Cleaning system

Abstract

The invention relates to a cleaning system which comprises a cleaning robot and a base station used for maintaining the cleaning robot, and the cleaning robot comprises a mop plate for installing a mop; the base station comprises a base platform, the base platform is provided with a stopping surface for the cleaning robot to stop, the stopping surface is provided with a stopping position for the cleaning robot to stop so as to replace a mop, and the stopping surface is obliquely or vertically arranged; the cleaning system further comprises an operating part, the operating part is arranged on at least one of the base station and the cleaning robot, and the operating part is configured to operate the mop plate and / or the mop so as to replace the mop for the cleaning robot stopping on the base platform. According to the technical scheme, the stopping face, used for stopping of the cleaning robot, of the base station is obliquely or vertically arranged, the occupied area of the base station on the horizontal plane is effectively reduced, the operation piece of the cleaning system can automatically replace the mop for the cleaning robot, therefore, dirt is prevented from being left on the cleaning robot and the base station in the mop cleaning process, and the user experience is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a cleaning system. Background Art

[0002] With the development of science and technology, robots are playing an increasingly important role in people's lives, especially cleaning robots, which help people free themselves from heavy housework. Among them, cleaning robots with mopping functions are widely favored by users due to their wide applicability.

[0003] To improve the intelligence of cleaning robots, after a period of operation, they return to a base station where an automatic cleaning system can clean and dry the mop attached to the robot. However, this process is time-consuming and water-consuming, and can leave dirt on the base station. Furthermore, current base stations occupy a large space, making them less user-friendly. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a cleaning system that can automatically replace the mop for a cleaning robot, and the base station occupies a small area.

[0005] To achieve the above disclosed purpose, the present disclosure provides a cleaning system, including a cleaning robot and a base station for maintaining the cleaning robot.

[0006] The cleaning robot includes a mop plate for mounting a mop;

[0007] The base station includes a base platform, the base platform is provided with a docking surface for the cleaning robot to dock, the docking surface has a docking position for the cleaning robot to dock to change the mop, and the docking surface is inclined or vertically arranged;

[0008] The cleaning system further includes an operating member, which is provided on at least one of the base station and the cleaning robot, and is configured to operate the mop plate and / or the mop cloth so as to replace the mop cloth for the cleaning robot.

[0009] As a further improvement of the present disclosure, the docking surface is an inclined surface, and the angle between the docking surface and the horizontal plane is 30°-60°.

[0010] As a further improvement of the present disclosure, the cleaning system includes a limiting structure provided on the base station or the cleaning robot, and the limiting structure is used to limit the cleaning robot to the docking position.

[0011] As a further improvement of the present disclosure, the operating member includes a separation operating member and an installation operating member, the separation operating member is configured to operate the mop board and / or the mop installed on the mop board to separate the mop board and the mop; the installation operating member is configured to operate the mop board and / or an unused mop to install the unused mop on the mop board.

[0012] As a further improvement of the present disclosure, the cleaning system further includes a first mop bin for storing unused mops and a second mop bin for storing mops separated from the mop board.

[0013] As a further improvement of the present disclosure, the first mop bin and the second mop bin are arranged on the side of the base platform facing away from the docking surface, and an operating hole is provided on the base platform, which connects the docking surface and the back-to-back surface arranged away from the docking surface, so that the docking position is connected with the first mop bin and the second mop bin.

[0014] As a further improvement of the present disclosure, the separation operating member is configured to apply a force to the mop board and / or the mop installed on the mop board to separate the mop board and the mop, so as to separate the mop board and the mop installed on the mop board; the installation operating member is configured to apply a force to the mop board and / or the first mop bin to cause relative movement between the mop board and the first mop bin to install the unused mop on the mop board.

[0015] As a further improvement of the present disclosure, the second mop bin is configured to be arranged on a moving path of the mop separated from the mop plate, so that the separated mop enters the second mop bin.

[0016] As a further improvement of the present disclosure, the mounting operating member is provided on the body of the cleaning robot, and the mounting operating member applies a force to the mop plate so that the mop plate moves relative to the first mop bin or the second mop bin.

[0017] As a further improvement of the present disclosure, the separation operating member is arranged on the path of the mop board moving toward the second mop bin, and the mop board passes through the separation operating member when moving toward the direction where the second mop bin is located. When the mop board moves toward the direction away from the second mop bin, the separation operating member separates the mop board and the mop installed on the mop board.

[0018] As a further improvement of the present disclosure, an avoidance hole is provided on the mop board, and the avoidance hole and the separation operating member are correspondingly provided so that the mop board passes through the separation operating member.

[0019] As a further improvement of the present disclosure, the cleaning system also includes a driving device, which is configured to drive the cleaning robot to move relative to at least one of the first mop bin and the second mop bin, so that the projections of the mop plate and the first opening of the first mop bin on the surface where the docking surface is located at least partially overlap, or the projections of the mop plate and the second opening of the second mop bin on the surface where the docking surface is located at least partially overlap.

[0020] As a further improvement of the present disclosure, the driving device is arranged on the base station, and the driving device is connected to the first mop bin and the second mop bin, and the driving device is configured to drive the first mop bin and the second mop bin to move so that the first opening of the first mop bin or the second opening of the second mop bin at least partially overlaps with the projection of the operating hole on the surface where the docking surface is located.

[0021] As a further improvement of the present disclosure, the driving device is connected to the body of the cleaning robot, and the driving device is configured to drive the body of the cleaning robot to move on the base platform.

[0022] As a further improvement of the present disclosure, the first mop bin and the second mop bin are fixedly arranged on a side of the base platform facing away from the docking surface, and are arranged up and down along the extension direction of the base platform. The base platform is provided with mounting holes and disassembly holes arranged up and down along the extension direction of the base platform, and the mounting holes and the disassembly holes are connected to the docking surface and the back-to-back surface facing away from the docking surface, so that the docking position is connected with the first mop bin and the second mop bin;

[0023] One of the first mop bin and the second mop bin at least partially overlaps with a projection of one of the mounting hole and the disassembly hole on the surface where the docking surface is located, and the other of the first mop bin and the second mop bin at least partially overlaps with a projection of the other of the mounting hole and the disassembly hole on the surface where the docking surface is located.

[0024] The beneficial effects of the present disclosure are: the docking surface of the base station of the present disclosure for the cleaning robot to dock is inclined or vertically arranged, which effectively reduces the footprint of the base station on the horizontal plane while ensuring that the cleaning robot can dock, and the operating parts of the cleaning system can automatically replace the mop for the cleaning robot, thereby avoiding dirt on the cleaning robot and the base station during the mop cleaning process, thereby improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the structure of a cleaning system in one embodiment of the present disclosure.

[0026] Figure 2Schematic diagram of the structure of a cleaning system in another embodiment of the present disclosure.

[0027] Figure 3 This is a schematic structural diagram of a cleaning system in another embodiment of the present disclosure.

[0028] Figure 4 for Figure 1 Schematic diagram of the structure of the cleaning robot with the mop plate in the working position.

[0029] Figure 5 for Figure 1 Schematic diagram of the structure of the cleaning robot with the mop plate in the raised position.

[0030] Figure 6 for Figure 1 Schematic diagram of the structure of the cleaning robot with the mop plate in the lowered position.

[0031] Figure 7 for Figure 1 Schematic diagram of the structure of a cleaning robot with a flat mop plate in the middle.

[0032] Figure 8 for Figure 1 Schematic diagram of the structure of a cleaning robot with a disc-shaped mop plate.

[0033] Figure 9 for Figure 1 Schematic diagram of the structure of a base station.

[0034] Figure 10 for Figure 9 Schematic diagram of the structure of the mop compartment of the base station.

[0035] Figure 11 for Figure 1 Schematic diagram of the structure of the cleaning robot before it reaches the base station.

[0036] Figure 12 for Figure 1 Schematic diagram of the structure of the docking between the cleaning robot and the traction device of the base station.

[0037] Figure 13 for Figure 12 Schematic diagram of the cleaning robot's docking position on the base station.

[0038] Figure 14 for Figure 12 Schematic diagram of the structure of the cleaning robot's mop plate extending into the second mop compartment.

[0039] Figure 15 for Figure 12 Schematic diagram of the structure of the cleaning robot's mop being disassembled and entering the second mop compartment.

[0040] Figure 16 for Figure 14 and Figure 15 Schematic diagram of the structure of the cleaning robot's mop plate docking with the second mop compartment.

[0041] Figure 17 for Figure 12 Schematic diagram of the structure of the cleaning robot's mop plate extending into the first mop compartment.

[0042] Figure 18 for Figure 17 Schematic diagram of the structure of the cleaning robot's mop plate docking with the first mop bin.

[0043] Figure 19 for Figure 12 Schematic diagram of the structure of the recycling device of the central base station recycling the dirt in the dust box of the cleaning robot and the mop in the second mop compartment into the recycling box.

[0044] Figure 20 for Figure 12 Schematic diagram of the cleaning robot driving out of the base station after completing mop replacement and dust box cleaning maintenance.

[0045] Figure 21 for Figure 12 Schematic diagram of the structure of the recycling box of the base station removed from the base station.

[0046] Figure 22 for Figure 1 A structural diagram of a base station shown in another embodiment.

[0047] Figure 23 for Figure 23 Schematic diagram of the structure of the second mop compartment of the middle base station disassembled from the base station.

[0048] Figure 24 for Figure 1 A structural diagram of a cleaning robot with a disc-shaped mop plate disassembling its mop on a base station.

[0049] Figure 25 for Figure 24 Schematic diagram of the structure of a mop plate of the cleaning robot docking with the first mop compartment.

[0050] Figure 26 for Figure 24 Schematic diagram of the structure of the other mop plate of the cleaning robot docking with the first mop compartment.

[0051] Figure 27 for Figure 1 A schematic structural diagram of a cleaning system is shown in yet another embodiment.

[0052] Figure 28 for Figure 27Schematic diagram of the structure of the cleaning robot's mop plate at the mid-slope position docking with the second mop compartment.

[0053] Figure 29 for Figure 27 Schematic diagram of the structure of the mop plate of the cleaning robot in the docking position and the first mop compartment docking.

[0054] Figure 30 for Figure 1 Schematic diagram of the cleaning system with the central operating unit located above the base platform.

[0055] Figure 31 for Figure 30 Schematic diagram of the cleaning robot moving away from the base station after removing the mop plate to the pallet.

[0056] Figure 32 for Figure 30 Schematic diagram of the structure in which the middle clamping component picks up the mop plate and moves it in the height direction.

[0057] Figure 33 for Figure 30 Schematic diagram of the structure in which the middle clamping assembly drives the mop plate for replacing a clean mop to the tray.

[0058] Figure 34 for Figure 30 The middle clamping component releases the mop plate that has been replaced with a clean mop onto the tray and then rises, showing the structure of the cleaning robot entering the station.

[0059] Figure 35 for Figure 30 Schematic diagram of the structure of the cleaning robot's mop plate for replacing clean mops.

[0060] Figure 36 for Figure 30 Schematic diagram of the cleaning robot moving out of the base station after installing and replacing the mop board with a clean mop

[0061] Figure 37 for Figure 1 Schematic diagram of the structure of a cleaning system with a hair cutting device.

[0062] Figure 38 for Figure 1 Another structural schematic diagram of the arrangement of the first mop compartment and the second mop compartment. DETAILED DESCRIPTION

[0063] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the present disclosure will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present disclosure, rather than all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort are intended to fall within the scope of protection of the present disclosure.

[0064] The terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms "a," "an," "the," and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0065] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0066] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0067] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or device comprising the element.

[0068] See Figures 1 to 3 , a schematic diagram of a cleaning system including a cleaning robot 1 and a base station 2, provided in one embodiment. Base station 2 is used for detachable docking of cleaning robot 1 and maintenance of cleaning robot 1. Cleaning robot 1 cleans its work area according to pre-set operating logic and docks at base station 2 upon completion or termination of a cleaning task to perform maintenance work, thereby ensuring the endurance of cleaning robot 1.

[0069] In this embodiment, the maintenance work performed by the cleaning robot 1 upon returning to the base station 2 includes at least replacing the mop cloth on its mop plate 13. In one embodiment, the maintenance work also includes returning to the base station 2 for charging, water replenishment, etc. By integrating the charging, water replenishment, and mop cloth replacement functions into the base station 2, multiple functions can be implemented through a single base station, thereby reducing costs and saving space.

[0070] See Figures 4 to 8 The cleaning robot 1 includes a body 11 and a mop plate 13 connected to the body 11. The mop plate 13 is used for installing a mop. The mop plate 13 with the mop installed contacts the working surface of the working area during the operation of the cleaning robot 1 to clean the working area.

