Cleaning system and control method of cleaning system

Abstract

The invention discloses a cleaning system and a control method of the cleaning system. The cleaning system comprises a cleaning host and a base station. Wherein a driving motor, a transmission assembly and a cleaning assembly are arranged on the cleaning main machine, the transmission assembly is connected with the driving motor and is driven by the driving motor to ascend, descend and rotate, the cleaning assembly is detachably connected to the transmission assembly, and a first element is arranged on the cleaning assembly; the base station is provided with a second element which is cooperatively connected with the first element. When the driving motor drives the transmission assembly to descend and rotate in the first direction, the first element and the second element of the cleaning assembly connected to the transmission assembly are connected in a matched mode, and the cleaning assembly is detached. The problems that in the prior art, mops on cleaning equipment are tedious to disassemble, and user experience is poor can be solved at least.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and in particular to a cleaning system and a control method for the cleaning system. Background Art

[0002] In the prior art, when a cleaning device encounters a carpet or mat area while performing a wet mop, the wet mop will contact the carpet, causing it to become wet, contaminated, or even damaged. At the same time, the huge friction resistance makes it difficult to move the cleaning device, dramatically increases power consumption, and can even cause it to become trapped, resulting in poor cleaning results. In this case, the user needs to manually remove the mop from the bottom of the main unit, and then manually install the mop back to the bottom of the main unit after the cleaning device passes over the carpet or finishes vacuuming the carpet. This process is not only cumbersome but also gets your hands dirty, significantly impacting the user experience. Summary of the Invention

[0003] The main purpose of the present invention is to provide a cleaning system and a control method for the cleaning system, which at least solves the problem in the prior art that the mop on the cleaning equipment is cumbersome to disassemble and the user experience is poor.

[0004] According to one aspect of the present invention, there is provided a cleaning system comprising:

[0005] A cleaning host is provided with a drive motor, a transmission assembly, and a cleaning assembly. The transmission assembly is connected to the drive motor and is driven to rise and fall and rotate by the drive motor. The cleaning assembly is detachably connected to the transmission assembly. The cleaning assembly is provided with a first element.

[0006] a base station, wherein a second component is provided on the base station, and the second component is at least configured to cooperate with and connect to the first component;

[0007] Wherein, the driving motor is configured to drive the transmission assembly to descend and rotate in a first direction so that the first element of the cleaning assembly connected to the transmission assembly is matched with the second element and the cleaning assembly is removed from the transmission assembly.

[0008] Furthermore, the drive motor is also configured to drive the transmission assembly to descend and rotate in a second direction opposite to the first direction, so that the first element and the second element on the cleaning assembly provided on the base station are disengaged and the cleaning assembly is connected to the transmission assembly.

[0009] Further, one of the first element and the second element includes a stud, and the other includes a threaded hole that cooperates with the stud; and / or,

[0010] The cleaning component also includes:

[0011] Mounting bracket;

[0012] a floating connection assembly, the floating connection assembly being floated on the mounting bracket and detachably connected to the transmission assembly, the first element being disposed on the floating connection assembly;

[0013] When the transmission assembly descends to a predetermined height, the floating connection assembly and the mounting bracket remain relatively stationary; when the transmission assembly descends to a height exceeding the predetermined height, the floating connection assembly floats relative to the mounting bracket to drive the first element and the second element to engage or disengage.

[0014] Furthermore, the mounting bracket includes a mounting groove, the bottom of the mounting groove is provided with an avoidance hole, and the avoidance hole extends to the bottom surface of the mounting bracket;

[0015] The floating connection assembly includes a floating member, which is floatingly installed in the installation groove. The first element is installed on the floating member and penetrates the avoidance hole.

[0016] Furthermore, the floating connection assembly further comprises a first elastic element, the first elastic element abutting between the bottom surface of the mounting groove and the floating member; and / or,

[0017] A limiting portion is provided on the side wall of the installation groove, and a limiting matching portion cooperating with the limiting portion is provided on the floating member, and the limiting matching portion cooperates with the limiting portion and limits the floating member in the installation groove; and / or,

[0018] The floating connection assembly further includes a second elastic element, the second elastic element abutting between the first element and the floating member; and / or,

[0019] A guide section is provided at one end of the avoidance hole away from the floating member. Further, one of the limiting portion and the limiting matching portion is a protrusion, and the other is a groove, and the groove extends a predetermined length along the height direction of the floating member.

[0020] Furthermore, the floating connection assembly and the transmission assembly are detachably connected via a magnetic assembly or a snap assembly.

[0021] Furthermore, the base station includes a cleaning tray, and the second element is arranged on the cleaning tray.

[0022] Furthermore, the cleaning disc is provided with a protrusion, and the second element is provided on the protrusion; and / or,

[0023] The protrusion is provided with a guide groove, which extends from the second element to the outer edge of the cleaning disk. The height of the bottom surface of the guide groove gradually decreases in the direction away from the second element.

