Maintenance base station, cleaning system and method for maintaining base station to detect installation of wiping piece in place

Abstract

The invention provides a maintenance base station, a cleaning system and a method for the maintenance base station to detect that a wiping piece is installed in place. The maintenance base station is at least used for installing a wiping piece for a wiping plate of the robot, and the wiping plate is detachably connected with the wiping piece; the maintenance base station comprises a mounting mechanism for mounting a wiping piece for the wiping plate; the detection module is used for detecting installation information of the wiping piece on the wiping plate; and the control module is used for receiving a signal of the installation information transmitted by the detection module, judging whether the wiping piece is installed at a preset position on the wiping plate or not based on the installation information, and then executing subsequent operation. According to the maintenance base station, the cleaning system and the method for the maintenance base station to detect that the wiping piece is installed in place, whether the wiping piece is installed successfully or not can be judged after the cleaning robot automatically installs the wiping piece, so that the stability and success rate of automatic replacement of the wiping piece can be improved, user intervention is reduced, and the working efficiency of the cleaning robot is improved.

Description

Maintenance base station, cleaning system, and method for detecting installation of wiper in maintenance base station Technical Field

[0001] The present disclosure relates to the field of intelligent cleaning technology, and in particular to a maintenance base station, a cleaning system, and a method for the maintenance base station to detect the installation position of a wiper, and also to a cloth box installation assembly and a base station. Background Art

[0002] With the development of science and technology, smart cleaning robots are playing an increasingly important role in people's lives, especially household cleaning robots, which help people free themselves from heavy housework and are widely favored by users.

[0003] Currently, common cleaning robots on the market can automatically replace wipers with the help of a maintenance base station, reducing manual intervention and freeing the user's hands. However, the success rate of the maintenance base station's wiper installation is not guaranteed. If the maintenance base station fails to automatically install the wiper on the cleaning robot's wiper plate, the robot's wiper plate will directly contact the floor, not only failing to clean the floor but also potentially scratching it.

[0004] On the other hand, the base station is adapted for use with the cleaning robot and is placed in a specific location for the cleaning robot to dock. The base station is equipped with a new mop box and / or a dirty mop box. The new mop box is used to provide new mops, while the dirty mop box is used to receive replacement dirty mops. Currently, the structure of the mop boxes in the base station makes it very inconvenient to install new mops in the new mop box or to clean the dirty mop box in the base station.

[0005] Summary of the Invention

[0006] In view of this, the purpose of the present disclosure is to propose a maintenance base station, a cleaning system and a method for the maintenance base station to detect whether the wiping piece is installed in place, which can determine whether the installation of the wiping piece is successful after the cleaning robot automatically installs the wiping piece, thereby improving the stability and success rate of automatic replacement of the wiping piece, reducing user intervention, and improving the operating efficiency of the cleaning robot.

[0007] Based on the above objectives, the present disclosure provides a maintenance base station, which is at least used to automatically install a wiping piece on a wiping plate of a cleaning robot, wherein the wiping plate is detachably connected to the wiping piece, and the maintenance base station includes:

[0008] a mounting mechanism configured to perform an action of mounting the wiper to mount the wiper to the wiper plate;

[0009] a detection module configured to detect the wiping piece on the wiping plate and generate a detection signal to represent installation information of the wiping piece;

[0010] The control module is configured to receive the detection signal transmitted by the detection module, and after the installation mechanism performs the action of installing the wiping member, determine whether the wiping member is installed at a predetermined position on the wiping plate based on the detection signal, and when the judgment result is no, send a response signal, and the response signal is used to trigger an action of reinstalling the wiping member or assist in the action of reinstalling the wiping member.

[0011] Preferably, the control module is configured to control the detection module to generate a detection signal after the installation mechanism performs the action of installing the wiping piece, and determine whether the wiping piece is installed at a preset position on the wiping plate based on the detection signal.

[0012] Preferably, the maintenance base station further includes:

[0013] The moving component is arranged inside the maintenance base station, is connected to the wiping plate separated from the cleaning robot, and drives the wiping plate to move inside the maintenance base station.

[0014] Preferably, the moving assembly is configured to drive the wiping plate to move to a first position so that the installation mechanism can perform the action of installing the wiping member;

[0015] When the control module determines that the wiping member is not installed at the preset position on the wiping plate, the control module controls the moving assembly to drive the wiping plate to move to the first position, so that the installation mechanism performs the action of installing the wiping member again.

[0016] Preferably, the maintenance base station further includes:

[0017] Notification module;

[0018] When the control module determines that the number of times the moving assembly drives the wiping plate to move to the first position exceeds a preset number and the wiping member is still not installed at the preset position on the wiping plate, the control module controls the notification module to send a notification signal to the outside world.

[0019] Preferably, the maintenance base station further includes:

[0020] Notification module;

[0021] When the control module determines that the wiping member is not installed at a preset position on the wiping plate, the control module controls the notification module to send a notification signal to the outside world.

[0022] Preferably, the control module controls the notification module to send a notification signal to the outside world, and controls the moving component to drive the wiping plate to move to a maintenance position, wherein the maintenance position is for a user to obtain the wiping plate for maintenance.

[0023] Preferably, when the control module determines that the wiping member is correctly installed at the pre-set position on the wiping plate, it controls the moving component to drive the wiping plate to move to the installation position so that the wiping plate can be installed by the cleaning robot adapted to the maintenance base station.

[0024] Preferably, the maintenance base station includes:

[0025] New cloth box for storing clean wipes;

[0026] The mounting mechanism is provided as a moving assembly, and the moving assembly is configured to connect the wiping plate and drive the wiping plate to move, applying pressure to the wiping piece in the new cloth box so that the wiping piece adheres to the wiping plate.

[0027] Preferably, the maintenance base station is also provided with an elastic member, and the new cloth box is connected to the elastic member. When the movable assembly drives the wiping plate to apply pressure to the wiping member and the new cloth box, the elastic member is squeezed and deformed. When the movable assembly drives the wiping plate to remove the pressure on the wiping member and the new cloth box, the elastic member restores its deformation.

[0028] Preferably, the moving assembly includes a lifting mechanism, which is provided with gears, a transmission belt driven by the gears to run in a vertical direction, and a connecting member driven by the transmission belt to be lifted and lowered in a vertical direction, and the connecting member is connected to the wiping plate.

[0029] Preferably, when the moving component drives the wiping plate to move to the first position in the maintenance base station, the installation mechanism performs the action of installing the wiping piece; after the moving component drives the wiping plate to move to a second position different from the first position, the control module controls the detection module to detect the wiping piece on the wiping plate, and transmits the detection signal to the control module.

[0030] Preferably, the detection module includes a signal generating device and a signal receiving device, the signal generating device generates a detection signal, the signal receiving device receives the detection signal generated by the signal generating device, and the control module determines whether the detection signal received by the signal receiving device meets a preset condition. When the preset condition is met, it is determined that the wiping member is installed at a preset position on the wiping plate.

[0031] Preferably, the second position is located in the maintenance base station and is higher than the first position.

[0032] Preferably, the second position is different from the maintenance position, the installation position and the disassembly position; wherein the maintenance position is for the user to obtain the wiping plate for maintenance, the installation position is for the wiping plate to be installed on the cleaning robot, and the disassembly position is for the cleaning robot (200) to place the disassembled wiping plate.

[0033] Preferably, the maintenance base station further includes:

[0034] New cloth box for storing clean wipes;

[0035] When the moving assembly drives the wiping plate to move to the first position, the wiping plate is configured to install a wiping element from the new cloth box, and the new cloth box is located below the wiping plate, so that the wiping plate at least partially enters the new cloth box to install the wiping element;

[0036] After the control module determines that the installation mechanism has completed the installation of the wiping member at the first position, the control module controls the moving assembly to drive the wiping plate to move upward from the first position to the second position, so that the detection module detects the wiping member on the wiping plate.

[0037] Preferably, the detection module is configured as an infrared detection mechanism, including an infrared detection transmitting tube and an infrared detection receiving tube; when the infrared detection mechanism meets the preset model, the distance between the infrared detection mechanism and the wiping plate located at the second position is between 5mm-50mm.

[0038] Preferably, the signal generating device and the signal receiving device are arranged on the same side of the wiping plate, the signal receiving device receives the detection signal reflected by the wiping piece, and the control module determines whether the detection signal received by the signal receiving device meets the preset value. When the detection signal received by the signal receiving device meets the preset value, it is determined that the wiping piece is installed at the preset position on the wiping plate; or, the signal generating device and the signal receiving device are respectively arranged on both sides of the wiping plate, the signal receiving device receives the detection signal passing through the wiping piece, and the control module determines whether the detection signal received by the signal receiving device meets the preset value. When the detection signal received by the signal receiving device meets the preset value, it is determined that the wiping piece is installed at the preset position on the wiping plate.

[0039] Preferably, the detection module is located at a position higher than the second position, and more than one detection module is provided. When the wiping plate is in the second position, more than one detection module is provided around the edge of the wiping plate.

[0040] Preferably, the bottom surface of the wiping plate has a short side and a long side; when the wiping plate is in the second position, the detection module is arranged at a position close to the long side.

[0041] Preferably, the wiping plate is installed at the bottom of the cleaning robot, and the bottom surface of the wiping plate is set to a polygon, with the edge of the wiping plate perpendicular to the moving direction of the cleaning robot as the edge to be detected. When the wiping plate is in the second position, one or more detection modules are set at a position close to the edge to be detected.

[0042] Preferably, the detection module is configured to be capable of being triggered by the wiping member to touch a switch assembly, and the touch switch assembly is located at a position higher than the second position;

[0043] The second position is higher than the first position;

[0044] The control module determines whether the touch switch assembly is triggered by a wiping member installed on the wiping plate, and when the touch switch assembly is triggered by the wiping member, determines that the wiping member is installed at a preset position on the wiping plate.

[0045] Preferably, the detection module is configured as a visual component, and after the control module determines that the installation mechanism has performed the action of installing the wiping piece, the visual component is controlled to generate instant image information, and the control module receives and determines whether the instant image information is consistent with the pre-stored standard image information. When the instant image information is consistent with the standard image information, the control module determines that the wiping piece is installed at a pre-set position on the wiping plate.

[0046] Preferably, a new cloth box is provided in the maintenance base station for holding new wiping pieces to be installed on the wiping plate, and a positioning structure and / or a guide structure is provided in the new cloth box, the wiping piece has a first surface for wiping the surface to be cleaned, and a second surface adhered to the wiping plate, the guide structure is used to guide the user to install the second surface into the new cloth box facing the top of the new cloth box, and the positioning structure is used to fix the wiping piece in the correct position in the new cloth box so as to accurately dock with the wiping plate.

[0047] Preferably, the positioning structure is integrally arranged with the guide structure, including at least one guide column arranged on the bottom surface of the new cloth box. When the guide column is set to one, the guide column is not located at the geometric center of the bottom surface of the new cloth box. When the guide column is set to two or more, the two or more guide columns are asymmetric relative to the geometric center of the new cloth box.

[0048] The present disclosure also provides a cleaning system, comprising any one of the maintenance base stations described above, and also comprising a cleaning robot that uses the maintenance base station for maintenance, wherein a wiping plate with a wiping piece installed is provided at the bottom of the cleaning robot, and a through area is provided on the wiping plate at a position corresponding to the detection module, for avoiding the detection signal emitted by the detection module so that the detection signal can directly reach the wiping piece covered on the wiping plate.

[0049] Preferably, the outer edge of the wiping plate is recessed toward the center of the wiping plate to form a through groove, and the through area is configured as the through groove; or, the through area is configured as a through hole in the middle area of ​​the wiping plate.

[0050] Preferably, the through area is set as the through groove, and the through groove has a virtual circumscribed circle, the diameter of the virtual circumscribed circle is greater than or equal to 5mm and less than or equal to 30mm; the area of ​​the through groove is greater than or equal to 40mm 2 , less than or equal to 1400mm 2 .

[0051] The present disclosure also provides a method for maintaining a base station to detect that a wiper is installed in place, the method comprising:

[0052] Installing a wiping member for the wiping plate of the cleaning robot;

[0053] The detection module detects the wiping piece on the wiping plate and generates a detection signal which is transmitted to the control module;

[0054] The control module receives the detection signal and determines whether the wiping member is installed at a preset position on the wiping plate based on the detection signal after the wiping member is installed on the wiping plate;

[0055] If the control module determines that the result is no, it triggers the action of reinstalling the wiping member, or triggers the action of assisting in reinstalling the wiping member.

[0056] Preferably, the method further includes: after the wiping piece is installed on the wiping plate for the first time, or after the action of reinstalling the wiping piece is triggered, the control module controls the detection module to generate the detection signal, and determines whether the wiping piece is installed at a preset position on the wiping plate based on the detection signal.

[0057] Preferably, the method further comprises: when the wiping piece is repeatedly installed on the wiping plate for a preset number of times and the wiping piece is still not installed at a preset position on the wiping plate, sending a notification signal to the outside world.

[0058] Preferably, the method further comprises: when the wiping member is not installed at a preset position on the wiping plate, sending a notification signal to the outside world.

[0059] Preferably, the method further comprises: when the wiping member is correctly installed at a pre-set position on the wiping plate, moving the wiping plate to an installation position so that the wiping plate can be installed by a cleaning robot adapted to the maintenance base station.

[0060] From the above description, it can be seen that the maintenance base station, cleaning system and method for the maintenance base station to detect the installation of the wiper provided by the present disclosure can determine whether the installation of the wiper is successful after the cleaner automatically installs the wiper. When the judgment result is no, the action of reinstalling the wiper or assisting in reinstalling the wiper is triggered, thereby improving the stability and success rate of automatic replacement of the wiper, reducing user intervention and improving the operating efficiency of the cleaner.

[0061] The present disclosure also provides a base station, which includes a cloth box installation assembly, and the cloth box installation assembly includes: a mounting frame and at least one cloth box installed on the mounting frame, and the mounting frame is connected to the inside of the base station, wherein each of the cloth boxes is configured to move from an initial position toward a first direction to a working position relative to the mounting frame, so that the cloth box can replace a new mop at the working position, and each of the cloth boxes is also configured to move from the initial position toward a second direction opposite to the first direction to a maintenance position, so that a user can maintain the cloth box.

[0062] According to one aspect of the present application, a base station is also provided, comprising: a mounting frame and at least one cloth box mounted on the mounting frame, wherein the cloth box is configured to move from an initial position toward a first direction to a working position relative to the mounting frame, so that the cloth box can replace the mop cloth at the working position, and the cloth box is further configured to move from the initial position toward a second direction opposite to the first direction to a maintenance position, so that a user can maintain the cloth box.

[0063] Preferably, the base station also includes a cloth box mounting seat, and the cloth box mounting seat is provided with an installation position for installing the cloth box; the base station includes a driving assembly for driving the cloth box mounting seat to move in the first direction relative to the mounting frame, so that the cloth box mounting seat drives the cloth box installed at the installation position to move from the initial position to the working position.

[0064] Preferably, the base station further includes a cloth box mounting seat, the cloth box is configured to be mounted on the mounting position of the cloth box mounting seat, and the cloth box mounting seat is configured to move in the first direction to move the cloth box from the initial position to the working position.

[0065] Preferably, the cloth box is configured to move relative to the cloth box mounting seat in the second direction to separate from the mounting position, so as to move from the initial position to the maintenance position.

[0066] Preferably, the cloth box mounting seat is configured as a movable guide rail, and the mounting frame has a fixed guide rail that cooperates with the movable guide rail. The movable guide rail is connected to the cloth box, and the cloth box moves between the initial position and the working position by sliding between the movable guide rail and the fixed guide rail.

[0067] Preferably, a disconnectable connector is provided between the cloth box and the cloth box mounting seat, and when the cloth box is mounted on the cloth box mounting seat, the cloth box is fixed to the cloth box mounting seat via the connector.

[0068] Preferably, when the cloth box moves toward the second direction relative to the cloth box mounting seat, the connecting member is disconnected.

[0069] Preferably, the cloth box is configured to be fixed at the installation position when the connecting member is in a connected state, so as to follow the cloth box mounting seat to move between the initial position and the working position; the cloth box is also configured to be detached from the installation position when the connecting member is in a disconnected state, so as to move in the second direction relative to the installation position to the maintenance position.

[0070] Preferably, the connector is configured to be disconnected under the action of an external force.

[0071] Preferably, the connecting member includes a magnetic member provided on at least one of the cloth box and the cloth box mounting seat, and the cloth box is fixed to the cloth box mounting seat by adsorption of the magnetic member.

[0072] Preferably, the connecting member includes a protrusion and a groove that cooperate with each other, the protrusion is arranged on one of the cloth box and the cloth box mounting seat, and the groove is arranged on the other, when the cloth box is fixed to the cloth box mounting seat, the protrusion sinks into the groove; when the cloth box moves relative to the cloth box mounting seat, the protrusion and the groove are staggered in the moving direction of the cloth box.

[0073] Preferably, when the cloth box is located at the installation position of the cloth box mounting seat, the blocking member contacts the interference portion of the cloth box to prevent the cloth box from moving along the first direction or the second direction at the installation position, and the connecting member is configured as the blocking member and the interference portion.

[0074] Preferably, the connecting member is configured as a locking structure, and the cloth box is locked or unlocked on the cloth box mounting seat via the locking structure.

[0075] Preferably, the mounting frame includes two side fixing plates arranged opposite to each other, a fixed guide rail is provided on the inner side of each side fixing plate, and sliding guide rails are respectively provided on the opposite sides of the cloth box mounting seat, and the cloth box mounting seat moves between the initial position and the working position by sliding in cooperation between the sliding guide rails and the fixed guide rails.

[0076] Preferably, the sliding guide rail is configured to move in two opposite directions respectively to exceed the end of the fixed guide rail;

[0077] Wherein, the sliding guide rail is configured so that when the cloth box mounting seat moves along the second direction to exceed the first preset length of the fixed guide rail, the cloth box mounting seat reaches the initial position, and when the sliding guide rail moves along the first direction to exceed the second preset length of the fixed guide rail, the cloth box mounting seat reaches the working position.

[0078] Preferably, the base station further comprises a controller, and when a first preset condition is met, the controller controls the cloth box to move from the initial position toward the first direction to the working position.

[0079] Preferably, the base station further comprises a first detection element and a second detection element mounted on the mounting frame, the first detection element being used to detect whether the cloth box mounting seat has reached the initial position, and the second detection element being used to detect whether the cloth box mounting seat has reached the working position;

[0080] The base station includes a controller. When a second preset condition is reached, the controller determines whether the cloth box mounting seat has reached the initial position based on the signal of the first detection element. When it has not reached the initial position, the base station issues a first alarm. When a third preset condition is reached, the controller determines whether the cloth box mounting seat has reached the working position based on the signal of the second detection element. When it has not reached the working position, the base station issues a second alarm.