[0071] See Figure 1 and Figure 9 The base station 2 includes a body 21 and a base platform 22 formed on the body 21 for the cleaning robot 1 to dock. The location of the base platform 11 is not limited here. In this embodiment, the body 21 is surrounded by a docking cavity 211 with one end open to accommodate at least part of the cleaning robot 1. In other words, the docking cavity 211 is set in the body 21, and the base platform 22 is located at the bottom of the docking cavity 211. See Figure 2 In other embodiments, the base platform 22 may also be located on the upper surface of the body 21. The location of the base platform 11 may be set according to actual needs.

[0072] The base platform 22 is provided with a docking surface for the cleaning robot 1 to dock. The docking surface is inclined or vertically arranged. The cleaning robot 1 is inclined or vertically arranged to dock with the base station 2. The base station 2 can be provided with a docking surface for the cleaning robot 1 on the premise of reducing its size on the horizontal plane. This setting can effectively reduce the footprint of the base station 2 on the horizontal plane, realize the miniaturization of the base station 2, and improve the user experience. Furthermore, the surface where the base platform 23 is located is inclined or vertically arranged, that is, the base platform 23 has a certain thickness, so that the base station 2 forms a space that can accommodate the structure on the other side of the base platform 23 relative to the docking surface, thereby rationally utilizing the space of the base station 2.

[0073] The docking surface has a docking position for the cleaning robot 1 to dock and replace the mop. When the cleaning robot 1 moves to the docking position, the cleaning robot 1 can complete the maintenance work.

[0074] The cleaning system further includes an operating member, which is provided on at least one of the base station 2 and the cleaning robot 1 , and is configured to operate the mop plate 13 and / or the mop cloth so as to replace the mop cloth for the cleaning robot 1 .

[0075] In this embodiment, the cleaning robot 1 is docked at the docking position of the base platform 22, and the operating unit is used to replace the mop cloth. The mop cloth can be replaced without removing the mop plate 13, which is simple to operate and has a simple structure. In other embodiments, the cleaning robot 1 can remove the mop plate 13 to the docking surface, and the operating unit can replace the mop cloth on the mop plate 13. Then, the cleaning robot 1 enters the base station 2 to install the mop plate 13 for the replacement mop cloth.

[0076] For further information, see Figures 4 to 8 The cleaning robot 1 further comprises a walking device 12 and a control device. The control device controls the walking device 12 to drive the body 11 to move in the working area, and controls the mop plate 13 connected to the body 11 to complete the cleaning task of the working area.

[0077] The body 11 is hollow and is used to accommodate or partially accommodate the walking device 12 and the control device. The mop plate 13 is connected to the bottom of the body 11. In this embodiment, the mop is detachably connected to the mop plate 13. The mop can be fixed to the side of the mop plate 13 close to the work surface by means of Velcro or double-sided tape, or it can be fixed to the mop plate 13 by means of a clamp, a snap, or a magnetic structure. The connection form between the mop and the mop plate 13 can be selected according to actual needs and is not limited thereto. In this embodiment, the mop is mop paper, etc. In other embodiments, the mop can also be a wiping member such as a sponge that can wipe the work surface, which is not specifically limited here.

[0078] The specific number and structural shape of the mop plate 13 can be set according to actual conditions and are not specifically limited here. Figure 7 In this embodiment, the mop board 13 is a flat mop board 13 with a bottom surface, and the mop covers the bottom surface of the mop board 13 to clean the stains in the working area; Figure 8 As shown, in another embodiment, the mop plates 13 may also be a double-disc structure, with two mop plates 13 provided. The two mop plates 13 are rotatably connected to the body 11. When cleaning the work surface, the mop plates 13 and the mop cloth rotate synchronously to clean the stains on the work surface. In other embodiments, the number and shape of the mop plates 13 may also be set to a corresponding structure according to actual conditions.

[0079] For further information, see Figure 4 and Figure 5The cleaning robot 1 further includes a position adjustment device 16 for adjusting the height of the mop board 13 relative to the work surface. The mop board 13 is connected to the body 11 via the position adjustment device 16. In this embodiment, the mop board 13 is connected to the body 11 via the position adjustment device 16. In other embodiments, when two mop boards 13 are provided, the two mop boards 13 can be adjusted synchronously via a single position adjustment device 16, or each mop board 13 can be connected to a position adjustment device 16 to achieve height adjustment, which is not specifically limited here.

[0080] The mop plate 13 has at least one working position A (such as Figure 4 ), and can be kept in a raised position B away from the work surface (as Figure 5 ). The raised position B is higher than the working position A. The position adjustment device 16 is electrically connected to the control device, so that the position adjustment device 16 adjusts the height of the mop plate 13 relative to the work surface under the control of the control device, so that the mop plate 13 can move between at least the working position A and the movable position.

[0081] When the cleaning robot 1 needs to move within the work area to the area to be cleaned, or return to the base station 2 for maintenance, the position adjustment device 16 drives the mop plate 13 to the raised position B, separating the mop plate 13 from the work surface. This improves the mobility of the cleaning robot 1, reduces the probability of being blocked by obstacles, and effectively prevents the mop mounted on the mop plate 13 from continuing to contact the work surface and causing contamination of the work surface. In addition, when the cleaning robot 1 encounters an obstacle during cleaning, it can also move the mop plate 13 to the raised position B to easily overcome the obstacle and improve cleaning efficiency.

[0082] When the cleaning robot 1 needs to perform cleaning work, the position adjustment device 16 drives the mop plate 13 to move to the working position A. The mop installed on the mop plate 13 is in full contact with the work surface, ensuring the cleaning effect of the cleaning robot 1. Alternatively, when the mop plate 13 is in the working position A, there is an interference fit between the mop and the work surface, and the mop exerts a certain pressure to wipe away the stains on the work surface, further improving the cleaning effect of the cleaning robot 1.

[0083] See Figure 6The mop board 13 also includes a lowered position C, which is lower than the working position A and the raised position B. The lowered position C, the working position A, and the raised position B are arranged in descending order as the height of the raised position B, the height of the working position A, and the height of the lowered position C. When the mop board 13 is in the lowered position C, it descends relative to the work surface. The control device controls the position adjustment device 16 to drive the mop board 13 to move between the lowered position C, the working position A, and the raised position B.

[0084] The specific structure of the position adjustment device 16 is not limited in this embodiment; any component capable of driving the mop plate 13 to move relative to the machine body 11 is sufficient. For example, in one embodiment, the position adjustment device 16 includes a motor (not shown), a pusher 161 connected to the mop plate 13, and a transmission structure 162 connecting the motor and the pusher 161. The motor drives the pusher 161 up and down relative to the machine body via the transmission structure 162, and the pusher 161 drives the mop plate 13 to move between a lowered position C, an operating position A, and a raised position B. It should be noted that the motor can rotate in both forward and reverse directions. In other embodiments, the specific structure of the position adjustment device 16 may also be other forms, such as a structure using a cylinder as a power source.

[0085] The manner in which the mop plate 13 is connected to the body 11 is not specifically limited in this embodiment. The mop plate 13 can be attached to the body 11 in a non-detachable manner or in a detachable manner. When the mop plate 13 is detachably attached to the body 11, a downwardly disposed ejection device (not shown) is provided on the body 11. The ejection device and the mop plate 13 move relative to each other, causing the ejection device to contact the mop plate 13, thereby removing the mop plate 13 from the body 11. The ejection device can be a post or a protruding ball. The mop plate 13 also has a removal position (not shown), which is higher than the working position A and the lifting position B. When the position adjustment device 16 drives the mop plate 13 to move to the removal position, the ejection device contacts the mop plate 13, thereby removing the mop plate 13 from the body 11.

[0086] See Figure 1 and Figure 9 In this embodiment, the docking surface is an inclined surface, that is, the docking surface is tilted in the body 21, and the cleaning robot 1 is tilted and docked on the base platform 22 to dock with the base station 2, ensuring the contact stability between the cleaning robot 1 and the base station 2. The base platform 22 is formed at the bottom of the docking cavity 211 to support the cleaning robot 1. The body 21 and the base platform 22 are surrounded by a receiving space 212 located below the docking cavity 211. In other embodiments, please refer to Figure 3The docking surface is vertically arranged in the body 21, and the cleaning robot 1 is vertically arranged to dock with the base station 2 to complete maintenance work such as charging and changing the mop.

[0087] In one embodiment, the angle between the docking surface and the horizontal plane is 30°-60°, so that the storage space 212 has a larger spatial volume, can accommodate more structures for maintaining the cleaning robot 1, and ensure that the base station 2 has a smaller footprint on the horizontal plane. In another embodiment, the angle between the docking surface and the horizontal plane is 45°, so that the footprint of the base station 2 and the volume of the storage space 212 are both preferably selected. The inclination angle of the docking surface is not specifically limited here, and it can be 35°, 40°, 50°, 55°, etc., and can be set according to actual needs.

[0088] The operating member includes a separation operating member and an installation operating member. The installation operating member is configured to operate the mop board 13 and / or the unused mop to install the unused mop on the mop board 13. In one embodiment, the installation operating member is configured to apply a force to the mop board 13 and / or the unused mop, causing the mop board 13 and the unused mop to move relative to each other, thereby installing the unused mop on the mop board 13. The installation operating member is disposed on the base station 2 and applies a force to the unused mop to drive the unused mop toward the mop board 13. The unused mop is held relatively fixed to the mop board 13 by adhesion, magnetic attraction, or clamping force, thereby installing the unused mop on the mop board 13. In another embodiment, the installation operating member may also be disposed on the cleaning robot 1 and applies a force to the mop board 13 to drive the mop board 13 toward the unused mop located on the base station 2, thereby installing the unused mop on the mop board 13. Obviously, there can be two installation operating parts, one is set on the base station 2 to apply force to the unused mop, and the other is set on the cleaning robot 1 to apply force to the mop plate 13, so that the two installation operating parts drive the unused mop and the mop plate 13 to move to complete the installation of the mop.

[0089] The separation operating member is configured to operate the mop board 13 and / or the mop cloth mounted on the mop board 13 to separate the mop board 13 and the mop cloth. In one embodiment, the separation operating member is configured to apply a force to the mop board 13 and / or the mop cloth mounted on the mop board 13 to separate the mop board 13 and the mop cloth, thereby separating the mop board 13 and the mop cloth mounted on the mop board 13. Specifically, the separation operating member applies a force to the mop board 13 and / or the mop cloth connected to the mop board 13 to overcome the mounting force between the mop board 13 and the mop cloth, thereby separating the two. The mounting force can be magnetic attraction, adhesive force, clamping force, etc.

[0090] In one embodiment, the separation operating member and the installation operating member may be the same component. Specifically, the component is a manipulator provided on the cleaning robot 1 or the base station 2. The manipulator separates the mop installed on the mop plate 13 from the mop plate 13, or picks up a clean mop and installs it on the mop plate 13 to replace the mop of the cleaning robot 1. Preferably, the manipulator is provided on the base station 2, and when the cleaning robot 1 is docked at the docking position, the manipulator replaces the mop for it.

[0091] In another embodiment, the mop is detachably connected to the mop board via a clamping member. The clamping member has a clamping state and a release state. When the clamping member is in the clamping state, the mop is connected to the mop board, and when the clamping member is in the release state, the mop and the mop board are separated. When the cleaning robot needs to replace the mop and docks on the base platform, the separation operating member operates the clamping member that clamps the mop board and the mop, switching it to the release state. The mop connected to the mop board overcomes the clamping force between it and the mop board and is separated from the mop board. The separated mop can fall under the action of gravity. The installation operating member operates the mop board and / or unused mop, the clamping member is in the release state, the unused mop moves to the lower surface of the mop board, the clamping member switches to the clamping state, and the mop is installed on the mop board.

[0092] In this embodiment, the mounting operating member is disposed on the body 11 of the cleaning robot 1 and applies force to the mop plate 13 to drive the mop plate 13 in motion. The power for the movement of the mounting operating member can be provided by a motor. To simplify the structure, the mounting operating member is part of the position adjustment device 16 and can be a pusher 161. The motor of the position adjustment device 16 drives the mounting operating member through a transmission structure, thereby driving the movement of the mop plate 13.

[0093] The separation operating member includes a fixed structure that secures the mop, acting on a portion of the mop. This portion of the mop is hereinafter referred to as the mop tearing zone. The fixed structure secures the tearing zone, thereby tearing off the mop. In one embodiment, the fixed structure includes a toothed structure, a hooked structure, or a clamping structure, which secures the tearing zone by piercing or clamping, thereby tearing off the mop. Furthermore, the separation operating member may also include a driving structure that applies a force to separate the mop plate 13 and the mop. Specifically, after the fixed structure secures the tearing zone, the mop plate 13 and the fixed structure need to move in order to separate the mop from the mop plate 13. The driving structure may be configured to drive one of the fixed structure and the mop plate 13 to move. It may include a driving member connected to the fixed structure or the mop plate 13. Furthermore, it may include a power member such as a motor or a cylinder, which drives the driving member to move, thereby driving the fixed structure or the mop plate 13 to move. In this embodiment, the driving structure and the installation operating member are the same structure, thereby simplifying the structure of the cleaning system. The installation operating member drives the mop plate 13 to move relative to the fixed structure, so that the fixed structure separates the mop from the mop plate 13.

