to move outward, while the first moving mechanism 402 stops moving inward. Subsequently, the second moving mechanism 403 abuts against the separating member 405, which extends from the support frame 401 and pushes open the wiping plate 1201. Thus, the cleaning module 120 separates from the support frame 401 and falls under its own weight. Under the action of the holding element and the matching element, the loading part 1202 of the cleaning module 120 rotates downward, switching to the clamping state and clamping the wiping member 600.

[0356] Referring to the above, the process of the operation module 400 removing the dirty wiping component from the cleaning module 120 is the reverse of the above, and will not be described again.

[0357] In this embodiment of the invention, the operation module 400 is mounted on the base station 200, which is used for the cleaning robot 100 to dock and for replacing the cleaning module 120 removed from the cleaning robot 100.

[0358] like Figures 37A to 37L As shown, the base station 200 of this embodiment may include a housing 202, on which an entrance (not shown) may be provided for the cleaning robot 100 to enter and exit. A wiping component operation position 2023 is provided at the bottom of the housing 202, and a wiping plate tray 203 is located on the wiping component operation position 2023. The cleaning robot 100 enters the base station 200 through the entrance / exit and unloads the dirty cleaning module 120 onto the wiping plate tray 203 located on the wiping component operation position 2023. After the operation module 400 completes the replacement of the wiping component, and a new cleaning module 120 is about to arrive at the wiping component operation position 2023, the cleaning robot 100 installs it.

[0359] The operation module 400 is housed within the housing 202 at a predetermined height. Additionally, the housing 202 also includes a wiping tray 203 for supporting the cleaning module 120 and located below the operation module 400, a supply module 204 for providing wiping components to the cleaning module 120, and a traction mechanism 205 for pulling the wiping components provided by the supply module 204 to the cleaning module 120.

[0360] The supply module 204 is located generally above or diagonally above the operation module 400. It may include a spool and a wiping component wound on the spool, which is rotatably mounted on the inner wall of the housing 202. The supply module 204 may further include at least a pair of push rollers 2041, which are arranged opposite each other with a gap between them for the wiping component to pass through. The rollers are driven by a motor to rotate in opposite directions, thereby pushing the wiping component forward or backward. "Forward" refers to the direction away from the spool, and "backward" refers to the direction towards the spool.

[0361] The traction mechanism 205 may include a transmission member 2051 and a friction member 2052 disposed on the transmission member 2051. For example... Figures 37A to 37L As shown, the conveyor 2051 can be a synchronous belt wound in a generally horizontal direction, and it is roughly at the same height as the operating module 400. A conveyor wheel is located near each of the left and right ends inside the housing 202. The synchronous belt is wound around the two conveyor wheels, one of which is driven by a motor to rotate actively, thereby driving the synchronous belt. The synchronous belt generally includes two parallel sections, and the friction element 2052 is located on the lower section of the synchronous belt. Specifically, the friction element 2052 can be a structure with brushes, including a block-shaped body on the synchronous belt and brushes on the upper and lower surfaces of the block-shaped body. This increases the contact friction with the wiping element, thereby driving the wiping element to move accordingly.

[0362] The conveyor 2051 can drive the friction element 2052 to reciprocate between a first position and a second position. The first and second positions are the two extreme positions of the friction element 2052's movement, specifically, they can be positions close to the left and right conveyor wheels, respectively. Specifically, the first position can be when the friction element 2052 is in a position such as... Figure 37A The indicated position, the first position can be the friction component 2052 in such a position. Figure 37G The indicated location.

[0363] Furthermore, the operation module 400 is located between the first position and the second position; specifically, the projection of the operation module 400 onto the conveyor 2051 can be located between the first position and the second position. In this way, when the friction member 2052 moves between the first and second positions, it can pass through the operation module 400 to remove the dirty wiping member adsorbed on the operation module 400 from the cleaning module 120, and to pull a new or clean wiping member provided by the supply module 204 to the cleaning module 120 for installation.

[0364] Specifically, during the process of the conveyor 2051 driving the friction element 2052 to move from the first position to the second position, that is, as... Figures 37A to 37L As shown, moving from left to right, the friction element 2052 can contact the dirty wiping element that falls on the wiping plate tray 203 and pull the dirty wiping element towards the second position. Specifically, see [link to details]. Figure 37F As shown, the wiping tray 203 is located below the operation module 400 and slightly below the friction member 2052. When the friction member 2052 moves to the second position and passes the wiping tray 203, the brush on the lower surface of the friction member 2052 contacts the dirty wiping member that falls on the wiping tray 203, thereby sweeping the dirty wiping member to the second position and finally removing the dirty wiping member from the wiping tray 203.

[0365] Correspondingly, during the process of the conveyor 2051 driving the friction element 2052 to move from the second position to the first position, that is, as Figures 37A to 37L As shown, moving from right to left, the friction element 2052 can contact a new or clean wiping element provided by the supply module 204 and pull the wiping element towards the first position. See also Figure 37H As shown, during the movement of the friction element 2052 toward the first position, the brush on the upper surface of the friction element 2052 can contact the wiping element provided by the supply module 204, thereby pulling the wiping element to move toward the first position.

[0366] Furthermore, the housing 202 includes a recycling bin 206 for collecting dirty wiping parts, located in a second position. Specifically, as... Figures 37A to 37L As shown, the recycling box 206 is generally located inside the housing 202 and corresponds to the right-hand conveyor wheel. The recycling box 206 is generally shell-shaped with an opening at the top, and includes a box body 2061 and a base 2062 provided at the bottom of the box body 2061.

[0367] In one feasible embodiment, the recycling box 206 can be fixedly disposed in the housing 202 in the vertical direction, that is, the position of the recycling box 206 in the housing 202 is fixed at least in the vertical direction.

[0368] However, since the housing 202 needs to allow the cleaning robot 100 to enter and exit, in order not to obstruct or interfere with the cleaning robot 100's entry and exit from the housing 202, the height of the recycling box 206, which is fixedly installed vertically inside the housing 202, should be at least no less than the height of the cleaning robot 100. This will increase the height of the housing 202, thereby making the base station 200 larger and less portable.

[0369] In view of this, in another feasible embodiment, the recycling bin 206 can be configured to be vertically movable within the housing 202, raising its position when the cleaning robot 100 enters the housing 202 to avoid obstructing or interfering with the cleaning robot 100; and lowering its position when the cleaning robot 100 moves out of the housing 202. This makes full use of the height space of the housing 202. Specific implementation details will be provided below.

[0370] A lifting mechanism 207 may be provided inside the housing 202. The lifting mechanism 207 is connected to the wiping tray 203 and is used to drive the wiping tray 203 to move toward or away from the operation module 400, that is, to drive the wiping tray 203 to move up and down. In a feasible embodiment, the specific structure of the lifting mechanism 207 may be similar to that of the traction mechanism 205, including two upper and lower transmission wheels and a synchronous belt wound around the two transmission wheels. The wiping tray 203 may be connected to the synchronous belt.

[0371] To achieve the lifting and lowering of the recycling bin 206 within the housing 202, the recycling bin 206 can be driven by another lifting mechanism; alternatively, it can be driven by a lifting mechanism 207. That is, a single lifting mechanism 207 is used to achieve the lifting and lowering movement of the wiping tray 203 and the recycling bin 206. Specifically, the lifting mechanism 207 includes at least four transmission wheels, defining at least four corner points, thus the lifting mechanism 207 includes at least a first lifting section 2071 and a second lifting section 2072, with each lifting section connected to two horizontal sections. The two lifting sections are arranged approximately parallel, so when the synchronous belt rotates, the movements of the two lifting sections are exactly opposite. The wiping tray 203 and the recycling bin 206 are connected to the first lifting section 2071 and the second lifting section 2072, respectively. Therefore, when the lifting mechanism 207 is running, the lifting and lowering of the wiping tray 203 and the recycling bin 206 are opposite. That is, when the first lifting section 2071 moves upward, the second lifting section 2072 moves downward, driving the wiping tray 203 and the recycling bin 206 to move upward and downward, respectively. vice versa.

[0372] Reference Figures 37A to 37C As shown, the wiping tray 203 is initially located at the bottom of the housing 202. Correspondingly, the collection box 206 is located at the highest point of the housing 202. Thus, the collection box 206 does not obstruct the entrance and exit of the housing 202, allowing the cleaning robot 100 to smoothly enter the housing 202 and reach the position of the wiping tray 203. Subsequently, the cleaning robot 100 releases the cleaning module 120 onto the wiping tray 203 and exits the housing 202. The lifting mechanism 207 operates, causing the first lifting section 2071 to move upward, and correspondingly, the second lifting section 2072 to move downward. This causes the wiping tray 203, carrying the cleaning module 120, to move upward until the cleaning module 120 is attached to the operation module 400 for wiping component replacement, while the collection box 206 moves downward to collect the dirty wiping components. Thus, a lifting mechanism 207 can simultaneously raise and lower the wiping tray 203 and the recycling bin 206. This allows the recycling bin 206 to be positioned lower when collecting dirty wiping parts, and higher when the cleaning robot 100 needs to enter or exit the housing 202. It also accommodates the assembly needs of the cleaning module 120, the operation module 400, and the cleaning robot 100. Consequently, the base station 200 has a compact structure, is not excessively tall, has a small size, and is highly portable.

[0373] When the lifting mechanism 207 drives the cleaning module 120 upward through the wiping plate tray 203, until the wiping plate 1201 of the cleaning module 120 is attached to the support frame 401 of the operation module 400, the top protrusion 404 at the bottom of the support frame 401 touches the upper surface of the trigger end 1214 of the pivot part 1215, thereby rotating the pivot part 1215 and switching the loading part 1202 of the cleaning module 120 from the clamped state to the open state.

[0374] In this embodiment, the wiping tray 203 is used to support the cleaning module 120 or to place the wiping components. In a feasible embodiment, the wiping tray 203 may be a plate-like structure, generally horizontally positioned. Figure 38A and Figure 38B As shown, in another feasible embodiment, the wiping tray 203 is designed as a foldable structure, including a main board 2031 and positioning members 2032 rotatably disposed on opposite sides of the main board 2031. The main body 101 has a flat plate-like structure with vertically upward-extending lugs 2033 at both ends. The outer sides of the two lugs 2033 are recessed inward to form connecting grooves 2034. A slider 2035 is provided in the connecting groove 2034. The slider 2035 is connected to the synchronous belt of the lifting mechanism 207, thereby realizing the connection between the lifting mechanism 207 and the wiping tray 203. (Refer to...) Figure 37A and Figure 37L As shown, a buffer (such as a spring) is further provided between the slider 2035 and the connecting groove 2034 to buffer the vibration of the wiping plate tray 203 during the lifting process.

[0375] Similarly, the connection method between the recycling box 206 and the synchronous belt of the lifting mechanism 207 can also refer to the above structural design, that is, the box body 2061 is connected to the synchronous belt through another slider 2053, which will not be elaborated here.

[0376] The positioning component 2032 is generally elongated, with a cross-section that can be bent into a "7" shape. It has an outer end located outside the main board 2031 and an inner end located below the main body 101. The rotational connection point between the positioning component 2032 and the main board 2031 is located between the inner and outer ends. Similarly, the positioning component 2032 also forms a lever structure, and the fulcrum of this lever structure is the rotational connection point between the positioning component 2032 and the main board 2031.