[0081] Preferably, the base station also includes a driving mechanism, wherein at least one cloth box is configured to be directly connected to the driving mechanism, and the driving mechanism drives the cloth box to move between the initial position and the working position; when the driving mechanism stops driving, the cloth box is configured to move from the initial position to the maintenance position under the action of external force without separating from the driving mechanism.

[0082] Preferably, a gripping portion is provided on the cloth box, and by gripping the gripping portion and pulling the cloth box toward the second direction, the cloth box can be moved from the initial position to the maintenance position.

[0083] Preferably, there are two cloth boxes, which are a new cloth box with new mops and a dirty cloth box for receiving dirty mops; wherein,

[0084] The new cloth box and the dirty cloth box are respectively configured to move from their respective initial positions to their respective working positions, and to move from their respective initial positions to their respective maintenance positions.

[0085] Preferably, the base station further comprises a driving assembly, the driving assembly comprising a first motor and a first moving member driven by the first motor, the first moving member being connected to the new cloth box to drive the new cloth box to move between the initial position and the working position, the driving assembly further comprising a second motor and a second moving member driven by the second motor, the second moving member being connected to the dirty cloth box to drive the dirty cloth box to move between the initial position and the working position;

[0086] Alternatively, the driving component only includes a common motor and a moving component driven by the common motor, and the moving component is connected to the new cloth box and the dirty cloth box respectively, driving the new cloth box and the dirty cloth box to move between their respective initial positions and the working positions.

[0087] Preferably, the base station is provided with a first opening matching the new cloth box, and the first opening is used for allowing at least part of the new cloth box to be loaded into and taken out of the base station;

[0088] The base station is further provided with a second opening matching the dirty cloth box, and the second opening is used for allowing at least part of the dirty cloth box to be loaded into and taken out of the base station;

[0089] The projection of the new cloth box from the loading direction of the new cloth box is different from the projection of the dirty cloth box from the loading direction of the dirty cloth box;

[0090] A projection of the first opening from a direction in which the new cloth box is loaded is different from a projection of the second opening from a direction in which the dirty cloth box is loaded.

[0091] Preferably, the two cloth boxes are a new cloth box with new mops and a dirty cloth box for receiving dirty mops; wherein,

[0092] The dirty cloth box and the new cloth box are respectively configured to move away from the corresponding cloth box mounting seat and reach their respective maintenance positions, and the maintenance positions are located outside the base station; or

[0093] The dirty cloth box is configured to move away from the corresponding cloth box mounting seat and reach the maintenance position of the dirty cloth box, and the maintenance position is located outside the base station. The new cloth box is configured to move from the installation position of the corresponding cloth box mounting seat to the predetermined position of the cloth box mounting seat, and the predetermined position is the maintenance position of the new cloth box.

[0094] Preferably, the new cloth box is arranged above the dirty cloth box.

[0095] Preferably, the cloth box is a new cloth box for placing a new mop, and the new cloth box includes a main box and a guide structure arranged in the main box, and the guide structure is used to cooperate with the positioning hole on the new mop to install and position the new mop in the new cloth box.

[0096] Preferably, the guide structure comprises a guide rod, and the cross-section of the upper portion of the guide rod gradually decreases in an upward direction.

[0097] According to another aspect of the present application, a base station is also provided, which includes: a mounting frame and at least one cloth box mounting seat mounted on the mounting frame, the cloth box mounting seat being provided with a mounting position for mounting a cloth box; the base station also includes a driving assembly connected to the cloth box mounting seat, the driving assembly being configured to drive the cloth box mounting seat and the cloth box located at the mounting position to move from an initial position toward a first direction to a working position relative to the mounting frame, so that the cloth box can be mopped and replaced at the working position; a disconnectable connecting piece is provided between the cloth box and the cloth box mounting seat, and when the cloth box is moved from the initial position to the maintenance position along a second direction by an external force, the connecting piece is disconnected, and the cloth box is detached from the mounting position of the cloth box mounting seat; the second direction is opposite to the first direction.

[0098] According to another aspect of the present application, a cloth box installation assembly is also provided, which includes: a mounting frame and at least one cloth box installed on the mounting frame, wherein each of the cloth boxes is configured to move from an initial position toward a first direction to a working position relative to the mounting frame, so that the cloth box can replace a new mop at the working position, and each of the cloth boxes is also configured to move from the initial position toward an opposite second direction to a maintenance position, so that a user can maintain the cloth box.

[0099] According to another aspect of the present application, a cleaning system is further provided, which includes a cleaning robot and a base station used in conjunction with the cleaning robot, and the base station is the base station described above.

[0100] The technical solution provided by this application, by arranging the cloth box to be movable between an initial position, a working position, and a maintenance position, can facilitate cleaning a dirty cloth box and / or placing a new mop cloth in a new cloth box while still meeting the function of replacing mops. The cloth box installation assembly provided by this application has a simple structure and is easy to use, thereby improving work efficiency.

[0101] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0103] FIG1 is a schematic diagram of an intelligent cleaner and its maintenance base station;

[0104] FIG2 is a schematic diagram of a maintenance base station provided by the first embodiment of the present disclosure;

[0105] FIG3 is a schematic diagram of an adhesive wipe for maintaining a base station according to the first embodiment of the present disclosure;

[0106] FIG4 is a schematic diagram of a detection wiper for maintaining a base station according to the first embodiment of the present disclosure;

[0107] FIG5 is a partial enlarged view of the detection module and the wiping plate of the maintenance base station provided in the first embodiment of the present disclosure;

[0108] FIG6 is a top view of a detection module and a wiping plate of a maintenance base station provided in the first embodiment of the present disclosure;

[0109] FIG7 is a top view of a wiper for maintaining a base station provided by the first embodiment of the present disclosure when installation fails;

[0110] FIG8 is a schematic diagram of the operation of the wiping member for maintaining the base station provided by the first embodiment of the present disclosure after successful installation;

[0111] 9a-9c are schematic diagrams of the maintenance base station adhering and detecting the wiper when the detection module is located at another position of the maintenance base station in the first embodiment of the present disclosure;

[0112] FIG10 is a partial enlarged view of the detection module and the wiping plate of the maintenance base station in the embodiment of FIG9;

[0113] FIG11 is a partial enlarged view of a detection module and a wiping plate of a maintenance base station provided in a second embodiment of the present disclosure;

[0114] FIG12 is a partial enlarged view of a detection module and a wiping plate of a maintenance base station provided in a second embodiment of the present disclosure; FIG13 is a bottom view of a cleaning robot in one embodiment of the present disclosure;

[0115] FIG14 is a schematic diagram of an adhesive wipe for maintaining a base station according to a third embodiment of the present disclosure;

[0116] FIG15 is a schematic diagram of a detection wiper for maintaining a base station according to a third embodiment of the present disclosure;

[0117] FIG16 is a partial enlarged view of a detection module and a wiping plate of a maintenance base station provided in a third embodiment of the present disclosure;

[0118] FIG17 is a top view of a detection module and a wiping plate of a maintenance base station provided in a third embodiment of the present disclosure;

[0119] FIG18 is a top view of a detection module and a wiping plate of a maintenance base station provided in a third embodiment of the present disclosure;

[0120] Figures 19a-19c are schematic diagrams of the maintenance base station adhering and detecting the wiper when the detection module is located at another position of the maintenance base station in the third embodiment of the present disclosure; Figure 20 is a partial enlarged view of the detection module and the wiper plate of the maintenance base station in the embodiment of Figure 19;

[0121] FIG21 is a schematic diagram of an adhesive wipe for maintaining a base station according to a fourth embodiment of the present disclosure;

[0122] FIG22 is a schematic diagram of a detection wiper for maintaining a base station according to a fourth embodiment of the present disclosure;

[0123] FIG23 is a partial enlarged view of a detection module and a wiping plate of a maintenance base station provided in a fourth embodiment of the present disclosure;

[0124] FIG24 is a top view of a detection module and a wiping plate of a maintenance base station provided in a fourth embodiment of the present disclosure;

[0125] FIG25 is a partial enlarged view of the detection module and the wiping plate of the maintenance base station provided by the fourth embodiment of the present disclosure when the wiping member fails to be installed;

[0126] FIG26 is a top view of a detection module and a wiping plate of a maintenance base station provided in a fourth embodiment of the present disclosure;

[0127] 27a-27c are schematic diagrams of the maintenance base station adhering and detecting the wiper when the detection module is located at another position of the maintenance base station in the fourth embodiment of the present disclosure;

[0128] FIG28 is a partial enlarged view of the detection module and the wiping plate of the maintenance base station in the embodiment of FIG27;

[0129] FIG29 is a partial enlarged view of the detection module and the wiping plate of the maintenance base station in the embodiment of FIG27 when the wiping member fails to be installed;

[0130] FIG30 is a schematic diagram of an adhesive wipe for maintaining a base station according to a fifth embodiment of the present disclosure;

[0131] FIG31 is a schematic diagram of a detection wiper for maintaining a base station according to a fifth embodiment of the present disclosure;

[0132] FIG32 is a partial enlarged view of a detection module and a wiping plate of a maintenance base station provided in a fifth embodiment of the present disclosure;

[0133] FIG33 is a top view of a detection module and a wiping plate of a maintenance base station provided in a fifth embodiment of the present disclosure;

[0134] FIG34 is a top view of a detection module and a wiping plate of a maintenance base station provided in a fifth embodiment of the present disclosure;

[0135] FIG35 is a schematic diagram of the maintenance base station adhering and detecting the wiper when the detection module is located at another position of the maintenance base station in the fifth embodiment of the present disclosure;

[0136] FIG36 a is a side view of a detection module and a wiping plate of a maintenance base station provided in a sixth embodiment of the present disclosure;

[0137] FIG36 b is a side view of a wiping plate provided in a sixth embodiment of the present disclosure;

[0138] FIG36c is a top view of a detection module and a wiping plate of a maintenance base station provided in a sixth embodiment of the present disclosure;

[0139] FIG36 d is a top view of a detection module and a wiping plate of a maintenance base station provided in a sixth embodiment of the present disclosure;

[0140] FIG37 is an overall schematic diagram of a new cloth box for maintaining a base station according to an embodiment of the present disclosure;

[0141] FIG38 is an exploded schematic diagram of a new cloth box for maintaining a base station according to an embodiment of the present disclosure;

[0142] FIG39 is a top view of a wiping member for maintaining a base station according to an embodiment of the present disclosure;

[0143] FIG40 is a cross-sectional view of a wiping member for maintaining a base station according to an embodiment of the present disclosure;

[0144] FIG41 is a schematic diagram of the edge sealing of a wiper of a maintenance base station provided by an embodiment of the present disclosure;

[0145] FIG42 is a top view of a new cloth box for maintaining a base station according to an embodiment of the present disclosure;

[0146] FIG43 is a schematic diagram of a new cloth box guide column of a maintenance base station provided by an embodiment of the present disclosure;

[0147] FIG44 is a flow chart of a method for a maintenance base station to detect that a wiper is installed in place according to an embodiment of the present disclosure;

[0148] FIG45 is a flow chart of another embodiment of a method for a maintenance base station to detect when a wiper is installed, according to an embodiment of the present disclosure;

[0149] FIG46 is a flow chart of a method for a maintenance base station to install a wiper on a wiper plate according to an embodiment of the present disclosure;

[0150] FIG47 is a flowchart of another embodiment of a method for installing a wiper on a wiper plate by a maintenance base station according to an embodiment of the present disclosure;

[0151] FIG48 is a structural diagram of a cloth box installation assembly according to one embodiment of the present application, wherein the dirty cloth box and the new cloth box are in their initial positions;

[0152] FIG49 is a schematic diagram of the cloth box mounting assembly shown in FIG48 viewed from another angle;

[0153] FIG50 is a schematic structural diagram of a cloth box installation assembly according to one embodiment of the present application, wherein the dirty cloth box and the new cloth box are moved to the working position;

[0154] FIG51 is a schematic diagram showing the state of the new cloth box and the dirty cloth box when they are moved to the maintenance position;

[0155] FIG52 is a schematic structural diagram of the cloth box mounting assembly shown in FIG48 in an exploded state;

[0156] FIG53 is a schematic diagram showing a state in which the sliding guide rail moves to the initial position with the new cloth box mounting seat according to one embodiment of the present application;

[0157] FIG54 is a schematic diagram showing a state in which the sliding guide rail shown in FIG53 moves to a working position with a new cloth box mounting seat;

[0158] FIG55 is a schematic structural diagram of a new cloth box according to one embodiment of the present application;

[0159] FIG56 is a schematic diagram showing a state where a new mop cloth is installed into a new cloth box according to one embodiment of the present application;

[0160] FIG57 is a schematic diagram of the state where the new mop in FIG56 is installed in the new mop box;

[0161] FIG58 is a schematic diagram of the structure shown in FIG56 in an exploded state;

[0162] FIG59 is a schematic structural diagram of a base station according to an embodiment of the present application;

[0163] FIG60 is a schematic structural diagram of a base station moving a new cloth box to a maintenance position according to one embodiment of the present application;

[0164] FIG61 is a schematic structural diagram of a base station in one embodiment of the present application, wherein the new cloth box and the dirty cloth box are moved to a maintenance position;

[0165] FIG62 is a schematic diagram of another embodiment of the present application showing the new cloth box and the dirty cloth box moved to the working position;

[0166] FIG63 is a schematic diagram of the state when the new cloth box and the dirty cloth box in FIG62 are moved to the maintenance position;

[0167] FIG64 is a schematic structural diagram of the cloth box mounting assembly shown in FIG62 in an exploded state;

[0168] FIG65 is a schematic diagram of a new cloth box located at an installation position of a new cloth box installation seat according to an embodiment of the present disclosure;

[0169] FIG66 is a schematic diagram of the new cloth box and the new cloth box mounting base in FIG65 being separated;

[0170] FIG67 is a schematic diagram of another embodiment of the present disclosure when a new cloth box is located at the installation position of a new cloth box installation seat;

[0171] FIG68 is a schematic diagram of the new cloth box and the new cloth box mounting base in FIG67 being separated;

[0172] FIG69 is an enlarged schematic diagram of the connecting member in FIG67;

[0173] FIG70 is an enlarged schematic diagram of the connecting member in FIG68;

[0174] FIG71 is a schematic diagram showing that the new cloth box and the dirty cloth box are independently driven by a driving assembly in one embodiment of the present disclosure;

[0175] FIG72 is a schematic diagram showing a new cloth box and a dirty cloth box driven by a common motor in one embodiment of the present disclosure;

[0176] FIG73 is a front view of a new cloth box and a dirty cloth box according to an embodiment of the present disclosure;

[0177] FIG74 is a front view of a base station that matches the new cloth box and the dirty cloth box in FIG73 . DETAILED DESCRIPTION

[0178] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0179] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the usual meanings understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0180] Currently, common cleaners on the market are not intelligent enough when working, and their wiping piece replacement technology is relatively primitive. For example, a mopping robot with a mopping function requires manual intervention when a new mop cloth needs to be replaced during operation. There is also a maintenance base station that can automatically replace a new mop cloth for the cleaning robot, but the success rate of replacing the new mop cloth cannot be guaranteed, and it is impossible to confirm that the cleaning robot has replaced the new mop cloth, which brings new troubles to users. In order to solve the above technical problems, technicians in this field generally consider improving the reliability of the installation mechanism for installing a new mop cloth, such as setting up a precise robot in the maintenance base station to obtain the wiping piece and install it on the wiping board, or repeatedly running the installation mechanism to perform the action of installing the wiping piece. However, this may increase the design cost and operating cost of the maintenance base station.

[0181] The present disclosure provides a maintenance base station, a cleaning system, and a method for detecting installation of a wiper in the maintenance base station.

[0182] Referring to Figures 1 and 2 , a maintenance base station 100 is used to store at least new wipers 110 and install the wipers 110 on the wiping plate 140 of a cleaning device. The wiping plate 140 is provided with a detachable (i.e., replaceable) wiper 110. For example, when the wiper 110 of a cleaning robot 200 becomes dirty, the cleaning robot 200 can automatically travel to the maintenance base station 100 so that the maintenance base station 100 can replace the wiper 110 for the cleaning robot 200. Cleaning devices include not only cleaning robots such as sweeping robots or mopping robots, but also handheld cleaners.

[0183] The maintenance base station 100 includes a base station body 101a, which is used to dock the cleaning robot 200 and provide maintenance services for the cleaning robot 200, such as charging and replacing the wiper 110. The cleaning robot 200 and the maintenance base station 100 can communicate with each other. The communication method can be, but is not limited to, WIFI (Wireless Fidelity), Bluetooth, UWB (Ultra Wideband), mobile cellular network and other electromagnetic wave communication methods, as well as sonar, laser and other communication methods.

[0184] The cleaning robot 200 may be a mopping robot. The cleaning robot 200 is equipped with a wiping member 110 for contacting the ground and wiping dirt on the ground. The wiping member 110 may be a mopping rag.

[0185] The maintenance base station 100 includes a mounting mechanism that can perform a wiping member mounting operation to mount the wiping member 110 on the wiping plate 140. The mounting mechanism can be disposed on the base station body 101a; the mounting mechanism includes a moving component configured to drive the wiping plate (140) to move within the maintenance base station. The moving component can drive the wiping plate 140 to move vertically upward U or downward D within the maintenance base station.

[0186] Specifically, the maintenance base station 100 includes a new cloth box 120 for placing clean wiping pieces 110; the mounting mechanism is configured as the moving component, and the moving component drives the wiping plate 140 to move and apply pressure to the wiping pieces 110 in the new cloth box 120 so that the wiping pieces 110 adhere to the wiping plate 140.