[0094] It should be noted that unused mops are placed on the base platform 22 or inside the base station 2, without specific limitations here. Mops separated from the mop plate 13 are also placed on the base platform 22 or inside the base station 2. To facilitate centralized storage and processing of separated mops and prevent contamination of clean mops, the cleaning system also includes a mop bin. The mop bin cooperates with the mounting and detaching operating members to facilitate the replacement of mops for the cleaning robot 1 docked on the base platform 22.

[0095] See Figure 9 and Figure 16 In this embodiment, the mop compartment 23 includes a first mop compartment 231 for storing unused mops. The first mop compartment 231 may also be referred to as a clean mop compartment. In some embodiments, when there are more than two unused mops, the unused mops may be stacked in the first mop compartment 231. In this embodiment, the unused mops are placed in the first mop compartment 231 in a completely overlapping manner, so that the cleaning robot 1 can connect the mops at the same position each time, simplifying operation while saving space in the first mop compartment 231. In other embodiments, the unused mops may also be placed in the first mop compartment 231 in a partially overlapping manner. When connecting the mops, the cleaning robot 1 may adaptively adjust the position to facilitate docking with the corresponding mops.

[0096] The mop bin 23 further includes a second mop bin 232 for storing the mop separated from the mop plate 13 . The second mop bin 232 may also be referred to as a dirty mop bin.

[0097] The first mop compartment 231 and the second mop compartment 232 are located on the side of the base platform 22 that faces away from the docking surface. In this embodiment, the docking surface is an inclined surface. When the cleaning robot 1 is docked on the base platform 22, the cleaning robot 1 is located above the base platform 22, while the first mop compartment 231 and the second mop compartment 232 are located below the base platform 22, that is, housed within the storage space 212. In other embodiments, when the base platform 22 is vertically positioned, the mop compartment 23 and the cleaning robot 1 are located on either side of the base platform 22.

[0098] The inclined docking surface allows the storage space 212 to have a larger spatial volume. This ensures that the base station 2 has a smaller footprint on the horizontal plane while also allowing the first mop compartment 231 and the second mop compartment 232 within the storage space 212 to have larger volumes. This allows the first mop compartment 231 to hold a sufficient number of unused mops, and the second mop compartment 232 to recycle mops after multiple cleanings by the cleaning robot 1, effectively reducing the maintenance frequency of the base station 2 and improving the user-friendliness of the base station 2. Compared to embodiments in which the operating member for replacing the mop on the mop plate and the cleaning robot are located on the same side of the base platform, this embodiment does not require the mop plate 13 to be disassembled and driven above the base platform 22 for mop replacement, and does not require a drive structure, thereby simplifying and reducing the size of the base station 2.

[0099] See Figures 11 to 15 , Figure 17 An operating hole 220 is provided on the base platform 22 , and the operating hole 220 connects the docking surface and the back-to-back surface arranged opposite to the docking surface, so that the docking position is connected with the first mop bin 231 and the second mop bin 232 .

[0100] The mounting operating member is configured to apply a force to the mop plate 13 and / or the first mop compartment 231, causing the mop plate 13 and the first mop compartment 231 to move relative to each other, positioning the mop plate 13 in the mop docking position. This allows the mop plate 13 to adhere to a single mop cloth via the adhesive surface on the bottom of the mop plate 13, thereby attaching an unused mop cloth to the mop plate 13. In this embodiment, the mounting operating member is disposed on the body 11 and drives the mop plate 13 relative to the first mop compartment 231 to reach the mop docking position. Specifically, the first mop compartment 231 has a first opening 2311. The mounting operating member drives the mop plate 13 through the first opening 2311 and into the first mop compartment 231, reaching the mop docking position. The mop docking position may refer to a position where the mop plate 13 contacts an unused mop cloth located in the first mop compartment 231, or a position where the mop plate 13 can connect or engage with a mop cloth. In other embodiments, the mounting operating member may also be provided on the base station 2, and the mounting operating member drives the first mop bin 231 to move relative to the mop plate 13. It should be noted that when the mounting operating member drives the first mop bin 231 to move and the mop plate 13 remains stationary, the body 11 of the cleaning robot 1 is provided with a clearance space, so that the first mop bin 231 moves toward the mop plate 13 and the mop plate 13 extends into the first mop bin 231 to reach the mop docking position.

[0101] It is understood that when the mop docking position is the position where the mop plate 13 and the mop contact each other, the mop docking position can change as the mop is removed. For example, when there is no gap between two adjacent mop sheets, the mop docking position can change by the thickness of one mop sheet each time the mop is removed to facilitate contact with the next mop sheet. When there is a gap between two adjacent mop sheets, the mop docking position can change by the sum of the thickness of one mop sheet and the height of the gap each time the mop is removed to facilitate contact with the next mop sheet. The mop docking position can change by the thickness of at least one mop sheet each time the mop is removed.

[0102] The second mop bin 232 is configured to be located along the path of movement of the mop separated from the mop plate 13, allowing the separated mop to enter the second mop bin 232, thereby avoiding contamination of the base station 1. This also facilitates unified handling of the separated mops, making operation easier for the user. An operating member is installed to apply force to the mop plate 13, thereby causing the mop plate 13 to move relative to the second mop bin 232. In this embodiment, the second mop bin 232 has a second opening 2321, into which the mop plate 13 can extend. In addition, the mop plate 13, the first mop bin 231, and the second mop bin 232 can all remain stationary. The mop connected to the mop plate 13 can be separated and thrown into the second mop bin 232 by a manipulator provided on the cleaning robot 1 or the base station 2. The manipulator then picks up a clean mop from the first mop bin 231 for installation on the mop plate 13.

[0103] The operating hole 220 allows the mop plate 13 to pass through the base platform 22 and into the receiving space 212, thereby allowing the mop plate 13 to extend into the first mop compartment 231, reaching the mop docking position, or into the second mop compartment 232. It should be noted that when the cleaning robot 1 is in the docked position, the mop plate 13 and the operating hole 220 are correspondingly arranged, and the mop plate 13 can pass through the operating hole 220 to enter the receiving space 212 located below the base platform 22. In other embodiments, the first mop compartment 231 or the second mop compartment 232 is moved above the base platform 22 through the operating hole 220, allowing the mop plate 13 to extend into the first mop compartment 231, reaching the mop docking position, or into the second mop compartment 232.

[0104] The number of mop plates 13 and the number of operating holes 220 are the same and are arranged in a corresponding manner. In this embodiment, there is one operating hole 220. In another embodiment, if two mop plates 13 are provided, then it is obvious that two corresponding operating holes 220 are provided. The two mop plates 13 and the two operating holes 220 are arranged in a one-to-one correspondence, so that the two mop plates 13 can pass through the base platform 22 through their corresponding operating holes 220 and extend into the first mop compartment 231 or the second mop compartment 232.

[0105] Along the extension direction of the base platform 22, the operating hole 220 is located above the base platform 22. The cleaning robot 1 enters the station backwards to replace the mop. This setting can place the mop compartment 23 under the base platform 22 with a larger space, fully utilizing the space and further reducing the height of the base station 2.

[0106] The arrangement of the first opening 2311 and the second opening 2321 is not limited herein, as long as the mop plate 13 can pass through the first opening 2311 or the second opening 2321 and extend into the first mop compartment 231 or the second mop compartment 232, respectively. Preferably, the first opening 2311 and the second opening 2321 are respectively arranged parallel to the docking surface, so that the mop plate 13 can smoothly pass through the first opening 2311 and extend into the first mop compartment 231, or through the second opening 2321 and extend into the second mop compartment 232. In other embodiments, the first opening 2311 and the second opening 2321 can also be arranged at an angle relative to the base platform 22, which is not specifically limited herein.

[0107] The first mop bin 231 and the second mop bin 232 can be cubes, cuboids, or other special-shaped structures, as long as their openings are parallel to the docking surface. Furthermore, the bottom surfaces of the first and second mop bins 231, 232 are parallel to the docking surface to improve the success rate of the mop plate 13 and the clean mop in the first mop bin 231.

[0108] As described above, the mop board 13 moves between a lowered position C, an operating position A, and a raised position B. The operating member drives the mop surface 131 to move relative to the first mop compartment 231 or the second mop compartment 232, and the mop board 13 has a first position and a second position relative to the body 11 of the cleaning robot 1. When the mop board 13 is in the raised position B, it is in the first position; when it is in the lowered position C, it is in the second position. In other embodiments, the mop board 13 may be in the first position when it is in the operating position A, and in the second position when it is in the lowered position C.

[0109] When the cleaning robot 1 is docked in the docking position and the mop plate 13 is in the first position, the mop plate 13 and the first mop compartment 231 are located on either side of the base platform 22, that is, the mop plate 13 and the first mop compartment 231 are separated by the base platform 22. When the mop plate 13 is in the second position, the mop plate 13 extends through the operating hole 220 into the first mop compartment 231. Specifically, when the mop plate 13 moves toward the second position, it can extend into the first mop compartment 231 and reach the mop docking position, docking the mop plate 13 with the mop. This docking method is simple to operate; the cleaning robot 1 only needs to dock on the base platform 22 to dock the mop plate 13 with the mop.

[0110] Similarly, when the cleaning robot 1 is docked in the docking position and the mop plate 13 is in the first position, the mop plate 13 and the second mop compartment 232 are located on opposite sides of the base platform 22. That is, the mop plate 13 and the second mop compartment 232 are separated by the base platform 22. When the mop plate 13 is in the second position, the mop plate 13 extends through the operating hole 220 into the second mop compartment 232. When the operating member is installed to move the mop plate 13 from the first position toward the second position, the mop plate 13 extends into the second mop compartment 232. When the operating member is installed to move the mop plate 13 from the second position toward the first position, the mop plate 13 is removed from the second mop compartment 232.

[0111] The separation operating member 233 is positioned along the path of the mop board 13 as it moves toward the second mop bin 232. When the mop board 13 moves toward the second mop bin 232, it passes through the separation operating member 233. When the mop board 13 moves away from the second mop bin 232, the separation operating member 2332 separates the mop board 13 from the mop cloth mounted thereon. In this embodiment, the separation operating member 233 is positioned on the second mop bin 232. In other embodiments, the separation operating member 233 may also be positioned above the second opening 2321 of the second mop bin 232.

[0112] See Figure 16The separation operating member 233 includes a plurality of separation hooks 2331. The separation hooks 2331 are used to penetrate the mop tearing area of ​​the mop on the mop board 13 and separate the mop from the mop board 13 during the process of the mop board 13 moving from the second position to the first position. The separation operating member 233 is arranged at the second opening 2321. Furthermore, a plurality of separation hooks 2331 are arranged at the second opening 2321, and the separation hooks 2331 extend toward the bottom of the second mop bin 232. In one embodiment, the separation hooks 2331 are arranged at equal intervals at the second opening 2321 to smoothly remove the mop from the mop board 13. Obviously, the separation hooks 2331 can also be arranged at the second opening 2321 according to implementation needs, and no specific limitation is made here.

[0113] See Figure 9 The separating operating member 233 may also be a plurality of saw teeth provided on the inner side wall of the second mop compartment 232, and the saw teeth extend toward the bottom of the second mop compartment 232. The specific structure and installation position of the separating operating member 233 are not specifically limited herein, as long as it is provided on the second mop compartment 232 and is located on the path of the mop plate 13 moving from the first position to the second position.

[0114] See Figure 24 To ensure the mop board 13 can smoothly enter or remove from the second mop bin 232, a clearance hole 131 is provided on the mop board 13. The clearance hole 131 corresponds to the separation operating member 233. Specifically, the clearance hole 131 corresponds to the separation hook 2331 or serrations, making way for the separation hook 2331 or serrations. This arrangement does not hinder the movement of the mop board 13 when it moves toward the second position. Furthermore, when the mop board 13 moves from the second position toward the first position, the separation hook 2331 extending toward the interior of the second mop bin 232 penetrates the mop cloth as it passes through the second opening 2321. The mop board 13 continues to move, and the mop cloth is separated from the mop board 13 by the separation hook 2331.

[0115] The number of the first mop bin 231 and the second mop bin 232 can be set according to actual needs. In this embodiment, the number of the first mop bin 231 and the second mop bin 232 is one. Figure 10In one embodiment, one first mop bin 231 is provided, and two second mop bins 232 are provided. Clearly, unused clean mops can be stacked in the first mop bin 231, taking up less space. Used, dirty mops, due to their contamination, take up more space. The number of second mop bins 232 is greater than the number of first mop bins 231. This increases the number of bins available for dirty mops, thereby increasing the storage space available in the base station 2 and reducing maintenance requirements. When two mop boards 13 are provided, the two second mop bins 232 correspond to the two mop boards 13, enabling simultaneous removal of mops from both mop boards 13 and improving replacement efficiency. In other embodiments, the number of mop bins can vary, such as two or four. The number of first mop bins 231 can be two, and the number of second mop bins 232 can be one, depending on actual needs.