[0024] Furthermore, the cleaning component has an inward position arranged close to the cleaning main body and an outward position extending beyond the outer edge of the cleaning main body, and within the projection in the height direction of the cleaning main body, the area of ​​the cleaning component extending beyond the outer edge of the cleaning main body when the cleaning component is in the outward position is larger than the area of ​​the cleaning component extending beyond the outer edge of the cleaning main body when the cleaning component is in the inward position;

[0025] A limiting member is provided at the cleaning disc. When the drive motor drives the transmission assembly and drives the cleaning assembly to rotate and descend along the first direction, the limiting member is used to limit the cleaning assembly within the cleaning disc to prevent the cleaning assembly from switching from the retracted position to the expanded position.

[0026] On the other hand, the present invention further provides a control method for a cleaning system, wherein the control method for a cleaning system is used to control the above-mentioned cleaning system, and the control method for a cleaning system comprises:

[0027] Controlling the cleaning host to move to the base station;

[0028] Detecting whether the cleaning component is connected to the transmission component, and determining whether the cleaning system needs to perform disassembly or assembly of the cleaning component based on the detection result;

[0029] When it is necessary to disassemble the cleaning assembly, controlling the drive motor to drive the transmission assembly to rotate along the first direction and descend;

[0030] When the cleaning assembly needs to be assembled, the driving motor is controlled to drive the transmission assembly to rotate and descend in a second direction opposite to the first direction.

[0031] Furthermore, in the process of controlling the drive motor to drive the transmission assembly to rotate and descend in the first direction: detecting a first predetermined parameter of the cleaning system, and judging whether the cleaning assembly has been disassembled based on the first predetermined parameter;

[0032] Wherein, the first predetermined parameter includes the current of the driving motor, and when the current of the driving motor is greater than a first preset value, it is determined that the cleaning component is completely disassembled; or,

[0033] The first predetermined parameter also includes a detection signal of whether the cleaning component is in place, and whether the cleaning component is connected to the transmission component is detected by a detection element provided between the transmission component and the cleaning component. When it is detected that the cleaning component is not connected to the transmission component, it is determined that the cleaning component has been disassembled; and / or,

[0034] During the process of controlling the drive motor to drive the transmission assembly to rotate along the second direction and descend:

[0035] The second predetermined parameter of the cleaning system is detected, and it is determined whether the cleaning component is assembled according to the second predetermined parameter; wherein,

[0036] The second predetermined parameter includes the current of the driving motor, and when it is detected that the current of the driving motor is less than a second preset value, it is determined that the cleaning component is assembled; or,

[0037] The second predetermined parameter includes the working time of the driving motor. When the driving motor drives the transmission component to rotate in the second direction and decreases for a predetermined working time, it is determined that the cleaning component is assembled; or

[0038] The second predetermined parameter includes a detection signal of whether the cleaning component is in place, when the detection element arranged between the transmission component and the cleaning component detects whether the cleaning component is connected to the transmission component, and when it is detected that the cleaning component is connected to the transmission component, it is determined that the cleaning component is assembled; and / or,

[0039] The control method of the cleaning system further includes: after the assembly of the cleaning component is completed, when the cleaning host needs to perform any one of a cleaning task, a drying task, and an off-station task of the cleaning component, or before, controlling the cleaning host to move so that the first component and the second component are misaligned; and / or,

[0040] The control method of the cleaning system also includes: after the cleaning host is located on the base station and completes the assembly of the cleaning component, before the cleaning host controls the cleaning component to rotate along the first direction, controlling the cleaning host to move so that the first element and the second element are misaligned.

[0041] In the present invention, the cleaning assembly is detachably connected to the transmission assembly, and a first element is provided on the cleaning assembly, and a second element is provided on the base station to cooperate with the first element. By controlling the drive motor to drive the transmission assembly to descend and rotate in the first direction or the second direction, the first element and the second element are engaged or disengaged, thereby achieving disassembly or assembly of the cleaning assembly. This arrangement eliminates the need for the user to manually touch the cleaning assembly, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0043] Figure 1 A schematic diagram of the overall structure of the cleaning system disclosed in an embodiment of the present invention;

[0044] Figure 2 An exploded view of a cleaning system disclosed in an embodiment of the present invention;

[0045] Figure 3 A schematic structural diagram of a cleaning component of a cleaning system disclosed in an embodiment of the present invention;

[0046] Figure 4 A top view of a cleaning component of a cleaning system disclosed in an embodiment of the present invention;

[0047] Figure 5 A cross-sectional view of a cleaning component of a cleaning system disclosed in an embodiment of the present invention;

[0048] Figure 6 A schematic structural diagram of a base station of a cleaning system disclosed in an embodiment of the present invention;

[0049] Figure 7 for Figure 6 A partial enlarged view of area A in the middle;

[0050] Figure 8 A schematic diagram of a cleaning system according to an embodiment of the present invention performing a cleaning component disassembly or assembly process;

[0051] Figure 9 A schematic diagram of the connection between the cleaning component and the transmission component of the cleaning system disclosed in an embodiment of the present invention;

[0052] Figure 10 A cross-sectional view of a transmission assembly of a cleaning system disclosed in an embodiment of the present invention;

[0053] Figure 11 This is a schematic diagram of the cleaning components of the cleaning system disclosed in an embodiment of the present invention after being disassembled;

[0054] Figure 12 A schematic structural diagram of a second transmission member of a cleaning system disclosed in an embodiment of the present invention;

[0055] Figure 13 This is a flow chart of a control method for a cleaning system disclosed in an embodiment of the present invention.