[0187] The maintenance base station 100 is also provided with an elastic member, to which the new cloth box 120 is directly or indirectly connected. When the moving assembly drives the wiping plate to apply pressure to the wiping member and the new cloth box 120, the elastic member is squeezed and deformed. When the moving assembly drives the wiping plate to remove the pressure on the wiping member and the new cloth box 120, the elastic member returns to its original shape. It is understood that the moving assembly drives the wiping plate 140 to move vertically upward U or downward D within the maintenance base station, which requires a motor to drive it. When the moving assembly drives the wiping plate 140 to contact the wiping member in the new cloth box 120, without the buffering of the elastic member, the motor driving the moving assembly will instantly stop. Such repeated sudden motor stops will greatly reduce the service life of the motor. By providing an elastic member, when the wiping plate 140 presses on the wiping member, the new cloth box 120 provides a certain buffer, thereby providing a certain buffer when the motor stops, thereby increasing the service life of the motor. The elastic member can be configured as a spring, elastic rubber, elastic rope, etc. In this embodiment, referring to FIG3 a , the elastic member is configured as a spring 402. The new cloth box 120 is mounted on a mounting frame 401. The movable assembly drives the mounting frame 401 to move, thereby driving the new cloth box 120 to move. One end of the spring 402 is connected to the new cloth box 120, and the other end is connected to the mounting frame 401. When the new cloth box 120 is subjected to pressure from the wiping plate 140, the spring 402 is pressed to compress the spring 402. When the wiping plate 140 removes the pressure on the new cloth box 120, the spring 402 returns to its original shape. When the spring 402 is compressed a certain distance, the new cloth box 120 touches an in-place detection mechanism. The in-place detection mechanism is connected to the control module, which determines that the new cloth box 120 has moved into place and controls the movable assembly to stop moving. The distance can be freely selected based on the performance and length of the spring 402, for example, it can be set to 4 mm. The in-place detection mechanism can be configured as a commonly used in-place detection device such as an infrared sensor, a contact switch, a Hall effect element, etc., which will not be described in detail here.

[0188] When the moving assembly drives the wiping plate 140 to a first position within the maintenance base station, the installation mechanism executes the action of installing the wiping member; after the moving assembly drives the wiping plate 140 to a second position different from the first position, the control module detects the installation information of the wiping member 110 on the wiping plate 140 through the detection module. It should be noted that the detection module is configured as a wiping member sensor. For example, the infrared detection mechanism, ultrasonic sensor, touch switch, visual component, etc. described below are all wiping member sensors. Of course, any mechanism that can detect a wiping member on the wiping plate and emit a detection signal can be used as the detection module of this application, and this application does not limit it.

[0189] The second position is different from the maintenance position, the installation position and the disassembly position; wherein, the maintenance position is for the user to obtain the wiping plate 140 for maintenance, the installation position is for the wiping plate 140 to be installed on the cleaning robot, and the disassembly position is for the cleaning robot 200 to place the disassembled wiping plate 140.

[0190] The installation mechanism performs the action of installing the wiper, that is, when the moving component drives the wiper plate 140 to move to the first position in the maintenance base station, it drives the wiper plate 140 to adhere the wiper 110 from the new cloth box 120 set in the maintenance base station 100; after the moving component drives the wiper plate 140 to move to a second position different from the first position, the detection module detects the installation information of the wiper 110 on the wiper plate 140 and transmits the detection signal of the installation information to the control module. It should be noted that the installation mechanism can also be configured to directly install the wiper on the wiper plate of the cleaning robot without driving it to move within the maintenance base station. For example, when the cleaning robot enters and docks in the maintenance base station, the installation mechanism drives the wiper to move and automatically installs the wiper on the wiper plate. Alternatively, the cleaning robot is provided with a moving unit that drives the wiper plate to move so that it moves to the wiper provided by the installation mechanism, and then automatically adheres the wiper. It should also be noted that the present disclosure does not limit the manner in which the wiper is mounted on the wiper plate. The wiper may be fixed to the wiper plate via a snap-fit ​​structure, a clamping structure may be provided on the wiper plate to clamp the wiper, or the wiper may be adhered to the wiper plate. In this embodiment, the wiper is adhered to the bottom surface of the wiper plate via a bristle portion provided on the bottom surface of the wiper plate.

[0191] The moving assembly includes a lifting mechanism 150 that can move up and down in the vertical direction, and a moving mechanism that can drive the new cloth box 120 to move forward F or backward B in the horizontal direction; the maintenance base station 100 includes a first layer in contact with the ground and a second layer located a certain distance above the first layer. The lifting mechanism 150 can drive the wiping plate 140 to move upward U or downward D in the vertical direction, that is, it can move vertically from the first layer to the second layer, or from the second layer to the first layer. When the cleaning robot 200 needs to replace the wiper 110, the cleaning robot 200 can automatically enter the first layer of the maintenance base station 100; the wiping plate 140 set on the cleaning robot 200 is disassembled to the disassembly position in the maintenance base station 100, and the wiping plate 140 is then installed on the lifting mechanism 150 in the maintenance base station 100, and the lifting mechanism 150 drives the wiping plate 140 to move upward in the vertical direction to the second layer; the new cloth box 120 set in the maintenance base station 100 moves horizontally to the bottom of the wiping plate 140 , a wiping piece 110 is provided in the new cloth box 120, and the lifting mechanism 150 drives the wiping plate 140 to move downward to the first position to install the wiping piece 110 from the new cloth box 120. It can be understood that the first position is not a relatively fixed position, which is related to the number of wiping pieces 110 stored in the new cloth box 120. When the number of wiping pieces 110 in the new cloth box 120 is large, the first position is at a relatively high position. When the number of wiping pieces 110 in the new cloth box 120 is small, the first position is at a relatively low position.

[0192] After the wiping plate 140 is loaded with the wiping element 110 from the new cloth box 120, the lifting mechanism 150 moves the wiping plate 140 vertically to a second position different from the first position, allowing the detection module to detect the installation information of the wiping element 110 on the wiping plate 140. It should be noted that the second position is different from the first position and can be higher or lower than the first position. The relative positional relationship between the first and second positions will be described below with reference to specific embodiments.

[0193] It should also be noted that the lifting mechanism 150 can be moved up and down by the cooperation of a conveyor belt and gears, or by the transmission of other conveyor mechanisms. As long as the lifting mechanism 150 can move up and down, and the moving mechanism can move the new cloth box 120 back and forth, no specific limitations are imposed. In this embodiment, the lifting mechanism includes gears, a transmission belt 151 that rotates vertically and is driven by the gears, and a connector 152 that is driven to move vertically by the transmission belt 151. The connector 152 is connected to the wiping plate 140.

[0194] The maintenance base station 100 also includes a detection module and a control module. The detection module is configured to detect the wiping piece on the wiping plate 140 and generate a detection signal to represent the installation information of the wiping piece; the control module is configured to receive the detection signal transmitted by the detection module, and after the installation mechanism executes the action of installing the wiping piece, it determines whether the wiping piece 110 is installed at a predetermined position on the wiping plate 140 based on the detection signal, and when the judgment result is no, a response signal is issued, and the response signal is used to trigger an action of reinstalling the wiping piece or assist in the action of reinstalling the wiping piece.

[0195] In one embodiment, the control module is configured to control the detection module to generate a detection signal after the installation mechanism executes the action of installing the wiper, and based on the detection signal, determine whether the wiper 110 is installed in a pre-set position on the wiper plate 140. Specifically, taking the infrared detection mechanism 130 as an example, after the installation mechanism executes the action of installing the wiper, the moving component drives the wiper plate to move to the second position. In response to the signal indicating that the wiper plate has moved to the second position, the controller controls the infrared detection mechanism 130 to emit a detection signal (light signal) to detect the wiper 110 on the wiper plate. The controller receives the detection signal transmitted by the infrared detection mechanism and determines the installation information of the wiper 110 based on the detection signal. With this configuration, the detection device is triggered only after the wiper installation action is completed and the wiper plate moves to the position to be detected (the second position), which greatly reduces the operating time of the detection device and thus reduces the cost of using the base station. The same applies to the ultrasonic sensor and will not be described in detail.

[0196] Alternatively, in another embodiment, the control module is configured to continuously receive detection signals transmitted by the detection module and process the detection signals after the installation mechanism performs the action of installing the wiper to determine whether the wiper 110 is installed in a predetermined position on the wiper plate 140. In this embodiment, the detection module can continuously send detection signals to the controller, but the controller does not process or determine the position until the moving assembly drives the wiper plate to move to the second position. The controller then processes and determines the detection signal in response to the signal indicating that the wiper plate has moved to the second position.

[0197] The detection module is disposed within the maintenance base station 100; the detection module includes a signal generating device and a signal receiving device. The signal generating device generates a detection signal, and the signal receiving device receives the detection signal. The control module determines whether the detection signal received by the signal receiving device meets a preset condition. If the preset condition is met, it is determined that the wiping member 110 is installed at a preset position on the wiping plate 140. The signal generating device and the signal receiving device are disposed on the side of the wiping plate 140 where the wiping member 110 is not installed. The signal receiving device receives the detection signal reflected by the wiping member 110. The control module determines whether the detection signal received by the signal receiving device meets a preset value. If the detection signal received by the signal receiving device meets the preset value, it is determined that the wiping member 110 is installed at the preset position on the wiping plate 140.

[0198] Specifically, when it is necessary to detect the installation information of the wiping member 110 on the wiping plate 140 at the detection position, a detection signal is generated by a signal generating device arranged on the side of the wiping plate 140 where the wiping member 110 is not installed; the detection signal is transmitted to the wiping member 110, and the detection signal is reflected by the wiping member 110; the reflected detection signal is then received by a signal receiving device arranged on the side of the wiping plate 140 where the wiping member 110 is not installed, and the control module determines whether the detection signal received by the signal receiving device meets a preset value. When the detection signal received by the signal receiving device meets the preset value, it is determined that the wiping member 110 is installed at the preset position on the wiping plate 140; when the detection signal received by the signal receiving device does not meet the preset value, it is determined that the wiping member 110 is not correctly installed at the preset position on the wiping plate 140.

[0199] Please refer to Figures 11 and 12. The signal generating device and the signal receiving device can also be respectively arranged on both sides of the wiping plate 140. The signal receiving device receives the detection signal passing through the wiping member 110, and the control module determines whether the detection signal received by the signal receiving device meets the preset value. When the detection signal received by the signal receiving device meets the preset value, it is determined that the wiping member 110 is installed at the preset position on the wiping plate 140; when the detection signal received by the signal receiving device does not meet the preset value, it is determined that the wiping member 110 is not correctly installed at the preset position on the wiping plate 140.

[0200] It should be noted that, referring to Figures 2 and 6, a through-slot 141 is provided in the area of ​​the wiping plate 140 corresponding to the detection module to prevent the wiping plate 140 from interfering with the detection module when detecting the installation information of the wiping member 110 on the wiping plate 140. Providing the through-slot 141 in the area corresponding to the detection module can eliminate obstructions and barriers between the detection module and the wiping member 110. When the wiping member 110 is detected, the detection signal emitted by the detection module can directly detect the wiping member 110 through the through-slot 141, thereby minimizing the impact of the presence of the wiping plate 140 on the detection effect. For example, the size and shape of the through-slot 141 can be adjusted according to the size of the detection module and the detection method, so that the wiping plate 140 does not constitute an obstruction between the detection module and the wiping member 110, thereby achieving accurate detection results.

[0201] When the control module determines that the wiping member 110 is correctly installed at the pre-set position on the wiping plate 140, the moving assembly is configured to drive the wiping plate 140 to move to the installation position, so that the wiping plate 140 can be installed by the cleaning robot compatible with the maintenance base station 100. It is understood that the installation position of the wiping plate is also the position where the wiping plate is installed after the wiping member is installed and is to be installed on the cleaning robot. It is set in the maintenance base station. When the wiping plate needs to be installed with the wiping member, the cleaning robot needs to remove the wiping plate at the removal position in the maintenance base station. In order to make the maintenance base station simpler in structure and smaller in size, the installation position and the removal position are the same position in the maintenance base station.

[0202] The moving assembly drives the wiping plate 140 to the first position for the installation mechanism to install the wiping element. If the control module determines that the wiping element 110 is not installed at the pre-set position on the wiping plate 140, the moving assembly controls the moving assembly to drive the wiping plate 140 to move to the first position so that the installation mechanism can install the wiping element again. In other words, the wiping plate 140 installs the wiping element 110 from the new cloth box 120 again.

[0203] The maintenance base station 100 also includes a notification module. When the control module determines that the number of times the moving component drives the wiping plate 140 to move to the first position exceeds a preset number, and the wiping member 110 is still not installed at the preset position on the wiping plate 140, the control notification module sends a notification signal to the outside world.

[0204] Alternatively, the control module determines that the wiping member 110 is not installed in the pre-set position on the wiping plate 140, triggering an auxiliary wiping member reinstallation action. The triggered auxiliary wiping member reinstallation action involves the control module controlling the notification module to send a notification signal to the outside world. Specifically, when the control module determines that the wiping member 110 is not installed in the pre-set position on the wiping plate 140, it directly controls the notification module to send a notification signal to the outside world.

[0205] The control module controls the notification module to send a notification signal to the outside world, and controls the moving component to drive the wiping plate 140 to move to the maintenance position, and the user obtains the wiping plate 140 at the maintenance position for maintenance. It should be noted that the maintenance position is a position on the maintenance base station that is easy for the user to see and touch intuitively, such as the disassembly position at the bottom of the maintenance base station for the cleaning robot to disassemble the wiping plate. Furthermore, in order to make the structure of the maintenance base station simpler and to reduce the volume of the maintenance base station, the maintenance position is set to the same position as the installation position described above, that is, the disassembly position, installation position, and maintenance position of the maintenance base station are the same position. Of course, in other embodiments, these three positions can be different or the same in pairs, and this application does not impose any restrictions.

[0206] In one embodiment, the second location is located in the maintenance base station and is higher than the first location.

[0207] When the moving assembly drives the wiping plate 140 to move to the first position, and when the wiping plate installs the wiping element 110 from the new cloth box 120, the new cloth box 120 is located below the wiping plate, so that the wiping plate 140 at least partially enters the new cloth box 120 to install the wiping element 110. When the control module determines that the wiping plate 140 is in the disassembly position and the wiping element 110 needs to be installed, it controls the moving assembly to drive the wiping plate 140 to move upward from the loading and unloading position to the first position. It should be noted that in this embodiment, the moving assembly does not drive the wiping plate 140 to move upward from the loading and unloading position to the first position. Instead, it drives the wiping plate to a position higher than the first position to wait for the new cloth box to be in place. The moving assembly then drives the wiping plate downward to the new cloth box to reach the first position, so that the bottom surface of the wiping plate is pressed against the wiping element, thereby adhering the wiping element to the bottom surface of the wiping plate. After the control module determines that the installation mechanism has completed installation in the first position, it controls the movable assembly to move the wiping plate 140 upward from the first position to the second position, allowing the detection module to detect whether the wiper 110 has been installed on the wiping plate 140. The wiping plate 140 being installed in the first position means that the bottom surface of the wiping plate is pressed against the wiper, which may indicate that the wiping plate has successfully adhered to the wiper or not. If the control module determines that the wiping plate has not been successfully attached to the wiper, it controls the movable assembly to move the wiping plate 140 back to the first position, allowing the wiping plate 140 to adhere to the wiper 110 from the new cloth box 120. The detection module then rechecks whether the wiper is properly installed. Because the new cloth box is located below the wiping plate when the wiping plate is installed in the new cloth box, if the second position is lower than the first position during the above process, the new cloth box must be moved back to its initial position before the movable assembly can move the wiping plate downward from the first position to the second position. If the second position is higher than the first position, there is no need to move the new cloth box back to the initial position. The moving component can drive the wiping plate to move upward from the first position to the second position. This can reduce the waste of the moving component's travel, make the operation of the maintenance base station simpler, save electricity for the maintenance base station, and also save the time of the maintenance base station to install the wiping piece for the wiping plate.Specifically, when the control module determines based on the detection signal that the wiping piece 110 is not installed in the pre-set position on the wiping plate 140, the lifting mechanism 150 will drive the wiping plate 140 to move vertically to the first position, so that the wiping plate 140 installs the wiping piece 110 from the new cloth box 120 again; then the lifting mechanism 150 drives the wiping plate 140 to move vertically to the second position to detect whether the wiping piece 110 is installed in the pre-set position on the wiping plate 140; if the wiping piece 110 is not installed in the pre-set position on the wiping plate 140, the lifting mechanism 150 will drive the wiping plate 140 to move vertically to the second position. If the wiper 110 is not installed at the previously set position on the wiping plate 140 for more than a pre-set number of times, the operation is repeated again; if the control module determines that the wiping member 110 has not been installed at the pre-set position on the wiping plate 140 for more than a pre-set number of times, the notification module sends a notification signal to the outside world to complete the information exchange, and the outside world helps to install the wiping member 110, or the outside world checks whether there is a problem with the cleaner; wherein the notification signal sent to the outside world can be a light signal or a sound signal, etc., and the notification signal can also be a message pushed directly to the cleaning robot associated APP used by the user, which is not limited here. It should be noted that the pre-set number of times the control module determines that the wiping member 110 is not installed at the pre-set position on the wiping plate 140 can be adjusted according to needs, which can be one, two or three times, etc., which is not limited here. Referring to Figure 6, the position of the detection module is higher than the second position. Furthermore, there is more than one detection module, and when the wiping plate 140 is in the second position, more than one detection module is set around the edge of the wiping plate 140. The detection module is arranged at a position higher than the second position, which can prevent the detection module from hindering the lifting mechanism 150 from driving the wiping plate 140 to move upward U or downward D in the vertical direction.

[0208] In this embodiment, two detection modules are provided. Specifically, when the wiping plate 140 is in the second position, the detection module detects the wiping member 110 installed on the wiping plate 140; the two detection modules are arranged around the edge of the wiping plate 140, and the two detection modules are arranged asymmetrically with respect to the center line C in the width direction of the wiping plate 140. The asymmetrical arrangement of the detection modules can detect whether the wiping members 110 at different positions are in place, and there is no need to set multiple detection modules at the edge of the wiping member 110, which can save costs. If more detection modules need to be installed, they also need to be set around the edge of the wiping plate 140, and the detection modules need not be symmetrical with each other. It should be noted that the detection modules can be set according to needs, and can detect whether the wiping members 110 at different positions are in place, and the number of detection modules is not limited.

[0209] Preferably, referring to FIG6 , the bottom surface of the wiping plate 140 has a short side S and a long side L. When the wiping plate 140 is in the second position, the detection module is positioned proximate to the long side L. In this embodiment, there are two long sides L, which are arranged opposite each other. Two detection modules are provided, one proximate to each long side L. The wiping plate 140 has a centerline C in its width direction, and the two detection modules are asymmetric with respect to the centerline C. In this embodiment, the wiper 110 is adhered to the bottom surface of the wiping plate 140. The long sides of the wiping plate 140 are provided with bristles 1402 for adhesion to the wiper. Therefore, positioning the detection module proximate to the long side L allows detection of whether the long sides of the wiping plate 140 effectively adhere to the wiper 110. In particular, the asymmetry of the detection module with respect to the centerline C maximizes detection of effective adhesion of the wiper.