[0116] It should be noted that the above description uses the automatic removal and installation of a mop by the cleaning robot 1 as an example. In other embodiments, the mop bins 23 can also be configured as the first mop bin 231 to allow a clean mop to be installed on a mop board 13 that does not have a mop. Similarly, the mop bins 23 can also be configured as the second mop bin 232 to allow a used mop to be removed from the mop board 13. The configuration can be adjusted according to actual needs.

[0117] In order to realize automatic replacement of the mop when the cleaning robot 1 docks at the docking position, in this embodiment, the cleaning system further includes a driving device 234, which is configured to drive the cleaning robot 1 to move relative to at least one of the first mop bin 231 and the second mop bin 232, so that the projections of the mop plate 13 and the first opening 2311 of the first mop bin 231 on the surface where the docking surface is located at least partially overlap, so that the mop plate 13 extends into the first mop bin 231 to realize the installation of the mop, or the projections of the second opening 2321 of the mop plate 13 and the second mop bin 232 on the surface where the docking surface is located at least partially overlap, so that the mop plate 13 moves toward the second mop bin 232, and the separation operating member 233 separates the mop installed on the mop plate 13.

[0118] When the mop plate 13 and the mop mounted thereon need to be separated, the mop plate 13 needs to at least partially overlap with the projection of the second opening 2321 of the second mop bin 232 on the docking surface. Thus, the installation operating member drives the mop plate 13 to move relative to the second mop bin 232, and the separation operating member 233 separates the mop from the mop plate 13. The driving device 234 then drives the cleaning robot 1 to move relative to at least one of the first mop bin 231 and the second mop bin 232, so that the projections of the mop plate 13 and the first opening 2311 of the first mop bin 231 on the docking surface at least partially overlap. The installation operating member then drives the mop plate 13 toward the first mop bin 231, completing the installation of the mop.

[0119] The location of the drive device 234 is not limited herein. In this embodiment, the drive device 234 is disposed on the base station 1 and connected to the first mop bin 231 and the second mop bin 232. The drive device 234 is configured to drive the first mop bin 231 and the second mop bin 232 to move so that the first opening 2311 of the first mop bin 231 or the second opening 2321 of the second mop bin 232 at least partially overlaps with the projection of the operating hole 220 on the docking surface, thereby allowing the mop board 13 to pass through the operating hole 220 and extend into the first mop bin 231 or the second mop bin 232. Preferably, the drive device 234 is configured to drive the first mop bin 231 and the second mop bin 232 to rotate about an axis perpendicular to the docking surface, thereby ensuring that the surfaces of the first opening 2311 and the second opening 2321 are always parallel to the docking surface, thereby ensuring smooth insertion of the mop board 13 into the first mop bin 231 and the second mop bin 232. In other embodiments, the driving device 234 can also be set on the cleaning robot 1 and connected to the body 11 to drive the body 11 of the cleaning robot 1 to move on the base platform 22, thereby performing relative movement with at least one of the first mop bin 231 and the second mop bin 232.

[0120] The drive device 234 includes a motor (not shown) with a motor shaft and a connector connecting the motor shaft to the mop bin 23. When the motor is activated, the motor shaft rotates, driving the first mop bin 231 and the second mop cloth 232 to rotate about the motor shaft. The connection between the mop bin 23 and the motor shaft is not specifically limited. Preferably, the motor shaft extends parallel to an axis perpendicular to the docking surface.

[0121] When the number of the first mop bin 231 and the second mop bin 232 is both one, please refer to Figure 15 and Figure 16After the cleaning robot 1 docks at the docking position, the drive device 234 rotates the mop compartment 23 so that the second mop compartment 232 is aligned with the mop board 13. The mounting operating member moves the mop board 13 with the dirty mop from the first position toward the second position. The mop board 13 extends into the second mop compartment 232 through the operating hole 220 and passes through the separating operating member 233. The mounting operating member then moves the mop board 13 toward the first position. The separating operating member 233 separates the dirty mop from the mop board 13 and places it into the corresponding second mop compartment 232.

[0122] See Figure 17 and Figure 18 After the mop plate 13 moves to the first position, the driving device 234 drives the mop bin 23 to rotate until the first mop bin 231 is aligned with the operating hole 220. The installation operating member drives the mop plate 13 through the operating hole 220 to extend into the first mop bin 231 and reach the mop docking position to dock with the clean mop, completing the installation of the clean mop. Then, the mop plate 13 is driven to move to the first position to complete the automatic replacement of the mop.

[0123] For further information, see Figure 9 The base station 2 further includes a controller 24, which is used to control the maintenance work of the base station 2 on the cleaning robot 1, such as controlling the start-up of the driving device 234.

[0124] For further information, see Figure 9 The cleaning system includes a limiting structure provided on the base station 2 or the cleaning robot 1, and the limiting structure is used to limit the cleaning robot 1 in the docking position, thereby preventing the cleaning robot 1 from sliding off the base platform 22 under the action of gravity, and ensuring the stability of the cleaning robot 1 docked on the base platform 22. The limiting structure can be a blocking member provided on the base platform 22. When the cleaning robot 1 is docked at the docking position, the blocking member located below the cleaning robot 1 protrudes from the base platform 22 along the extension direction of the docking surface to prevent the cleaning robot 1 from sliding down. When the cleaning robot 1 moves on the base platform 22, the blocking member can be reset to ensure the smooth movement of the cleaning robot 1. In another embodiment, the limiting structure is a traction member provided on the base station 2. When the cleaning robot 1 is docked at the docking position, the traction member located above the cleaning robot 1 along the extension direction of the docking surface hooks the cleaning robot 1 to prevent the cleaning robot 1 from sliding down. In another embodiment, the limiting structure may also be a brake structure provided on the cleaning robot 1. When the cleaning robot 1 is docked at the docking position, it may maintain the docking stability through its own brake structure.

[0125] In order for the cleaning robot 1 to smoothly climb onto the base platform 22, the cleaning system also includes a power unit, which is used to provide power for the cleaning robot 1 to move to the docking position on the base platform 22. The power unit can be installed on the body 11 of the cleaning robot 1 and is the same structure that provides power for the walking device 12. The cleaning robot 1 climbs onto the base platform 22 using its own power. The power unit can also be a device installed on the base station 2 and provides traction or thrust to move the cleaning robot 1 to the docking position, which is not limited here. Figure 9 、 Figures 11 to 13 In this embodiment, the power device is a traction device 25 arranged on the base station 2. The traction device 25 is used to drive the cleaning robot 1 to move on the base platform 22 and make the cleaning robot 1 dock on the base platform 22 along the extension direction of the base platform 22.

[0126] The specific structure of the traction device 25 is not specifically limited here. For example, in the present embodiment, the traction device 25 includes a traction track 251 and a traction member 252 provided on the base platform 22. The traction member 252 can slide up and down along the traction track 251 driven by the traction track 251. The traction member 252 also includes a traction motor, which drives the traction track 251 to move up and down along the extension direction of the base platform 22. The traction member 252 is rotatably provided on the traction track 251. Specifically, it can be connected to the traction track 251 via a rotating shaft 253 to achieve adjustable pitch angles of the traction member 252. The edge of the cleaning robot 1 is provided with a docking member 111 (such as Figures 4 to 6 After the traction member 252 is connected to the docking member 111, the traction motor drives the traction rail 251 to move the traction member 252, thereby driving the cleaning robot 1 to move on the base platform 22. In other embodiments, the traction device can also be other structures, such as a transmission belt for transmission.

[0127] See Figure 11 When the cleaning robot 1 needs to climb onto the base platform 22, the cleaning robot 1 moves to the bottom of the base station 2 and approaches the opening of the docking cavity 211, and makes the docking member 111 located above the traction member 252 and the traction member 252 extends into the inner side of the docking member 111. Figure 12 The traction motor drives the traction rail 251 and the traction member 252 to move upward on the base platform 22 synchronously, and causes the traction member 252 to rotate upward with the rotation axis 253 as the axis toward the docking member 111, so as to dock with the docking member 111, thereby driving the cleaning robot 1 to move on the base platform 22. Figure 13 When the cleaning robot 1 moves to the parking position, the traction motor stops working, and the cleaning robot 1 remains at the parking position for maintenance work.

[0128] When the cleaning robot 1 needs to drive out of the base station 2, the traction motor drives the traction rail 251 and the traction member 252 to move downward on the base platform 22 synchronously, driving the cleaning robot 1 to move downward along the base platform 22. When the cleaning robot 1 moves to the bottom edge of the base station 2, the traction member 252 continues to move a certain distance driven by the traction rail 251, so that the placement angle of the traction member 252 drops back, and the traction member 252 detaches from the docking member 111, thereby realizing the separation between the traction device 25 and the cleaning robot 1.

[0129] When the cleaning robot 1 returns to the base station 2, the traction device 25 tows it to the base platform 22, and the cleaning system replaces the used dirty mop on the mop plate 13 with an unused clean mop, thereby automatically replacing the mop for the cleaning robot 1 and improving the user experience.

[0130] In this embodiment, the traction rails 251 are arranged in pairs, and the traction member 252 is arranged between the two traction rails 251. The traction rails 251 are arranged along the extension direction of the docking surface. When the traction device 25 pulls the cleaning robot 1 to move on the base platform 22, the traction rails 251 play a guiding role, preventing the cleaning robot 1 from deviating from the docking position, thereby ensuring the accuracy of the docking position of the cleaning robot 1.

[0131] It should be noted that the traction device 25 and the limiting structure in this embodiment are the same structure, that is, the traction device 25 simultaneously has the traction function of pulling the cleaning robot 1 to the base platform 22, the blocking function of preventing the cleaning robot 1 from sliding on the base platform 22, and the guiding function of guiding the moving direction of the cleaning robot 1. Of course, in other embodiments, the traction device 25 and the limiting structure are independent structures. In another embodiment, the traction device 25 may also be partially identical to the limiting structure, for example, the traction device 25 is part of the limiting structure, and the cleaning robot 1 is pulled onto the base platform 22. At the same time, the base station 2 is also provided with another independent limiting structure, for example, the traction device 25 pulls the cleaning robot 1 in the front, and the limiting structure prevents the cleaning robot 1 from sliding on the base platform 22 in the rear.

[0132] The method for automatically changing the mop cloth of the cleaning robot 1 at the base station 2 includes:

[0133] Step 1: When the cleaning robot 1 needs to change the mop cloth, the cleaning robot 1 moves towards the base station 2.

[0134] Step 2: Under the action of the driving device 234, the cleaning robot moves until its mop plate 13 is aligned with the second mop bin. The control device of the cleaning robot 1 controls the motor of the position adjustment device 16 to work, and the installation operating member drives the mop plate 13 to move, first moving in the direction toward the second mop bin 232, passing through the separation operating member 233, and then moving in the opposite direction to reset. The separation operating member 233 set on the second mop bin 232 is used to separate the dirty mop on the mop plate 13.

[0135] Step 3: Under the action of the driving device 234, the mop plate 13 is aligned with the first mop bin 231, and the installation operating member drives the mop plate 13 to move, extending into the first mop bin 231 where several unused mops are stacked, and pressing onto the top mop to stick the single mop through the adhesive surface below the mop plate 13, thereby achieving the installation of the clean mop in the first mop bin 231 onto the mop plate 13.

[0136] Step 4: Install the operating member to drive the mop plate to move in the opposite direction and reset, and the mop plate 13 completes the replacement of the mop.

[0137] The following describes the automatic mop cloth changing process of the cleaning robot 1 at the base station 2 in one embodiment with reference to the accompanying drawings.

[0138] Step S1, see Figure 11 When the cleaning robot 1 needs to change the mop, the cleaning robot 1 moves toward the base station 2. The cleaning robot 1 and the base station 2 can be accurately positioned by a positioning device, such as an infrared positioning device and an infrared receiving device.

[0139] Step S2, see Figure 12 and Figure 13 The cleaning robot 1 cooperates with the traction device 25. Under the action of the traction device 25, the cleaning robot 1 climbs onto the base platform 22 and moves and docks at the docking position. At this time, the base station 2 can perform maintenance work on the cleaning robot 1, such as replacing the mop.

[0140] Step S3, see Figures 14 to 16 The drive device 234 rotates the mop bin 23, aligning the second mop bin 232 with the operating hole 220. The control device of the cleaning robot 1 controls the motor of the position adjustment device 16 to operate, and the operating member drives the mop plate 13 to move, first toward the second mop bin 232, past the separation operating member 233, and then reverses and resets. The separation operating member 233 provided on the second mop bin 232 separates the dirty mop from the mop plate 13.

[0141] Step S4, see Figure 17 and Figure 18The driving device 234 drives the mop bin 23 to rotate, the first mop bin 231 is aligned with the operating hole 220, and the installation operating member drives the mop plate 13 to move, extending into the first mop bin 231 where several unused mops are stacked, and pressing onto the top mop to stick the single mop through the adhesive surface below the mop plate 13, thereby achieving the installation of the clean mop in the first mop bin 231 onto the mop plate 13.