[0377] The wiping tray 203 has a flattened state and a folded state. When flattened, the upper surfaces of the two positioning members 2032 are approximately flush with the upper surface of the main board 2031. At this time, the inner ends of the positioning members 2032 abut against the lower surface of the main board 2031, and the wiping tray 203 as a whole presents a flat, planar surface (e.g., ...). Figure 38A (As shown). When in the folded state, the outer ends of the two positioning members 2032 fold upwards, and the cleaning module 120 as a whole presents a concave upper surface state (as shown). Figure 39B (As shown). At this time, the inner end of the positioning component 2032 disengages from the lower surface of the main board 2031, and the wiping plate tray 203 as a whole presents a state of concave upper surface (as shown). Figure 38B (As shown).

[0378] Furthermore, when the cleaning module 120 is not in contact with the operation module 400, the wiping tray 203 is in a flat state. When the cleaning module 120 comes into contact with the operation module 400, the wiping tray 203 switches to a folded state, and the two positioning members 2032 abut against the opposite sides of the cleaning module 120, thereby clamping the cleaning module 120 therein and correcting the position of the cleaning module 120 so that it is connected to the support frame 401 in an optimal form.

[0379] like Figure 37E As shown, after the loading section 1202 of the cleaning module 120 is switched to the open state, the lifting mechanism 207 then drives the wiping plate tray 203 to move downwards a short distance, and the released dirty wiping component falls onto the wiping plate tray 203. Subsequently, the traction mechanism 205 pulls the wiping component to the target position, and the lifting mechanism 207 then drives the wiping plate tray 203 to move upwards, so that the wiping plate tray 203 contacts the cleaning module 120. At this time, the wiping plate tray 203 switches from the unfolded state to the folded state. As a result, the positioning member 2032 of the wiping plate tray 203 folds the wiping component upwards, thereby facilitating the first moving mechanism 402 of the operation module 400 to push the wiping component toward the first clamping surface 1211 of the wiping plate 1201.

[0380] When the positioning element 2032 is not subjected to external force, the wiping tray 203 is in a flattened state. The specific implementation method is the same as described above, and a reset element can be provided between the positioning element 2032 and the main board 2031. Alternatively, the outer end mass of the positioning element 2032 is set to be large, or the length is set to be long, so that under the action of the lever principle, the inner end of the positioning element 2032 naturally touches the lower surface of the main board 2031, and the wiping tray 203 is in a flattened state.

[0381] To switch the wiping tray 203 from a flattened state to a folded state, as follows: Figure 38A and Figure 38B As shown, the inner end of the positioning member 2032 is provided with a stop member 2036, and its outer end extends to the outside of the main board 2031. The housing 202 has two stop bars 208 that cooperate with the stop member 2036, located on both sides of the first lifting section 2071. Figure 37D As shown, during the upward movement of the cleaning module 120 carried by the lifting mechanism 207 through the wiping plate tray 203, when the cleaning module 120 comes into contact with the operation module 400, the baffle 208 also touches the outer end of the stop 2036, thereby causing the wiping plate tray 203 to switch from a flat state to a folded state.

[0382] The following is combined with Figures 37A to 37L This will illustrate the complete process of the base station 200 replacing the wiping component for the cleaning robot 100 in an embodiment of the present invention.

[0383] like Figure 37A As shown, the cleaning robot 100, carrying the cleaning module 120, is preparing to enter the base station 200. At this time, the wiping plate tray 203 is located at the bottom of the base station 200, and the recycling box 206 is suspended high by the synchronous belt, thereby opening the inlet and outlet on the housing 202 so that the cleaning robot 100 can smoothly enter the base station 200.

[0384] like Figure 37B As shown, the cleaning robot 100 enters the base station 200 and unloads the cleaning module 120 onto the wiping tray 203. At this time, the wiping tray 203 is in a flattened state.

[0385] like Figure 37C As shown, cleaning robot 100 drives out of base station 200.

[0386] like Figure 37D As shown, the lifting mechanism 207 operates by rotating its synchronous belt clockwise, causing the wiping plate tray 203 to move upwards. Simultaneously, the collection box 206 moves downwards. The wiping plate tray 203, carrying the cleaning module 120 placed on it, moves upwards together until the cleaning module 120 contacts the support frame 401. The top protrusion 404 at the bottom of the support frame 401 touches the upper surface of the trigger end 1214, opening the wiping plate 1201 and releasing the dirty wiping component. At the same time, the baffle 208 touches the outer end of the stop member 2036, the positioning member 2032 rotates, and the wiping plate tray 203 switches to a folded state. The positioning member 2032 touches both sides of the wiping plate 1201 of the cleaning module 120, correcting the position of the wiping plate 1201 and clamping it.

[0387] like Figure 37E As shown, the lifting mechanism 207 operates in the reverse direction, specifically, the synchronous belt of the lifting mechanism 207 rotates counterclockwise, and the wiping plate tray 203 moves downward a certain distance, releasing the dirty wiping parts onto the wiping plate tray 203. Under the action of the first attachment element and the second attachment element, the cleaning module 120 is attracted to the support frame 401, so that the cleaning module 120 continues to be attached to the support frame 401.

[0388] like Figure 37F As shown, the traction mechanism 205 operates, specifically the synchronous belt of the traction mechanism 205 rotates counterclockwise, driving the friction element 2052 to move to the right (second position direction), the lower surface of the friction element 2052 contacts the dirty wiping element that falls on the wiping plate tray 203, and pushes the dirty wiping element to the right.

[0389] like Figure 37GAs shown, the synchronous belt of the traction mechanism 205 continues to rotate counterclockwise, and the friction component 2052 continues to drive the dirty wiping component to move to the right. Finally, the dirty wiping component moves away from the wiping plate tray 203 and falls into the recycling box 206.

[0390] like Figure 37H As shown, the push roller 2041 of the supply module 204 is driven by a motor to push a new or clean wiping piece wound on the spool forward a certain distance. Subsequently, the synchronous belt of the traction mechanism 205 rotates clockwise, causing the friction element 2052 to move to the left (in the first position direction). The upper surface of the friction element 2052 contacts the new or clean wiping piece, thereby rubbing and pulling the wiping piece to the left. Simultaneously, the push roller 2041 also rotates synchronously, continuously pushing the wiping piece forward. The push roller 2041 stops rotating until the friction element 2052 reaches the first position.

[0391] like Figure 37I As shown, the push roller 2041 reverses, dragging the wiping component back a certain distance. The wiping component stops after the detection element 209 (e.g., a photoelectric sensor) located above the traction mechanism 205 detects that the wiping component has moved back a predetermined distance.

[0392] like Figure 37J As shown, the synchronous belt of the lifting mechanism 207 rotates clockwise, causing the wiping tray 203 to move upward until the cleaning module 120 is attached to the support frame 401. Simultaneously, the stop bar 208 touches the outer end of the stop member 2036, causing the wiping tray 203 to switch back to the folded state, and the outer end of the positioning member 2032 folds upward, folding the wiping component upward. Subsequently, the push roller 2041 continues to reverse, pulling the wiping component off at the break point.

[0393] like Figure 37K As shown, the power mechanism 410 of the operation module 400 operates, driving the first moving mechanism 402 to push the wiping component towards the first clamping surface 1211 of the wiping plate 1201. Simultaneously, the second moving mechanism 403 pushes the separating component 405 out, opening the wiping plate 1201, and the loading part 1202 switches to the clamping state, clamping the wiping component onto the cleaning module 120. Then, the synchronous belt of the lifting mechanism 207 rotates counterclockwise, causing the wiping plate tray 203 to move downwards. Simultaneously, the collection box 206 rises. The collection box 206 rises to its highest point and stops when the wiping plate tray 203 reaches the bottom of the housing 202.

[0394] like Figure 37L As shown, the cleaning robot 100 re-enters the base station 200, reinstalls the cleaning module 120 (with the replaced wiping parts) on its bottom, and then exits the base station 200. Cleaning operations can then commence.

[0395] As can be seen from the above replacement process, in order to avoid interference with the wiping tray 203 in the above embodiments, the cleaning robot 100 needs to enter and exit the base station 200 twice when replacing the wiping component, and the efficiency of wiping component replacement needs to be improved. In view of this, the second embodiment of the present invention provides the following further improvement scheme.

[0396] like Figures 44A to 44I As shown, a wiping plate operation position is provided in the housing 202 of the base station 200. The wiping plate operation position includes a wiping plate separation position 2021 and a wiping plate mounting position 2022. The wiping plate separation position 2021 is used for placing the wiping plate tray 203. The wiping plate mounting position 2022 is located between the inlet / outlet of the housing 202 and the wiping plate separation position 2021, and is used for placing the cleaning module 120 for replacing new wiping parts.

[0397] The base station 200 also includes a translation and repositioning mechanism 212 disposed in the housing 202. For example... Figure 45 As shown, the translation and repositioning mechanism 212 includes a rotating arm 2121, rotatably mounted on the inner wall of the housing 202 facing the inlet / outlet. The rotating arm 2121 is generally rod-shaped and has a connecting end that is rotatably connected to the inner wall of the housing 202 (e.g., ...). Figure 45 The left end shown) and the free end opposite the connecting end (as shown) Figure 45 (See right end shown). A first synchronous pulley and a second synchronous pulley (not shown) are rotatably mounted on the connecting end and the free end, respectively. A synchronous belt 2122 is wound around the first and second synchronous pulleys, and a pusher block 2123 is connected to the synchronous belt 2122. The first synchronous pulley is connected to a motor, and the motor drives the first synchronous pulley to rotate, thereby driving the synchronous belt 2122 and its pusher block 2123 to move. Specifically, the rotating arm 2121 is rotatably mounted on the inner wall of the housing 202 via a support 2124, and the transmission shaft 2125 mounted on the connecting end passes through the connecting lug of the support 2124 and is connected to the output shaft of the motor.

[0398] The push block 2123 is made of a magnetizable material such as iron, cobalt, or nickel, and can be attracted by magnetic force. Alternatively, the push block 2123 is provided with a magnetic element 2127, such as a magnet. The rotating arm 2121 is provided with a first magnet 2126 and a second magnet (not shown) near the connecting end and the free end, respectively. When the push block 2123 is driven by the synchronous belt 2122 to move near the connecting end or the free end, the first magnet 2126 or the second magnet can generate a magnetic attraction force on the push block 2123, so that the push block 2123 tends to be stably positioned at the connecting end or the free end.

[0399] The working principle of this embodiment is as follows: The rotating arm 2121 is initially in a vertical state, the push block 2123 is close to the connecting end and is magnetically attracted by the first magnet 2126, and the synchronous belt 2122 is in a locked state. Since the rotation of the rotating arm 2121 away from the direction of the wiping plate separation position 2021 and the wiping plate mounting position 2022 is restricted by the inner wall of the housing 202, when the motor drives the transmission shaft 2125 to rotate, the rotating arm 2121 can only rotate in the direction of the wiping plate separation position 2021 and the wiping plate mounting position 2022, and finally the rotating arm 2121 switches from a vertical state to a horizontal state. Subsequently, the output torque of the motor is increased until the force exerted by the motor on the first synchronous pulley overcomes the magnetic attraction of the first magnet 2126 on the push block 2123, the first synchronous pulley is driven to start rotating, the synchronous belt 2122 rotates accordingly, and drives the push block 2123 to move. The pusher 2123 moves from the wiping plate separation position 2021 to the wiping plate mounting position 2022, thereby pushing the wiping plate, which has just been replaced and is supported by the wiping plate tray 203 located on the wiping plate separation position 2021, to the wiping plate mounting position 2022. At this time, the pusher 2123 is magnetically attracted by the second magnet. Then, the motor rotates in the opposite direction, and the rotating arm 2121 rotates to the vertical position.