[0210] Preferably, referring to FIG13 , the cleaning device is configured as a self-propelled cleaning robot 200, the wiping plate 140 is mounted on the bottom of the cleaning robot 200, and the bottom surface of the wiping plate 140 is configured as a polygon, with the side of the wiping plate 140 perpendicular to the travel direction G of the cleaning robot 200 being the side to be detected 1401. When the wiping plate 140 is in the second position, one or more detection modules are configured near the side to be detected 1401. It is understandable that when the cleaning robot 200 is walking, the side to be detected 1401 is subjected to a large friction force and is easily rolled up. However, by configuring the detection module near the side to be detected 1401, it is possible to detect whether the side to be detected 1401 of the wiping plate 140 effectively covers the wiping element 110, thereby preventing the cleaning robot 200 from performing a cleaning task when the side to be detected is not covered by the wiping element 110 and rubs against the surface to be cleaned.

[0211] In one embodiment, referring to Figures 2 to 10 , the detection module can be configured as an infrared detection mechanism 130, including an infrared detection transmitting tube 131 and an infrared detection receiving tube 132. When the infrared detection mechanism 130 conforms to a preset model, the distance between the infrared detection mechanism and the wiping plate 140 in the second position is between 5 mm and 50 mm.

[0212] When the moving assembly drives the wiping plate 140 to the second position, the infrared detection emitting tube 131 and the infrared detection receiving tube 132 are disposed on one side of the wiping plate 140. Preferably, when the moving assembly drives the wiping plate 140 to the second position, the infrared detection emitting tube 131 and the infrared detection receiving tube 132 are disposed above the wiping plate 140. Referring to Figures 3, 4, and 5, after the lifting mechanism 150 drives the wiping plate 140 to install the wiping member 110 in the first position, the lifting mechanism 150 drives the wiping plate 140 to move vertically to a second position higher than the first position. The infrared detection emitting tube 131 emits a light signal, which is then transmitted to the wiping member 110 and reflected by the wiping member 110. The light signal reflected by the wiping member 110 is then received by the infrared detection receiving tube 132.

[0213] To balance the detection accuracy and cost of the infrared detection mechanism, repeated experiments revealed that when the infrared detection mechanism model meets the requirements of a voltage drop of less than or equal to 3V, an emission angle of 5°-60°, and a forward current of less than or equal to 300mA, the infrared detection mechanism is set at a distance of 5mm-50mm from the wiper. This allows the infrared detection receiving tube to receive the signal emitted by the infrared detection transmitting tube optimally. The infrared detection transmitting tube will not be covered by the wiper due to being too close to the wiper (less than 5mm), resulting in the optical signal not being transmitted by the wiper, which in turn causes the control module to make an incorrect judgment. The infrared detection transmitting tube will also not be too far from the wiper (greater than 50mm), resulting in excessive optical signal loss when reaching the infrared detection receiving tube, which will result in a low optical signal load received by the infrared detection receiving tube, which in turn causes the control module to make an incorrect judgment. This setting improves the detection accuracy of the infrared detection mechanism while effectively reducing the cost of the infrared detection mechanism. At the same time, the height difference between the infrared detection mechanism and the wiper plate during detection is limited to no more than 50 mm, that is, the distance between the external detection mechanism and the second position is limited to no more than 50 mm. This also limits the height distance that the movable assembly can drive the wiper plate, thereby limiting the height of the movable assembly, thereby effectively controlling the height of the maintenance base station and making the maintenance base station more compact. Preferably, the voltage drop of the infrared detection mechanism is less than 1.2V, the emission angle is 30°, the forward current is less than or equal to 100mA, and the distance between the infrared detection mechanism and the wiper plate is 15mm.

[0214] Of course, in another embodiment, when the moving assembly drives the wiping plate 140 to the second position, the infrared detection emitting tube 131 and the infrared detection receiving tube 132 can also be positioned below the wiping plate 140. Referring to Figures 9a to 9c and Figure 10, after the lifting mechanism 150 drives the wiping plate 140 to install the wiping element 110 in the first position, the lifting mechanism 150 first drives the wiping plate 140 upward in the vertical direction to avoid interfering with the forward and backward movement of the new cloth box 120. The lifting mechanism 150 then drives the wiping plate 140 downward in the vertical direction D and releases the wiping plate 140 to the loading and unloading position, which is now the second position. In this embodiment, the infrared detection emitting tube 131 and the infrared detection receiving tube 132 are positioned on the base of the maintenance base station 100. The infrared detection emitting tube 131 transmits a light signal, which is then transmitted to the wiping element 110, where it is reflected by the wiping element 110. The infrared detection receiving tube 132 then receives the reflected light signal from the wiping element 110.

[0215] Preferably, the infrared detection emitting tubes 131 are arranged at an angle relative to the upper surface of the wiping plate 140. In this embodiment, the opposing ends of the bottom surface of the wiping plate 140 extend toward the upper surface of the wiping plate 140. When the wiping member 110 is attached to the bottom surface of the wiping plate 140, it also extends toward the upper surface of the wiping plate 140. Therefore, to ensure that the infrared light emitted by the infrared detection emitting tubes 131 can effectively illuminate the wiping member 110, the infrared detection emitting tubes 131 are arranged at an angle relative to the upper surface of the wiping plate 140. Further preferably, two sets of infrared detection emitting tubes 131 and infrared detection receiving tubes 132 are provided, and are positioned opposite each other near the long side L of the wiping plate 140. Typically, the shape of the wiping member 110 is adapted to the wiping plate 140. When the wiping member 110 is installed on the wiping plate 140, it needs to completely cover the bottom surface of the wiping plate 140. The infrared detection mechanism 130 is respectively set near the long side L of the wiping plate 140, which can effectively detect whether the two side edges of the wiping member 110 are installed on the bottom surface of the wiping plate 140.

[0216] The control module determines whether the light signal received by the infrared detection receiving tube 132 meets a preset value. When the light signal received by the infrared detection receiving tube 132 meets the preset value, it is determined that the wiping member 110 is installed at a preset position on the wiping plate 140 . For the preset value to be met, it can be understood that the infrared detection receiving tube 132 preset in the control module does not receive or only receives a small amount of the light signal reflected by the infrared detection transmitting tube 131, and the signal obtained by the control module is "0". When the lifting mechanism 150 drives the wiping plate 140 to move to the second position, if the wiping member 110 reflects the light signal emitted by the infrared detection transmitting tube 131, the infrared detection receiving tube 132 receives the light signal reflected by the wiping member 110, and the signal obtained by the control module is "1". The signal obtained by the control module jumps, and the control module determines that the wiping member 110 is installed at the preset position on the wiping plate 140; when the lifting mechanism 150 drives the wiping plate 140 to move to the second position, if the wiping member 110 fails to reflect the light signal emitted by the infrared detection transmitting tube 131, the infrared detection receiving tube 132 does not receive the light signal reflected by the wiping member 110, and the signal obtained by the control module is still "0", then the control module determines that the wiping member 110 is not installed at the preset position on the wiping plate 140. Alternatively, the control module is pre-set that the infrared detection receiving tube 132 does not receive or only receives a small amount of the light signal reflected by the infrared detection transmitting tube 131, and the signal obtained by the control module is "1". When the lifting mechanism 150 drives the wiping plate 140 to move to the second position, if the wiping member 110 reflects the light signal emitted by the infrared detection transmitting tube 131, the infrared detection receiving tube 132 receives the light signal reflected by the wiping member 110, and the signal obtained by the control module is "0". The signal obtained by the control module jumps, and the control module determines that the wiping member 110 is installed at the pre-set position on the wiping plate 140; when the lifting mechanism 150 drives the wiping plate 140 to move to the second position, if the wiping member 110 fails to reflect the light signal emitted by the infrared detection transmitting tube 131, the infrared detection receiving tube 132 does not receive the light signal reflected by the wiping member 110, and the signal obtained by the control module is still "1", then the control module determines that the wiping member 110 is not installed at the pre-set position on the wiping plate 140. It can be understood that the control module can be a controller, such as an electronic chip with data processing function such as MCU, CPU, etc.

[0217] In this embodiment, the maintenance base station 100 is further provided with an in-position detection mechanism, connected to the controller, for detecting whether the lifting mechanism 150 has driven the wiping plate 140 to the second position and transmitting this information to the controller. The in-position detection mechanism can be configured as a commonly used in-position detection device such as an infrared sensor, a contact switch, a Hall effect element, etc., which will not be described in detail here. Detecting whether the lifting mechanism 150 has driven the wiping plate 140 to the second position can also be achieved without adding additional detection mechanisms. For example, after the wiping plate 140 adheres to the wiping member 110 in the first position, the controller controls the lifting mechanism 150 to drive the wiping plate 140 to move for a predetermined time, and then the controller determines that the wiping plate 140 has reached the second position. For another example, the maintenance base station 100 is provided with a code disk, connected to the controller, for calculating the distance moved by the lifting mechanism 150 and transmitting this information to the controller. When the controller controls the lifting mechanism 150 to drive the wiping plate 140 to move a predetermined distance, the controller determines that the wiping plate 140 has reached the second position.

[0218] Furthermore, when the control module determines that the wiping member 110 is correctly installed in the pre-set position on the wiping plate 140, it controls the moving assembly to move the wiping plate 140 to the installation position, so that the wiping plate 140 can be installed by the cleaning device compatible with the maintenance base station 100. When the controller determines that the wiping member 110 is successfully installed, it controls the lifting mechanism 150 to move the wiping plate 140 to the installation position of the wiping plate 140; the wiping plate 140 is removed from the lifting mechanism 150 to the installation position within the maintenance base station 100, so that it can be installed by the cleaning robot 200 compatible with the maintenance base station 100. When the second position is higher than the first position, the lifting mechanism 150 is controlled to drive the wiping plate 140 downward to the loading and unloading position of the wiping plate 140, and information on the installation of the wiping plate 140 is sent to the cleaning robot 200. When the second position is lower than the first position, especially when the second position is the loading and unloading position for the cleaning robot 200 to load and unload the wiping plate 140, the controller determines that the wiping member 110 is successfully installed. The lifting mechanism 150 does not need to drive the wiping plate 140 to move, and the maintenance base station 100 only needs to send information on the installation of the wiping plate 140 to the cleaning robot 200. After receiving the information on the installation of the wiping plate 140 from the maintenance base station 100, the cleaning robot 200 enters the maintenance base station 100 and docks at the loading and unloading position, installing the wiping plate 140 on the bottom of the cleaning robot 200. It is understandable that the cleaning robot 200 also needs to determine whether the installation of the wiping plate 140 is successful. The detection mechanism for detecting whether the installation of the wiping plate 140 is successful can be a commonly used in-position detection device such as an infrared sensor, a contact switch, a Hall element, etc.

[0219] When the controller determines that the installation of the wiping member 110 has failed, the lifting mechanism 150 will drive the wiping plate 140 from the second position to the first position, so that the wiping plate 140 will once again adhere to the wiping member 110 from the new cloth box 120. The lifting mechanism 150 then drives the wiping plate 140 to the second position, and the infrared detection mechanism 130 re-detects whether the wiping member 110 is installed at the pre-set position on the wiping plate 140. If the wiping member 110 is not installed at the pre-set position on the wiping plate 140, the operation is repeated. If the wiping member 110 is still not installed at the pre-set position on the wiping plate 140 after repeated installation of the wiping member 110 a pre-set number of times, the notification module sends a notification signal to the outside world, completing the information exchange, and the outside world will help install the wiping member 110; alternatively, the outside world will check whether there is a problem with the maintenance base station 100 or the cleaner. It should be noted that the notification module can send a notification signal to the outside world by sending a reminder message to the user's handheld device, or by emitting an alarm sound, flashing an alarm light, etc. Specifically, the notification module is set to a buzzer or an alarm light or an APP associated with the cleaning robot used by the user.

[0220] In another embodiment, referring to Figures 11 and 12 , the infrared detection transmitting tube 131 and the infrared detection receiving tube 132 are respectively disposed on the upper and lower sides of the wiping plate 140. The infrared detection transmitting tube 131 is disposed above the wiping plate 140, and the infrared detection receiving tube 132 is disposed below the wiping plate 140. Alternatively, the infrared detection transmitting tube 131 is disposed below the wiping plate 140, and the infrared detection receiving tube 132 is disposed above the wiping plate 140. The infrared detection transmitting tube 131 transmits a light signal, and the infrared detection receiving tube 132 receives the light signal that passes through the wiping member 110. After the lifting mechanism 150 drives the wiping plate 140 to install the wiping member 110 in the first position, the lifting mechanism 150 drives the wiping plate 140 to move vertically to a second position different from the first position. Similarly, the second position can be higher or lower than the first position. The infrared detection transmitting tube 131 transmits a light signal, which is transmitted to the wiping member 110 and blocked by the wiping member 110 ; the infrared detection receiving tube 132 cannot receive or can only receive a small amount of light signal.

[0221] The controller determines whether the light signal received by the infrared detection receiving tube 132 meets a preset value. When the light signal received by the infrared detection receiving tube 132 meets the preset value, it determines that the wiping member 110 is installed at a preset position on the wiping plate 140 . For satisfying the preset value, it can be understood that the infrared detection receiving tube 132 in the controller is preset to receive the light signal emitted by the infrared detection emitting tube 131, and the signal obtained by the controller is "1". When the lifting mechanism 150 drives the wiping plate 140 to move to the second position, if the wiping member 110 blocks the light signal emitted by the infrared detection emitting tube 131, the infrared detection receiving tube 132 cannot receive or only receives a small amount of the light signal emitted by the infrared detection emitting tube 131, and the signal obtained by the controller is "0". The signal obtained by the controller jumps, and the controller determines that the wiping member 110 is installed at the preset position on the wiping plate 140; when the lifting mechanism 150 drives the wiping plate 140 to move to the second position, if the wiping member 110 fails to block the light signal emitted by the infrared detection emitting tube 131, the infrared detection receiving tube 132 can still receive the light signal emitted by the infrared detection emitting tube 131, and the signal obtained by the controller is still "1", then the controller determines that the wiping member 110 is not installed at the preset position on the wiping plate 140. Alternatively, the controller is pre-set so that the infrared detection receiving tube 132 receives the light signal emitted by the infrared detection emitting tube 131, and the signal obtained by the controller is "0". When the lifting mechanism 150 drives the wiping plate 140 to move to the second position, if the wiping member 110 blocks the light signal emitted by the infrared detection emitting tube 131, the infrared detection receiving tube 132 cannot receive or only receives a small amount of the light signal emitted by the infrared detection emitting tube 131, and the signal obtained by the controller is "1". The signal obtained by the controller jumps, and the controller determines that the wiping member 110 is installed at the pre-set position on the wiping plate 140; when the lifting mechanism 150 drives the wiping plate 140 to move to the second position, if the wiping member 110 does not block the light signal emitted by the infrared detection emitting tube 131, the infrared detection receiving tube 132 can still receive the light signal emitted by the infrared detection emitting tube 131, and the signal obtained by the controller is still "0", then the controller determines that the wiping member 110 is not installed at the pre-set position on the wiping plate 140.

[0222] Similarly, in one embodiment, referring to Figures 14 to 18, the detection module can also be configured as an ultrasonic detection mechanism 170, including an ultrasonic transmitter and an ultrasonic receiver. Referring also to Figures 19a-19c and 20, the ultrasonic detection mechanism 170 can also be configured at a location higher than the first position or at a location lower than the first position. The ultrasonic transmitter emits an ultrasonic wave; the ultrasonic wave is emitted onto the wiper 110, and the wiper 110 reflects or blocks (absorbs) the ultrasonic wave; and the ultrasonic wave reflected by or penetrating the wiper 110 is received by the ultrasonic receiver. Since commonly used ultrasonic sensors are composed of piezoelectric chips, they can both emit and receive ultrasonic waves. Preferably, when the moving component drives the wiping plate 140 to move to the second position, the ultrasonic detection mechanism 170 is configured on the same side of the wiping plate 140. Of course, if the selected ultrasonic sensor has dual probes (one ultrasonic transmitter and one ultrasonic receiver), when the moving assembly drives the wiping plate 140 to move to the second position, the ultrasonic transmitter and the ultrasonic receiver can be respectively arranged on both sides of the wiping plate 140. The ultrasonic detection mechanism 170 detects whether the wiping member 110 is installed in the pre-set position on the wiping plate 140 in the same manner as the infrared detection mechanism, and is not further described here.

[0223] In one embodiment, please refer to Figures 21 to 26, the detection module can also be configured as a touch switch assembly 160, which can be triggered by the wiping member. Referring also to Figures 27a-27c and Figures 28 and 29, the touch switch assembly 160 can also be set at a place higher than the first position, or at a place lower than the first position. Preferably, the position of the touch switch assembly 160 is higher than the second position, and the second position is higher than the first position. That is, when the moving assembly drives the wiping plate 140 to move upward to the second position, the touch switch assembly 160 is arranged above the wiping plate 140. Please refer to Figures 21, 22 and 23, when the lifting mechanism 150 drives the wiping plate 140 to install the wiping member 110 in the first position, the lifting mechanism 150 drives the wiping plate 140 to move upward in the vertical direction to the second position. The control module determines whether the touch switch assembly 160 is triggered by the wiper 110 installed on the wiper plate 140. When the touch switch assembly 160 is triggered by the wiper 110, it is determined that the wiper 110 is installed at a predetermined position on the wiper plate 140. By determining whether the touch switch assembly 160 is triggered by the wiper 110, it is possible to effectively detect whether the two side edges of the wiper 110 are installed on the bottom surface of the wiper plate 140. When the wiping plate reaches the second position, the through slot 141 on the wiping plate 140 avoids the switch assembly 160. If the wiping member 110 is successfully installed on the wiping plate 140, the wiping member 110 will touch the switch assembly 160 to make it conductive. If the wiping member 110 is not installed on the wiping plate 140, no component can touch the switch assembly 160, and the switch assembly 160 cannot be conductive. The controller is connected to the switch assembly 160 to obtain the conductive signal of the switch assembly 160 to determine whether the wiping member 110 is successfully installed on the wiping plate 140.