[0056] The above drawings include the following reference numerals:

[0057] 10. Cleaning host; 11. Drive motor; 12. Transmission assembly; 121. Gearbox; 122. Transmission shaft; 123. First transmission member; 1231. Push rod; 124. Second transmission member; 1241. Track surface; 1241a. First area; 1241b. Second area; 1241c. Third area; 1241d. Connecting area; 1242. Limiting structure; 1243. Retaining rib; 125. Elastic member; 126. Support block; 127. Magnetic member; 13. Cleaning assembly; 131. First element Parts; 1311, limiting flange; 132, mounting bracket; 1321, mounting groove; 13211, limiting portion; 1322, avoidance hole; 13221, guide section; 133, floating connection assembly; 1331, floating part; 13311, limiting fitting portion; 13312, limiting step; 1332, first elastic element; 1333, second elastic element; 1334, magnet; 20, base station; 21, second element; 22, cleaning tray; 221, protrusion; 222, guide groove; 223, limiting part. DETAILED DESCRIPTION

[0058] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0059] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0060] Unless otherwise specifically stated, the relative arrangement of the components and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0061] As mentioned in the background technology, in the prior art, when a cleaning device encounters a carpet or floor mat area while performing a wet mop task, the wet mop contacts the carpet, causing the carpet to become wet, contaminated, or even damaged. At the same time, the huge friction resistance makes it difficult for the cleaning device to move, the power consumption increases dramatically, and it may even be trapped, resulting in poor cleaning effect. In this case, the user needs to manually remove the mop from the bottom of the main unit, and then manually install the mop on the bottom of the main unit after the cleaning device passes over the carpet or finishes vacuuming the carpet. When the user removes and installs the mop, not only is the operation cumbersome, but the user's hands will also be dirty, which greatly affects the user experience. To this end, the present application provides a cleaning system that can solve the problem of cumbersome mop removal on cleaning devices in the prior art and poor user experience. The cleaning system of the present application will be described in detail below with reference to the accompanying drawings.

[0062] See also Figures 1 to 12 As shown, the present application provides a cleaning system. The cleaning system includes a cleaning host 10 and a base station 20.

[0063] Specifically, in this embodiment, the cleaning host 10 is provided with a drive motor 11, a transmission assembly 12 and a cleaning assembly 13. The transmission assembly 12 is connected to the drive motor 11 and is lifted and rotated under the drive of the drive motor 11. The cleaning assembly 13 is detachably connected to the transmission assembly 12. The cleaning assembly 13 is provided with a first element 131; the base station 20 is provided with a second element 21, and the second element 21 is at least used to cooperate with the first element 131.

[0064] The driving motor 11 is configured to drive the transmission assembly 12 to descend and rotate in a first direction, so that the first element 131 of the cleaning assembly 13 connected to the transmission assembly 12 is matched with the second element 21 and the cleaning assembly 13 is removed from the transmission assembly 12.

[0065] likeFigure 8 and Figure 12 As shown, in the actual working process, when the cleaning host 10 encounters a carpet while performing a wet mopping task, the cleaning host 10 is controlled to return to the base station 20, and the drive motor 11 drives the transmission assembly 12 to rotate and descend in a first direction (the first direction can be clockwise or counterclockwise. In this application, the direction in which the first element 131 and the second element 21 are connected is the first direction), and the cleaning assembly 13 (a mop (not shown in the figure) is provided on the cleaning assembly 13, and the mop can be connected by a buckle or adhered to the bottom of the cleaning assembly 13) is driven by the transmission assembly 12 to descend and rotate. During this process, after the first element 131 provided on the cleaning assembly 13 and the second element 21 provided on the base station 20 are connected, the cleaning assembly 13 can be removed from the transmission assembly 12. The user does not need to manually disassemble the cleaning assembly 13, which improves the user experience.

[0066] That is, in the present application, by detachably connecting the cleaning assembly 13 to the transmission assembly 12, and providing a first element 131 on the cleaning assembly 13 and a second element 21 on the base station 20 that cooperates with the first element 131, the cleaning assembly 13 can be disassembled by controlling the drive motor 11 to drive the transmission assembly 12 to descend and rotate in a first direction, so that the first element 131 and the second element 21 are cooperated. This configuration eliminates the need for the user to manually touch the cleaning assembly 13, thereby improving the user experience.