[0400] The following is combined with Figures 44A to 44I This will illustrate the complete process of the base station 200 replacing the wiping component for the cleaning robot 100 in an embodiment of the present invention.

[0401] like Figure 44A As shown, the cleaning robot 100 is preparing to enter the base station 200 to replace the wiping component. At this time, the rotating arm 2121 is in a vertical position, the push block 2123 is magnetically attracted by the first magnet 2126, and the synchronous belt 2122 is in a locked state.

[0402] like Figure 44B As shown, the cleaning robot 100 enters the base station 200 through the entrance and exit, and unloads the cleaning module 120 onto the wiping plate tray 203 located at the wiping plate separation position 2021.

[0403] like Figure 44C As shown, the cleaning robot 100 retracts to the wiping plate mounting position 2022 and installs the cleaning module 120, which has been replaced with a new wiping component, provided in the previous operation round.

[0404] like Figure 44D As shown, the cleaning robot 100 exits the base station 200.

[0405] like Figure 44E As shown, in accordance with Figures 37A to 37LAs shown in the process, the cleaning module 120 removed from the cleaning robot 100 in this round is replaced with a wiping component in the base station 200. Then, the wiping plate tray 203 lowers the cleaning module 120 with the clean wiping component to the wiping plate separation position 2021.

[0406] like Figure 44F As shown, the motor drives the translation and transposition mechanism 212 to rotate the rotating arm 2121 from its original vertical position to a horizontal position.

[0407] like Figure 44G and Figure 44H As shown, the motor drives the first synchronous wheel to overcome the magnetic attraction of the first magnet 2126 to the push block 2123, causing the push block 2123 to move to the right, thereby pushing the cleaning module 120, which has been replaced with a clean wiping piece, placed on the wiping plate tray 203, to the wiping plate mounting position 2022.

[0408] like Figure 44I As shown, the motor then reverses, and the rotating arm 2121 rotates to a vertical position.

[0409] Therefore, by employing the technical solution of the above-described improved embodiment, and by adding a translation mechanism 212 and a wiping plate mounting position 2022 for temporarily storing the cleaning module 120 with a newly replaced wiping component in the base station 200, the translation mechanism 120 can push the cleaning module 120, whose wiping component has been replaced by the operation module 400, from the wiping plate tray 203 to the wiping plate mounting position 2022. Thus, when the cleaning robot 100 replaces the cleaning module 120, it unloads the dirty cleaning module 120 onto the wiping plate tray 203, and then installs the new cleaning module 120 from the wiping plate mounting position 2022. Therefore, the replacement of the cleaning module 120 can be completed with only one entry and exit from the base station 200, greatly improving replacement efficiency.

[0410] It should be noted that the base station 200 in this second scheme is the same as... Figures 37A to 3 The only difference in the base station 200 of the first scheme shown in 737L is the addition of a translation and repositioning mechanism 212 and a wiping plate mounting position 2022 (in fact, the base station 200 in the first scheme includes a wiping plate separation position 2021). The other structures are largely the same and can be referred to the description above, so they will not be repeated here.

[0411] like Figures 46A to 46L The diagram shows the process of base station 200 replacing the wiping component of cleaning robot 100 in the third feasible solution of the second embodiment of the present invention. In this solution, base station 200 is similar to... Figures 37A to 3 The first scheme shown in 737L, such as Figures 44A to 44IThe base station 200 in the second scheme shown is slightly different. The difference is that the base station 200 in this scheme is used for the device 400 for replacing the wiping parts of the cleaning module 120 and the recycling box 206, which is different from the operation module 400 in the two schemes above. Other similarities can be referred to the description above, and will not be repeated here.

[0412] Furthermore, the wiping tray 203 in this solution can be the same as or different from that in the above solutions. When the wiping tray 203 adopts the same structure as in the above solutions, a corresponding baffle 208 can be provided in the housing 202. However, when the wiping tray 203 adopts a different structure than in the above solutions, the wiping tray 203 can only include a support plate, similar to the main board 2031 in the above solutions, without including the positioning member 2032. In this case, the wiping tray 203 only includes the unfolded state, and not the folded state.

[0413] The wiping tray 203 is mounted on the lifting mechanism 207 and is moved up and down by the lifting mechanism 207. In this solution, the lifting mechanism 207 can be the same as the first and second solutions described above, or other alternatives can be used. For example, in this embodiment, the lifting mechanism 207 may include a belt-like structure such as a synchronous belt or a transmission belt vertically arranged in the housing 202. A stepping wheel is respectively arranged near the upper end and the bottom of the housing 202. The synchronous belt and the transmission belt are wrapped around the two stepping wheels, and the wiping tray 203 is fixed on the vertical section of either side of the synchronous belt or the transmission belt.

[0414] like Figure 46A As shown, in this scheme, the operation module 400 may consist of only an adsorption plate 411 and a magnetic element (not shown) located at the bottom of the adsorption plate 411. The adsorption plate 411 is similar to the support frame 401 in the above scheme. The housing 202 is provided with a moving mechanism 412 near the upper end. The moving mechanism 412 may also be a belt-like structure including a synchronous belt, a transmission belt, etc., which wraps around multiple pulleys and forms at least a horizontal traction section 4121.

[0415] Combination Figure 46E As shown, the adsorption plate 411 is fixedly connected to the horizontal traction section 4121 of the moving mechanism 412 via a connecting assembly, and the adsorption plate 411 is rotatably connected to the connecting assembly. Specifically, the inner wall of the housing 202 of the base station 200 near the upper end is provided with a horizontal first slide groove 413 and a second slide groove 414. The size of the first slide groove 413 is smaller than the size of the second slide groove 414, and the two slide grooves are located at the same horizontal position. The inner wall of the housing 202 is also provided with a third slide groove 419, which is mountain-shaped and smoothly transitions and communicates with the second slide groove 414. Furthermore, the third slide groove 419 corresponds to the position of the lifting mechanism 207.

[0416] The connecting assembly includes a first roller 415 disposed in a first slide groove 413 and movable horizontally within the first slide groove 413, a first connector 416 rotatably connected to the first roller 415, and a second connector 417. The first connector 416 is fixedly connected to the horizontal traction section 4121 of the moving mechanism 412. One end of the second connector 417 is connected to the adsorption plate 411, and the other end is rotatably provided with a second roller 418, which can slide in the second slide groove 414 and the third slide groove 419. One way the first connector 416, the second connector 417, and the first roller 415 are rotatably connected is that the second connector 417 is sheet-like or plate-like, with its side facing the first slide groove 413, and the first roller 415 rotatably mounted on it. Its end can extend to the side of the first roller 415 opposite to the first slide groove 413. The first connector 416 is also sheet-like or plate-like, fixedly connected to its end.

[0417] Alternatively, the second connector 417 may have a circular hole that matches the shape and size of the first roller 415. Part of the first roller 415 is embedded in this circular hole and can rotate within it, while another part is located outside the circular hole. This exposed portion is then embedded in the first groove 413. The center of the first roller 415 may be positioned so that it extends away from the first groove 413, and the first connector 416 may have a shaft hole through which the roller passes.

[0418] The adsorption plate 411 has a horizontal position and a vertical position. Specifically, when the lifting mechanism 207 conveys the cleaning module 120 upward to the vicinity of the adsorption plate 411, the cleaning module 120 is attracted to the lower end of the adsorption plate 411 under the action of magnetic force. At this time, the second roller 418 is located in the third slide groove 419, and the adsorption plate 411 is in a horizontal position. When the moving mechanism 412 moves, the adsorption plate 411, which is connected to the horizontal traction section 4121 of the moving mechanism 412 through the connecting assembly, is flipped.

[0419] Specifically, when the horizontal traction section 4121 moves to the left, the second roller 418, which was originally vertical in the third slide groove 419, will enter the left half of the horizontal second slide groove 414. Thus, under the limiting action of the second roller 418 and the second slide groove 414, the adsorption plate 411 rotates clockwise upwards, as... Figures 46D to 46E The process that is shown.

[0420] Correspondingly, when the horizontal traction section 4121 moves to the left, the second roller 418, which was originally vertical in the third slide groove 419, will enter the right half of the horizontal second slide groove 414, and the adsorption plate 411 will rotate counterclockwise upwards, as... Figures 46G to 46H The process that is shown.

[0421] In this scheme, the recycling box 206 is located at one end of the horizontal traction section 4121 (e.g., Figures 46A to 46L (As shown on the left side), a wiping component mounting position 420 may be provided on the outer side of the other end of the horizontal traction section 4121. The recycling box 206 opens towards the horizontal traction section 4121, and separation modules 422 are provided at the upper and lower ends of its opening. The separation modules 422 have a hook-like structure and are used to hook the wiping component and remove it from the wiping plate 1201 of the cleaning module 120. Therefore, the position of the separation module 422 corresponds to the wiping component separation position 4221. The wiping component mounting position 420 is roughly inwardly opening groove, and the shape of its groove is adapted to the bottom shape of the wiping plate 1201 of the cleaning module 120. The end of the wiping component provided by the supply module 204 can hang down to the wiping component mounting position 420. A feeding module 421 is also provided between the supply module 204 and the wiping component mounting position 420, which includes at least two conveyor wheels. The two conveyor wheels intermittently move closer and further away to clamp the wiping component. Figure 46A As shown, one of the conveyor wheels is a circular roller, and the other is a cam. The following section combines... Figures 46A to 46L This will illustrate the complete process of the base station 200 replacing the wiping component for the cleaning robot 100 in an embodiment of the present invention.

[0422] like Figure 46A As shown, the cleaning robot 100 is preparing to enter the base station 200 to replace the wiping component. At this time, the wiping plate tray 203 is located at the bottom of the housing 202, the second roller 418 is located in the third slide groove 419, and the adsorption plate 411 is in a horizontal position.

[0423] like Figure 46B As shown, the cleaning robot 100 enters the base station 200 through the entrance / exit, unloads the cleaning module 120 onto the wiping tray 203, and then retreats a certain distance.

[0424] like Figure 46C As shown, the lifting mechanism 207 drives the wiping plate tray 203 to move upward, transporting the cleaning module 120 it carries to the adsorption plate 411.

[0425] like Figure 46D As shown, under the action of magnetic force, the cleaning module 120 is attracted by the adsorption plate 411. The lifting mechanism 207 descends, and the wiping plate tray 203 returns to the bottom of the base station 200.

[0426] like Figure 46E As shown, the moving mechanism 412 rotates clockwise, and the horizontal traction section 4121 moves to the left. The second roller 418 enters the sitting half of the second slide groove 414 through the third slide groove 419, and the adsorption plate 411 rotates 90 degrees to the left, switching to the vertical position. Subsequently, the moving mechanism 412 continues to operate, and the adsorption plate 411, fixing the cleaning module 120, continues to move towards the recycling box 206.

[0427] like Figure 46F As shown, the adsorption plate 411 and the cleaning module 120 enter the recycling box 206 through the opening.

[0428] like Figure 46G As shown, the moving mechanism 412 rotates counterclockwise, causing the adsorption plate 411 and the cleaning module 120 to move back. When the cleaning module 120 passes the separation module 422, the dirty wiping parts on it are hooked and scraped off, and then fall into the recycling box 206.