[0224] When the moving assembly drives the wiping plate 140 downward to the second position, the touch switch assembly 160 is disposed below the wiping plate 140. Referring to Figures 27a to 28, after the lifting mechanism 150 drives the wiping plate 140 to install the wiping member 110 in the first position, the lifting mechanism 150 drives the wiping plate 140 upward in the vertical direction to avoid blocking the forward and backward movement of the new cloth box. Then, the lifting mechanism 150 drives the wiping plate 140 downward in the vertical direction to the second position. Similarly, whether the touch switch is triggered by the wiping member determines whether the wiping member is successfully installed on the wiping plate. Preferably, two sets of touch switch assemblies 160 are provided, and are relatively arranged near the long side L of the wiping plate 140. Generally, the shape of the wiping member 110 is adapted to the wiping plate 140. When the wiping member 110 is installed on the wiping plate 140, it needs to completely cover the bottom surface of the wiping plate 140. The touch switch assembly 160 is respectively set near the long side L of the wiping plate 140, which can effectively detect whether the two side edges of the wiping member 110 are installed on the bottom surface of the wiping plate 140.

[0225] In one embodiment, referring to Figures 30 to 34 , the inspection module may include a visual component 180. After the control module determines that the installation mechanism has installed the wiper, it controls the visual component 180 to generate real-time image information. The control module receives and determines whether the real-time image information matches pre-stored standard image information. When the real-time image information matches the standard image information, the control module determines that the wiper 110 is installed in the pre-set position on the wiper plate 140. Referring also to Figure 35 , unlike other inspection modules, the visual component 180 does not have strict positioning requirements. As long as the visual component 180 can capture the wiper plate 140 when the moving component moves the wiper plate 140 to the second position, it is sufficient. For example, as shown in Figure 32 , when the wiper plate is in the second position, the visual component 180 can be positioned above the wiper plate. Alternatively, the visual component 180 can be positioned on the inner wall of the maintenance base station 100, such as the rear inner wall shown in Figure 35 . After the lifting mechanism 150 drives the wiping plate 140 to install the wiping member 110 in the first position, the lifting mechanism 150 drives the wiping plate 140 to move vertically to the second position, and the visual component captures an instant image of the wiping plate. The control module (controller) stores a standard image. It can be understood that the standard image is a picture of the wiping plate with the wiping member installed, or an image of the wiping plate without the wiping member installed, taken by the visual component from the same perspective. The controller determines whether the wiping member is successfully installed on the wiping plate by comparing the instant image and the standard image.

[0226] In one embodiment, please refer to Figures 36a-36d. The detection module can be set as a conductive column 191, and a matching conductive coating 1101 is provided on the wiper 110. When the conductive column 191 contacts the conductive coating 1101 on the wiper, conduction can be achieved through the conductive coating 1101.

[0227] It is understood that the conductive post 191 can also be positioned above or below the first position. Preferably, the conductive post 191 is positioned above the second position, which is in turn positioned above the first position. That is, when the moving assembly drives the wiping plate 140 upward to the second position, the conductive post 191 is positioned above the wiping plate 140. After the lifting mechanism 150 drives the wiping plate 140 to install the wiper 110 in the first position, the lifting mechanism 150 drives the wiping plate 140 to move upward vertically to the second position. The control module determines whether the conductive post 191 is conductive via the conductive coating 1101 located on the wiper 110. When the conductive post 191 is conductive, it determines that the wiper 110 is installed in a pre-set position on the wiping plate 140. By determining whether the conductive post 191 is conductive, it can effectively detect whether the two side edges of the wiper 110 are installed on the bottom surface of the wiping plate 140. When the wiping plate reaches the second position, the through slot 141 on the wiping plate 140 avoids the electric post 191. If the wiping member 110 is successfully installed on the wiping plate 140, the wiping member 110 will touch the electric post 191 to make it conductive. If the wiping member 110 is not installed on the wiping plate 140, no component can touch the electric post 191, and the electric post 191 cannot be conductive. The controller is connected to the electric post 191 and obtains the conductive signal of the electric post 191 to determine whether the wiping member 110 is successfully installed on the wiping plate 140. The steps after the wiping member 110 is successfully installed or not successfully installed on the wiping plate 140 are the same as the embodiment in which the detection module is configured as the infrared detection mechanism 130, and will not be described in detail here. In one embodiment, please refer to Figures 37 to 43. A new cloth box 120 is provided in the maintenance base station 100 for holding the new wiping piece 110 to be installed on the wiping plate 140. A positioning structure and / or a guide structure is provided in the new cloth box 120. The wiping piece 110 has a first surface 111 for wiping the surface to be cleaned, and a second surface 112 adhered to the wiping plate. The guide structure is used to guide the user to install the second surface 112 into the new cloth box 120 facing the top of the new cloth box 120. The positioning structure is used to fix the wiping piece 110 in the correct position in the new cloth box 120 so as to accurately dock with the wiping plate 140. Please refer to Figures 42 and 43. The positioning structure and the guide structure are integrated, including at least one guide column 121 arranged on the bottom surface of the new cloth box 120. When there is only one guide column 121, the guide column 121 is not located at the geometric center 122 of the bottom surface of the new cloth box 120. When there are more than two guide columns 121, the more than two guide columns 121 are asymmetrical relative to the geometric center 122 of the new cloth box 120.

[0228] Specifically, referring to Figures 40 and 41 , the wiper 110 has a first surface 111 for wiping the surface to be cleaned, and a second surface 112 for attaching to the wiper plate. The second surface 112 can be fixed to the wiper plate 140 via Velcro 190. The first and second surfaces are made of different materials or with different manufacturing processes to facilitate user differentiation. To further facilitate user differentiation between the first and second surfaces, the first surface 111 can be set to white, and the second surface 112 can be set to gray. During installation, the gray second surface 112 faces upward, and the wiper 110 is installed vertically downward. Because the wiper 110 is made of a relatively soft material, it is easily misaligned when placed in a new cloth box 120, making it impossible to ensure that the wiper 110 is installed in the desired position. Therefore, when the wiping piece 110 is installed in the wiping plate 140, the user is guided by the guide structure to install the second surface 112 toward the top of the new cloth box 120 into the new cloth box 120; then the wiping piece 110 is fixed in the correct position in the new cloth box 120 by the positioning structure to accurately dock with the wiping plate 140; the positioning structure and the guide structure are integrated, which can be at least one guide column 121 arranged on the bottom surface of the new cloth box 120; when the guide column 121 is set to one, the guide column 121 is not set at the geometric center 122 of the ground of the new cloth box 120; when the guide column 121 is set to two or more, the two or more guide columns 121 are asymmetric relative to the geometric center 122 of the new cloth box 120; the guide column 121 is fixed in the new cloth box 120 by the end 1213; the circumference of the guide column 121 close to the bottom surface is greater than the circumference of the end 1212 away from the bottom surface. This arrangement can make the position of the wiping piece 110 inserted into the new cloth box 120 more accurate, and the user operation is simpler and more comfortable to use.

[0229] The wiper 110 can be made of a biodegradable material; the first surface 111 for wiping the surface to be cleaned can be made of PLA fiber and / or wood pulp fiber; the second surface 112 attached to the wiper plate can be made of renewable polyester filament. The first surface 111 and the second surface 112 are composited together using an ultrasonic welding process; the texture of the first surface 111 is welded into a diamond-shaped texture; the first surface 111 and the second surface 112 are sealed at the outer contour of the wiper 110 using ultrasound; through ultrasonic welding and edge sealing, the wiper 110 is formed in one step, the outer contour 113 of the wiper has high dimensional accuracy, and the edge sealing is tight and not easy to open. During the welding process, at least one positioning hole 114 needs to be reserved on the wiper 110. The position of the positioning hole 114 corresponds to at least one guide post 121 provided on the bottom surface of the new cloth box 120; the number of reserved positioning holes 114 needs to be the same as the number of guide posts 121. In order to prevent multiple wiping pieces 110 stored in the new cloth box 120 from sticking together, a high-temperature mold can be used to pre-treat the hair on the first surface 111, and the processing temperature is between 180°C and 200°C; the water absorption rate of the wiping piece 110 disclosed in the present invention is not less than 400%, and the use of degradable materials meets environmental protection requirements.

[0230] Furthermore, a friction member is provided on the guide structure to increase the friction between the guide structure and the wiper. This prevents the wipers from sticking to each other when the wiper plate removes the new wiper from the new cloth box 120, preventing excess wipers from being carried out of the new cloth box 120. Specifically, the friction member is configured as a rubber ring that is sleeved around the outer circumference of the guide post. Thus, when the wiper plate picks up a new wiper from the new cloth box, if the next wiper sticks to the previous wiper and is lifted by the previous wiper, it will pass through the rubber ring and generate friction with the rubber ring. If the friction force is greater than the adhesion force between the two wipers, the next wiper will be intercepted by the rubber ring and fall back into the new cloth box 120.

[0231] 2 and 6 , the present disclosure further provides a cleaning system comprising the aforementioned maintenance base station 100 and a cleaning robot that performs maintenance using the maintenance base station. A wiping plate 140 with a wiper 110 mounted thereon is provided at the bottom of the cleaning robot. A penetration region is provided on the wiping plate 140 at a location corresponding to the detection module, for avoiding detection signals emitted by the detection module so that the detection signals directly reach the wiper 110 covered by the wiping plate 140. This prevents the wiping plate 140 from interfering with the detection module's detection of the installation information of the wiper 110 on the wiping plate 140. The provision of the penetration region on the wiping plate corresponding to the detection module eliminates any obstructions between the detection module and the wiper 110. When detecting the wiper 110, the detection signal emitted by the detection module can pass through the penetration region and directly detect the wiper 110, minimizing the impact of the wiping plate 140 on the detection effect. Specifically, the outer edge of the wiping plate 140 is recessed toward the center of the wiping plate 140 to form a through-slot 141, and the through-slot 141 is provided; alternatively, the through-slot 141 is provided as a through-hole in the middle of the wiping plate 140. For example, the size and shape of the through-slot 141 can be adjusted based on the size of the detection module and the detection method, so that the wiping plate 140 does not obstruct the detection module and the wiper 110, thereby achieving accurate detection results.

[0232] It is understandable that as long as the through-area penetrates the upper and lower surfaces of the wiping plate and does not block the detection signal emitted by the detection module, the through-area can be set at any position on the wiping plate. Preferably, the outer edge of the wiping plate 140 is recessed toward the center of the wiping plate 140 to form a through groove 141, that is, the through groove 141 is located at the edge of the wiping plate. With this arrangement, when the moving mechanism drives the new cloth box 120 to move forward F or backward B in the horizontal direction, the lifting mechanism 150 needs to drive the wiping plate to move upward U to avoid the new cloth box. The through groove 141 can avoid part of the structure of the detection module, and part of the structure of the detection module can be sunk into the through groove 141 in the height direction. The lifting mechanism 150 does not need to avoid the detection module when driving the wiping plate to move upward, and the detection module does not need to be set at a higher position in the maintenance base station, and does not need to occupy additional height space of the maintenance base station, thereby reducing the height of the maintenance base station and making the maintenance base station smaller. Of course, the through slot 141 provided in the middle area of ​​the wiping plate can also avoid the detection module. However, it is understandable that the through slot provided in the middle area of ​​the wiping plate needs to avoid the entire detection module so that the lifting mechanism 150 can move the wiping plate upward without avoiding the detection module. If the through slot is too large, the stability of the wiping plate will be reduced, and the service life will be shortened.

[0233] In order to ensure that the wiping piece can completely cover the surface of the wiping plate, the wiping piece will usually have an area larger than the surface of the wiping plate, and the edge of the wiping piece will extend beyond the edge of the wiping plate. The through groove 141 is set at the edge of the wiping plate, and the detection signal emitted by the detection module matching the through groove 141 is more likely to contact the wiping piece, thereby increasing the detection accuracy of the detection module.

[0234] The outer edge of the wiping plate 140 is recessed toward the center of the wiping plate 140 to form the through groove 141. The through groove 141 has a virtual circumscribed circle. The diameter of the virtual circumscribed circle is greater than or equal to 5 mm and less than or equal to 30 mm. The area of ​​the through groove 141 is greater than or equal to 40 mm. 2 , less than or equal to 1400mm 2 If the size of the through slot 141 is large enough, the detection signal emitted by the detection module can pass through the through slot 141 smoothly to the wiper, thereby improving the detection accuracy of the detection module. However, if the size of the through slot 141 is too large, the firmness and stability of the wiping plate will be reduced, and the service life of the wiping plate will be reduced. If the size of the through slot 141 is reduced, the probability that the detection signal emitted by the detection module can pass through the through slot 141 smoothly to the wiper will be reduced, and the detection accuracy of the detection module will be reduced. At the same time, since in this embodiment, the wiper is adhered to the bottom surface of the wiping plate by a bristle batch, an area for setting the bristle batch needs to be reserved on the bottom surface of the wiping plate. If the size of the through slot 141 is too large, it will affect the setting of the bristle batch, making the wiper not firmly adhered to the wiping plate. Therefore, taking the above problems into consideration and after repeated experiments, the diameter of the virtual circumscribed circle of the through slot 141 is set to be greater than or equal to 5 mm and less than or equal to 30 mm; the area of ​​the through slot 141 is greater than or equal to 40 mm 2 , less than or equal to 1400mm 2 , which can balance the detection accuracy of the detection module, the stability of the wiping plate, and the firmness of the wiping piece adhering to the wiping plate.

[0235] 44-47 , the present disclosure provides a method for a maintenance base station to detect whether a wiper is installed in place, comprising: S1: installing a wiper 110 on a wiper plate 140 of a cleaning robot; S2: detecting installation information of the wiper 110 on the wiper plate 140; and S3: determining, based on the installation information, whether the wiper 110 is installed in a pre-set position on the wiper plate 140. Referring to FIG46 and FIG47 , the method for a maintenance base station to detect whether a wiper is installed in place, comprising: S1: installing a wiper 110 on a wiper plate 140 of a cleaning robot; S2: detecting the wiper 110 on the wiper plate 140, generating a detection signal and transmitting it to a control module; S3: the control module receives the detection signal and, after the wiper is installed on the wiper plate, determines, based on the detection signal, whether the wiper 110 is installed in a pre-set position on the wiper plate 140; if the control module determines that the wiper 110 is not installed in place, then triggering an action of reinstalling the wiper, or triggering an action of assisting in reinstalling the wiper.

[0236] After the wiping member 110 is installed on the wiping plate 140 for the first time, or after the reinstallation of the wiping member is triggered, the control module controls the detection module to generate a detection signal, and based on the detection signal, determines whether the wiping member 110 is installed at a pre-set position on the wiping plate 140. It should be noted that the first installation of the wiping member on the wiping plate refers to the first installation of the wiping member on the wiping plate after the old wiping member is removed from the wiping plate.

[0237] When the wiping member 110 is not installed at the preset position on the wiping plate 140, repeat the steps of installing the wiping member 110 on the wiping plate 140; detecting the installation information of the wiping member 110 on the wiping plate 140; and judging whether the wiping member 110 is installed at the preset position on the wiping plate 140 based on the installation information; when the wiping member 110 is correctly installed at the preset position on the wiping plate 140, execute step S4: move the wiping plate 140 to the loading and unloading position so that the wiping plate 140 can be installed by the robot adapted to the maintenance base station.

[0238] Please refer to Figure 45. When the wiping piece 110 is not installed at the preset position on the wiping plate 140, the above-mentioned method of the maintenance base station to detect whether the wiping piece is installed in place also includes: S5: determining whether the wiping piece has not been installed on the wiping plate for a preset number of times; if not, re-execute step S1; if so, execute step S6: send a notification signal to the outside world.

[0239] Alternatively, referring to FIG47 , when the wiping member 110 is not installed at the preset position on the wiping plate 140, step S7 is executed: a notification signal is directly sent to the outside world. That is, when the control module determines that the wiping member 110 is not installed at the preset position on the wiping plate 140, the notification module is directly controlled to send a notification signal to the outside world.

[0240] From the above, it can be seen that the maintenance base station, cleaning system and method for the maintenance base station to detect the installation of the wiping piece provided by the present invention can automatically replace the wiping piece. After replacing the wiping piece, the detection module can detect whether the wiping piece is installed in the preset position; if it is not installed in place, the installation steps can be repeated. When the number of repeated installations exceeds the preset number, a notification signal can be sent to the outside world; thereby improving the stability of automatic replacement of the wiping piece, reducing user intervention, and improving the operating efficiency of the cleaner.

[0241] The present disclosure also provides another solution to solve the problem of inconvenience in installing new mops and / or cleaning dirty mops in the new cloth box of the current base station. The demon solution can be implemented alone or in conjunction with any of the above embodiments.

[0242] To facilitate users in refilling the new cloth box with new mops and / or removing used mops from the dirty cloth box, a new technical solution is provided that allows the dirty cloth box and / or the new cloth box to be moved both inside the base station to replace new mops for the cleaning robot and outside the base station for maintenance. It is understood that the cleaning device can be a self-propelled cleaning robot or a handheld cleaner. When the cleaning device is configured as a cleaning robot, the cleaning robot enters the base station, unloads the detachable mop plate, and then exits. The base station then operates the mop plate to replace the mop plate with a new one.

[0243] The present application provides a base station including a cloth box mounting assembly, as shown in Figures 48-52. The cloth box mounting assembly includes a mounting frame 1 and at least one cloth box mounted on the mounting frame 1. The mounting frame is connected to the interior of the base station. Each cloth box is configured to be movable relative to the mounting frame 1 from an initial position in a first direction (indicated by arrow M in Figure 48) to a working position, and from the initial position in an opposite second direction (approximately indicated by arrow N in Figure 48) to a maintenance position. In the working position, the cloth box is replaced with a new mop cloth; in the maintenance position, the user performs maintenance on the cloth box. The initial position is the position of the cloth box when the base station is in a normal standby mode. Preferably, the first direction and the second direction are parallel to the direction in which the cleaning robot enters or exits the base station. It is understood that the first direction and the second direction are opposite, and the first direction and the second direction may be completely opposite, with the first direction and the second direction forming an angle of 180 degrees, or the first direction and the second direction may form an obtuse angle.

[0244] The working position may be set to be located at the rear side of the base station, the initial position may be located at the front side of the base station, and the maintenance position may be located further forward from the front side of the base station.

[0245] The embodiment shown in Figures 48-52 shows that the cloth box installation assembly includes two cloth boxes, namely a dirty cloth box 2 and a new cloth box 3, with the new cloth box 3 arranged above the dirty cloth box 2. The new cloth box 3 and the dirty cloth box 2 are each capable of moving from their respective initial positions to their respective working positions, and from their respective initial positions to their respective maintenance positions. Figures 48 and 49 show the dirty cloth box 2 and the new cloth box 3 both in their initial positions, Figure 50 shows the dirty cloth box 2 and the new cloth box 3 moving toward the first direction (indicated by arrow M) to the working position, and Figure 51 shows the dirty cloth box 2 and the new cloth box 3 moving toward the second direction (indicated by arrow N) to the maintenance position. It should be noted that the dirty cloth box 2 and the new cloth box 3 can move independently, and do not necessarily need to be in the initial position, the working position, and the maintenance position at the same time. It should also be noted that the solution provided in this application is not limited to two cloth boxes. It can be only one cloth box, for example, only one dirty cloth box 2 or only one new cloth box 3. More cloth boxes can also be provided to enhance other functions. The new mop in the new cloth box can be disposable mop paper, or a mop, sponge, etc. that can be used multiple times.