[0142] Step S5, the operating part is installed to drive the mop plate to move in the opposite direction and reset. The mop plate 13 completes the replacement of the mop. The cleaning robot 1 can continue to perform maintenance work such as charging or replenishing water, or choose to stay in the base station 2 and wait for the next work as needed, or exit the base station 2 to continue performing cleaning work.

[0143] When the number of the first mop compartment 231 is one and the number of the second mop compartment 232 is two, please refer to Figures 24 to 26 After the cleaning robot 1 docks at the docking position, the drive device 234 rotates the mop bin 23 until the two second mop bins 232 align with each mop board 13. The mounting operating member moves the mop board 13 with the dirty mop from the first position toward the second position. The two mop boards 13 extend through their respective operating holes 220 into the second mop bins 232, and the mop boards 13 pass through the separating operating member 233. The mounting operating member then moves the mop board 13 toward the first position. The separating operating member 233 separates the dirty mop from the mop board 13 and places it into its corresponding second mop bin 232. After the mop board 13 moves to the first position, the drive device 234 rotates the mop bin 23 until the first mop bin 231 aligns with one of the operating holes 220. The mounting operating member then drives the mop board 13 through the operating hole 220 into the first mop bin 231 and into the mop docking position, docking with the clean mop. The mop board 13 then moves back to the first position. The driving device 234 drives the mop bin 23 to continue rotating until the first mop bin 231 is aligned with another operating hole 220. The installation operating member drives the second mop plate 13 to extend into the first mop bin 231 through the operating hole 220 to connect a clean mop, and then returns to the first position to realize automatic replacement of the mop.

[0144] When there is only one second mop bin 232, the two mop plates 13 can be aligned with the second mop bin 232 to remove the mop cloth. When there are two first mop bins 231, the mop plates 13 and clean mops can be docked simultaneously. The specific process will not be repeated here.

[0145] It should also be noted that, in the present application, the mop attached to the mop plate 13 can be replaced by a new wiping piece of the same type or by a different type of wiping piece used to mop the work surface, thereby enabling the cleaning robot 1 to clean different surface materials or different types of stains. For example, the cleaning robot 1 can replace the mop detachably attached to the mop plate 13, with the mop types before and after replacement being the same, and then use the clean mop to complete the cleaning of the remaining area, thereby avoiding using the same mop to clean the target area and other areas different from the target area, which may cause cross-contamination of stains between different areas. Of course, the cleaning robot 1 can also automatically switch between different types of mops by returning to the base station 2. Specifically, when the work area is a floor or tile with a waxed or polished surface, the cleaning robot 1 can connect a flexible mop to clean the work area, ensuring a clean effect while preventing cross-contamination of stains between different areas and preventing damage to the work area surface. Furthermore, when the work area is a hard surface with a certain degree of roughness, such as cement, the mop can be replaced with a harder mop with a certain cleaning fiber, ensuring a clean effect on even rough hard surfaces. That is, in this disclosure, the type of mop can be selected based on actual needs. The content of this disclosure is merely exemplary and should not be construed as limiting. Obviously, to meet actual needs, two first mop compartments 231 can be provided, each containing different types of mops, to enable the cleaning robot 1 to switch between different types of mops on the mop plate 13. Alternatively, the type of mop located in the first mop compartment 231 can be changed, depending on actual needs.

[0146] Regarding the arrangement of the first mop bin 231 and the second mop bin 232 in the receiving space, no specific limitation is made here. In the above embodiment, the first mop bin 231 and the second mop bin 232 are arranged up and down along the extension direction of the docking surface. In other embodiments, please refer to Figure 38 The first and second mop compartments 231, 232 are arranged vertically in a direction perpendicular to the docking surface, with the first mop compartment 231 located at the bottom and the second mop compartment 232 located at the top. After the mop plate 13 extends into the second mop compartment 232 to remove the mop, the second mop compartment 232 can be moved in the direction extending from the docking surface, and the first mop compartment 231 can be moved perpendicular to the docking surface to the original position of the second mop compartment 232, thereby completing the installation of the mop. In other embodiments, the first mop compartment 231 can be located at the top and the second mop compartment 232 at the bottom. In yet another embodiment, the first and second mop compartments can be arranged side by side on the same horizontal plane. The arrangement of the first and second mop compartments 231, 232 in the storage space can be configured according to actual needs.

[0147] For further information, see Figures 4 to 8 、 Figure 19 The cleaning robot 1 also includes a cleaning assembly 14 disposed at the bottom of the body 11, a dust collection fan housed within the body 11, and a dust box 15 for collecting dirt. The cleaning robot 1 can not only mop the floor but also clean the floor. The cleaning components are selected based on the nature of the work surface, protecting the work surface and increasing the versatility of the cleaning robot 1.

[0148] The dust box 15 includes an air outlet connected to a dust collection fan and a dust collection port connected to the air outlet for collecting dirt from the work surface. A control device controls the dust collection fan to generate airflow from the dust collection port to the dust box 15, enabling the cleaning assembly 14 to clean the work surface, removing dust, debris, and other dirt from the work surface into the dust box 15.

[0149] The cleaning component 14 includes a roller brush 141 set in the dust collection port and a side brush 142 set on the edge of the body 11. Along the running direction of the cleaning robot 1, the side brush 142 is located in front of the dust collection port and / or the roller brush 141. With such a configuration, the dirt in the working area can be gathered by the side brush 142, and the dirt can be further swept to the dust collection port by the roller brush 141, and the dirt can be collected by the dust box 15 to clean the stubborn dirt on the ground. In other embodiments, the cleaning component 14 can also be provided with only two side brushes 142, and the two side brushes 142 are symmetrically arranged in front of the dust collection port to gather the dirt in the working area at the location of the dust collection port, so that the dust box 15 can collect the above-mentioned dirt. The cleaning component 14 can also be provided with only the roller brush 141, and the dirt can be swept to the dust collection port by the rotation of the roller brush 141.

[0150] See Figure 19 and Figure 20 The base station 2 further includes a recycling device 26 disposed within the body 21. The recycling device 26 maintains the dust box 15 of the cleaning robot 1 and empties the dirt within the dust box 15, thereby ensuring the cleaning function of the cleaning robot 1 and preventing the storage space within the dust box 15 from being too small, which would otherwise reduce the cleaning efficiency of the cleaning robot 1. When the cleaning robot 1 is docked, the dust box 15 communicates with the recycling device 26 through a dust outlet disposed at its bottom, so that the dirt collected in the dust box 15 is recycled and cleaned.

[0151] In this embodiment, a docking port 221 is provided on the base platform 22, and the dust box 15 and the recovery device 26 are connected through the docking port 221, so that the recovery device 26 can complete the recovery and cleaning of the dirt in the dust box 15 through the docking port 221. Furthermore, a first sealing component is provided on the surface of the base platform 22, and the first sealing component is arranged around the docking port 221. When the cleaning robot 1 runs to the base platform 22 and is connected to the docking port 221 through the dust outlet, the first sealing component can seal the gap between the dust outlet and the docking port 221. On the one hand, it prevents the dirt in the dust box 15 from escaping during the recovery and cleaning process; on the other hand, it can effectively prevent the power loss of the recovery device 26 caused by the existence of the gap, thereby ensuring the recovery power of the recovery device 26.

[0152] See Figure 7 and Figure 8 The dust box 15 also includes a cover plate 151 for closing or opening the dust outlet, and a movable unit for controlling the cover plate 151 to close or open the dust outlet. The movable unit has a switchable open state and a closed state. When the movable unit is in the open state, the cover plate 151 opens the dust outlet, allowing the dust box 15 to communicate with the recovery device 26 through the dust outlet and the docking port 221, completing the dumping of dirt. When the movable unit is in the closed state, the cover plate 151 closes the dust outlet to prevent dirt contained in the dust box 15 from leaking / falling out of the dust outlet, facilitating the operation and movement of the cleaning robot 1. The provision of the cover plate 151 allows the dust outlet of the present application to be actively opened, avoiding the power loss caused by using the recovery device 26 to provide power to open the dust outlet and maintain the dust outlet in the open state. This effectively reduces the power loss of the recovery device 26. Even when using a relatively low-power recovery device 26, the dirt in the dust box 15 can still be quickly recovered and cleaned, thereby effectively avoiding the problem of high operating noise caused by using a high-power recovery device 26.

[0153] The cover plate 151 in this embodiment is rotatably connected to one side edge of the dust outlet in the length direction through an elastic rotating shaft, and makes the cover plate 151 have a tendency to fold in the direction of the docking port 221. The movable unit is a rotating movable part arranged on one side edge in the width direction of the dust outlet. Furthermore, a guide member corresponding to the movable unit is provided on the base platform 22, and the guide member can control the movable unit to switch from a closed state to an open state to open the dust outlet, thereby making the dust box 15 connected to the recovery device 26 through the dust outlet and the docking port 221. In other embodiments, the movable unit is a tension spring assembly arranged on both sides of the cover plate 151 in the length direction. In other embodiments, the cover plate 151 can also be rotatably connected to one side edge of the dust outlet in the length direction through a rotating shaft, and the movable unit is a locking member arranged on the side of the cover plate 151 away from the rotating shaft, and the locking member can switch between the closed state and the open state under the action of an external force. It should be noted that the arrangement structure of the cover plate 151 and the movable unit provided in the specification and drawings of this application is merely exemplary. In other embodiments, it is only necessary to ensure that the cover plate 151 actively closes or opens the dust outlet.

[0154] See Figure 19 and Figure 20 , the recycling device 26 includes a recycling box 261. The recycling box 26 is located on the side of the base platform 22 that is opposite to the docking surface. In this embodiment, the recycling box 26 is arranged below the base platform 22. The recycling box 261 is connected to the dust box 15 through the docking port 221. The dust box 15 is located above the recycling box 261, so that the dirt in the dust box 15 falls into the recycling box 261 under the action of its own gravity, reducing the power consumption of the base station 2 for maintaining the cleaning robot 1. In one embodiment, the dust box 15 and the recycling box 261 at least partially overlap on the horizontal plane to improve the smoothness of the dirt in the dust box 15 falling into the recycling box 261.

[0155] In one embodiment, the recovery device 26 also includes a recovery fan 262 connected to the recovery box 261. The recovery fan 262 generates an airflow that passes through the dust box 15 and the recovery box 261 in sequence, and recovers the dirt contained in the dust box 15 to the recovery box 261, thereby improving the recovery efficiency of the dirt in the dust box 15. The recovery box 261 has a recovery port corresponding to the dust outlet of the dust box 15 and an air supply port connected to the recovery fan 262. The recovery device 26 also includes a filter element 263 arranged between the recovery box 261 and the recovery fan 262. Specifically, the filter element 263 is arranged at the air supply port to prevent the dirt in the recovery box 261 from entering the recovery fan 262 along the air supply port, causing the suction force of the airflow to decrease and affecting the recovery efficiency of the recovery device 26.

[0156] The recycling box 261 is directly or indirectly connected to the dust box 15 through the recycling port, the docking port 221, and the dust outlet. The recycling port and the dust outlet are connected by a recycling channel. Specifically, when the cleaning robot 1 is docked at the docking position of the base platform 22, the dust box 15 and the recycling box 261 are connected through the recycling channel. The airflow generated by the recycling fan 262 drives the dirt in the dust box 15 from the dust outlet through the recycling port of the recycling channel box recycling box 261 and into the recycling box 261. In this embodiment, the mop bin 23 forms at least part of the recycling channel. Specifically, the second mop bin 232 forms at least part of the recycling channel. The airflow generated by the recycling fan 262 passes through the dust box 15, the second mop bin 232, and the recycling box 261 in sequence to recycle the dirt contained in the dust box 15 and the mop contained in the second mop bin 232 into the recycling box 261. This arrangement not only makes the base station 2 compact and miniaturized, but also can clean the dust box 15 and the second mop bin 232 at the same time without the need for additional maintenance operations on the second mop bin 232, thereby improving the user experience.

[0157] The second mop bin 232 also includes an outlet corresponding to the second opening 2321. The second opening 2321 is connected to the docking port 221, and the outlet is connected to the recovery port. Furthermore, the second mop bin 232 is configured so that its second opening 2321 docks with the inner side of the base platform 22, so that the second opening 2321 and the docking port 221 are connected. Preferably, a second sealing assembly is provided between the docking port 221 and the second opening 2321, and is located on the inner surface of the base platform 22. The second sealing assembly is arranged around the docking port 221. When the second mop bin 232 rotates until its second opening 2321 is connected to the docking port 221, the second sealing assembly achieves a sealed connection between the docking port 221 and the second opening 2321, preventing the airflow provided by the recovery fan 262 from leaking out of the connection gap between the docking port 221 and the second opening 2321, thereby effectively improving the recovery efficiency of the recovery device 26.