[0429] like Figure 46H As shown, the moving mechanism 412 continues to rotate in the opposite direction, and the adsorption plate 411 and cleaning module 120 continue to move back (to the right). When it moves to the position corresponding to the third slide 419, the second roller 418 re-enters it, and the adsorption plate 411 switches to a horizontal position. Immediately afterwards, with the rotation of the moving mechanism 412, the second roller 418 moves again to the right half of the second slide 414. The adsorption plate 411 rotates 90 degrees to the right, switching to a vertical position.

[0430] like Figure 46I As shown, the moving mechanism 412 continues to drive the adsorption plate 411 and the cleaning module 120 to move to the right until the wiping plate 1201 of the cleaning module 120 is precisely seated in the wiping element mounting position 420. At this time, the two conveyor wheels of the feed module 421 clamp the new wiping element provided by the supply module 204. When the wiping plate 1201 of the cleaning module 120 is seated in the wiping element mounting position 420, a pulling force is applied to the wiping element, pulling it off and clamping it.

[0431] like Figure 46J As shown, the moving mechanism 412 drives the adsorption plate 411 and the cleaning module 120 to move to the left in the opposite direction until the second roller 418 enters the third slide 419 again from the second slide 414 and stops. The adsorption plate 411 and the cleaning module 120 return to the horizontal position.

[0432] like Figure 46K As shown, the lifting mechanism 207 raises the wiping plate tray 203 to remove the cleaning module 120 from the adsorption plate 411. Then, the wiping plate tray 203, carrying the cleaning module 120, lowers to the bottom.

[0433] like Figure 46L As shown, the cleaning robot 100 enters the base station 200 to install the cleaning module 120, and then exits the base station 200 to start working.

[0434] In this embodiment, the adsorption plate 411 and the cleaning module 120 are detachably magnetically connected by an electromagnet on the adsorption plate 411. When the cleaning module 120 needs to be adsorbed onto the adsorption plate 411, the electromagnet is energized to generate a magnetic field. When the cleaning module 120 needs to be removed from the adsorption plate 411 (e.g., when...), the magnetic field is activated. Figure 46K (As shown in the steps), when the electromagnet is de-energized and the magnetic field disappears, the cleaning module 120 falls onto the wiping plate tray 203 under the action of gravity.

[0435] Furthermore, the cleaning module 120 differs slightly from the two solutions described above. In this embodiment, the cleaning module 120 may consist of only a wiping plate 1201, which can be attached to the cleaning module using adhesive / bristle adhesive. Thus, in situations such as... Figure 46I In the steps shown, when the moving mechanism 412 moves the adsorption plate 411 and the cleaning module 120 to the right until the wiping plate 1201 sits in the wiping component mounting position 420, the wiping plate 1201 can apply a downward pulling force to the wiping component, thereby breaking the wiping component at the weak connection point. On the other hand, it can apply pressure to the wiping component so that it can be firmly attached to the magic adhesive / spiky adhesive at the bottom of the wiping plate 1201.

[0436] like Figures 47 to 50 The accompanying drawings illustrate a third embodiment of the present invention. This third embodiment specifically provides a base station 200 for a cleaning robot 100 to dock at, and a cleaning system 300 that utilizes or configures the base station 200. In this embodiment, the cleaning robot 100 may be identical to the cleaning robot in the first and / or second embodiments described above, and will not be repeated here. This embodiment describes the process of recovering dirty wiping items. The base station 200 mainly includes a storage module and a collection box 240 for recovering dirty wiping items into the storage module.

[0437] like Figure 47 , Figure 49 and Figure 50 As shown, in this embodiment, the base station 200 may include a base plate 230 for placement on a supporting surface (e.g., the ground) and a collection frame 240 disposed on the base plate 230 for collecting dirty wiping parts removed by the cleaning robot 100. The area of ​​the base plate 230 is larger than the projected area of ​​the collection frame 240 on the base plate 230. Thus, when the collection frame 240 is disposed on the base plate 230, it only occupies a portion of the upper surface of the base plate 230, thereby creating an empty area outside the collection frame 240 on the base plate 230 for the cleaning robot 100 to park (e.g., ...). Figure 47 (As shown).

[0438] The collection frame 240 can be a semi-open structure, including a rear plate 240a, two side plates 240b connected to and opposite to the rear plate 240a, and a pressure plate 240c slidably disposed between the two side plates 240b and opposite to the rear plate 240a. The rear plate 240a and the two side plates 240b are vertically mounted on the base plate 230, with the two side plates 240b arranged parallel to each other. The pressure plate 240c is clamped between the two side plates 240b, and preferably parallel to the rear plate 240a. The pressure plate 240c can slide up and down relative to the two side plates 240b, thereby opening or closing the collection frame 240.

[0439] like Figure 50 As shown, to guide and limit the vertical sliding of the pressure plate 240c, lug structures 240d are formed at both horizontal ends of the pressure plate 240c, and vertically extending elongated limiting guide holes 240e are provided on the two side plates 240b respectively. The lug structures 240d are embedded in the limiting guide holes 240e of the two side plates 240b and can move up and down in the limiting guide holes 240e, thereby realizing the limiting and guiding of the vertical sliding of the pressure plate 240c.

[0440] To collect the dirty wiping parts removed by the cleaning robot 100 into the collection frame 240, the base station 200 also includes a wiping part collection mechanism. The wiping part collection mechanism includes a drive assembly mounted on the collection frame 240 and a rake assembly driven by the drive assembly. The rake assembly is driven by the drive assembly, giving its lower end a working stroke moving towards the collection frame 240 and a returning stroke moving away from the collection frame 240. During the working stroke, the lower end of the rake assembly contacts the base plate 230 to press the dirty wiping parts and drag them along the base plate 230 towards the collection frame 240. During the returning stroke, the lower end of the rake assembly disengages from the base plate 230.

[0441] like Figure 47 , Figure 49 and Figure 50 As shown, the rake assembly may include a swing member 231. The drive assembly may include a motor 232 and an actuator driven by the motor 232. The actuator cooperates with the swing member 231 to drive the lower end of the swing member 231 to move along the working stroke or the return stroke.

[0442] The drive assembly also includes an input shaft 233 driven by the rotation of the motor 232. The input shaft 233 extends to the outer sides of the two side plates 240b of the collection frame 240, and each end of the input shaft 233 is provided with an actuator. Figure 47 As shown, the motor 232 can drive the input shaft 233 to rotate through the meshing of the driving gear and the driven gear. There are also two swinging members 231, which are located on the outside of the collection frame 240 and respectively cooperate with the two actuators.

[0443] In one feasible embodiment, the rake assembly may consist only of the swing member 231, or the swing member 231 may constitute the rake assembly alone. During the working stroke, the lower end of the swing member 231 may abut against the base plate 230, pressing the dirty wiping member and dragging it into the collection frame 240. At this time, the lower end of the swing member 231 constitutes the lower end of the rake assembly.

[0444] In another feasible embodiment, the rake assembly may further include a connector 234 and a pusher plate 235. The two ends of the connector 234 are rotatably connected to the lower ends of the two swing members 231, and the pusher plate 235 is rotatably disposed at the lower end of the connector 234. In this case, the lower end of the pusher plate 235 constitutes the lower end of the rake assembly.

[0445] The connector 234 is generally in the shape of a horizontally extending strip, with its two ends connected to the two side plates 240b of the collection frame 240, respectively. The push plate 235 is generally in the shape of a horizontally extending plate, and to increase the contact friction between its lower surface and the dirty wiping component, the lower surface of the push plate 235 may be formed with a textured surface extending along its length.

[0446] The push plate 235 and the connecting piece 234 can be rotatably connected via a pin. Specifically, for example... Figure 50 As shown, the lower end of the push plate 235 may have one or more notches, and the upper end of the push plate 235 may have one or more connecting protrusions. Pin holes are provided on both sides of the notches and in the connecting protrusions, and pins are inserted into the pin holes, allowing the connecting protrusions to engage with the corresponding notches.

[0447] The connecting member 234 can move up and down relative to the swing member 231, causing the push plate 235 to float up and down. Specifically, for example... Figure 48 As shown, the connector 234 has connecting shafts 236 at both ends, and the lower ends of the two swing members 231 have shaft holes 237 extending in the vertical direction. The two connecting shafts 236 are respectively inserted into the two shaft holes 237. The connecting shafts 236 can move up and down in the shaft holes 237, thereby enabling the push plate 235 to float.

[0448] At the start of the working stroke, the pusher plate 235 presses the dirty wiping component onto the base plate 230. As the working stroke continues, the pressing force of the pusher plate 235 on the dirty wiping component and the base plate 230 gradually increases, pushing the connector 234 upward. Subsequently, the pressing force of the pusher plate 235 on the dirty wiping component and the base plate 230 gradually decreases, causing the connector 234 to fall back. Thus, throughout the entire working stroke, the pusher plate 235 remains pressed against the dirty wiping component and the base plate 230.

[0449] A guide member 238 may be provided between the two swinging members 231, located above the connecting member 234. The guide member 238 has a guide hole 238a, and a guide pin 239 is movably inserted through the guide hole 238a. The lower end of the guide pin 239 is fixedly connected to the connecting member 234. When the push plate 235 moves on the base plate 230 and pushes the connecting member 234 to move up and down relative to the swinging member 231, it can drive the guide pin 239 to move up and down in the guide hole 238a, thereby guiding and straightening the up and down floating of the connecting member 234 and the push plate 235.

[0450] To enhance the pressing force between the dirty wiping component and the base plate 230, in another embodiment, an elastic element 241 can be provided to push the connecting component 234 and the pusher plate 235. An elastic element 241 in a compressed state is provided between the guide component 238 and the connecting component 234. Thus, throughout the entire working stroke, as the connecting component 234 moves up and down relative to the swing component 231, the biased elastic element 241 can apply varying degrees of downward elastic force to the connecting component 234, thereby increasing the pressing force of the pusher plate 235 against the dirty wiping component and the base plate 230. This prevents the dirty wiping component from failing to be dragged by the pusher plate 235 due to insufficient pressing force, ensuring that the collected dirty wiping component can move smoothly towards the collection frame 240.

[0451] A torsion spring may be provided between the pusher plate 235 and the connecting member 234. The torsion force applied by the torsion spring to the pusher plate 235 causes the end of the pusher plate 235 near the collection frame 240 to tend to rotate towards the base plate 230. Thus, under the action of the torsion force applied by the torsion spring, the end of the pusher plate 235 near the collection frame 240 always tends to rotate downward. Therefore, when the pusher plate 235 switches from the descending stroke to the beginning of the working stroke, the left end of the pusher plate 235 first contacts the dirty wiping member and the base plate 230, and as the pusher plate 235 continues to descend, the pusher plate 235 rotates with the end in contact with the base plate 230 as the fulcrum until its lower surface is completely in contact with the dirty wiping member and the base plate 230. Thus, by gradually bringing the push plate 235 into contact with and pressing it against the dirty wiping part and the base plate 230, the pressing effect of the push plate 235 on the dirty wiping part can be improved.