[0246] As shown in Figures 59 and 60, the dirty cloth box 2 and the new cloth box 3 in Figure 59 are in their respective initial positions, which are close to the front side of the base station 100. Therefore, the dirty cloth box 2 and the new cloth box 3 can be located at the front opening of the housing, making it easy to pull the dirty cloth box 2 and the new cloth box 3 forward to the maintenance position. Figure 60 shows the new cloth box 3 in the maintenance position, and Figure 61 shows the new cloth box 3 and the dirty cloth box 2 in their respective maintenance positions. When in the maintenance position, they can be completely separated from the base station 100. When the dirty cloth box 2 or the new cloth box 3 is driven to move toward the rear side of the base station 100, the dirty cloth box 2 or the new cloth box 3 can reach the working position.

[0247] The base station also includes a control module, and when the first preset condition is reached, the control module controls the cloth box to move from the initial position toward the first direction to the working position. It can be understood that the control module can be a controller, such as an MCU, CPU, and other electronic chips with data receiving and processing functions. Here, according to one embodiment, the working process of the new cloth box 3 and the dirty cloth box 2 moving from the initial position to the working position and from the initial position to the maintenance position is briefly described as follows: When the dirty cloth box 2 and the new cloth box 3 are both in the initial position, a lifting space A (i.e., the space between the mounting frame 1 and the support plate 6 shown in Figure 49) is formed on the rear side of the dirty cloth box 2 and the new cloth box 3 (the side facing the rear of the base station, the direction indicated by the arrow M is the rear side of the base station). The lifting space is the space for the lifting mechanism to lift the mop board. When the lifting mechanism lifts the mop board When the dirty cloth box 2 is raised to a position above the dirty cloth box 2, the dirty cloth box 2 moves toward the lifting space A to the working position, and the dirty mop pulled from the mop board can fall into the dirty cloth box 2. When the lifting mechanism raises the mop board to a position above the new cloth box 3, the new cloth box 2 moves toward the lifting space to the working position, and the lifting mechanism lowers the mop board into the new cloth box 2. The new mop can adhere to the mop board. Then, the dirty cloth box 2 and the new cloth box 3 move to their initial positions, freeing up the lifting space again, and the lifting mechanism can lower the mop board into the lifting space. In this embodiment, a first height is preset in the control module. The control module controls the lifting mechanism to drive the dirty cloth box 2 to move upward to the first height. Specifically, the height of the mop board driven by the moving mechanism can be measured by a code disk. When the mop board moves to the first height, the control module controls the dirty cloth box 2 to move from the initial position toward the first direction to the working position. It can be considered that when the control module detects that the mop board has moved to the first height, the first preset condition for moving the new cloth box has been met. Similarly, a second height is preset within the control module. The control module controls the lifting mechanism to move the new cloth box 3 upward to the second height. Similarly, the code plate can be used to measure the height of the mop board driven by the moving mechanism. When the mop board reaches the second height, the control module controls the new cloth box 3 to move from its initial position toward the first direction to the working position. It can be considered that when the control module detects that the mop board has moved to the second height, the first preset condition for moving the dirty cloth box has been met.

[0248] It can be understood that a mop board position detection mechanism can also be provided in the base station. When the lifting mechanism drives the mop board to a position higher than the dirty cloth box 2 or the new cloth box 3, the control module receives the signal sent by the mop board position detection mechanism to determine whether the mop board is in place. When the control module determines that the mop board is in place, it controls the dirty cloth box 2 or the new cloth box 3 to move from the initial position toward the first direction to the working position.

[0249] When the new mop in the new cloth box 3 is used up and a new mop needs to be installed, the new cloth box 3 can be moved to the maintenance position. In the maintenance position, the new mop can be conveniently placed in the new cloth box 3, and then the new cloth box 3 can be moved back to the initial position. When the dirty cloth box 2 needs to be cleaned, the dirty cloth box 2 can be moved from the initial position to the maintenance position to clean the dirty cloth box 2. The maintenance positions of the new cloth box 3 and the dirty cloth box 2 can both be completely separated from the base station, or only partially exposed to the base station without being separated from the base station, which is convenient for user operation. For example, the new cloth box 3 can be placed in the new cloth box 3 without being separated from the base station, and the maintenance position of the new cloth box 3 can also be a position where it extends out of the base station but is not completely separated from the base station (refer to Figure 60). Similarly, the dirty cloth box 2 can also be cleaned without being separated from the base station. However, in order to avoid the user's hands getting dirty when cleaning the dirty mop, it is preferred that the dirty cloth box 2 be completely removed from the base station and the dirty mop be dumped into a trash can.

[0250] The technical solution provided by this application, by arranging the cloth box to be movable between an initial position, a working position, and a maintenance position, can facilitate the cleaning of a dirty cloth box and / or the placement of a new mop cloth in the cloth box, while still meeting the function of replacing mops. The cloth box installation assembly provided by this application has a simple structure, is easy to use, and makes maintenance easier, thereby improving work efficiency.

[0251] In one embodiment, the cloth box mounting assembly further comprises a cloth box mounting seat, wherein the cloth box is configured to be mounted on a mounting position of the cloth box mounting seat; wherein, when the cloth box is mounted on the mounting position of the cloth box mounting seat, the cloth box mounting seat can move in a first direction, moving the cloth box from an initial position to a working position. Furthermore, the cloth box can move relative to the cloth box mounting seat and out of the mounting position, and the cloth box can move in a second direction relative to the cloth box mounting seat, thereby moving from the initial position to the maintenance position. Specifically, the cloth box mounting assembly comprises the cloth box mounting seat, which is provided with a mounting position for mounting the cloth box; and the base station comprises a drive assembly for driving the cloth box mounting seat to move in the first direction relative to the mounting frame, so that the cloth box mounting seat drives the cloth box installed in the mounting position to move from the initial position to the working position. By connecting the cloth box mounting seat to the drive assembly (including a motor), the cloth box does not need to be directly connected to the drive assembly, and the structure that needs to be connected to the drive assembly (especially the motor) can be hidden, such as being located on the inner wall of the base station and not exposed to the outside, making the base station structure more reliable and safer. It should be noted that the mounting position is an area on the base of the cloth box mounting seat, and the cloth box is placed in this area. It is understandable that the drive assembly can also drive the cloth box mounting seat to move in the second direction, so that the cloth box mounting seat drives the cloth box to move to the maintenance position for user maintenance.

[0252] In one embodiment, the mounting frame 1 includes two side fixing plates 101 arranged opposite to each other, and a fixed guide rail 7 is provided on the inner side of each side fixing plate 101. Sliding guide rails 8 are respectively provided on the opposite sides of the cloth box mounting seat. The cloth box mounting seat moves between the initial position and the working position by sliding the sliding guide rails 8 and the fixed guide rails 7.

[0253] Optionally, the sliding guide rail 8 is configured to be able to move in two opposite directions to exceed the end of the fixed guide rail 7; wherein, the sliding guide rail 8 is configured to move along the second direction to exceed the first preset length of the fixed guide rail 7 when the cloth box mounting seat reaches the initial position, and move along the first direction to exceed the second preset length of the fixed guide rail 7 when the cloth box mounting seat reaches the working position.

[0254] Specifically referring to the embodiment shown in Figures 48-52, a dirty cloth box mounting seat 4 is provided corresponding to the dirty cloth box 2, and a new cloth box mounting seat 5 is provided corresponding to the new cloth box 3. The dirty cloth box mounting seat 4 and the new cloth box mounting seat 5 are respectively provided with sliding guide rails 8, which slide in conjunction with the fixed guide rails 7 on the mounting frame 1. The dirty cloth box 2 can be mounted on the dirty cloth box mounting seat 4, and the dirty cloth box mounting seat 4 moves the dirty cloth box 2 along the slide rails between the initial position and the working position. Similarly, the new cloth box 3 is moved along the slide rails between the initial position and the working position by the new cloth box mounting seat 5.

[0255] Figure 53 shows the sliding guide rail 8, with the new cloth box mounting seat 5, moved to its initial position. In this initial position, the sliding guide rail 8 extends beyond the first end of the fixed guide rail 7 by a first predetermined length L1. Figure 54 shows the sliding guide rail 8, with the new cloth box mounting seat 5, moved to its operating position. In this operating position, the sliding guide rail 8 extends beyond the second end of the fixed guide rail 7 by a second predetermined length L2. Optionally, the first predetermined length L1 is 35-55 mm, and the second predetermined length L2 is 60-80 mm. The guide rail configuration of the dirty cloth box mounting seat 4 and the new cloth box mounting seat 5 is identical and will not be further described here.

[0256] The solution provided in this embodiment is to set the sliding guide rail 8 to be able to move in two opposite directions to exceed the fixed guide rail 7. In this way, the cloth box can be moved between the initial position and the working position at a predetermined distance while using a shorter fixed guide rail 7. The use of a shorter fixed guide rail 7 can help to reduce the size of the base station and reduce the occupied space.

[0257] Specifically, referring to Figure 49, the dirty cloth box 2 and the new cloth box 3 in Figure 49 are both in their initial positions, and the rear side of each cloth box forms a lifting space A for the lifting mechanism to lift and lower. In order to avoid interference with the fixed guide rail 7, the fixed guide rail 7 cannot extend into the lifting space A. Therefore, when the cloth box mounting seat moves from the initial position to the working position, the sliding guide rail 8 can move to extend the second end of the fixed guide rail 7 (the end facing the support plate 6 in Figure 49) and enter the lifting space A. When the sliding guide rail 8 returns to the initial position, the lifting space A can be vacated again, and the sliding guide rail 8 extends out of the first end of the fixed guide rail 7 (the end away from the support plate 6). Since the fixed guide rail 7 is located on the outside of the sliding guide rail 8, within the range defined by the shell of the base station, the inner sliding guide rail 8 can be longer than the outer fixed guide rail 7 by a certain length. Therefore, the structural form in which the sliding guide rail 8 of the cloth box module provided in the present application can extend from both ends of the fixed guide rail 7 can help reduce the thickness of the base station in the front-to-back direction, thereby reducing the volume of the base station.

[0258] In the above embodiment, the cloth box mounting base includes a base for supporting the cloth box, with the mounting position set on the base. The cloth box is indirectly connected to the sliding guide rail 8 through the base, and moves indirectly with the sliding guide rail 8 through the base. This allows the base to provide support for the cloth box, ensuring stable movement of the cloth box and extending the service life of the cloth box.

[0259] In another embodiment, please refer to Figures 62-61, the cloth box mounting seat can be directly set as a moving guide rail (i.e., a sliding guide rail 8). The cloth box is directly connected to the sliding guide rail 8 without an intermediate connecting seat. The cloth box mounting assembly also includes a fixed guide rail (i.e., a fixed guide rail 7) that cooperates with the moving guide rail. The fixed guide rail 7 is fixed on the mounting frame, and the sliding guide rail 8 is connected to the cloth box. The cloth box moves between the initial position and the working position by sliding with the fixed guide rail 7 in cooperation with the sliding guide rail 8. It can be understood that the fixed guide rail in this embodiment can be set as a fixed guide rail 7 directly connected to the mounting frame, and the fixed guide rail can also be a groove or a protrusion directly formed on the mounting frame; accordingly, the moving guide rail can be set as a sliding guide rail 8 that cooperates with the fixed guide rail 7, and the sliding guide rail 8 slides along the fixed guide rail 7, or the moving guide rail can also move along the fixed guide rail in other ways of movement, and this application does not impose any restrictions.

[0260] Of course, in order to improve the stability of the movement of the cloth box, a bearing member 81 may also protrude from the sliding guide rail 8 to support the cloth box.

[0261] In order to drive the cloth box mounting seat to move, the cloth box mounting assembly further includes a driving assembly 12, and the driving assembly 12 is used to drive the cloth box mounting seat to move between an initial position and a working position.

[0262] In one embodiment, as shown in Figures 53-54, the drive assembly 12 includes a motor, a gear 121a driven by the motor, and a rack 122a mounted on the cloth box mounting base. During rotation, the gear 121a engages with the rack 122a, driving the rack 122a to move, thereby moving the cloth box mounting base. Figures 53-54 show that the rack 122a drives the movement of the new cloth box mounting base 5. The dirty cloth box mounting base 4 can also be driven by the same drive mechanism. It is understood that the drive mechanism can also be other mechanisms, such as a cylinder or a screw mechanism, and this is not limited here.

[0263] Specifically, referring to Figure 71, when the base station is provided with a new cloth box and a dirty cloth box, the drive assembly includes a first motor 123 and a first movable member driven by the first motor 123. The first movable member is connected to the new cloth box to drive the new cloth box to move between an initial position and an operating position. The drive assembly also includes a second motor 124 and a second movable member driven by the second motor 124. The second movable member is connected to the dirty cloth box to drive the dirty cloth box to move between an initial position and an operating position. Both the first movable member and the second movable member can be configured as the rack and pinion structure described above. With this configuration, the movement of the new cloth box and the dirty cloth box does not need to be synchronized and does not interfere with each other.

[0264] Alternatively, referring to Figure 72, the driving assembly only includes a common motor 125 and a moving assembly driven by the common motor 125, the moving assembly being connected to the new cloth box and the dirty cloth box respectively, and driving the new cloth box and the dirty cloth box to move between their respective initial positions and working positions. The moving assembly may include a new cloth box gear 126 driven by the common motor, and a new cloth box rack 127 driven by the new cloth box gear 126 to move, the new cloth box rack 127 being connected to the cloth box mounting seat of the new cloth box 3 to drive the cloth box mounting seat to move, the moving assembly also includes a transmission belt 130a driven by the new cloth box gear 126, a dirty cloth box gear 128 driven to rotate by the transmission belt 130a, and a dirty cloth box rack 129 driven to move by the dirty cloth box gear 128, the dirty cloth box rack 129 being connected to the cloth box mounting seat of the dirty cloth box, thereby driving the cloth box mounting seat to move.

[0265] In one embodiment, the cloth box is configured to move relative to the cloth box mounting seat toward a second direction under the action of an external force to achieve movement from the initial position to the maintenance position.

[0266] Optionally, a gripping portion 201 is provided on the cloth box, and the cloth box can be moved to the maintenance position by gripping the gripping portion 201 and pulling the cloth box toward the second direction.

[0267] Optionally, at least one cloth box is configured to be able to move away from the cloth box mounting seat and reach a maintenance position. Further, the dirty cloth box 2 and the new cloth box 3 can be configured to be able to move away from the corresponding cloth box mounting seat and reach their respective maintenance positions, and the maintenance positions are located outside the base station; or, the dirty cloth box is configured to be able to move away from the corresponding cloth box mounting seat and reach a maintenance position, and the maintenance position is located outside the base station, and the new cloth box is configured to move from the installation position of the cloth box mounting seat (as mentioned above, when the cloth box is in the installation position of the cloth box mounting seat, it is the initial position of the cloth box) to the predetermined position of the cloth box mounting seat, and the predetermined position is the maintenance position of the new cloth box 3; or, both the new cloth box 3 and the dirty cloth box 2 are configured to move from the installation position of their respective cloth box mounting seats to the predetermined positions of their respective cloth box mounting seats, and the predetermined positions are the maintenance positions of the new cloth box 3 and the dirty cloth box 2. It should be noted that, here, detaching from the cloth box mounting seat to reach the maintenance position means that the cloth box is completely separated from the cloth box mounting seat and is also safely separated from the base station (see Figure 60), that is, the maintenance position is located outside the base station; and moving to the predetermined position of the cloth box mounting seat means that the cloth box is not completely detached from the cloth box mounting seat, and part of the cloth box is still supported on the cloth box mounting seat, and the other part of the cloth box detached from the cloth box mounting seat extends out of the base station for the user to perform maintenance (see Figure 61).

[0268] Specifically as shown in Figures 48 and 51, Figure 48 shows the state where the dirty cloth box 2 and the new cloth box 3 are respectively installed on their respective cloth box mounting seats, and Figure 51 shows the state where the dirty cloth box 2 and the new cloth box 3 are separated from their respective cloth box mounting seats under the action of external force, that is, they reach the maintenance position separated from the cloth box mounting seat. When separated from the cloth box mounting seat, the dirty cloth box 2 can be cleaned conveniently, and a new mop can be installed in the new cloth box 3. It can be understood that the new cloth box 3 can also be moved from the installation position of the cloth box mounting seat to the predetermined position of the cloth box mounting seat (the maintenance position) without being separated from the cloth box mounting seat, that is, the position of the new cloth box 3 in the base station 100 as shown in Figure 60. At this predetermined position, a new mop can be installed in the new cloth box 3.

[0269] In one embodiment, a removable connector is provided between the cloth box and the cloth box mounting seat. When the cloth box is installed on the cloth box mounting seat, the cloth box is fixed to the cloth box mounting seat via the connector. When the cloth box moves in a second direction relative to the cloth box mounting seat, the connector disconnects. Specifically, a removable connector is provided between the cloth box and the cloth box mounting seat. When the cloth box is configured to be in the installation position, the connector is connected to the cloth box mounting seat via the connector. Furthermore, the cloth box is configured to be fixed in the installation position when the connector is in the connected state, so as to move with the cloth box mounting seat between the initial position and the working position. When the connector is in the disconnected state, the cloth box is further configured to be disengaged from the installation position so as to move in the second direction relative to the installation position to the maintenance position. In other words, the connector disconnects under the action of an external force. It should be noted that when the cloth box mounting seat has a base, the connector is provided on the base. When the cloth box mounting seat is directly provided as a movable guide rail, the connector can be provided on the sliding guide rail 8.

[0270] Optionally, the connecting member is a magnetic member provided on at least one of the cloth box and the cloth box mounting base. When the cloth box is mounted on the cloth box mounting base, the cloth box is fixed to the cloth box mounting base by attraction of the magnetic member. When one of the cloth box mounting base and the cloth box comprises a material capable of being attracted by the magnetic member, the magnetic member may be provided on the other, thereby causing the two to attract each other. When neither the cloth box mounting base nor the cloth box comprises a material capable of being attracted by the magnetic member, magnetic members capable of attracting each other may be provided on both, thereby causing the two to attract each other.