[0067] Furthermore, in the present application, the drive motor 11 is further configured to drive the transmission assembly 12 to rotate and descend in the second direction, so that the first element 131 of the cleaning assembly 13 provided on the base station 20 is disengaged from the second element 21, and the cleaning assembly 13 is connected to the transmission assembly 12. In some usage scenarios, when the cleaning host 10 completes the cleaning task of the carpet, etc., and needs to perform a wet mopping task on other surfaces to be cleaned, when the cleaning system needs to execute the action of assembling the cleaning assembly 13, it only needs to control the cleaning host 10 to return to the base station 20, and the drive motor 11 drives the transmission assembly 12 to rotate and descend in the second direction (the second direction can be clockwise or counterclockwise, in the present application, the direction in which the first element 131 and the second element 21 are disengaged is the second direction), so that the first element 131 on the cleaning assembly 13 is disengaged from the second element 21 on the base station 20, and the cleaning assembly 13 is connected to the transmission assembly 12, thereby completing the assembly of the cleaning assembly 13.

[0068] Furthermore, if Figure 2 、 Figure 8 and Figure 12The figure shows a case where two cleaning components 13 are provided on the cleaning host 10. Compared with the case where only one cleaning component 13 is provided, the cleaning efficiency of the cleaning host 10 on the surface to be cleaned can be improved. Each cleaning component 13 is also individually provided with a corresponding drive motor 11 and transmission component 12. Such a setting facilitates precise control and flexible adaptation of each cleaning component 13, thereby avoiding power loss or action conflict in a single drive mode, and also avoiding power attenuation, ensuring that the output efficiency of the drive motor 11 is maximized. In addition, when a cleaning component 13 fails (such as the drive motor 11 is stuck or the transmission gear is worn), only the component needs to be repaired or replaced, without disassembling the entire drive system, thereby reducing maintenance costs.

[0069] Of course, in other embodiments of the present application, the number of cleaning components 13 can be 1, 3, or more, depending on actual production needs, and this application does not make specific restrictions. In addition, in this application, when the cleaning components 13 need to be disassembled or assembled, the number can be 1, 2, 3, or more than 3, and the specific number can be selected according to actual conditions.

[0070] Furthermore, during actual use, the cleaning component 13 needs to be disassembled not only when encountering a carpet, but also according to the actual use scenario. For example, when the material or degree of dirtiness of the surface to be cleaned that the cleaning host 10 needs to clean is different, it is necessary to replace different materials or clean mops to improve cleaning efficiency. In other cases, when two cleaning components 13 are provided on the cleaning host 10, when the cleaning host 10 needs to clean special corners, one of the cleaning components 13 can be temporarily disassembled so that the remaining cleaning component 13 is rotated as close to the edge of the obstacle as possible, which may achieve a better edge effect and clean. In addition, if the cleaning host 10 needs to pass through a narrow space, and the dual cleaning components 13 are not conducive to the easy passage of the cleaning host 10, one of the cleaning components 13 can be temporarily disassembled before it passes.

[0071] Furthermore, if Figures 8 to 12As shown, in the present application, the transmission assembly 12 includes a gear box 121, a transmission shaft 122, a first transmission member 123, a second transmission member 124 and an elastic member 125. Specifically, the first transmission member 123 is a push rod 1231 in the shape of a U-shaped clip, and the second transmission member 124 is a cylindrical cam. Among them, the gear box 121 is connected to the drive motor 11 for driving, the output shaft of the gear box 121 (not shown in the figure) is coaxially connected to the transmission shaft 122, the first transmission member 123 is fixedly connected to the transmission shaft 122, and the cleaning assembly 13 is detachably arranged at the bottom of the second transmission member 124. The second transmission member 124 is sleeved on the transmission shaft 122 and can be raised and lowered relative to the transmission shaft 122. The elastic member 125 is elastically deformable and is sleeved on the transmission shaft 122. A support block 126 is provided at the bottom end of the transmission shaft 122. The ends of the elastic member 125 respectively abut against the second transmission member 124 and the support block 126. After being compressed by the second transmission member 124, the elastic member 125 can recover its elastic deformation, causing the elastic member 125 to extend and push the second transmission member 124 to move along the transmission shaft 122. For example, the elastic member 125 can be a spring, an elastic sleeve, or other structures. The cleaning assembly 13 is detachably connected to the second transmission member 124.

[0072] In the present application, when the drive motor 11 drives the gear (not shown in the figure) in the gear box 121 to rotate, thereby driving the transmission shaft 122 and the first transmission member 123 to rotate in the first direction or the second direction, the first transmission member 123 is abutted against the second transmission member 124, and the second transmission member 124 is driven by the first transmission member 123 to rotate in the first direction or the second direction and rise and fall along the height direction of the cleaning host 10 to disassemble or assemble the cleaning component 13.