[0452] The pressure plate 240c of the collection frame 240 is designed to open when the push plate 235 moves to the end of its working stroke. The lower end of the pressure plate 240c may have a wedging ramp facing the push plate 235, with the end of the push plate 235 facing the wedging ramp being the wedging end. The wedging ramp may be formed by a portion of the lower end face of the pressure plate 240c tilting towards the push plate 235, and the wedging end may be a pointed tip whose cross-sectional area gradually decreases along the working stroke direction. When the push plate 235 moves along its working stroke until the wedging end touches the wedging ramp, the pressure plate 240c can be pushed upwards and slid, thereby opening the collection frame 240. The dirty wiping piece pressed against the lower end of the push plate 235 enters the collection frame 240 through the opened opening. The push plate 235 moves upwards to reach its return stroke after completing its working stroke. The pressure plate 240c can fall under its own weight, so that its lower end touches the bottom plate 230, pressing down on the dirty wiping part and keeping it in its current position, thus preventing the dirty wiping part from shifting due to external factors (such as wind or airflow).

[0453] like Figure 48 As shown, in one embodiment, the swing member 231 is provided with a pivot portion 242, and the side plate 240b of the collection frame 240 is provided with a mating portion 243. The pivot portion 242 can be an elongated groove provided on the swing member 231 and extending along the length direction of the swing member 231, and the mating portion 243 can be a guide member fixed to the side plate 240b of the collection frame 240. The guide member is embedded in the elongated groove and can rotate and slide in the elongated groove. The actuator includes an eccentric structure, which is rotatably connected to the upper end of the swing member 231.

[0454] The eccentric structure can be an eccentric wheel 244, which is eccentrically positioned relative to the input shaft 233. A ring 245 can be provided at the upper end of the swing member 231, with the eccentric wheel 244 disposed within the ring 245. Alternatively, the eccentric structure can be a connecting rod, with the extension direction of the connecting rod perpendicular to the axial direction of the input shaft 233, and the upper end of the swing member 231 rotatably connected to the connecting rod.

[0455] like Figure 49 As shown, the input shaft 233 drives the eccentric structure to rotate, which in turn drives the upper end of the oscillating member 231, which is rotatably connected to it, to rotate around the axis of the input shaft 233. The rotation trajectory of the upper end of the oscillating member 231 is circular. The oscillating member 231 is limited near its center by the pivot part 242 and the mating part 243. Therefore, the oscillating member 231 rotates around the connection point of the pivot part 242 and the mating part 243, causing its lower end to oscillate. This, in turn, causes the connecting member 234 and the push plate 235 located at the lower end of the oscillating member 231 to oscillate accordingly.

[0456] The working process of this embodiment is described below:

[0457] The push plate 235 of the rake assembly is initially in the raised position. After the cleaning robot enters the base station 200, the dirty wiping component is released onto the base plate 230 of the base station 200.

[0458] Subsequently, the motor 232 drives the input shaft 233 to rotate clockwise. Under the influence of the eccentric structure, the push plate 235 gradually moves downward until it presses down on the dirty wiping part.

[0459] The motor 232 drives the input shaft 233 to continue rotating clockwise, and the pusher plate 235 is driven to move in the working stroke direction, thereby dragging the dirty wiping part along with it. When the wedge end of the pusher plate 235 touches the wedge-shaped inclined surface of the pressure plate 240c of the collection frame 240, as the pusher plate 235 continues to move forward, the pressure plate 240c is pushed open, and the dirty wiping part is sent into the collection frame 240.

[0460] When the pusher plate 235 moves to the end of its working stroke, the motor 232 drives the input shaft 233 to continue rotating clockwise. The pusher plate 235 begins to lift and move back until the wedge end disengages from the wedge slope. The pressure plate 240c moves downward under the action of gravity, pressing down on the dirty wiping component. A portion of the dirty wiping component is fed into the collection box 240.

[0461] Motor 232 drives input shaft 233 to continue rotating clockwise, while push plate 235 moves along its return stroke. The above process is repeated until the dirty wiping piece is completely collected into collection box 240.

[0462] like Figure 49 and Figure 50 As shown, in another embodiment, the side plate 240b of the collection frame 240 is provided with a slider 246 that can move along the working stroke direction or the return stroke direction. A first reset member 247 is provided between the slider 246 and the side plate 240b. The reset force applied by the first reset member 247 to the slider 246 gives it a tendency to move in the return stroke direction. A guide clamp 248 is provided on the side plate 240b of the collection frame 240. The slider 246 passes through the guide clamp 248 and is limited vertically by the guide clamp 248, so that the slider 246 can move horizontally on the side plate 240b.

[0463] The sliding member 246 has a notch 246a, in which a first hook 246b is provided. A second hook 240f may be provided on the outer wall of the side plate 240b. The first reset member 247 may be a spring, with its two ends respectively hooked onto the first hook 246b and the second hook 240f. The first hook 246b may be a pin structure vertically disposed in the notch 246a, and the second hook 240f may be a protrusion structure disposed on the outer wall of the side plate 240b. When the first reset member 247 is in a stretched state, it applies a pulling force to the sliding member 246 in the direction of return stroke.

[0464] The swing member 231 is slidably mounted on the side plate 240b, and the swing member 231 and the sliding member 246 are fixed along the working stroke direction or the return stroke direction. A second reset member 249 is provided between the swing member 231 and the sliding member 246. The reset force applied by the second reset member 249 to the swing member 231 causes it to tend to move away from the base plate 230.

[0465] like Figure 50 As shown, the upper outer wall of the swing member 231 is provided with a third hook 231a, and the lower outer wall of the sliding member 246 is provided with a fourth hook 246c. The second reset member 249 is a spring, with its two ends hooked onto the third hook 231a and the fourth hook 246c respectively. The third hook 231a can be a protrusion on the outer wall of the swing member 231, and the fourth hook 246c can be a hook-shaped structure on the outer wall of the sliding member 246. The second reset member 249 is in a stretched state, applying an upward pulling force to the swing member 231.

[0466] The inner wall of the sliding member 246 is provided with a guide groove 246d extending in the vertical direction, and the swing member 231 passes through the guide groove 246d and is limited by the guide groove 246d in the horizontal direction.

[0467] The swing member 231 is provided with a first contoured groove 231c, and the actuator includes a first cam 224 disposed in the first contoured groove 231c. The first cam 224 is driven by the input shaft 233 to rotate in the first contoured groove 231c. By contacting the surface of the first contoured groove 231c, the swing member 231 is driven to move, and under the action of the first reset member 247 and the second reset member 249, the swing member 231 is reset, thereby making the movement of the swing member 231 cycle.

[0468] The swing member 231 is generally in the shape of an inverted "F", including a rod 231d and a first extension 231e provided on the rod 231d. The right surface of the rod 231d and the lower surface of the first extension 231e define a first contoured groove 231c. The rod 231d passes through a guide groove 246d, and the first extension 231e is located below the slider 246. The swing member 231 also includes a second extension 231b provided at the lower end of the rod 231d, and the connector 234 is rotatably provided at the end of the second extension 231b.

[0469] The first cam 224 includes two opposing flat contoured surfaces and an arc-shaped contoured surface that smoothly transitions to the two flat contoured surfaces. The connection point between the first cam 224 and the input shaft 233 is located at the center of one of the arc-shaped contoured surfaces. The first contoured groove 231c includes an arc-shaped smooth transition surface between the right surface of the connecting rod 231d and the lower surface of the first extension 231e. The curvature of the arc-shaped smooth transition surface matches the curvature of the arc-shaped contoured surface. The arc-shaped contoured surface near the connection point between the first cam 224 and the input shaft 233 forms the lowest potential energy point of the first cam 224. Correspondingly, the arc-shaped contoured surface away from the connection point between the first cam 224 and the input shaft 233 forms the highest potential energy point of the first cam 224.

[0470] When the pusher plate 235 is in its working stroke, the lowest potential energy point of the first cam 224 rotates in the smooth arc transition surface, and the highest potential energy point of the first cam 224 slides on the right surface of the rod 231d. The lower surface of the first extension 231e contacts the lowest potential energy point of the first cam 224, thereby placing the swing member 231 in its lowest position. Thus, the connecting member 234 and the pusher plate 235 at the lower end of the swing member 231 can press against the base plate 230. Simultaneously, as the highest potential energy point of the first cam 224 slides on the right surface of the rod 231d, the distance between the swing member 231 and the connection point of the input shaft 233 gradually increases. Since the input shaft 233 is fixed relative to the collection frame 240, the swing member 231 moves gradually away from the input shaft 233. Consequently, the connecting member 234 and the pusher plate 235 at the lower end of the swing member 231 move towards the collection frame 240. Thus, the push plate 235 presses the dirty wiping piece onto the base plate 230, and the swinging piece 231 is pushed by the first cam 224 to move the push plate 235 toward the collection frame 240, thereby realizing the recycling of the dirty wiping piece.

[0471] When the pusher plate 235 is in its return stroke, the lowest potential energy point of the first cam 224 slides on the right surface of the rod 231d, and the highest potential energy point of the first cam 224 slides on the lower surface of the first extension 231e. The lower surface of the first extension 231e contacts the highest potential energy point of the first cam 224, thereby bringing the swing member 231 to its highest position. Thus, the connecting member 234 and the pusher plate 235 at the lower end of the swing member 231 are lifted away from the base plate 230. Simultaneously, as the lowest potential energy point of the first cam 224 slides on the right surface of the rod 231d, under the action of the first reset member 247, the sliding member 246 and the swing member 231 are pulled towards the return stroke direction, and the connecting member 234 and the pusher plate 235 at the lower end of the swing member 231 also move towards the return stroke direction. Thus, the push plate 235 is lifted off the bottom plate 230, and under the action of the first reset member 247, it drives the swing member 231, the connecting member 234 located at the lower end of the swing member 231, and the push plate 235 to move in the return stroke direction, thereby realizing the return stroke of the swing member 231.

[0472] The pressure plate 240c has a second contoured groove 240g formed on its surface facing the return stroke direction. The input shaft 233 is provided with a second cam 225 that is accommodated in the second contoured groove 240g, and the highest potential energy point of the second cam 225 and the highest potential energy point of the first cam 224 are located on opposite sides of the input shaft 233.

[0473] The second contoured groove 240g includes a surface facing the return stroke direction (hereinafter referred to as the front surface) and a lower surface. Since the highest potential energy point of the second cam 225 and the highest potential energy point of the first cam 224 are located on opposite sides of the input shaft 233, when the push plate 235 is in the working stroke, the highest potential energy point of the first cam 224 is located below, and the highest potential energy point of the second cam 225 is located above, touching the lower surface of the second contoured groove 240g. The pressure plate 240c is pushed open by the second cam 225 and is in the open state, and the dirty wiping piece dragged by the push plate 235 enters the collection frame 240.

[0474] When the push plate 235 is in the return stroke, the highest potential energy point of the first cam 224 is located above, and the highest potential energy point of the second cam 225 is located below. That is, the lowest potential energy point of the second cam 225 touches the lower surface of the second contour groove 240g, so the pressure plate 240c falls under its own gravity and presses down the dirty wiping part.

[0475] like Figures 51 to 56The accompanying drawings illustrate a fourth embodiment of the present invention. This fourth embodiment specifically provides a base station 200 capable of automatically recovering dirty wiping components removed by a cleaning robot 100. It includes: a frame 11; a wiping component separation position 13 on the frame 11 for the cleaning robot 100 to release the wiping component; a storage module 15 on the frame 11 for receiving the wiping component; a conveying device 17 on the frame 11; a clamping mechanism 19 on the conveying device 17; and a driving mechanism for driving the conveying device 17. The clamping mechanism 19 has a first working state of moving between the storage module 15 and the wiping component separation position 13; a second working state of clamping the wiping component on the wiping component separation position 13; and a third working state of releasing the wiping component into the storage module 15. The driving mechanism drives the conveying device 17 to move the clamping mechanism 19 between the wiping component separation position 13 and the storage module 15, thereby switching between the first working state, the second working state, and the third working state.