[0271] The magnetic element includes a first magnet 91 and a second magnet 92, respectively positioned on the new cloth box and the new cloth box mounting base, and capable of attracting each other. Figure 52 shows two first magnets 91 positioned on the rear side of the new cloth box 3. The first magnets 91 can be mounted in mounting slots provided on the rear side of the new cloth box 3. Two second magnets 92 are positioned on the new cloth box mounting base 5, corresponding to the two first magnets 91 on the new cloth box 3. When the new cloth box 3 is mounted on the new cloth box mounting base 5, the two pairs of first magnets 91 and second magnets 92 are attracted and fixed together. When the new cloth box 3 is pulled with external force, the first magnets 91 on the new cloth box 3 and the second magnets 92 on the new cloth box mounting base 5 are disengaged. Similarly, the dirty cloth box 2 is secured to the dirty cloth box mounting base 4 by two pairs of first magnets 91 and second magnets 92. Of course, the magnetic element can also be an electromagnet that generates magnetism when powered.

[0272] Figure 64 shows that when the cloth box mounting seat is directly set as a moving guide rail (sliding guide rail 8), the first magnet 91 and the second magnet 92 are respectively set on the new cloth box 3 and the sliding guide rail 8 that drives the new cloth box 3 to move, and are set on the dirty cloth box 2 and the sliding guide rail 8 that drives the dirty cloth box 2 to move.

[0273] Optionally, referring to Figures 65 and 66, the connector may also be configured as a protrusion 93 and a groove (not shown) that cooperate with each other, the protrusion 93 being provided on one of the cloth box and the cloth box mounting seat, and the groove being provided on the other. When the cloth box is fixed to the cloth box mounting seat, the protrusion 93 is sunk into the groove; when the cloth box moves relative to the cloth box mounting seat, the protrusion 93 and the groove are offset in the direction of movement of the cloth box. It is understandable that when the cloth box mounting seat drives the cloth box to move between the initial position and the working position, the cloth box is fixed to the cloth box mounting seat, and the groove engages the protrusion 93, preventing the cloth box from moving relative to the cloth box mounting seat, thereby ensuring the stability of the cloth box movement; when the user needs to pull the cloth box from the initial position to the maintenance position, the cloth box is lifted, at which point the protrusion 93 and the groove are offset from each other, and the cloth box is then pulled in the second direction (i.e., the direction of movement of the cloth box). The groove and protrusion 93 do not interfere with the movement of the cloth box, and the cloth box can be smoothly separated from the cloth box mounting seat and moved to the maintenance position. Preferably, the protrusion 93 is provided on the cloth box, and the groove is provided with the cloth box mounting seat. The protrusion can be a structure integrally formed with the cloth box mounting seat or the cloth box. Alternatively, the cloth box mounting seat is provided with a blocking member. When the cloth box is located in the installation position of the cloth box mounting seat, the blocking member contacts the interference portion of the cloth box to prevent the cloth box from moving in the first direction or the second direction. The connecting member is provided with the blocking member and the interference portion. In other words, it is sufficient to only provide the blocking member on the cloth box mounting seat so that the blocking member intercepts the outer wall of the cloth box, and the interference portion is the outer wall of the cloth box. For example, the blocking member protrudes from the base of the cloth box mounting seat, and the blocking member contacts the outer wall of the cloth box. When the cloth box needs to be pulled out of the cloth box mounting seat, the user moves the cloth box in the direction opposite to the protruding blocking member so that the blocking member does not intercept the movement path of the cloth box out of the cloth box mounting seat. At this time, the user can pull out the cloth box in the second direction.

[0274] Optionally, as shown in Figures 67-70, the connector is configured as a locking structure, through which the cloth box is locked or unlocked on the cloth box mounting base. The specific locking structure includes a fixed buckle 94 provided on the cloth box mounting base, and a movable buckle 95 provided on the cloth box. When the fixed buckle 94 is inserted into the movable buckle 95 and the two are locked with each other, the cloth box is fixed to the cloth box mounting base, preventing the cloth box from moving. When the movable buckle 95 is disengaged from the fixed buckle 94, the cloth box and the cloth box mounting base are separated from each other. Of course, in other embodiments, the fixed buckle can also be provided on the cloth box, and the movable buckle can be provided on the cloth box mounting base.

[0275] It should be noted that the above-mentioned connecting parts can be installed between the new cloth box and the new cloth box mounting frame, and between the dirty cloth box and the dirty cloth box mounting frame.

[0276] In one embodiment, the cloth box mounting assembly further includes a first detection element 10 and a second detection element 11 mounted on the mounting frame 1, and the first detection element 10 is used to detect whether the cloth box mounting seat has reached the initial position. Specifically, when the second preset condition is reached, the control module determines whether the cloth box mounting seat has reached the initial position based on the signal of the first detection element. When it has not reached the initial position, the base station issues a first alarm prompt. After the cloth box mounting seat has completed work or maintenance, according to program settings, the cloth box mounting seat needs to return to the initial position. When the first detection element 10 does not detect that the cloth box mounting seat has reached the initial position, the base station may issue a first alarm prompt. The second preset condition can be considered to be that the cloth box mounting seat has completed work or maintenance.

[0277] The second detection element 11 is used to detect whether the cloth box mounting seat has reached the working position. Specifically, when the third preset condition is reached, the control module determines whether the cloth box mounting seat has reached the working position based on the signal of the second detection element. When it has not reached the working position, the base station issues a second alarm prompt. When it reaches the working position, the cloth box is replaced with a new mop. According to the program setting, the cloth box mounting seat should reach the working position. When the second detection element 11 does not detect that the cloth box mounting seat has reached the working position, the base station may issue a second alarm prompt. When the second detection element detects that the cloth box mounting seat has reached the working position, the cloth box is replaced with a new mop. Taking the cloth box as a new cloth box as an example, the third preset condition can be, for example, a preset time after the control module controls the movement of the new cloth box. Taking the cloth box as a dirty cloth box as an example, the third preset condition can be, for example, a preset time after the control module controls the movement of the dirty cloth box.

[0278] Taking the base station having a cloth box 3 and a dirty cloth box 2 as an example, a first height and a second height are preset in the control module. When the lifting mechanism drives the mop plate to reach the first height higher than the dirty cloth box 2 or the second height higher than the new cloth box 3, the control module receives the corresponding signal, and controls the cloth box mounting seat together with the cloth box to move from the initial position to the working position, and then receives the signal of the second detection element to determine whether the cloth box mounting seat has reached the working position. If it is determined that the cloth box mounting seat is not in place, the cloth box mounting seat can be controlled to move from the initial position to the working position together with the cloth box again, and it is determined again whether the cloth box mounting seat has reached the working position. The above process is repeated. If the cloth box mounting seat is not detected to have reached the working position three times, the base station issues a second alarm prompt. The control module receives a signal that the mop board has removed the dirty mop paper or installed the new mop paper, controls the cloth box mounting seat together with the cloth box to move from the working position to the initial position, and then receives the signal of the first detection element to determine whether the cloth box mounting seat has reached the initial position. If it is determined that the cloth box mounting seat is not in place, it can control the cloth box mounting seat together with the cloth box to move from the working position to the initial position again, and determine again whether the cloth box mounting seat has reached the initial position. Repeat the above process. If the cloth box mounting seat is not detected to have reached the initial position three times, the base station will issue a first alarm prompt.

[0279] Figure 52 shows two first detection elements 10 and two second detection elements 11. The two first detection elements 10 correspond to the dirty cloth box mounting seat 4 and the new cloth box mounting seat 5 respectively, and can be installed at the front position of the mounting frame 1. When the dirty cloth box mounting seat 4 or the new cloth box mounting seat 5 moves to the initial position and touches the corresponding first detection element 10, it indicates that the dirty cloth box mounting seat 4 or the new cloth box mounting seat 5 has reached the initial position.

[0280] The two second detection elements 11 also correspond to the dirty cloth box mounting seat 4 and the new cloth box mounting seat 5 respectively, and can be installed on the rear support plate 6. When the dirty cloth box mounting seat 4 or the new cloth box mounting seat 5 moves to the working position and touches the corresponding second detection element 11, it indicates that the dirty cloth box mounting seat 4 or the new cloth box mounting seat 5 has reached the working position.

[0281] Optionally, the first detection element 10 and the second detection element 11 may be micro switches, Hall elements, code disks, etc., or other photoelectric detection devices, which are not limited here.

[0282] It should also be noted that the method is not limited to the method of driving the cloth box mounting seat to move the cloth box between the initial position and the working position. For example, in one embodiment, the cloth box mounting assembly further includes a driving mechanism, wherein at least one cloth box is configured to be directly connected to the driving mechanism, and the driving mechanism drives the cloth box to move between the initial position and the working position. Optionally, when the driving mechanism stops driving, the cloth box is configured to be able to move from the initial position to the maintenance position under the action of an external force without separating from the driving mechanism. For example, the cloth box is moved to the maintenance position by holding a grip on the cloth box and pulling the cloth box.

[0283] Specifically, in one embodiment, the driving mechanism may include a conveyor belt, which carries the new cloth box 3 between the initial position and the working position during operation (it can be driven by engaging the meshing teeth on the conveyor belt with the meshing teeth on the new cloth box 3, or the new cloth box 3 is connected to the conveyor belt). When the new cloth box moves from the initial position to the maintenance position, the conveyor belt stops driving, and the new cloth box 3 can be pulled to the maintenance position by external force. During this process, the new cloth box 3 can move with the conveyor belt without separating from the conveyor belt.

[0284] In one embodiment, the cloth box mounting assembly further includes a third detection element for detecting whether the cloth box is in the mounting position of the cloth box mounting base. For example, the third detection element may include a third magnet (not shown) provided on the cloth box and a Hall sensor (not shown) provided on the mounting bracket 1. The Hall sensor determines whether the cloth box is in the mounting position by detecting the third magnet.

[0285] Specifically, in the embodiment shown in Figures 48-52, when the new cloth box 3 is installed, the new cloth box mounting base 5 is in the initial position. When the new cloth box 3 is installed in the installation position of the new cloth box mounting base 5, the Hall sensor detects the third magnet on the new cloth box 3, and it can be determined that the new cloth box 3 is installed in place, that is, the new cloth box 3 is in the initial position. The detection of the dirty cloth box 2 is similar.

[0286] In the case where the new cloth box 3 is directly driven by the driving device, when the new cloth box 3 returns to the initial position, the Hall sensor on the mounting frame 1 can detect the third magnet on the new cloth box 3, and it is determined that the new cloth box 3 is in the initial position.

[0287] Alternatively, the third detection element may be configured as an infrared detection unit, the infrared detection unit comprising an infrared light emitting tube and an infrared light receiving tube, the infrared emitting tube and the infrared receiving tube being respectively disposed on either side of a wall of the cloth box; when the wall of the cloth box blocks the light signal emitted by the infrared emitting tube, preventing the infrared receiving tube from receiving the light signal, the cloth box is judged to be installed at the installation position of the cloth box mounting seat; and if the infrared receiving tube can successfully receive the light signal emitted by the infrared emitting tube, the cloth box is judged to be not installed at the installation position of the cloth box mounting seat. Alternatively, a through hole is provided on the wall of the cloth box, and the light signal emitted by the infrared emitting tube can pass through the through hole and be received by the infrared receiving tube, the cloth box is judged to be installed at the installation position of the cloth box mounting seat; when the cloth box is pulled out of the cloth box mounting seat, the wall of the cloth box will block the light signal emitted by the infrared emitting tube, preventing the infrared receiving tube from receiving the light signal, and the cloth box is judged to be not installed at the installation position of the cloth box mounting seat. The above-mentioned method can be used to detect whether the new cloth box and the dirty cloth box are installed in their respective cloth box mounting seats. The third detection device used by the new cloth box and the dirty cloth box can be the same or different, and this application does not impose any restrictions.

[0288] Furthermore, a third detection element is connected to the control module and transmits a detection signal to the control module. The control module receives the detection signal from the third detection element and determines whether the cloth box is in the installation position of the cloth box mounting seat based on the detection signal. If the control module determines that the cloth box is not in the installation position of the cloth box mounting seat, it communicates with the cleaning robot and controls the cleaning robot not to return to the base station for maintenance.

[0289] In one embodiment, please refer to Figures 73 and 74. The base station 100 is provided with a first opening 103 that matches the new cloth box, and the first opening 103 is used for at least partially loading and removing the new cloth box 3 from the base station 100; the base station 100 is also provided with a second opening 102 that matches the dirty cloth box 2, and the second opening 102 is used for at least partially loading and removing the dirty cloth box 2 from the base station 100; the projection of the new cloth box 3 from the loading direction of the new cloth box 3 is different from the projection of the dirty cloth box 2 from the loading direction of the dirty cloth box 2; the projection of the first opening 103 from the loading direction of the new cloth box 3 is different from the projection of the second opening 102 from the loading direction of the dirty cloth box 2. It should be noted that the loading direction of the new cloth box 3 (dirty cloth box 2) is opposite to the second direction described above. The orthographic projection of the new cloth box 3 (dirty cloth box 2) in the loading direction is the projection of the new cloth box 3 (and the cloth box) from the front to the rear of the base station 100. The difference between these two projections makes it easier for users to distinguish between the new cloth box 3 and the dirty cloth box 2, preventing users from confusing the two cloth boxes. Furthermore, the projection of the first opening 103 from the loading direction of the new cloth box 3 and the projection of the second opening 102 from the loading direction of the dirty cloth box 2 are the projections of the first opening 103 and the second opening 102 from the front to the rear of the base station 100. The difference between these two projections makes it easier for users to distinguish between the first opening 103 and the second opening 102. At the same time, the new cloth box 3 and the second opening 102 cannot fit together, and the dirty cloth box 2 cannot fit into the first opening 103. For example, if the new cloth box 3 is larger than the dirty cloth box 2, and the first opening 103 is larger than the second opening 102, the user cannot insert the new cloth box 3 into the base station through the second opening 102. Because the new cloth box 3 is not sized correctly, it will get stuck outside the second opening 102. When the user inserts the dirty cloth box 2 into the base station through the first opening 103, a noticeable gap will appear between the dirty cloth box 3 and the first opening 103, reminding the user that the installation is incorrect. The same applies to the case where the dirty cloth box 2 is larger than the new cloth box 3, and will not be further described. This prevents the user from inserting the new cloth box 3 into the second opening 102 and the dirty cloth box 2 into the first opening 103.

[0290] In one embodiment, the structure of the new cloth box 3 is shown in FIG55-11. The new cloth box 3 includes a main box 301 and a guide structure disposed within the main box 301. The guide structure is configured to engage with the positioning holes on the new mop cloth 13 to install and position the new mop cloth 13 within the new cloth box 3. The guide structure includes a guide rod, the cross-section of the upper portion of which gradually decreases in the upward direction.

[0291] Furthermore, referring to Figure 71 , the guide structure is provided with a friction member 303, which is used to increase the friction between the guide structure and the new mop cloth. This prevents new mop cloths from sticking to each other when the mop board removes them from the new cloth box 3, preventing excess new mop cloth from being dragged out of the new cloth box 3. Specifically, the friction member 303 is configured as a rubber ring that fits around the outer circumference of the guide rod 302. Thus, when the mop board removes a new mop cloth from the new cloth box, if the next new mop cloth sticks to the previous one and is lifted by the previous one, it will pass through the rubber ring and generate friction with the rubber ring. If the friction force exceeds the adhesion between the two new mop cloths, the next new mop cloth will be intercepted by the rubber ring and fall back into the new cloth box 3.

[0292] Figure 55 shows the new cloth box 3 without a new mop cloth installed. Figure 56 shows the new mop cloth 13 with its two positioning holes aligned with the two guide rods 302. Figure 57 shows the new mop cloth 13 installed in the new cloth box 3 and positioned by the two guide rods 302. As shown in Figure 58, the guide rods 302 are formed as guide bodies with a gradually decreasing cross-section in an upward direction, allowing for easy insertion into the positioning holes of the new mop cloth 13. The bottom end of the guide rod 302 can be configured as a mounting portion with a reduced diameter, thereby forming a stepped structure at the bottom end. This mounting portion can be interference-fitted with the mounting hole in the main box 301, and the stepped structure abuts against the bottom surface of the main box 301, thereby securing the guide rod 302 to the main box 301.

[0293] The guide rod 302 can ensure the position accuracy of the new mop 13 in the new cloth box 3, so that when the mop board adheres the new mop 13 from the new cloth box 3, it can ensure that the new mop 13 is located at the correct position of the mop board.

[0294] According to another aspect of the present application, a cloth box installation assembly is further provided, comprising: a mounting frame 1 and at least one cloth box mounted on the mounting frame 1, wherein each cloth box is configured to move relative to the mounting frame 1 from an initial position toward a first direction to a working position, and from the initial position toward a second direction opposite to the first direction to a maintenance position;

[0295] In the working position, the cloth box is replaced with a new mop; in the maintenance position, the user performs maintenance on the cloth box.

[0296] The specific structural setting of the cloth box installation component is described above and will not be repeated here.

[0297] According to another aspect of the present application, a cleaning system is further provided, which includes a cleaning robot and a base station used in conjunction with the cleaning robot, and the base station is the base station described above.

[0298] It should be noted that the method of the embodiments of the present disclosure can be performed by a single device, such as a computer or server. The method of the embodiments of the present disclosure can also be applied in a distributed scenario, where multiple devices cooperate to perform the method. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiments of the present disclosure, and the multiple devices will interact with each other to complete the method.

[0299] It should be noted that the above description is limited to some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0300] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Within the scope of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0301] The embodiments of the present disclosure are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A maintenance base station, at least for automatically installing a wiping piece on a wiping plate of a cleaning robot, wherein the wiping piece is detachably connected to the wiping plate, characterized in that: The maintenance base station includes: a mounting mechanism configured to perform an action of mounting the wiper to mount the wiper to the wiper plate; a detection module configured to detect the wiping piece on the wiping plate and generate a detection signal to represent installation information of the wiping piece; The control module is configured to receive the detection signal transmitted by the detection module, and after the installation mechanism performs the action of installing the wiping member, determine whether the wiping member is installed at a predetermined position on the wiping plate based on the detection signal, and when the judgment result is no, send a response signal, and the response signal is used to trigger an action of reinstalling the wiping member or assist in the action of reinstalling the wiping member.

2. The maintenance base station according to claim 1, characterized in that The control module is configured to control the detection module to generate a detection signal after the installation mechanism performs the action of installing the wiping member, and determine whether the wiping member is installed at a preset position on the wiping plate based on the detection signal.