[0073] Furthermore, when the cleaning system performs the disassembly action, the cleaning host 10 is controlled to move to the base station 20, and the second transmission member 124 is driven by the first transmission member 123 to rotate along the first direction and descend along the height direction of the cleaning host 10, so that the first element 131 provided on the cleaning component 13 and the second element 21 provided on the base station 20 are matched and connected, thereby realizing the disassembly of the cleaning component 13 on the base station 20 and completing the disassembly action.

[0074] Furthermore, when the cleaning system performs the assembly action, the cleaning host 10 is controlled to return to the base station 20, and the second transmission member 124 rotates in the second direction under the drive of the first transmission member 123 and descends along the height direction of the cleaning host 10, so that the cleaning component 13 is connected to the second transmission member 124, and the second transmission member 124 continues to rotate in the second direction under the drive of the first transmission member 123, and the assembly action is completed after the first element 131 and the second element 21 are released.

[0075] That is to say, in the present application, through the cooperation of the first transmission member 123 and the second transmission member 124, efficient transmission of power from the driving motor 11 to the second transmission member 124 is realized, ensuring the stability and reliability of rotation. In addition, the second transmission member 124 can not only rotate in the first direction or the second direction under the drive of the first transmission member 123, but also ascend or descend in the height direction of the cleaning main machine 10, so that the first element 131 and the second element 21 realize cooperative connection or disconnection, and the cleaning assembly 13 realizes automatic disassembly or assembly, reducing the user's manual disassembly and improving the user's use experience.

[0076] Specifically, the second transmission member 124 is provided with a track surface 1241 and a limiting structure 1242, the track surface 1241 can be provided on the outer circumferential surface of the second transmission member 124, or can be provided on the inner wall surface of the second transmission member 124, Figure 9 and Figure 11 The case of setting the track surface 1241 on the outer circumferential surface of the second transmission member 124 is shown. The limiting structure 1242 is set on the track surface 1241 and is located at the topmost position of the track surface 1241, and the limiting structure 1242 in the present application can be a bump structure, which is two, respectively arranged on the opposite sides of the second transmission member 124. In actual work, the push rods 1231 at both ends of the first transmission member 123 are respectively abutted on the track surface 1241 between the two limiting structures 1242 and slide along the track surface 1241 to drive the second transmission member 124 to ascend or descend in the first direction or the second direction. When the push rods 1231 at both ends of the first transmission member 123 are respectively stopped on the two limiting structures 1242, the second transmission member 124 descends to the limit position in the first direction, that is, the disassembly of the cleaning assembly 13 is completed. When the first transmission member 123 descends to the limit position in the second direction, the assembly of the cleaning assembly 13 is carried out.

[0077] In some use scenarios, such as Figure 11As shown, the track surface 1241 includes a first region 1241a, a second region 1241b, a third region 1241c, and a connecting region 1241d. Along the circumference of the second transmission member 124, the first region 1241a, the second region 1241b, and the third region 1241c are sequentially connected, with the second region 1241b being lower than the first region 1241a and the third region 1241c. Two adjacent regions can be connected via the connecting region 1241d, and the first transmission member 123 can be moved from one region to another via the connecting region 1241d. When the first transmission member 123 abuts the first region 1241a or the third region 1241c, the cleaning assembly 13 is disassembled or the cleaning system begins assembly. When the first transmission member 123 abuts the second region 1241b, the cleaning assembly 13 is disassembled and the cleaning host 10 has completed the lift command; or the cleaning assembly 13 is assembled and the cleaning host 10 has completed the lift command.

[0078] Furthermore, a retaining rib 1243 is provided on the second transmission member 124. The retaining rib 1243 is provided on the outer surface of the second transmission member 124 and extends along the height direction of the second transmission member 124. The provision of the retaining rib 1243 can not only improve the structural strength of the second transmission member 124 to a certain extent, but also make the connection between the first transmission member 123 and the second transmission member 124 more effective, thereby avoiding radial misalignment between the first transmission member 123 and the second transmission member 124 during the process of the first transmission member 123 driving the second transmission member 124, resulting in the movement from the first transmission member 123 to the second transmission member 124 cannot be transmitted normally.

[0079] like Figure 2 、 Figure 6 and Figure 7As shown, one of the first element 131 and the second element 21 comprises a stud, and the other comprises a threaded hole matched with the stud. Exemplarily, the first element 131 can be a screw or a bolt; and the second element 21 can be a nut or a threaded hole provided on the base station 20. Of course, in some other embodiments of the present application, the first element 131 can be a nut or a threaded hole provided on the cleaning assembly 13 matched with the second element 21; and the second element 21 can be a screw or a bolt. In the present application, the first element 131 is preferably a screw, and the second element 21 is a nut. In this way, the first element 131 is a screw, which has a small weight and occupies a small space, and has a small influence on the overall weight of the cleaning assembly 13 when it is arranged on the cleaning assembly 13. Moreover, the first element 131 arranged as a screw also avoids the influence on the cleaning main machine 10 when the cleaning main machine 10 returns to the base station 20. In addition, in the present application, the second element 21 is arranged as a nut, which not only improves the cooperation with the screw and reduces the occurrence of thread stripping, but also helps to reduce the loosening of the connection caused by the deformation of the thread due to wear, thereby improving the disassembly efficiency or assembly efficiency of the cleaning assembly 13. If a threaded hole is directly machined on the base station 20, not only is the machining precision high, but also the cost is increased and the processing of the threaded hole is complicated, which reduces the production efficiency. Arranging the nut on the base station 20 can disperse the stress when the cleaning assembly 13 is disassembled on the base station 20, avoid the cracking of the base station 20, and also be conducive to the later maintenance and replacement.