[0476] In use, after the wiping component finishes mopping, the cleaning robot 100 can stop at the wiping component separation position 13 and release the wiping component onto it. Then, the drive mechanism is activated, driving the conveying device 17, which in turn moves the clamping mechanism 19 between the wiping component separation position 13 and the storage module 15, switching between a first working state, a second working state, and a third working state. When the clamping mechanism 19 clamps the wiping component on the wiping component separation position 13 and moves it until it reaches the storage module 15, it opens towards the storage module 15, releasing the wiping component into the storage module 15. This achieves automatic retrieval of the wiping component, eliminating the need for manual removal by operators and avoiding human intervention.

[0477] The frame 11 includes a first frame 41 and a second frame 43 arranged vertically. The first frame 41 and the second frame 43 are generally rectangular and form a first opening and a second opening, respectively. The cleaning robot 100 can pass through the first opening to enter the frame 11 and be installed in the second opening.

[0478] The wiping component separation position 13 and the storage module 15 are both located between the first frame 41 and the second frame 43. The wiping component separation position 13 is a parking plate located at the bottom of the frame 11, used for the cleaning robot 100 to park and receive released wiping components. The storage module 15 is located above the wiping component separation position 13, with its upper end open, used to collect dirty wiping components.

[0479] The conveying device 17 includes a first conveying section 37 and a second conveying section 39. The first conveying section 37 includes a plurality of first synchronous pulleys 45 disposed on a first frame 41 and a first synchronous belt 49 surrounding the plurality of first synchronous pulleys 45. A drive mechanism is connected to each of the first synchronous pulleys 45 to drive the rotation of each of the first synchronous pulleys 45. The drive mechanism may be an electric motor.

[0480] A controller connected to the drive mechanism is mounted on the frame 11. This controller receives signals from the cleaning robot 100 and controls the drive mechanism based on these signals. The signals sent by the cleaning robot 100 may be wiping component replacement signals. When the cleaning robot 100 sends a wiping component replacement signal to the controller, the controller controls the drive mechanism to drive the conveying device. In other embodiments, the controller is connected to the clamping mechanism 19 and controls its disengagement and engagement. The controller is a control electromagnet.

[0481] The first frame 41 is provided with a plurality of third rotating shafts 53, which correspond to a plurality of first synchronous pulleys 45. Each first synchronous pulley 45 is fixedly sleeved on the corresponding third rotating shaft 53, thereby driving the first synchronous pulley 45 to rotate by driving the rotation of the third rotating shaft 53, and in turn driving the first synchronous belt 49 to rotate.

[0482] Similarly, referring to the description of the first transmission unit 37 above, the second transmission unit 39 includes a plurality of second synchronous pulleys 47 disposed on the second frame 43 and a second synchronous belt 51 surrounding the plurality of second synchronous pulleys 47. The drive mechanism is connected to each of the second synchronous pulleys 47 in a transmission connection so as to drive the rotation of each of the second synchronous pulleys 47.

[0483] The second frame 43 is provided with multiple fourth rotating shafts 55, which correspond to multiple second synchronous pulleys 47. Each second synchronous pulley 47 can be fixedly sleeved on the corresponding fourth rotating shaft 55. Thus, by driving the rotation of the fourth rotating shaft 55, the second synchronous pulley 47 is driven to rotate, which in turn drives the second synchronous belt 51 to rotate.

[0484] The clamping mechanism 19 includes a first rotating shaft 31 and a second rotating shaft 33 arranged opposite to each other, and a first jaw 21 and a second jaw 23 respectively sleeved on the first rotating shaft 31 and the second rotating shaft 33. The first jaw 21 and the second jaw 23 can rotate about the extension direction of the first rotating shaft 31 and the second rotating shaft 33, respectively. The two ends of the first rotating shaft 31 and the second rotating shaft 33 are respectively connected to the first synchronous belt and the second synchronous belt of the conveying device 17. A torsion spring 35 is provided between the first jaw 21 and the second jaw 23. The first jaw 21 and the second jaw 23 are kept in a separated state under the force of the torsion spring 35, so that the clamping mechanism 19 is in an open state.

[0485] The end of the first jaw 21 facing away from the first rotating shaft 31 is provided for engaging with the second jaw 23. When the clamping mechanism 19 is in the open state, the distance between the magnets of the first jaw 21 and the second jaw 23 is large, and the force of the torsion spring 35 is greater than the magnetic force between the first jaw 21 and the second jaw 23, so the clamping mechanism 19 can remain in the open state. When the clamping mechanism 19 is in the closed state, the distance between the magnets of the first jaw 21 and the second jaw 23 is small, and the magnetic force between the first jaw 21 and the second jaw 23 is greater than the force of the torsion spring 35, so the clamping mechanism 19 remains closed and provides clamping force.

[0486] like Figure 54 As shown, the frame 11 is also provided with a first guide portion 27 located on one side of the wiping component separation position 13, which is used to apply force to the second claw 23 so that the second claw 23 can rotate relative to the first claw 21 and engage with the first claw 21 to clamp the wiping component. When the cleaning robot 100 stops at the wiping component separation position 13 and releases the wiping component, the drive mechanism drives the first synchronous wheel 45 and the second synchronous wheel 47 to drive the first synchronous belt 49 and the second synchronous belt 51 to rotate counterclockwise, and the clamping mechanism 19 moves downward. When the second claw 23 moves to contact the first guide portion 27, the first guide portion 27 applies force to the second claw 23, the second claw 23 rotates counterclockwise, and then engages with the magnet on the first claw 21 to clamp the wiping component.

[0487] The first guide portion 27 is an upward-opening first groove. When the second claw 23 moves to contact the inner wall of the first groove, the inner wall of the first groove applies resistance to the second claw 23. As the conveying device 17 rotates, the second claw 23 rotates around the second rotating shaft 33 under the action of resistance, engages with the magnet on the first claw 21, and clamps the wiping piece.

[0488] The frame 11 is also provided with a second guide portion 29 located on one side of the storage module 15, which applies force to the second claw 23 so that the second claw 23 can rotate relative to the first claw 21 and separate from the first claw 21 to release the wiping component. Specifically, after the first claw 21 engages with the second claw 23 and clamps the wiping component, the drive mechanism drives the conveying device 17 to rotate clockwise, causing the clamping mechanism 19 to move upward. When it moves to be directly opposite the second guide portion 29, the second guide portion 29 applies force to the second claw 23, causing the second claw 23 to rotate clockwise, separate from the magnet on the first claw 21, and release the wiping component.

[0489] The second guide portion 29 is a rod that can extend between the first claw 21 and the second claw 23, and is used to abut against the second claw 23. When the clamping mechanism 19 moves toward the rod as conveyed by the conveying device 17, the rod extends between the first claw 21 and the second claw 23, applying force to the second claw 23. As the conveying device 17 continues to convey, the second claw 23 rotates around the second pivot 33 under the force of the rod, separating from the magnet on the first claw 21, and the wiping piece can fall into the storage module 15 under the action of gravity.

[0490] The first jaw 21 has a second groove for the rod to pass through, and the second groove is open towards the second jaw 23. The second groove can guide the rod to move towards the second jaw 23, ensuring that the second jaw 23 is separated from the first jaw 21.

[0491] like Figures 57 to 63 The accompanying drawings illustrate the fifth embodiment of the present invention. This fifth embodiment provides a base station 200 for a cleaning robot 100 to dock at, and a cleaning system 300 configured with the base station 200. The base station 200 can automatically replace wiping components such as mop paper or mop cloth for the cleaning robot 100, reducing user intervention and improving the user experience.

[0492] The base station 200 includes: a baseband 216, a plurality of wiping components arranged along the baseband 216 and detachably disposed on the baseband 216, a moving mechanism for moving the baseband 216, and a wiping component operating position 218 for the cleaning robot 100 to replace the wiping components. After the wiping components on the baseband 216 located at the wiping component operating position 218 are carried by the cleaning robot 100, an empty area 222 is formed. The moving mechanism can move the baseband 216 after receiving a wiping component 21b unloaded by the cleaning robot 100 in the empty area 222, so that another wiping component 21a is located at the wiping component operating position 218.

[0493] The base station 200 provided in this embodiment includes a baseband 216 that is moved by a moving mechanism and a wiping component operation position 218 for the cleaning robot 100 to replace the wiping component. When the cleaning robot 100 needs to replace the wiping component, it enters the wiping component operation position 218, places the used wiping component 21b in the empty area 222 on the baseband 216, and the baseband 216, driven by the moving mechanism, switches the wiping component 21a to be used to the wiping component operation position 218. The cleaning robot 100 then replaces the wiping component 21a, completing the automatic replacement of the wiping component. Therefore, the base station 200 of this embodiment can easily realize the automatic replacement of the wiping component, reduce user intervention in the replacement of the wiping component, and improve the user experience.

[0494] Multiple wiping components are attached to the surface of the baseband 216 and arranged along its extension direction. The baseband 216 has a flat structure and is made of cloth or paper. The baseband 216 passes through the wiping component operating position 218, carrying the wiping components to the wiping component operating position 218 in a manner facing the cleaning robot 100. The cleaning robot 100 enters the wiping component operating position 218 without interfering with the movement of the baseband 216. The baseband 216 can carry and transport the wiping components. During the carrying process, the wiping components can stay in the wiping component operating position 218 for replacement by the cleaning robot 100.

[0495] Wiping elements can be continuously arranged on the baseband 216, with adjacent wiping elements not connected to each other. Adjacent wiping elements are spaced a certain distance apart or are adjacent to each other. Preferably, multiple wiping elements are arranged at intervals on the baseband 216 in a point-discontinuous distribution. Multiple wiping elements are attached to the surface of the baseband 216 at intervals along its length, with equal spacing between adjacent wiping elements. The preset distance between adjacent wiping elements ensures that only one wiping element is attached to the baseband 216 in the wiping element operation position 218, allowing the cleaning robot 100 to replace it. Figure 61 As shown, after the wiping component is carried away, the baseband 216 in the wiping component operation position 218 is empty, and no wiping component is attached to the empty area 222. The empty area 222 remains stationary in the wiping component operation position 218 until the used wiping component 21b is received. Other unused wiping components 21a are still wound on the second roll 227 for storage to prevent the unused wiping components 21a from being unwound in advance and exposed to the air, which would affect the cleaning effect. Correspondingly, the used wiping components 21b are wound on the first roll 226 and collected.

[0496] Multiple wiping components move sequentially along the base belt 216 to the wiping component operation position 218, switching between them in a non-repeating manner. This ensures that the wiping components replaced by the cleaning robot 100 are unused, resulting in effective cleaning of the floor.

[0497] The base station 200 has a certain storage space, and the wiping components 21a to be used can be stacked in this storage space. The baseband 216 carries them out sequentially through this storage space. Alternatively, the baseband 216 can be folded and stored in this storage space, and the baseband 216 carries the wiping components out of the storage space by pulling the first roll 226.

[0498] The base station 200 is provided with a first storage section for storing wiping parts 21a to be used, and a second storage section for storing wiping parts unloaded by the cleaning robot 100. The wiping parts in the first storage section are moved to the wiping part operation position 218 via the baseband 216, and after being unloaded by the cleaning robot 100 at the wiping part operation position 218, they are moved to the second storage section. The second storage section enables the automatic collection and storage of used wiping parts 21b.