[0158] The recovery channel also includes a connecting channel connecting the second mop bin 232 and the recovery box 261. The connecting channel is formed in a connecting pipe 264. One end of the connecting pipe 264 is connected to the outlet of the second mop bin 232, and the other end is connected to the recovery port of the recovery box 261. Preferably, a third sealing assembly is provided on the connecting pipe 264 between the outlet and the connecting pipe 264. The third sealing assembly is arranged around the end of the connecting pipe 264. When the second mop bin 232 rotates until its outlet is connected to the end of the connecting pipe 264, a sealed connection is achieved between the outlet and the connecting pipe 264. This also prevents the airflow of the recovery fan 262 from leaking out of the connecting gap between the outlet and the connection, further improving the recovery efficiency of the recovery device 26.

[0159] In another embodiment, the second mop bin 232 and the recycling bin 261 can be directly connected. That is, the recovery port of the recycling bin 261 is directly connected to the outlet of the second mop bin 232, thereby saving space, improving space utilization, and thereby increasing the storage volume of the recycling bin 261. Similarly, a fourth sealing assembly located on the recycling bin 261 is disposed between the recovery port and the outlet. The fourth sealing assembly is disposed around the recovery port. When the second mop bin 232 rotates until its outlet is connected to the recovery port, a sealed connection between the second mop bin 232 and the recycling bin 261 is achieved.

[0160] When the second mop bin 232 can be driven to rotate by the driving device 234, when the cleaning robot 1 is docked on the base platform 22, the mop can be replaced first. After the mop is replaced, the second mop bin 232 is rotated to a position connecting the docking port 221 and the recovery box 261. At this time, the dust outlet of the dust box 15 is docked with the docking port 221, and the recovery fan 262 is started. Airflow flows through the dust box 15, the docking port 221, the second mop bin 232, the connecting channel, and the recovery box 261 in sequence, so as to collect the dirt in the dust box 15 and the dirty mop in the second mop bin 232 into the recovery box 261, thereby simplifying maintenance operations. Due to the presence of the first sealing assembly, the second sealing assembly, and the third sealing assembly, the sealing performance of the dust box 15 when connected to the recovery box 261 is effectively improved, thereby increasing the suction force of the recovered airflow and achieving the effect of efficient collection of dirt.

[0161] The recycling box 261 is located below the base platform 22. On the one hand, it shortens the distance between the dust box 15 and the recycling box 261, reduces the length of the recycling channel between the two, and facilitates the miniaturization of the base station 2. On the other hand, it can effectively reduce the probability of collision between the dirt and the inner wall of the recycling channel when the recycling device 26 recycles the dirt in the dust box 15 and the second mop bin 232, and reduces the recycling noise of the recycling device 26 when recycling the dirt. At the same time, it reduces the power loss of the recycling fan 262, so that the recycling of dirt can be completed using a smaller power recycling fan 262, further reducing the recycling noise of the recycling device 26 when recycling the dirt.

[0162] Similarly, when the second mop bin 232 and the recovery bin 261 are directly connected, airflow sequentially flows through the dust box 15, the docking port 221, the second mop bin 232, and the recovery bin 261, collecting dirt from the dust box 15 and dirty mops from the second mop bin 232 into the recovery bin 261. This arrangement further shortens the distance between the dust box 15 and the recovery bin 261, reducing the power of the recovery fan 262 while ensuring the emptying rate of the dust box 15, thereby addressing energy needs and reducing noise. Furthermore, the first, second, and fourth sealing assemblies effectively prevent airflow leakage that could cause insufficient suction in the recovery device 26, effectively reducing noise from the recovery fan 262.

[0163] It should be noted that when maintaining the cleaning robot 1, the dust box 15 can be recycled first and then the mop can be replaced. The dirty mop in the second mop bin 232 can be collected into the recycling box 261 when the cleaning robot 1 is maintained next time. The order of maintenance of the cleaning robot 1 is not specifically limited here.

[0164] The recovery fan 262 provides airflow for the recovery box 261 to recover dirt through the air duct 2621. In this embodiment, the main body 21 is further provided with a housing space 213 located above the docking cavity 211. The recovery fan 262 is located within the housing space 213. This arrangement, on the one hand, effectively improves the space utilization of the base station 2 and conveniently reduces the horizontal footprint of the base station 2. On the other hand, it facilitates the arrangement of the recovery box 261 and the mop bin 23 in the housing space 212, facilitating the large-scale configuration of the recovery box 261, the first mop bin 231, and the second mop bin 232, thereby increasing the operating life of the base station 2 and improving the user experience.

[0165] Furthermore, when the cleaning robot 1 is docked on the base platform 22, the dust box 15 and the second mop compartment 232 are arranged opposite each other, facilitating the large size of the dust outlet of the dust box 15, further improving the dirt recovery efficiency of the base station 2. At the same time, the short design of the recovery air duct and the arrangement of the cleaning robot 1 when docked on the base platform 22 achieve a compact design of the base station 2, effectively improving the performance and user-friendliness of the base station 2.

[0166] When the mop of the cleaning robot 1 needs to be replaced or the dust box 15 is full and needs to be cleaned, the cleaning robot 1 can search for the positioning signal sent by the positioning structure on the base station 2, and then climb onto the base platform 22 with the help of the traction device 25. When the movable unit is in the open state, the cover 151 opens the dust outlet, allowing the dust box 15 to connect with the recycling box 261 through the connecting port and the second mop bin 232. The recycling fan 262 provides airflow, so that the dirt in the dust box 15 and the mop in the second mop bin 232 are transported into the recycling box 261 along with the airflow.

[0167] Since the dust box 15 is located above the recycling box 261, when the dust box 15 is opened to clean the dirt, the dirt in the dust box 15 is also affected by gravity, so the dirt can be cleaned more conveniently and quickly, and the dirt recovery and cleaning can be completed without using a high-power recovery fan 262, thereby effectively reducing the working noise during the dirt recovery and cleaning.

[0168] See Figure 22In another embodiment, in order to rationally utilize the space in the base station 2, the recycling device 26 may not be provided with a recycling box 261, and at least part of the mop bin 23 forms the recycling box 261. Specifically, the second mop bin 232 for placing the disassembled mop forms the recycling box 261, and the recycling fan 262 is connected to the outlet of the second mop bin 232 through the air duct 2621. On the one hand, this setting can increase the large volume of the second mop bin 232, reduce the maintenance frequency of the base station 2, and improve the user experience. On the other hand, it further shortens the length of the recycling channel from the dust box 15 to the recycling box 261, reduces the recycling noise when the recycling device 26 recycles the dirt, and further reduces the working power of the recycling fan 262.

[0169] The recovery fan 262 can be installed in the storage space 212 and below the mop compartment 23. This shortens the air duct 2621, reduces airflow resistance, and increases the efficiency of the recovery fan 262. This also fully utilizes the storage space 212 and can reduce the height of the base station 2 or increase the size of the water tank, thereby improving the water storage capacity of the base station 2.

[0170] In this embodiment, the filter element 263 is arranged at the outlet of the second mop bin 232 to prevent dirt in the second mop bin 232 from entering the recovery fan 262 along the outlet, causing the suction force of the airflow to decrease and affecting the recovery efficiency of the recovery device 26.

[0171] See Figure 21 and Figure 23 , the recycling box 261 or the second mop bin 232 forming the recycling box 261 is detachably arranged in the base station 2. Specifically, the base station 2 is also provided with a take-out structure, and the recycling box 261 is detachably accommodated in the base station 2 through the take-out structure. The take-out structure realizes the disassembly and installation of the recycling box 261, which is convenient for the recycling box 261 to dump the recovered dirt or replace the dust bag. In this embodiment, the take-out structure is a folding door formed on the base station 2, and the folding door is arranged on the side wall of the main body 21. The folding direction of the take-out structure can be either horizontal or vertical. That is, the setting position and setting form of the take-out structure in this embodiment can be selected according to actual needs. The structures in this disclosure and the accompanying drawings are only exemplary and should not be limited to this.

[0172] See Figure 23 When the second mop bin 232 forms the recycling bin 261, the removal structure can also be formed on the base platform 22, and the docking port 221 is provided on the folding door. Furthermore, the folding door is a folding structure that can be folded up and down in the vertical direction to prevent the folding door from interfering with other parts of the body 21 during the folding process, thereby affecting the normal removal of the recycling bin 261.

[0173] See Figures 27 to 29, is a cleaning system in another embodiment. In this embodiment, the cleaning system has a structure substantially the same as that of the aforementioned embodiment, and the only difference lies in the structure of the mop bin 23 and its docking with the cleaning robot 1. Therefore, the following description will only describe the differences between the two embodiments, and the similar / identical parts will not be repeated here.

[0174] In this embodiment, the driving device is connected to the body of the cleaning robot 1 and is configured to drive the body of the cleaning robot 1 to move on the base platform 22. The driving device can be a walking module of the cleaning robot 1, which drives the body to move on the base platform 22. In this embodiment, the driving device is the aforementioned traction device 25, which drives the body of the cleaning robot 1 to move on the base platform 22.

[0175] The first mop bin 231 and the second mop bin 232 are fixedly arranged on a side of the base platform 22 facing away from the docking surface, and are arranged up and down along the extension direction of the base platform 22. In other words, the first mop bin 231 and the second mop bin 232 are fixedly arranged in the base station 2 and along the extension direction of the base platform 22, one is located at the top and the other is located at the bottom.

[0176] The base platform 22 is provided with mounting holes and disassembly holes arranged vertically along the extension direction of the base platform 22. The mounting holes and disassembly holes communicate with the docking surface and a back-to-back surface opposite the docking surface, so that the docking position communicates with the first and second mop bins 231, 232. One of the first and second mop bins 231, 232 at least partially overlaps with the projection of one of the mounting holes and disassembly holes on the docking surface, and the other of the first and second mop bins 231, 232 at least partially overlaps with the projection of the other of the mounting holes and disassembly holes on the docking surface.

[0177] Preferably, because the second mop compartment 232, used to store detached mops, requires more space, the first mop compartment 231, used to store clean mops, requires less space. The mop compartment located above the base platform 22 is the second mop compartment 232 for detached mops, while the mop compartment located below the base platform 22 is the first mop compartment 231 for unused mops. This allows the upper second mop compartment 232 to be located within the larger storage space 212, resulting in a larger volume, reducing maintenance requirements and improving the user experience.

[0178] In this case, the disassembly hole is located above the base platform 22 in the direction in which it extends, and the installation hole is located below the base platform 22 in the direction in which it extends. The disassembly hole corresponds to the second opening of the second mop compartment 232, allowing the mop plate 13 to pass through the disassembly hole and extend into the second mop compartment 232. The installation hole corresponds to the first opening of the first mop compartment 231, allowing the mop plate 13 to pass through the installation hole and extend into the first mop compartment 231.

[0179] It should be noted that the first mop bin 231 can also be fixed above the extension direction of the base platform 22, and the second mop bin 232 can be fixed below the extension direction of the base platform 22. This is not specifically limited here and can be arranged according to actual needs. This embodiment is described as an example in which the first mop bin 231 is arranged above the extension direction of the base platform 22 and the second mop bin 232 is arranged below the extension direction of the base platform 22.

[0180] When the cleaning robot 1 is installed with one mop board 13, the number of the mounting hole, the disassembly hole, the first mop bin 231, and the second mop bin 232 is one. When the cleaning robot 1 is installed with two mop boards 13, the number of the mounting hole, the disassembly hole, the first mop bin 231, and the second mop bin 232 is two.

[0181] When the body of the cleaning robot 1 moves to the point where the mop plate 13 is above the mounting hole and the first mop bin 231, the cleaning robot 1 is at a docking position. When the mop plate 13 is above the disassembly hole and the second mop bin 232, the cleaning robot 1 is at a mid-slope position.

[0182] When the cleaning robot 1 needs to replace the mop, the traction device 25 first pulls it to the half-slope position, and the installation operating part drives the mop plate 13 to extend into the second mop compartment 232 through the disassembly hole. The mop is removed under the action of the separation operating part 233, and then the traction device 25 pulls the cleaning robot 1 to the docking position to complete the installation of the clean mop.

[0183] The following describes the automatic mop cloth changing process of the cleaning robot 1 at the base station 2 in one embodiment with reference to the accompanying drawings.

[0184] Step S10, see Figure 11 When the cleaning robot 1 needs to change the mop, the cleaning robot 1 moves toward the base station 2. The cleaning robot 1 and the base station 2 can be accurately positioned by a positioning device, such as an infrared positioning device and an infrared receiving device.

[0185] Step S20, see Figure 27 The cleaning robot 1 cooperates with the traction device 25. Under the action of the traction device 25, the cleaning robot 1 climbs onto the base platform 22 and moves and stops at a semi-slope position. At this time, the mop plate 13 is aligned with the disassembly hole and the second mop bin 132.

[0186] Step S30, see Figure 28 The control device of the cleaning robot 1 controls the motor of the position adjustment device 16 to work, and the operating member is installed to drive the mop plate 13 to move, first moving in the direction toward the second mop bin 232, passing through the separation operating member 233, and then moving in the opposite direction to reset. The separation operating member 233 set on the second mop bin 232 is used to separate the dirty mop on the mop plate 13.