[0080] Specifically, when the cleaning system performs the disassembly of the cleaning assembly 13, the driving motor 11 drives the transmission assembly 12 to rotate and descend in the first direction, and when the cleaning assembly 13 contacts the base station 20, the screw arranged on the cleaning assembly 13 contacts and engages with the nut arranged on the base station 20. With the driving motor 11 continuing to drive the transmission assembly 12 to rotate and descend in the first direction, the screw and the nut are completely matched and connected, and the disassembly of the cleaning assembly 13 is completed. When the cleaning system performs the assembly of the cleaning assembly 13, the driving motor 11 drives the transmission assembly 12 to rotate and descend in the second direction, and the transmission assembly 12 is connected with the cleaning assembly 13. The driving motor 11 drives the transmission assembly 12 to continue to rotate in the second direction, and the screw and the nut are gradually disengaged and connected, and the assembly of the cleaning assembly 13 is completed.

[0081] As Figures 3 to 5As shown, the cleaning assembly 13 also includes a mounting bracket 132 and a floating connection assembly 133. The floating connection assembly 133 is floatingly arranged on the mounting bracket 132 and is detachably connected to the transmission assembly 12, and the first element 131 is arranged on the floating connection assembly 133. Specifically, the floating connection assembly 133 is detachably connected to the transmission assembly 12. When the cleaning assembly 13 needs to be maintained or replaced, there is no need to disassemble the entire transmission system. Only the floating connection assembly 133 needs to be separated, which reduces the complexity of maintenance. In addition, the floating connection assembly 133 can float relative to the mounting bracket 132. When the transmission assembly 12 drops to a height exceeding a predetermined height, the floating mechanism can avoid the impact force caused by the rigid connection, prevent the first element 131 and the second element 21 from being damaged due to hard collision, and improve the durability of the cleaning system.

[0082] When the transmission assembly 12 descends to a predetermined height (i.e., the critical point where the cleaning assembly 13 and the base station 20 are in contact), the floating connection assembly 133 and the mounting bracket 132 remain relatively stationary. When the transmission assembly 12 descends beyond the predetermined height, the floating connection assembly 133 floats relative to the mounting bracket 132, thereby driving the first element 131 to engage or disengage with the second element 21. In this application, the descending height of the transmission assembly 12 serves as a trigger for the floating connection assembly 133 to engage or disengage with the first element 131, 21.

[0083] Furthermore, when the transmission assembly 12 descends to a predetermined height, the floating connection assembly 133 and the mounting bracket 132 remain relatively stationary. When the transmission assembly 12 descends beyond the predetermined height, the floating connection assembly 133 floats relative to the mounting bracket 132, thereby driving the first element 131 and the second element 21 to engage or disengage. Specifically, when the transmission assembly 12 descends in the first direction to exceed the predetermined height, the floating connection assembly 133 floats downward relative to the mounting bracket 132, thereby driving the first element 131 and the second element 21 to engage and disengage, thereby completing the automatic disassembly of the cleaning assembly 13. When the transmission assembly 12 descends in the second direction to exceed the predetermined height, the transmission assembly 12 connects to the cleaning assembly 13, causing the first element 131 and the second element 21 to disengage, and the floating connection assembly 133 floats upward relative to the mounting bracket 132, thereby completing the automatic assembly of the cleaning assembly 13.

[0084] like Figure 5 As shown, the mounting bracket 132 includes a mounting groove 1321, with an escape hole 1322 disposed at the bottom of the mounting groove 1321. The escape hole 1322 extends to the bottom surface of the mounting bracket 132. The floating connection assembly 133 includes a floating member 1331, which is floatingly mounted in the mounting groove 1321. The first element 131 is mounted on the floating member 1331 and extends through the escape hole 1322.

[0085] In the present application, the avoidance hole 1322 extends through the bottom surface of the mounting bracket 132, providing a vertical movement channel for the first element 131 while limiting its horizontal displacement. For example, when the floating member 1331 floats up and down, the inner wall of the avoidance hole 1322 can guide the first element 131 to maintain vertical movement, preventing thread engagement offset due to tilting and ensuring the coaxiality of the stud and the threaded hole. Furthermore, in the present application, the floating stroke of the floating member 1331 is jointly defined by the depth of the mounting groove 1321 and the position of the avoidance hole 1322. Furthermore, the floating connection allows the first element 131 to undergo slight displacement relative to the mounting groove 1321 within a certain range, compensating for installation errors and positional deviations.