3. The maintenance base station according to claim 1, characterized in that The maintenance base station also includes: The moving component is arranged inside the maintenance base station and can be selectively connected to the wiping plate separated from the cleaning robot to drive the wiping plate to move inside the maintenance base station.

4. The maintenance base station according to claim 3, characterized in that: The moving assembly is configured to drive the wiping plate to move to a first position so that the installation mechanism can perform the action of installing the wiping member; When the control module determines that the wiping member is not installed at the preset position on the wiping plate, the control module controls the moving assembly to drive the wiping plate to move to the first position, so that the installation mechanism performs the action of installing the wiping member again.

5. The maintenance base station according to claim 4, characterized in that: The maintenance base station also includes: Notification module; When the control module determines that the number of times the moving assembly drives the wiping plate to move to the first position exceeds a preset number and the wiping member is still not installed at the preset position on the wiping plate, the notification module is controlled to send a notification signal to the outside world.

6. The maintenance base station according to claim 1, characterized in that: The maintenance base station also includes: Notification module; When the control module determines that the wiping member is not installed at a preset position on the wiping plate, the control module controls the notification module to send a notification signal to the outside world.

7. The maintenance base station according to claim 5 or 6, characterized in that: The control module controls the notification module to send a notification signal to the outside world, and controls the moving component to drive the wiping plate to move to a maintenance position, wherein the maintenance position is for a user to obtain the wiping plate for maintenance.

8. The maintenance base station according to claim 3, characterized in that: When the control module determines that the wiping member is correctly installed at the preset position on the wiping plate, it controls the moving assembly to drive the wiping plate to move to the installation position, so that the wiping plate can be installed by the cleaning robot adapted to the maintenance base station.

9. The maintenance base station according to any one of claims 1 to 8, characterized in that: The maintenance base station includes: New cloth box for storing clean wipes; The mounting mechanism is provided as a moving assembly, and the moving assembly is configured to connect the wiping plate and drive the wiping plate to move, applying pressure to the wiping piece in the new cloth box so that the wiping piece adheres to the wiping plate.

10. The maintenance base station according to claim 9, characterized in that: The maintenance base station is also provided with an elastic part, and the new cloth box is connected to the elastic part. When the moving component drives the wiping plate to apply pressure to the wiping piece and the new cloth box, the elastic part is squeezed and deformed. When the moving component drives the wiping plate to remove the pressure on the wiping piece and the new cloth box, the elastic part recovers its deformation.

11. The maintenance base station according to claim 9, characterized in that: The moving assembly includes a lifting mechanism, which is provided with gears, a transmission belt driven by the gears to run in a vertical direction, and a connecting member driven by the transmission belt to be lifted in a vertical direction, and the connecting member is connected to the wiping plate.

12. The maintenance base station according to claim 3, characterized in that: When the moving component drives the wiping plate to move to a first position in the maintenance base station, the installation mechanism performs the action of installing the wiping member; after the moving component drives the wiping plate to move to a second position different from the first position, the control module controls the detection module to detect the wiping member on the wiping plate and transmits the detection signal to the control module.

13. The maintenance base station according to claim 12, characterized in that: The second position is located in the maintenance base station and is higher than the first position.

14. The maintenance base station according to claim 13, characterized in that: The detection module includes a signal generating device and a signal receiving device, the signal generating device generates a detection signal, and the signal receiving device receives the detection signal generated by the signal generating device. The control module determines whether the detection signal received by the signal receiving device meets the preset conditions. When the preset conditions are met, it is determined that the wiping member is installed at a preset position on the wiping plate.

15. The maintenance base station according to claim 14, characterized in that: The second position is different from the maintenance position, the installation position and the disassembly position; wherein, the maintenance position is for the user to obtain the wiping plate for maintenance, the installation position is for the wiping plate to be installed on the cleaning robot, and the disassembly position is for the cleaning robot to place the disassembled wiping plate.

16. The maintenance base station according to claim 14, characterized in that: The maintenance base station also includes: New cloth box for storing clean wipes; When the moving assembly drives the wiping plate to move to the first position, the wiping plate is configured to install a wiping element from the new cloth box, and the new cloth box is located below the wiping plate, so that the wiping plate at least partially enters the new cloth box to install the wiping element; After the control module determines that the installation mechanism has completed the installation of the wiping member at the first position, the control module controls the moving assembly to drive the wiping plate to move upward from the first position to the second position, and the detection module detects the wiping member on the wiping plate.

17. The maintenance base station according to claim 16, characterized in that: The detection module is configured as an infrared detection mechanism, including an infrared detection transmitting tube and an infrared detection receiving tube; when the infrared detection mechanism conforms to a preset model, the distance between the infrared detection mechanism and the wiping plate located at the second position is between 5 mm and 50 mm.

18. The maintenance base station according to claim 14, characterized in that: The signal generating device and the signal receiving device are arranged on the same side of the wiping plate, the signal receiving device receives the detection signal reflected by the wiping piece, and the control module determines whether the detection signal received by the signal receiving device meets the preset value. When the detection signal received by the signal receiving device meets the preset value, it is determined that the wiping piece is installed at the preset position on the wiping plate; or, the signal generating device and the signal receiving device are respectively arranged on both sides of the wiping plate, the signal receiving device receives the detection signal passing through the wiping piece, and the control module determines whether the detection signal received by the signal receiving device meets the preset value. When the detection signal received by the signal receiving device meets the preset value, it is determined that the wiping piece is installed at the preset position on the wiping plate.

19. The maintenance base station according to claim 12, characterized in that: The detection module is located at a position higher than the second position, and more than one detection module is provided. When the wiping plate is in the second position, more than one detection module is provided around the edge of the wiping plate.

20. The maintenance base station according to claim 19, characterized in that: The bottom surface of the wiping plate has a short side and a long side; when the wiping plate is in the second position, the detection module is arranged at a position close to the long side.

21. The maintenance base station according to claim 19, characterized in that: The wiping plate is installed at the bottom of the cleaning robot, and the bottom surface of the wiping plate is set to a polygon, with the edge of the wiping plate perpendicular to the moving direction of the cleaning robot as the edge to be detected. When the wiping plate is in the second position, one or more detection modules are set at a position close to the edge to be detected.

22. The maintenance base station according to claim 12, characterized in that: The detection module is configured to be able to be triggered by the wiping member to touch the switch assembly, and the touch switch assembly is located at a position higher than the second position; The second position is higher than the first position; The control module determines whether the touch switch assembly is triggered by a wiping member installed on the wiping plate, and when the touch switch assembly is triggered by the wiping member, determines that the wiping member is installed at a preset position on the wiping plate.

23. The maintenance base station according to claim 1, characterized in that: The detection module is set as a visual component. After the control module determines that the installation mechanism has performed the action of installing the wiping piece, the visual component is controlled to generate real-time image information. The control module receives and determines whether the real-time image information is consistent with the pre-stored standard image information. When the real-time image information is consistent with the standard image information, the control module determines that the wiping piece is installed at a pre-set position on the wiping plate.

24. The maintenance base station according to claim 1, characterized in that: A new cloth box is provided in the maintenance base station for holding new wiping pieces to be installed on the wiping plate. A positioning structure and / or a guide structure is provided in the new cloth box. The wiping piece has a first surface for wiping the surface to be cleaned and a second surface adhered to the wiping plate. The guide structure is used to guide the user to install the second surface into the new cloth box with the second surface facing upward from the new cloth box. The positioning structure is used to fix the wiping piece in the correct position in the new cloth box so as to accurately dock with the wiping plate.

25. The maintenance base station according to claim 24, characterized in that: The positioning structure is integrally arranged with the guide structure, and includes at least one guide column arranged on the bottom surface of the new cloth box. When the guide column is set to one, the guide column is not located at the geometric center of the bottom surface of the new cloth box. When the guide column is set to two or more, the two or more guide columns are asymmetrical relative to the geometric center of the new cloth box.

26. A cleaning system, characterized in that: It includes the maintenance base station described in any one of the above claims, and also includes a cleaning robot that uses the maintenance base station for maintenance, the bottom of the cleaning robot is provided with a wiping plate with a wiping piece installed, and a through area is provided on the wiping plate corresponding to the position of the detection module, which is used to avoid the detection signal emitted by the detection module so that the detection signal can directly reach the wiping piece covered on the wiping plate.

27. The cleaning system according to claim 26, wherein: The outer edge of the wiping plate is recessed toward the center of the wiping plate to form a through groove, and the through area is configured as the through groove; or, the through area is configured as a through hole in the middle area of ​​the wiping plate.

28. The cleaning system according to claim 27, wherein The through area is set as the through groove, and the through groove has a virtual circumscribed circle, the diameter of the virtual circumscribed circle is greater than or equal to 5 mm and less than or equal to 30 mm; the area of ​​the through groove is greater than or equal to 40 mm2 and less than or equal to 1400 mm2.

29. A method for maintaining a base station to detect the installation of a wiper, characterized in that: The method comprises: Installing a wiping member for the wiping plate of the cleaning robot; The detection module detects the wiping piece on the wiping plate and generates a detection signal which is transmitted to the control module; The control module receives the detection signal and determines whether the wiping member is installed at a preset position on the wiping plate based on the detection signal after the wiping member is installed on the wiping plate; If the control module determines that the result is no, it triggers the action of reinstalling the wiping member, or triggers the action of assisting in reinstalling the wiping member.

30. The method for detecting the installation position of the wiper at the maintenance base station according to claim 29, characterized in that: The method further includes: after the wiping piece is installed on the wiping plate for the first time, or after the reinstallation of the wiping piece is triggered, the control module controls the detection module to generate the detection signal, and determines whether the wiping piece is installed at a preset position on the wiping plate based on the detection signal.

31. The method for detecting the installation position of the wiper at the maintenance base station according to claim 30, characterized in that: The method further includes: when the wiping piece is repeatedly installed on the wiping plate for a preset number of times and the wiping piece is still not installed at a preset position on the wiping plate, sending a notification signal to the outside world.

32. The method for detecting the installation position of the wiper at the maintenance base station according to claim 29, characterized in that: The method further includes: sending a notification signal to the outside when the wiping member is not installed at a preset position on the wiping plate.

33. The method for detecting the installation position of the wiper at the maintenance base station according to claim 29, characterized in that: The method further includes: when the wiping member is correctly installed at a pre-set position on the wiping plate, moving the wiping plate to an installation position so that the wiping plate can be installed by a cleaning robot adapted to the maintenance base station.

34. A base station, characterized in that The base station includes: a mounting frame and at least one cloth box mounted on the mounting frame, wherein the cloth box is configured to move from an initial position toward a first direction to a working position relative to the mounting frame, so that the cloth box can replace the mop cloth at the working position, and the cloth box is further configured to move from the initial position toward a second direction opposite to the first direction to a maintenance position, so that a user can maintain the cloth box.

35. The base station according to claim 34, characterized in that The base station also includes a cloth box mounting seat, which is provided with an installation position for installing the cloth box; the base station includes a driving assembly for driving the cloth box mounting seat to move in the first direction relative to the mounting frame, so that the cloth box mounting seat drives the cloth box installed at the installation position to move from the initial position to the working position.

36. The base station according to claim 35, characterized in that The cloth box is configured to move relative to the cloth box mounting seat in the second direction to separate from the mounting position, so as to move from the initial position to the maintenance position.

37. The base station according to claim 35 or 36, characterized in that A disconnectable connector is provided between the cloth box and the cloth box mounting seat. When the cloth box is configured to be located at the mounting position, the cloth box is connected to the cloth box mounting seat via the connector.

38. The base station according to claim 37, characterized in that The cloth box is configured to be fixed at the installation position when the connecting member is in a connected state, so as to follow the cloth box mounting seat to move between the initial position and the working position; the cloth box is also configured to be detached from the installation position when the connecting member is in a disconnected state, so as to move in the second direction relative to the installation position to the maintenance position.

39. The base station according to claim 38, characterized in that The connecting member is configured to be disconnected under the action of an external force.

40. The base station according to claim 37, wherein The connecting member includes a magnetic member provided on at least one of the cloth box and the cloth box mounting seat, and the cloth box is fixed to the cloth box mounting seat by being adsorbed by the magnetic member.

41. The base station according to claim 37, wherein The connecting member includes a protrusion and a groove that cooperate with each other, the protrusion is provided on one of the cloth box and the cloth box mounting seat, and the groove is provided on the other. When the cloth box is fixed to the cloth box mounting seat, the protrusion is sunk into the groove; when the cloth box moves relative to the cloth box mounting seat, the protrusion and the groove are staggered in the moving direction of the cloth box; Alternatively, when the cloth box is located at the installation position of the cloth box mounting seat, the blocking member contacts the interference portion of the cloth box to prevent the cloth box from moving in the first direction or the second direction at the installation position, and the connecting member is configured as the blocking member and the interference portion; Alternatively, the connecting member is configured as a locking structure, and the cloth box is locked or unlocked on the cloth box mounting seat via the locking structure.

42. The base station according to claim 35, wherein The mounting frame includes two side fixing plates arranged opposite to each other, and a fixed guide rail is provided on the inner side of each side fixing plate. Sliding guide rails are respectively provided on the opposite sides of the cloth box mounting seat. The cloth box mounting seat moves between the initial position and the working position by sliding in cooperation between the sliding guide rails and the fixed guide rails.

43. The base station according to claim 42, characterized in that The sliding guide rail is configured to move in two opposite directions respectively to exceed the end of the fixed guide rail; Wherein, the sliding guide rail is configured so that when the cloth box mounting seat moves along the second direction to exceed the first preset length of the fixed guide rail, the cloth box mounting seat reaches the initial position, and when the sliding guide rail moves along the first direction to exceed the second preset length of the fixed guide rail, the cloth box mounting seat reaches the working position.

44. The base station according to claim 34, wherein The base station further includes a controller, and when a first preset condition is met, the controller controls the cloth box to move from the initial position toward the first direction to the working position.

45. The base station according to claim 35, wherein The base station further includes a first detection element and a second detection element mounted on the mounting frame, the first detection element being used to detect whether the cloth box mounting seat has reached the initial position, and the second detection element being used to detect whether the cloth box mounting seat has reached the working position; The base station includes a controller. When a second preset condition is reached, the controller determines whether the cloth box mounting seat has reached the initial position based on the signal of the first detection element. When it has not reached the initial position, the base station issues a first alarm. When a third preset condition is reached, the controller determines whether the cloth box mounting seat has reached the working position based on the signal of the second detection element. When it has not reached the working position, the base station issues a second alarm.

46. ​​The base station according to claim 34, wherein The base station also includes a driving mechanism, wherein at least one cloth box is configured to be directly connected to the driving mechanism, and the driving mechanism drives the cloth box to move between the initial position and the working position; when the driving mechanism stops driving, the cloth box is configured to move from the initial position to the maintenance position under the action of external force without separating from the driving mechanism.

47. The base station according to claim 34, wherein There are two cloth boxes, which are a new cloth box with new mops and a dirty cloth box for receiving dirty mops; wherein, The new cloth box and the dirty cloth box are respectively configured to move from their respective initial positions to their respective working positions, and to move from their respective initial positions to their respective maintenance positions.

48. The base station according to claim 47, characterized in that The base station further includes a driving component, The driving assembly includes a first motor and a first movable member driven by the first motor, the first movable member being connected to the new cloth box to drive the new cloth box to move between the initial position and the working position, the driving assembly also includes a second motor and a second movable member driven by the second motor, the second movable member being connected to the dirty cloth box to drive the dirty cloth box to move between the initial position and the working position; Alternatively, the driving component only includes a common motor and a moving component driven by the common motor, and the moving component is connected to the new cloth box and the dirty cloth box respectively, driving the new cloth box and the dirty cloth box to move between their respective initial positions and the working positions.

49. The base station according to claim 47, wherein The base station is provided with a first opening matching the new cloth box, and the first opening is used for allowing at least part of the new cloth box to be loaded into and taken out of the base station; The base station is further provided with a second opening matching the dirty cloth box, and the second opening is used for allowing at least part of the dirty cloth box to be loaded into and taken out of the base station; The projection of the new cloth box from the loading direction of the new cloth box is different from the projection of the dirty cloth box from the loading direction of the dirty cloth box; A projection of the first opening from a direction in which the new cloth box is loaded is different from a projection of the second opening from a direction in which the dirty cloth box is loaded.

50. The base station according to claim 36, wherein There are two cloth boxes, which are a new cloth box with new mops and a dirty cloth box for receiving dirty mops; wherein, The dirty cloth box and the new cloth box are respectively configured to move away from the corresponding cloth box mounting seat and reach their respective maintenance positions, and the maintenance positions are located outside the base station; or The dirty cloth box is configured to move away from the corresponding cloth box mounting seat and reach a maintenance position of the dirty cloth box, and the maintenance position is located outside the base station. The new cloth box is configured to move from the mounting position of the corresponding cloth box mounting seat to a predetermined position of the cloth box mounting seat, and the predetermined position is the maintenance position of the new cloth box.

51. The claim according to any one of claims 47 to 50, characterized in that The new cloth box is arranged above the dirty cloth box.

52. The base station according to claim 34, wherein The cloth box is a new cloth box for placing a new mop. The new cloth box includes a main box and a guide structure arranged in the main box. The guide structure is used to cooperate with the positioning hole on the new mop to install and position the new mop in the new cloth box.

53. The base station according to claim 52, characterized in that The guide structure includes a guide rod, and the cross section of the upper portion of the guide rod gradually decreases in an upward direction.

54. A cloth box installation assembly, characterized in that: The cloth box mounting assembly includes: a mounting frame and at least one cloth box mounted on the mounting frame, wherein each cloth box is configured to move from an initial position toward a first direction to a working position relative to the mounting frame, so that the cloth box can be used to replace the mop cloth at the working position, and each cloth box is also configured to move from the initial position toward an opposite second direction to a maintenance position, so that a user can maintain the cloth box.

55. A base station, characterized in that The base station includes: a mounting frame and at least one cloth box mounting seat mounted on the mounting frame, the cloth box mounting seat is provided with a mounting position for mounting a cloth box; the base station also includes a driving assembly connected to the cloth box mounting seat, the driving assembly is configured to drive the cloth box mounting seat and the cloth box located at the mounting position to move from an initial position toward a first direction to a working position relative to the mounting frame, so that the cloth box can be mopped and replaced at the working position; a disconnectable connecting piece is provided between the cloth box and the cloth box mounting seat, when the cloth box is moved from the initial position to the maintenance position along a second direction by an external force, the connecting piece is disconnected, and the cloth box is detached from the mounting position of the cloth box mounting seat; the second direction is opposite to the first direction.

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