[0187] Step S40, see Figure 17 The cleaning robot 1 cooperates with the traction device 25. Under the action of the traction device 25, the cleaning robot 1 moves and docks at the docking position. The mop plate 13 is aligned with the mounting hole and the first mop bin 231. The mounting operating member drives the mop plate 13 to move, extending into the first mop bin 231 where several unused mops are stacked, and pressing onto the top mop to stick the single mop through the adhesive surface below the mop plate 13, thereby achieving the installation of the clean mop in the first mop bin 231 onto the mop plate 13.

[0188] Step S50, the operating member is installed to drive the mop plate to move in the opposite direction and reset. The mop plate 13 completes the replacement of the mop. The cleaning robot 1 can continue to perform maintenance work such as charging or replenishing water, or choose to stay in the base station 2 and wait for the next work as needed, or exit the base station 2 to continue performing cleaning work.

[0189] Since the first mop bin 231 and the second mop bin 232 in this embodiment are fixedly arranged in the base station 2, when the second mop bin 232 forms at least part of the recovery channel, in order to form a sealed recovery channel from the dust box 15 to the recovery box 261, a sealing door for opening or sealing the disassembly hole is provided on the base platform 22, and the sealing door is movably arranged on the base platform 22.

[0190] The sealing door is formed with a docking port for the dust box 15. When the cleaning robot 1 changes mops, the sealing door opens, exposing the removal port and enabling relative movement between the mop plate 13 and the second mop bin 232. When the cleaning robot 1 is cleaning the dust box 15, the sealing door seals the removal port, connecting the dust box 15 and the second mop bin 232 through the docking port. This ensures a tight seal between the dust box 15 and the recovery bin 261, reducing operating noise from the recovery fan 262.

[0191] The second mop bin 232 is fixedly disposed within the base station 2, further enhancing the sealing of the connection between the second opening 2321 of the second mop bin 232 and the docking port 221, as well as the connection between the outlet of the second mop bin 232 and the connecting pipe 264 or the recovery port of the recovery box 261. This further improves the sealing of the recovery channel from the dust box 15 to the recovery box 261, further reducing the noise generated by the recovery process, and effectively improving the practicality and user-friendliness of the base station 2. In this embodiment, the second, third, or fourth sealing assemblies are not required, thus reducing the cost of the base station 2.

[0192] In the above embodiment, the mop can be replaced without disassembling the mop plate 13 of the cleaning robot 1, which has a simple structure and is easy to operate. Figures 30 to 36 In another embodiment, the cleaning robot 1 moves to a docking surface and removes the mop blade 13 to the docking surface to replace the mop. An operating member is provided on the base station 2, and the operating member and the docking surface are located on the same side of the base platform 22, that is, the operating member is located above the base platform 22, to automatically replace the mop of the cleaning robot 1. This operating member has the same function as the aforementioned operating member, but the two have different structures. To distinguish them, they are renumbered as operating member 27.

[0193] The operating member 27 is located above the end of the base platform 22 away from the opening for the cleaning robot 1 to enter, making the layout of the base station 2 reasonable and making full use of the space. The cleaning robot 1 enters the base station 2 backwards, with the mop plate 13 away from the opening, making it easy to dock with the operating member 27.

[0194] The operating member 27 is installed as a lifting assembly 272 on the base platform 22, and a clamping assembly 273 on the lifting assembly 272. The lifting assembly 272 is used to drive the clamping assembly 273 to move in the height direction (such as Figure 30 The clamping assembly 273 is used to pick up the mop plate 13 and drive the mop plate 13 to move in the height direction. The separation operating member is a disassembly structure for separating the mop plate 13 and the mop installed thereon.

[0195] In addition, the base station 2 is also provided with a tray 271 rotatably mounted on the body 21, and a first storage compartment 274 and a second storage compartment 275 located above the base platform 22. A disassembly structure is provided at the opening of the second storage compartment 275, so that the disassembled mop can enter the second storage compartment 275.

[0196] The first storage bin 274 is used to store at least one clean, unused mop for installation on the mop plate 13 after a dirty mop has been removed. The second storage bin 275 is used to store dirty mops removed from the cleaning robot 1. The first storage bin 274 is located above the second storage bin 275. The first and second storage bins 274, 275 are at different heights, which is not specifically limited herein. The first storage bin 274 can also be located below the second storage bin, or the first and second storage bins 274, 275 can be located at the same height, as long as they do not interfere with each other.

[0197] The tray 271 is connected to the body 21 via a rotating shaft 253 and has an inclined position and a horizontal position. When the tray 271 is in the inclined position, the surface of the tray 271 and the base platform 22 are located on the same slope, making it easier for the cleaning robot 1 to remove the mop board 13 and place it on the tray 271. After the mop board 13 is removed from the cleaning robot 1 and placed on the tray 271, the tray 271 rotates from the inclined position to the horizontal position to facilitate the gripper assembly 273 to pick up the mop board 13.

[0198] After the cleaning robot 1 enters the base station 2 backward and docks at the docking position of the base platform 22, the mop plate 13 is located obliquely above the tray 271 in the inclined position. The mop plate 13 is ejected by the ejection device provided on the cleaning robot 1 and detached from the cleaning robot 1 and enters the tray 271.

[0199] Lifting assembly 272 includes a lifting drive 2721, a timing belt 2722, and a guide rail 2723. Lifting drive 2721 drives timing belt 2722 to move vertically, while guide rail 2723 extends vertically. Lifting assembly 272 can also be other structures, such as a screw-nut mechanism, as long as it can drive clamping assembly 273 to move vertically.

[0200] The clamping assembly 273 is movable in the height direction and engages with the guide rail 2723. The clamping assembly 273 is connected to the synchronous belt 2722 of the lifting assembly 272. As the synchronous belt 2722 is raised or lowered, it drives the clamping assembly 273 up and down with it. The guide rail 2723 primarily serves as a guide, ensuring the stability of the lifting process. Specifically, the clamping assembly 273 may include a pickup portion, which may be a clamping claw that can pick up the mop plate 13. It is understood that the pickup portion may also be a magnetic structure that can attract the mop plate 13 using magnetic force. The pickup portion only needs to be able to pick up and release the mop plate 13.

[0201] The base station 2 also includes a first slide rail and a second slide rail. The first accommodating compartment 274 is provided on the first slide rail and can be moved along a second direction perpendicular to the height direction (eg Figure 30The first accommodating bin 274 and the second accommodating bin 275 are arranged on the second slide rail and can move along the second direction perpendicular to the height direction on the second slide rail to approach or move away from the clamping assembly 273 on the lifting assembly 272. The movement of the first accommodating bin 274 on the first slide rail and the movement of the second accommodating bin 275 on the second slide rail can be driven by a power part such as a motor or a cylinder, or further achieved by the cooperation of a gear and a rack. It is understandable that the base station 2 may also not be provided with a second slide rail, and the second accommodating bin 275 is fixedly arranged in the base station 2, and the mop can be removed from the mop plate 13 and placed in the first accommodating bin 274 by other structures such as a manipulator.

[0202] In one embodiment, the base station 2 further includes a detection device (not shown) configured to detect the height position of the clamping assembly 273, thereby controlling the height displacement of the clamping assembly 273 based on the detected position. Specifically, the detection device can detect the distance between the clamping assembly 273 and the base platform 22 of the base station 2 to control the position where the clamping assembly 273 resides. Specifically, the detection device can be a code disk, and the position of the clamping assembly 273 relative to the base platform 22 can be determined based on the rotation angle of the code disk.

[0203] The controller 24 is electrically connected to the detection device and receives signals from the detection device to confirm the position of the clamping assembly 273. The controller 24 first controls the clamping assembly 273 to move to the disengaged position. When the detection device detects the clamping assembly 273 moving to the disengaged position, it sends a corresponding signal to the controller 24. The controller then controls the second storage compartment 275 to move below the clamping assembly 273. At this point, the mop plate 13 is positioned above the second storage compartment 275. The controller 24 controls the clamping assembly 273 to move downward, causing the mop plate 13 to extend into the second storage compartment 275 and move below the disassembly mechanism. The clamping assembly 273 is then driven upward, causing the disassembly mechanism's separation hook 2331 to penetrate the mop cloth on the mop plate 13. The controller 24 controls the clamping assembly 273 to continue rising, where the separation hook 2331 engages the mop cloth, separating the mop cloth from the mop plate 13 and tearing the mop cloth from the mop plate 13. The removed mop cloth enters the second storage compartment 275.

[0204] The second receiving compartment 275 moves away from the clamping assembly 273. The controller 24 controls the clamping assembly 273 to continue moving upward to the installation position. When the detection device detects that the clamping assembly 273 has moved to the installation position, it sends a corresponding signal to the controller 24, which then controls the first receiving compartment 274 to move below the clamping assembly 273. At this point, the mop plate 13 is located above the first receiving compartment 274. The controller 24 controls the clamping assembly 273 to move downward. The mop plate 13 extends into the first receiving compartment 274 and docks with the clean mop inside. The clamping assembly 273 then moves upward away from the first receiving compartment 274. The first receiving compartment 274 moves away from the clamping assembly 273. The controller 24 controls the clamping assembly 273 to move downward to its initial position, releasing the mop plate 13 onto the tray 271. It should be noted that the timing of the resetting of the first and second receiving compartments 274 and 275 is not specifically defined herein, as long as it does not affect the movement of the clamping assembly 273.

[0205] In this embodiment, the method for automatically changing the mop cloth of the cleaning robot 1 at the base station 2 includes:

[0206] Step 1: When the cleaning robot 1 needs to change the mop cloth, the cleaning robot 1 moves towards the base station 2.

[0207] Step 2: The controller 24 controls the tray 271 to be in an inclined position. Under the action of the driving device 234, the cleaning robot moves to the docking position, and the cleaning robot 1 pushes the mop plate 13 out into the tray 271, and the cleaning robot 1 leaves the station.

[0208] Step 3: The controller 24 controls the tray 271 to rotate to a horizontal position, and the clamping assembly 273 , driven by the lifting assembly 272 , picks up the mop plate 13 located in the tray 271 .

[0209] Step 4: Under the action of the lifting assembly 272 of the clamping assembly 273, the mop plate 13 first moves in the direction toward the second mop bin 232, passes through the separation operating member 233, and then moves back to reset. The separation operating member 233 provided on the second mop bin 232 realizes the separation of the dirty mop on the mop plate 13.

[0210] Step 5. Under the action of the lifting assembly 272 of the clamping assembly 273, the mop plate 13 extends into the first mop bin 231 where several unused mops are stacked, and presses onto the top mop, so that the single mop is adhered through the adhesive surface below the mop plate 13, thereby achieving the installation of the clean mop in the first mop bin 231 onto the mop plate 13.

[0211] Step 5: The clamping assembly 273 releases the cloth-holding plate 131 onto the tray 271. The controller 24 controls the tray 271 to rotate to an inclined position. The cleaning robot 1 enters the base station 2 backwards to pick up the mop plate 13 with a clean mop, completing the automatic replacement of the mop.

[0212] The following describes a mop changing process of the cleaning robot 1 in one embodiment with reference to the accompanying drawings.

[0213] Step S100, see Figure 30 When the cleaning robot 1 needs to change the mop, the controller 24 controls the tray 271 to be in an inclined position, the cleaning robot 1 enters the base station 2 backwards, and moves to the parking position under the action of the traction device 25. The cleaning robot 1 pushes the mop plate 13 out into the tray 271, and the cleaning robot 1 leaves the station.

[0214] Step S200, see Figure 31 The controller 24 controls the tray 271 to rotate to a horizontal position, and the clamping assembly 273 is driven by the lifting assembly 272 to descend and pick up the mop plate 13 located in the tray 271.

[0215] Step S300, see Figure 32 The clamping assembly 273 drives the mop plate 13 to rise and move to the separation position under the drive of the lifting assembly 272, and the second accommodating chamber 275 moves to the bottom of the clamping assembly 273. The clamping assembly 273 drives the mop plate 13 to descend and extend into the second accommodating chamber 275, and descend to the bottom of the disassembly structure.

[0216] In step S400, the clamping assembly 273 drives the mop plate 13 to rise, and the separation hook 2331 of the disassembly structure hooks the mop so that the mop cannot continue to rise, thereby separating the mop from the mop plate 13. The clamping assembly 273 drives the mop plate 13 to continue to rise, and the torn mop falls into the second accommodating bin 275, and the second accommodating bin 275 returns to its original position.

[0217] Step S500, the clamping assembly 273 drives the mop board 13 to rise to the installation position, the second accommodating chamber 275 moves on the second slide rail to the bottom of the clamping assembly 273, and the clamping assembly 273 drives the mop board 13 down into the second accommodating chamber 275, so that the bottom of the mop board 13 contacts the clean mop, thereby adhering the clean mop to the mop board 13, and the clamping assembly 273 drives the clean mop board 13 to rise above the first accommodating chamber 274, and the first accommodating chamber 274 returns to its original position.