[0086] See again Figure 5 As shown, the floating connection assembly 133 further includes a first elastic element 1332, which is pressed between the bottom surface of the mounting groove 1321 and the floating member 1331. For example, the first elastic element 1332 can be a spring or a rubber pad. Figure 5 The figure shows a case where first elastic element 1332 is a spring. When first elastic element 1332 abuts between the bottom surface of mounting slot 1321 and floating member 1331, first elastic element 1332 is in a predetermined compressed state. When transmission assembly 12 descends beyond a predetermined height, floating member 1331 is compressed, thereby compressing first elastic element 1332. The elastic deformation of first elastic element 1332 absorbs the impact force. When cleaning assembly 13 is to be assembled, when cleaning assembly 13 and transmission assembly 12 are mated and connected, disconnecting first element 131 and second element 21, first elastic element 1332 gradually returns to the predetermined compressed state, causing floating member 1331 to move upward relative to mounting slot 1321, mating cleaning assembly 13 and transmission assembly 12, completing assembly of cleaning assembly 13.

[0087] like Figure 3 and Figure 4 As shown, a limiting portion 13211 is provided on the side wall of the mounting groove 1321, and a limiting mating portion 13311 is provided on the floating member 1331 to cooperate with the limiting portion 13211. The limiting mating portion 13311 cooperates with the limiting portion 13211 and limits the floating member 1331 within the mounting groove 1321. In the present application, the limiting portion 13211 provided on the mounting groove 1321 and the limiting mating portion 13311 provided on the floating member 1331 to cooperate with the limiting portion 13211 prevent the floating member 1331 from falling out of the top of the mounting groove 1321.

[0088] Furthermore, during the actual installation of the cleaning assembly 13, the first element 131 and the floating member 1331 are first assembled and then installed in the mounting groove 1321. Specifically, a limiting step 13312 is provided on the floating member 1331, and a limiting flange 1311 is provided on the first element 131. The limiting step 13312 and the limiting flange 1311 cooperate to secure the first element 131 to the floating member 1331. The first elastic member 1332 is then installed at the bottom of the mounting groove 1321, and the floating member 1331 is installed in the mounting groove 1321 and abuts against the first elastic member 1332. The combined action of the limiting portion 13211 and the limiting mating portion 13311 ensures that the floating member 1331 is installed in the mounting groove 1321 and prevents it from falling out of the top of the mounting groove 1321, thereby improving the assembly reliability of the cleaning assembly 13.

[0089] like Figures 3 to 5 As shown, the floating connection assembly 133 also includes a second elastic element 1333, which is positioned between the first element 131 and the floating member 1331. For example, the second elastic element 1333 can be a spring or an elastic rubber pad. In the present application, positioning the second elastic element 1333 between the first element 131 and the floating member 1331 prevents hard collisions between the first element 131 and the second element 21 during the disassembly process of the cleaning assembly 13. Furthermore, when the cleaning assembly 13 is assembled on the cleaning main unit 10 and wet mopping is performed, the second elastic element 1333 maintains pressure between the cleaning assembly 13 and the surface to be cleaned, thereby improving the cleaning effect. Furthermore, when the cleaning main unit 10 is operating, the second elastic element 1333 reciprocates through a predetermined distance, converting vibration energy into elastic potential energy. This reduces the vibration amplitude between the first element 131 and the floating member 1331 and mitigates the risk of component resonance.

[0090] like Figure 5 As shown, a guide section 13221 is provided at one end of the avoidance hole 1322 away from the floating member 1331. Specifically, the guide section 13221 is in the shape of an outwardly flared trumpet. When the cleaning system performs the disassembly action, the drive motor 11 drives the transmission assembly 12 to rotate and descend in the first direction, and the guide section 13221 cooperates with the second element 21 (nut) provided on the base station 20 to support the cleaning assembly 13. The guide section 13221 has a guiding function, guiding the first element 131 to cooperate with the second element 21. After the floating member 1331 is subjected to the pressure of the cleaning host 10, it moves downward, and the screw and the nut come into contact and engage, continuing to drive the floating member 1331 to move downward, and the cleaning assembly 13 is disengaged from the transmission assembly 12, completing the disassembly action of the cleaning assembly 13.

[0091] Furthermore, one of the limiting portion 13211 and the limiting mating portion 13311 is a protrusion, and the other is a groove. The groove extends a predetermined length along the height of the floating member 1331. This arrangement limits the maximum floating travel of the floating member 1331 within the mounting slot 1321. When the first elastic element 1332 is compressed to its limit, the combination of the groove and the protrusion prevents the floating member 1331 from further downward movement, preventing the first element 1331 from excessively extending into the second element 21 and causing it to become stuck, hindering subsequent assembly of the cleaning assembly 13.