[0499] The moving mechanism includes a first spool 226 that is rotatable to wind the baseband 216, thereby moving the baseband 216. The first spool 226 moves the baseband 216 by winding it, and the movement of the baseband 216 can be used to transport the used wiping piece 21b to a designated area or designated storage space.

[0500] The first reel 226 forms the second storage section by winding the used wiping element 21b, thereby achieving automatic collection of the used wiping element 21b and reducing user intervention. The first reel 226 winds the wiping element on the base tape 216 simultaneously, thus collecting the used wiping element 21b. By providing the first reel 226, the winding of the base tape 216 and the collection of the used wiping element 21b are combined, achieving automatic collection of the used wiping element 21b. The structure is simple and easy to manufacture.

[0501] The base station 200 also includes a second reel 227, which is capable of winding the baseband 216 and the wiping element 21a to be used. The first reel 226 winds the baseband 216, thereby driving the second reel 227 to simultaneously release the baseband 216. As the baseband 216 is released, the wiping element 21a to be used enters the wiping element operation position 218 along with the baseband 216 for replacement by the cleaning robot 100. In this way, the collection of used wiping elements 21b and the supply of wiping elements 21a to be used can be combined, ensuring the smooth automatic replacement of wiping elements by the cleaning robot 100. The second reel 227 forms the aforementioned first storage section by winding the wiping element 21a to be used.

[0502] During use, a portion of the baseband 216 is wound onto the first spool 226, and another portion can be wound onto the second spool 227. In the initial state, most or all of the wiping elements are wound onto the second spool 227, while only a portion of the baseband 216 is wound onto the first spool 226, or the first spool 226 is only fixedly connected to one end of the baseband 216 without winding the baseband 216 itself. One wiping element is located at the wiping element operating position 218 or has been pre-installed on the tray of the cleaning robot 100. When the cleaning robot 100 is to be replaced, the wiping elements on the baseband 216 are sequentially replaced.

[0503] The base tape 216 is wound in layers on the first roll 226 or the second roll 227, and the base tape 216 between adjacent layers forms an attachment space for the wiping element. In this way, the base tape 216 can drive the second roll 227 to rotate, releasing the wiping element 21a to be used to the wiping element operation position 218, and can also realize the automatic collection of the used wiping element 21b.

[0504] One end of the baseband 216 is fixed to the first drum 226, and the other end is fixed to the second drum 227. The first drum 226 is driven to rotate, which in turn drives the second drum 227 to rotate via the baseband 216. The base station 200 is provided with a drive mechanism, such as a motor, to drive the first drum 226 to rotate.

[0505] The base station 200 includes a housing. A first roll 226 and a second roll 227 are mounted on the housing in a parallel manner with rotating shafts. A wiping device operation position 218 is located inside the housing, while the first roll 226 and the second roll 227 are located outside the wiping device operation position 218. The housing has a base plate 219, a front panel 228 disposed on the base plate 219, and a back plate 229. The front panel 228 has an inlet / outlet 2881 for entering or exiting the wiping device operation position 218, for the cleaning robot 100 to enter or exit the wiping device operation position 218.

[0506] The front panel 228 and the back panel 229 suspend the first roll 226 and the second roll 227 in the air to facilitate their rotation. The housing has steering shafts 223 on both sides of the wiping device operating position 218 in the horizontal direction. The second roll 227 is located above the wiping device operating position 218. The base belt 216 extends from the second roll 227, changes its direction via the steering shafts 223, and then extends to the first roll 226.

[0507] The base belt 216, located at the wiping component operating position 218, is positioned close to the base plate 219, with the wiping component attached to the base belt 216 with its back to the base plate 219. To ensure that the base belt 216 is parallel to the base plate 219, steering shafts 223, positioned on both sides of the wiping component operating position 218 in the horizontal direction, are at the same height relative to the base plate 219. The extension direction of the base belt 216 changes when it passes the steering shafts 223. The base belt 216 is in a stretched or taut state between the first roll 226 and the second roll 227, allowing the wiping component to be unfolded and facing the cleaning robot 100 at the wiping component operating position 218, facilitating replacement by the cleaning robot 100.

[0508] The base station 200 also includes a positioning mechanism for positioning the wiping device at the wiping device operation position 218. The positioning mechanism can be a structural positioning component, such as a liftable baffle plate. The baseband 216 has a corresponding limiting groove. When it is necessary to limit the baseband 216 to a stationary position, the baffle plate rises or unfolds, extending into the limiting groove to stop the baseband 216 and prevent it from moving. When it is necessary to release the limiting position, the baffle plate lowers and moves out of the limiting groove, allowing the baseband 216 to move normally.

[0509] To achieve automatic control and reduce user operation, the positioning mechanism includes a controller and a measuring component that measures the number of revolutions of the steering shaft 223. The controller determines the position of the wiping element based on the number of revolutions measured by the measuring component. The measuring component can measure the number of revolutions of either of the two steering shafts 223. After the base belt 216 receives the used wiping element 21b, the original number of revolutions for each steering shaft 223 is reset to zero, and the counting of revolutions restarts. When the specified number of revolutions is reached, the movement of the base belt 216 stops, and the next wiping element 21a to be used is moved to the wiping element operation position 218. In addition, the controller can also determine the position of the wiping element carried by the base belt 216 based on the number of revolutions added each time, and determine the number of remaining wiping elements 21a to be used based on the final accumulated number of revolutions.

[0510] The cleaning robot 100 is equipped with omnidirectional wheels and a tray that can move up and down. The wheels and tray are raised and lowered by moving up and down. The cleaning robot 100 has a cleaning mode and an obstacle-crossing mode. In cleaning mode, the tray moves down to support the cleaning robot 100, and the omnidirectional wheels are retracted. In obstacle-crossing mode, the tray is retracted, and the omnidirectional wheels are lowered to support the cleaning robot 100. In obstacle-crossing mode, the cleaning robot 100 enters the wiping component operation position 218. The tray is equipped with a clamping mechanism, which has a clamping position to fix the wiping component to the lower surface of the tray and a release position to allow the wiping component to detach from the tray.

[0511] After the cleaning robot 100 carries the wiping component located at the wiping component operation position 218 in the base station 200 and moves it out of the wiping component operation position 218, the baseband 216 of the wiping component operation position 218 is in an empty state without a wiping component, forming an empty area 222. When the cleaning robot 100 needs to replace the wiping component, the cleaning robot 100 switches to obstacle-crossing mode through cleaning mode.

[0512] In cleaning mode, the wiping component is clamped and fixed to the mop by the clamping mechanism, and then follows the mop to clean the floor. The mop lowers to bring the wiping component into contact with the ground. In obstacle-crossing mode, the cleaning robot 100 uses its casters for support, and the mop rises to suspend the wiping component in the air. (See also...) Figure 60 , Figure 61As shown, utilizing obstacle-crossing mode, the cleaning robot 100, following instructions from its internal controller, approaches the base station 200, enters the wiping device operation position 218 from the inlet / outlet 2881, and straddles the baseband 216. At this time, the pallet faces the vacant area 222. Figure 63 As shown, the slide carries the used wiping piece 21b downwards until the wiping piece contacts and adheres to the baseband 216.

[0513] At this point, the clamping mechanism switches from the clamping position to the releasing position, and the wiping element separates from the tray. Then, the tray and clamping mechanism move upward, and the used wiping element 21b is located on the base belt 216 of the wiping element operating position 218. The first drum 226 is then driven to rotate by the motor, which moves the base belt 216 until the next wiping element 21a to be used is released from the second drum 227 and follows the base belt 216 into the wiping element operating position 218. Correspondingly, the used wiping element 21b is wound together with the base belt 216 onto the first drum 226.

[0514] Then, the pallet moves down until it contacts the wiping component 21a to be used. At this point, the clamping mechanism switches from the released position to the clamping position, fixing the wiping component to the lower surface of the pallet, completing the installation of the wiping component. The pallet then rises again, with the clamping mechanism remaining in the clamping position. This completes the replacement of the wiping component. Next, the cleaning robot 100 moves out of the base station 200 from the entrance / exit 2881 in obstacle-crossing mode, and finally switches to cleaning mode for cleaning. The baseband 216 remains stationary until the cleaning robot 100 repeats the above steps to place the used wiping component 21b, and then replaces it with the wiping component 21a to be used.

[0515] This embodiment provides a cleaning system 300 including a cleaning robot 100 and a base station 200 for the cleaning robot 100 to dock, as described in the above embodiment. The cleaning robot 100 and the base station 200 can communicate. For example, the cleaning robot 100 and the base station 200 can communicate location information, or the base station 200 can communicate with the cleaning robot 100 whether the wiping device is located at the wiping device operation position 218.

[0516] The cleaning system 300 or base station 200 provided in this embodiment may further include an alert mechanism for issuing an alert signal when the number of wiping pieces 21a to be used is lower than a predetermined number. Wherein, given a fixed length of the entire baseband 216, the number of turns of the steering shaft 223, the first roll 226, or the second roll 227 can be accumulated, and a certain number of turns indicates that the number of wiping pieces 21a to be used is lower than the predetermined number. Alternatively, the current diameter of the first roll 226 or the second roll 227 can be measured. If the diameter of the first roll 226 is greater than a preset diameter, or the diameter of the second roll 227 is less than a predetermined diameter, it indicates that the number of wiping pieces 21a to be used is lower than the predetermined number, requiring the entire baseband 216 to be replaced, thus improving the user experience.

[0517] It should be noted that in the description of this invention, the terms "first," "second," etc., are used only for descriptive purposes and to distinguish similar objects; there is no order between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0518] The above are merely a few embodiments of the present invention. Those skilled in the art can make various modifications or variations to the embodiments of the present invention based on the content disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. An automated cleaning system, comprising a cleaning robot and a base station, characterized in that, The cleaning robot includes: main body; A wiping plate, mounted on the main body, allows the wiping element to detachably abut against and form a wiping surface for wiping the working surface as the cleaning robot moves on the working surface; The base station includes: The wiping plate operating position allows the wiping plate to be installed or separated from the main body; The wiping component operation position is for separating or installing the wiping plate after it has been separated from the main body; A drive module is used to move the wiping plate, which is separated from the main body, from the wiping plate operation position to the wiping component operation position; An operating module is configured to act on the wiping plate and / or the wiping element located at the wiping element operating position to mount the wiping element onto the wiping plate.

2. The automatic cleaning system according to claim 1, characterized in that, The operation module is configured to act on the wiping plate and / or the wiping element to separate the wiping element from the wiping plate.

3. The automatic cleaning system according to claim 1 or 2, characterized in that, The base station further includes a separation module, which is configured to act on the wiping element and / or the wiping plate located at the wiping element operation position to separate the wiping element from the wiping plate.

4. The automatic cleaning system according to claim 1, characterized in that: The driving module is located in the base station.

5. The automatic cleaning system according to claim 4, characterized in that, The drive module is capable of moving the wiping plate at least in the vertical direction, so that the wiping plate can move between the wiping element operation position and the wiping plate operation position.

6. The automatic cleaning system according to claim 1, characterized in that, The wiping device operation position includes a wiping device separation position for separating the wiping device and a wiping device installation position for installing the wiping device.