[0218] Step S600, see Figure 33The clamping assembly 273 descends to the bottom of the lifting assembly 272, and the pickup portion of the clamping assembly 273 releases the mop board 13, returning it to the tray 271. When releasing the mop board 13, the pickup portion can be released with the aid of an auxiliary portion, the specific structure of which is not described in detail here. Of course, if the pickup portion is an electromagnet, the mop board 13 can be released by de-energizing it, and the auxiliary portion can be omitted.

[0219] Step S700, see Figure 34 , raise the clamping assembly 273 to leave space for the subsequent cleaning robot 1 to enter the station, avoiding interference between the cleaning robot 1 and the clamping assembly 273.

[0220] Step S800, see Figure 35 , the controller 24 controls the tray 271 to rotate to the tilted position, and the cleaning robot 1 enters the base station 2 backward to pick up the mop plate 13 with a clean mop, completing the automatic replacement of the mop.

[0221] Step S900, see Figure 36 , the cleaning robot 1 drives out of the base station 2.

[0222] The cleaning robot 1 also includes a replacement detection module for detecting the usage level of the mop installed on the mop plate 13. The control device is configured to compare the usage level with a usage threshold based on the mop usage information detected by the replacement detection module to determine whether to control the cleaning robot 1 to return to the base station 2 to replace the mop. The replacement detection module includes at least one of a timing module, a work area recording module, a dirt sensor, and a damage sensor. In other words, the control device can also control the cleaning robot 1 to return to the base station 2 to replace the mop based on the identified usage time of the mop, the mopping area of ​​the mop, the stains on the mop, or the damage to the mop, thereby improving the utilization rate of the mop without causing secondary contamination of the mop and / or the work area.

[0223] In one embodiment, the cleaning robot 1 includes a timing module. The control device uses the timing module to record the mopping time and compares the time with a preset time threshold. If the time is greater than or equal to the threshold, the cleaning robot 1 returns to the base station 2 to replace the mop. In another embodiment, the cleaning robot 1 includes a work area recording module. The control device uses the work area recording module to record the mopping area and compares the work area with a preset area threshold. If the area is greater than or equal to the threshold, the cleaning robot 1 returns to the base station 2 to replace the mop. In another embodiment, the cleaning robot 1 includes a dirt sensor. The control device uses the dirt sensor to detect the cleanliness of the mop and compares the cleanliness with a preset cleanliness threshold. When the detected cleanliness is lower than the preset cleanliness threshold, the control device controls the cleaning robot 1 to return to the base station 2 to replace the mop. When the detected cleanliness is greater than or equal to the preset threshold, the control device controls the cleaning robot 1 to continue mopping. The dirt sensor can be mounted below the body 11 or on the mop plate 13. The dirt sensor can include, but is not limited to, at least one of the following: a capacitive sensor, a current sensor, a radar sensor, and a light sensor.

[0224] When the cleaning robot 1 cleans the working surface, it uses the cleaning assembly 14 to clean the dirt on the working surface. However, foreign matter such as hair on the working surface can easily get entangled in the roller brush 141 of the cleaning assembly 14. If the foreign matter entangled in the roller brush 141 is not cleaned in time, the cleaning ability of the cleaning robot 1 will be affected, and the output power of the motor driving the roller brush 141 will be affected, thus shortening the service life of the cleaning robot 1.

[0225] To do this, see Figure 37 The base station 2 is further provided with a hair cutting device 28. When the cleaning robot 1 is docked on the base platform 22, the hair cutting device 28 is used to cut the entangled material on the roller brush 141. The scissors of the hair cutting device 28 reciprocate in the direction of the roller brush 141 to cut the entangled material on the roller brush 141. This is an existing structure and will not be described in detail here.

[0226] The hair cutting device 28 is located on the side of the base platform 22 that faces away from the docking surface. Specifically, the hair cutting device 28 is located below the base platform 22, specifically within the receiving space 212. When the cleaning robot 1 enters the base station 2 and reaches the designated position, the roller brush 141 docks with the hair cutting device 28, completing the cutting of the entangled material.

[0227] The base station 2 is also equipped with a recovery device 26, which is located in the storage space 212 below the base platform 22. When the cleaning robot 1 is in a designated position, the dust box 15 docks with the recovery device 26. Under the action of the recovery fan 262, the dust box 15 is cleaned. At the same time, the cut entangled materials flow through the dust box 15 and into the recovery device 26 under the action of the airflow, improving the maintenance efficiency of the cleaning robot 1 by the base station 2.

[0228] In this embodiment, the devices for automatically changing mops are located above the base platform 22, while the hair cutting device 28 and the recovery device 26 are located below the base platform 22. This creates a rational layout and a compact structure, and the base station 2 occupies a small horizontal surface area, improving the user experience. Furthermore, along the extension direction of the base platform 22, the hair cutting device 28 is located below the upper end of the base platform 22, and the docking port 221 for docking with the recovery device 26 is located below the lower end of the base platform 22. After the cleaning robot 1 enters the base station 2 and reaches the designated position, the roller brush 141 aligns with the hair cutting device 28, and the dust outlet of the dust box 15 aligns with the docking port 221. In other embodiments, the hair cutting device 28 may also be located below the lower end of the base platform 22, but this is not specifically limited here.

[0229] It should be noted that in other embodiments, the docking port 221 and the second opening of the second mop bin are connected via a connecting pipe, the outlet of the second mop bin is connected to a recovery bin, and the recovery bin is connected to a recovery fan. The recovery fan collects dirt from the dust box 15 and mops from the second mop bin into the recovery bin. This simplifies maintenance operations for the user by requiring only the recovery bin to be maintained.

[0230] In another embodiment, the recycling box may not be provided, and the second mop bin may be used as the recycling box, which simplifies the structure and takes up less space. At the same time, the distance between the dust box 15 and the recycling box for storing the dirt in the dust box 15 is shortened, and the power of the recovery fan is reduced while ensuring the dust box emptying rate, thereby saving energy and reducing noise.

[0231] In addition, the mop bin, the recovery device 26 and the hair cutting device 28 for cooperating with the operating member to realize automatic mop changing can all be arranged below the base platform 22, and the base station 2 is provided with one or more of the mop bin, the recovery device 26 and the hair cutting device 28 according to actual needs.

[0232] For example, if the cleaning robot 1 only has a mopping function, the corresponding base station 2 only needs to be equipped with a mop cloth bin that cooperates with the operating unit to automatically change the mop cloth. If the cleaning robot 1 only has a sweeping function, the base station 2 is equipped with a recycling device 26, or a recycling device 26 and a hair cutting device 28. If the cleaning robot 1 has both mopping and sweeping functions, the base station 2 can be equipped with a recycling device 26 and a structure that automatically changes the mop cloth, or a structure that automatically changes the mop cloth, a recycling device 26, and a hair cutting device 28.

[0233] See Figure 9 In addition to the structures illustrated in the above description, in one embodiment, a charging component and / or a water-adding component is further provided in the base station 2. The charging component includes a charging interface 291 connected to the cleaning robot 1 for charging. The water-adding component includes a water-adding interface 292 connected to the cleaning robot 1 for watering, and the charging interface 2921 and the water-adding interface 292 are located above the base platform 22. The installation planes of the charging interface 291 and the water-adding interface 292 are arranged perpendicular to the base platform 22, and the charging interface 291 and the water-adding interface 292 are located in the docking cavity 211. With such an arrangement, when the cleaning robot 1 moves along the base platform 22 and docks on the base platform 22, the charging socket and the water-adding socket provided on the outer peripheral wall of the main body of the cleaning robot 1 can be used to complete the replenishment of electric energy and / or water, making the use of the cleaning system of the present application more convenient and quick. Since the charging component and the water-adding component are mature accessories, they will not be described in detail in this specification. The water adding assembly further includes a water tank 293 for storing clean water. In this embodiment, the water tank 293 is disposed in the accommodating space 213 .

[0234] In summary, the docking surface of the base station disclosed in the present invention for the cleaning robot to dock is inclined or vertically set, which effectively reduces the footprint of the base station on the horizontal plane while ensuring that the cleaning robot can dock. The operating parts of the cleaning system can automatically replace the mop for the cleaning robot, thereby avoiding dirt on the cleaning robot and the base station during the mop cleaning process, thereby improving the user experience.

Claims

1. A cleaning system comprising a cleaning robot and a base station for maintaining the cleaning robot, characterized in that: The cleaning robot includes a mop plate for mounting a mop; The base station includes a base platform, the base platform is provided with a docking surface for the cleaning robot to dock, the docking surface has a docking position for the cleaning robot to dock to change the mop, and the docking surface is inclined or vertically arranged; The cleaning system further includes an operating member, which is provided on at least one of the base station and the cleaning robot, and is configured to operate the mop plate and / or the mop cloth so as to replace the mop cloth for the cleaning robot.

2. The cleaning system according to claim 1, characterized in that The docking surface is an inclined surface, and the angle between the docking surface and the horizontal plane is 30°-60°.

3. The cleaning system according to claim 1, wherein: The cleaning system includes a limiting structure provided on the base station or the cleaning robot, and the limiting structure is used to limit the cleaning robot to the docking position.

4. The cleaning system according to any one of claims 1 to 3, characterized in that: The operating member includes a separation operating member and an installation operating member, the separation operating member is configured to operate the mop board and / or the mop installed on the mop board to separate the mop board and the mop; the installation operating member is configured to operate the mop board and / or an unused mop to install the unused mop on the mop board.

5. The cleaning system according to claim 4, characterized in that The cleaning system further comprises a first mop bin for storing unused mops and a second mop bin for storing mops separated from the mop plate.

6. The cleaning system according to claim 5, characterized in that The first mop bin and the second mop bin are arranged on a side of the base platform facing away from the docking surface. An operation hole is provided on the base platform, and the operation hole connects the docking surface and the back-to-back surface facing away from the docking surface, so that the docking position is connected with the first mop bin and the second mop bin.

7. The cleaning system according to claim 5, characterized in that The separation operating member is configured to apply a force to the mop board and / or the mop installed on the mop board to separate the mop board and the mop, so as to separate the mop board and the mop installed on the mop board; the installation operating member is configured to apply a force to the mop board and / or the first mop bin to cause the mop board and the first mop bin to move relative to each other, so as to install the unused mop on the mop board.

8. The cleaning system according to claim 7, characterized in that The second mop bin is configured to be disposed on a moving path of the mop separated from the mop plate, so that the separated mop enters the second mop bin.

9. The cleaning system according to claim 8, characterized in that The mounting operating member is provided on the body of the cleaning robot, and the mounting operating member applies a force to the mop plate, so that the mop plate moves relative to the first mop bin or the second mop bin.

10. The cleaning system according to claim 9, characterized in that The separation operating member is arranged on the path where the mop plate moves toward the second mop bin. When the mop plate moves toward the direction where the second mop bin is located, the separation operating member passes through the separation operating member. When the mop plate moves toward the direction away from the second mop bin, the separation operating member separates the mop plate and the mop mounted on the mop plate.

11. The cleaning system according to claim 10, characterized in that The mop plate is provided with an avoidance hole, and the avoidance hole and the separation operating member are correspondingly arranged so that the mop plate passes through the separation operating member.

12. The cleaning system according to claim 8, wherein The cleaning system also includes a driving device, which is configured to drive the cleaning robot to move relative to at least one of the first mop bin and the second mop bin, so that the projections of the mop plate and the first opening of the first mop bin on the surface where the docking surface is located at least partially overlap, or the projections of the mop plate and the second opening of the second mop bin on the surface where the docking surface is located at least partially overlap.

13. The cleaning system according to claim 12, characterized in that The driving device is arranged on the base station and is connected to the first mop bin and the second mop bin. The driving device is configured to drive the first mop bin and the second mop bin to move so that the first opening of the first mop bin or the second opening of the second mop bin at least partially overlaps with the projection of the operating hole on the surface where the docking surface is located.

14. The cleaning system according to claim 12, wherein: The driving device is connected to the body of the cleaning robot, and is configured to drive the body of the cleaning robot to move on the base platform.

15. The cleaning system according to claim 14, characterized in that The first mop bin and the second mop bin are fixedly arranged on a side of the base platform facing away from the docking surface, and are arranged up and down along the extension direction of the base platform. The base platform is provided with mounting holes and disassembly holes arranged up and down along the extension direction of the base platform, and the mounting holes and the disassembly holes are connected to the docking surface and the back-to-back surface facing away from the docking surface, so that the docking position is connected with the first mop bin and the second mop bin; One of the first mop bin and the second mop bin at least partially overlaps with a projection of one of the mounting hole and the disassembly hole on the surface where the docking surface is located, and the other of the first mop bin and the second mop bin at least partially overlaps with a projection of the other of the mounting hole and the disassembly hole on the surface where the docking surface is located.

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