7. The automatic cleaning system according to claim 6, characterized in that, The wiping component separation position and the wiping component installation position do not coincide. The automatic cleaning system also includes a drive module for driving the wiping component to move from the wiping component separation position to the wiping component installation position.

8. The automatic cleaning system according to claim 7, characterized in that, The wiping device separation position and the wiping device mounting position are at least partially located on the same horizontal plane, so that the drive module drives the wiping plate to move between the wiping device separation position and the wiping device mounting position in the horizontal direction.

9. The automatic cleaning system according to claim 1, characterized in that, The wiping device operation position includes a wiping device separation position for separating the wiping device and a wiping device mounting position for mounting the wiping device, wherein the wiping device separation position and the wiping device mounting position coincide.

10. The automatic cleaning system according to claim 1, characterized in that: The cleaning robot includes a connection mechanism that is detachably connected to the wiping plate.

11. The automatic cleaning system according to claim 1 or 10, characterized in that, The automatic cleaning system is configured to: separate the wiping plate from the main body by the cleaning robot before separating the wiping component from the wiping plate, so that the wiping plate after separation from the main body can replace the wiping component at the wiping component operation position.

12. The automatic cleaning system according to claim 1, characterized in that, The wiping component operating position is higher than the wiping plate operating position, so as to form a space between the wiping plate operating position and the wiping component operating position for the cleaning robot to dock.

13. The automatic cleaning system according to claim 1 or 2, characterized in that, The base station includes a storage module for storing the wiping component that is separated from the wiping plate.

14. The automatic cleaning system according to claim 13, characterized in that, The wiping device operation position includes a wiping device separation position for separating the wiping device from the wiping plate. The storage module is provided with an opening, which is lower than the wiping device separation position in at least one state, so that the wiping device after being separated from the wiping plate can fall into the storage module.

15. The automatic cleaning system according to claim 14, characterized in that, The storage module has an upward-facing opening. When the wiping component separates from the wiping plate, the separation position of the wiping component is located above the storage module, so that the separated wiping component falls directly into the storage module.

16. The automatic cleaning system according to claim 13, characterized in that, The wiping device operation position includes a wiping device separation position for separating the wiping device from the wiping plate, and the storage module is disposed below the wiping device separation position so that the wiping device after being separated from the wiping plate falls into the storage module.

17. The automatic cleaning system according to claim 13, characterized in that, The base station also includes a drive module for driving the wiping plate to move, and the storage module is located in the direction of movement of the wiping plate.

18. The automatic cleaning system according to claim 13, characterized in that, The storage module includes a recycling box, and the base station also includes a drive module configured to drive the wiping plate to move into the recycling box to separate the wiping component from the wiping plate within the recycling box.

19. The automatic cleaning system according to claim 13, characterized in that, The storage module includes a recycling box, and the wiping device operation position includes a wiping device separation position for separating the wiping device from the wiping plate, the wiping device separation position being located inside the recycling box.

20. The automatic cleaning system according to claim 13, characterized in that, The storage module includes a recycling box with an opening at the top. The recycling box includes a box body and a support at the bottom of the box body.

21. The automatic cleaning system according to claim 13, characterized in that, When the cleaning robot is parked inside the base station, the distance between the storage module and the bottom surface of the base station is greater than the height of the cleaning robot.

22. The automatic cleaning system according to claim 1, characterized in that, The base station also includes a separation module configured to act on the wiping element and / or the wiping plate to separate the wiping element from the wiping plate. The separation module includes a barb-like structure for hooking the wiping element and removing it from the wiping plate.

23. The automatic cleaning system according to claim 22, characterized in that, The automatic cleaning system also includes a moving mechanism for moving the wiping plate. The moving mechanism is configured to move the wiping plate through the separation module so that the wiping element on the wiping plate is hooked, scraped off, and falls into the recycling bin.

24. The automatic cleaning system according to claim 22, characterized in that, The base station includes a storage module for storing the wiping component that is separated from the wiping plate. The storage module includes a recycling box with an opening, and the separation module is disposed at the opening.

25. The automatic cleaning system according to claim 24, characterized in that, The separation modules are located at both ends of the opening.

26. The automatic cleaning system according to claim 24, characterized in that, The automatic cleaning system also includes a moving mechanism for driving the wiping plate. The moving mechanism is configured to first drive the wiping plate into the recycling bin through the opening, and then drive the wiping plate back, so that when the wiping plate passes through the separation module, the wiping element on it is hooked and scraped off and falls into the recycling bin.

27. The automatic cleaning system according to claim 3, characterized in that, The automatic cleaning system includes a moving mechanism for moving the wiping plate. The automatic cleaning system is configured such that, when separating the wiping component, the moving mechanism moves the wiping plate and passes through the separation module, and the moving direction of the wiping plate is not parallel to the wiping surface of the wiping component.

28. The automatic cleaning system according to claim 3, characterized in that, The automatic cleaning system includes a moving mechanism for moving the wiping plate. The automatic cleaning system is configured such that, when separating the wiping component, the moving mechanism moves the wiping plate in a direction perpendicular to the wiping surface and passes through the separation module.

29. The automatic cleaning system according to claim 3, characterized in that, The separation module is configured to act on the wiping member to separate the wiping member from the wiping plate in a direction away from the wiping plate.

30. The automatic cleaning system according to claim 3, characterized in that, The separation module is configured to act on the wiping member to separate the wiping member from the wiping plate in a direction perpendicular to the wiping surface.

31. The automatic cleaning system according to claim 1, 22, 23, 24, 25, or 26, characterized in that, The cleaning robot includes an adhesive component mounted on a wiping plate for attaching the wiping element.

32. The automatic cleaning system according to claim 31, characterized in that, The adhesive components are disposed on both sides of the wiping plate.

33. The automatic cleaning system according to claim 32, characterized in that, The wiping plate includes two inclined surfaces, and the adhesive component is disposed on the two inclined surfaces.

34. The automatic cleaning system according to claim 31, characterized in that, The automatic cleaning system is configured to apply pressure to the wiping element via the wiping plate during installation, so as to adhere the wiping element to the bottom of the wiping plate.

35. The automatic cleaning system according to claim 34, characterized in that, The automatic cleaning system is configured to apply downward pressure to the wiping element via the wiping plate during installation, thereby attaching the wiping element to the bottom of the wiping plate.

36. The automatic cleaning system according to claim 31, characterized in that, The automatic cleaning system is configured such that when the wiping plate is in the wiping element mounting position, the wiping element is located below the wiping plate.

37. The automatic cleaning system according to claim 1 or 2, characterized in that, It also includes an acquisition unit for acquiring the wiping component or separating the wiping component.

38. The automatic cleaning system according to claim 1 or 2, characterized in that, The base station includes a storage module for storing clean wiping items.

39. The automatic cleaning system according to claim 38, characterized in that, When the cleaning robot is parked inside the base station, the distance between the storage module and the bottom surface of the base station is greater than the height of the cleaning robot.

40. The automatic cleaning system according to claim 13, characterized in that, The width of the wiping plate is smaller than the width of the wiping element.

41. The automatic cleaning system according to claim 40, characterized in that, The width of the cleaning robot is smaller than the width of the wiping component.

42. The automatic cleaning system according to claim 13, characterized in that, The width of the storage module is greater than the width of the wiping component.

43. The automatic cleaning system according to claim 1 or 2, characterized in that, The operation module includes an adsorption plate for fixing the wiping plate.

44. The automatic cleaning system according to claim 43, characterized in that, The adsorption plate and the wiping plate are attracted to each other by magnetic force.

45. The automatic cleaning system according to claim 44, characterized in that, The wiping plate is configured such that it is attracted to the lower end of the adsorption plate under the action of the magnetic force.

46. ​​The automatic cleaning system according to claim 1 or 2, characterized in that, The base station also includes a positioning element for clamping the wiping plate.

47. The automatic cleaning system according to claim 1 or 2, characterized in that, The base station also includes a positioning mechanism for positioning the wiping device in the wiping device operation position.

48. The automatic cleaning system according to claim 1, characterized in that, The wiping plate operation position includes a wiping plate mounting position and a wiping plate separation position, and the wiping plate mounting position and the wiping plate separation position are in the same location.

49. The automatic cleaning system according to claim 1, characterized in that, The wiping plate operation position includes a wiping plate mounting position and a wiping plate separation position, which are located at different positions on the base station.

50. The automatic cleaning system according to claim 13, characterized in that, The storage module is configured to be detachably installed on the base station.

51. The automatic cleaning system according to claim 13, characterized in that, The base station is configured to remind the user to replace the storage module when it detects that the storage module's capacity is insufficient.

52. The automatic cleaning system according to claim 38, characterized in that, The base station also includes a reminder mechanism configured to issue a reminder signal when the number of wipes to be used in the storage module is less than a predetermined number.

53. The automatic cleaning system according to claim 38, characterized in that, The storage module includes a cover that the user can open to replace the wiping device.

54. The automatic cleaning system according to claim 1, characterized in that, The wiping plate is detachably connected to the main body via a connecting mechanism. The main body is also provided with a lifting mechanism that drives the connecting mechanism to move up and down, thereby causing the wiping plate to rise or fall. When the cleaning robot returns to the base station and removes the wiping plate, the wiping plate is configured to remain in a raised state.

55. An automated cleaning system, comprising a cleaning robot and a base station, characterized in that, The cleaning robot includes: main body; A cleaning module equipped with a wiping plate is installed on the main body, allowing the wiping element to detachably abut against and form a wiping surface for wiping the working surface when the cleaning robot moves on the working surface; The base station includes: A wiping component operation position is provided for separating the wiping plate or installing the wiping component; The automatic cleaning system also includes an operation module configured to work in conjunction with the cleaning module to replace the wiping element for the cleaning module at the wiping element operation position. The cleaning robot also includes a connection mechanism detachably connected to the cleaning module, and the operation module is configured to act on the cleaning module detached from the connection mechanism to replace the wiping component.

56. An automated cleaning system, comprising a cleaning robot and a base station, characterized in that, The cleaning robot includes: main body; A wiping plate, mounted on the main body, allows the wiping element to detachably abut against and form a wiping surface for wiping the working surface as the cleaning robot moves on the working surface; The base station includes: A wiping component operation position is provided for separating the wiping plate or installing the wiping component; The automatic cleaning system is configured such that, when replacing the wiping component, the cleaning robot first removes the wiping plate and places it inside the base station, and then the base station replaces the wiping component at the wiping component operation position.

57. A control method for an automatic cleaning system, applied to the automatic cleaning system as described in any one of claims 1 to 54, characterized in that, The control method includes the following steps in sequence: Separate the wiping plate from the cleaning robot; Separate the wiping component from the wiping plate; Install the wiping device onto the wiping plate; The wiping plate is installed on the cleaning robot.

58. The control method as described in claim 57, characterized in that, Also includes: After the wiping plate is separated from the cleaning robot, and before the wiping piece is separated from the wiping plate, the wiping plate, which is separated from the cleaning robot, is driven to move from the wiping plate operating position to the wiping piece operating position.

59. The control method according to claim 57 or 58, characterized in that, It also includes, after separating the wiping plate from the cleaning robot, controlling the cleaning robot to move a preset distance in a first direction away from the wiping plate operating position, so as to make room for the movement of the wiping plate.

60. The control method according to claim 59, characterized in that, Also includes: After the wiping component is installed on the wiping plate, the cleaning robot is controlled to move a preset distance in a second direction opposite to the first direction back to the wiping plate operating position, so as to install the wiping plate on the cleaning robot.

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