[0092] Furthermore, illustratively, in the present application, the number of protrusions can be 1, 2, 3, or more than 3, and the number of grooves corresponds to the number of protrusions. The specific number is not limited in this application and is adaptively adjusted according to actual conditions. In the present application, it is shown that three grooves are provided on the side wall of the mounting groove 1321, and protrusions corresponding to the grooves are provided on the floating member 1331. Specifically, a guide slope (not shown in the figure) is provided on the protrusion, through which the floating member 1331 can be guided to be quickly installed in the mounting groove 1321. Specifically, in the present application, the radial cross-section of the mounting groove 1321 can be a polygonal structure such as an equilateral triangle or a regular hexagon. The outer contour of the floating member 1331 is the same as the structure of the mounting groove 1321, and a spline connection is formed between the floating member 1331 and the mounting groove 1321, thereby ensuring installation stability. In addition, the structure of the inner contour of the second transmission member 124 is also the same as the outer contour structure of the installation groove 1321. During the assembly process, the bottom of the second transmission member 124 is wrapped around the outer peripheral side of the installation groove 1321 and forms a spline connection to ensure the connection stability between the cleaning component 13 and the transmission component 12, and avoid the risk of the cleaning component 13 falling when the cleaning host 10 is performing mopping operations.

[0093] Furthermore, the floating connection assembly 133 is detachably connected to the transmission assembly 12 via a magnetic assembly or a snap assembly. In the present application, it is preferred that the floating connection assembly 133 and the transmission assembly 12 are detachably connected via a magnetic assembly. Through the self-guiding characteristics of the magnetic assembly, when the transmission assembly 12 is descending, the magnetic lines of force will automatically pull the floating connection assembly 133 into the center position, thereby improving the docking success rate, and the non-rigid contact of the magnetic connection can absorb the impact energy when the transmission assembly 12 descends, reduce the impact load, and avoid hard collisions between the first element 131 and the second element 21 causing thread wear. In addition, the magnetic separation process is free of mechanical friction, and compared with the plastic deformation separation of the snap, it can withstand repeated connections, thereby extending the service life of the cleaning system.

[0094] Further, in the present application, the magnetic attraction assembly comprises the magnet 1334 and the magnetic attraction piece 127 which is magnetically attracted to the magnet 1334. Exemplarily, the magnetic attraction piece 127 can be a magnet or a magnetic sheet (i.e. a metal sheet or a metal alloy sheet). In the present application, the magnet 1334 is installed on the top of the floating piece 1331, and the magnetic attraction piece 127 is installed on the bottom of the transmission assembly 12. Through the magnetic attraction between the magnet 1334 and the magnetic attraction piece 127, the cleaning assembly 13 is detachably connected to the transmission assembly 12.

[0095] Further, when the cleaning system performs the disassembly of the cleaning assembly 13, the magnetic force between the cleaning assembly 13 and the transmission assembly 12 is smaller than the lifting reset force of the elastic piece 125 of the second transmission piece 124 (i.e. the cylindrical cam), and the cleaning assembly 13 is separated from the transmission assembly 12, i.e. the disassembly of the cleaning assembly 13 is completed. When the cleaning system performs the assembly of the cleaning assembly 13, the magnet 1334 installed on the top of the floating piece 1331 has a predetermined distance from the top of the floating piece 1331 in the cleaning assembly 13 arranged on the base station 20. When the driving motor 11 drives the transmission assembly 12 to rotate in the second direction and to descend, the bottom of the second transmission piece 124 and the outer contour of the mounting groove 1321 of the cleaning assembly 13 are engaged, the driving motor 11 continuously drives the transmission assembly 12 to rotate in the second direction, the magnet 1334 is gradually connected to the magnetic attraction piece 127, and the cleaning assembly 13 is driven to rotate in the second direction and to disengage the first element 131 from the second element 21, so that the assembly of the cleaning assembly 13 is completed.

[0096] As shown in Figure 2 , Figure 6 and Figure 7 , the base station 20 comprises the washing tray 22, and the second element 21 is arranged on the washing tray 22. In the present application, the second element 21 is arranged on the washing tray 22, and when the first element 131 on the cleaning assembly 13 is connected to the second element 21, the cleaning assembly 13 is directly located at the optimal position of the washing tray 22, so that the temporary storage of the cleaning assembly 13 is facilitated.

[0097] Again referring to Figure 2 , Figure 6 and Figure 7 , the washing tray 22 is provided with the protruding part 221, and the second element 21 is arranged on the protruding part 221. In the present application, the second element 21 is arranged on the protruding part 221, and when the cleaning main machine 10 returns to the base station 20 with the cleaning assembly 13, the protruding part 221 increases the distance between the cleaning assembly 13 and the washing tray 22 when the cleaning assembly 13 is disassembled and located in the washing tray 22, so that the sewage dropped on the cleaning assembly 13 can be smoothly discharged, and the generation of peculiar smell is reduced.

[0098] Furthermore, in the present application, the raised portion 221 can be a cleaning scraper, or a raised portion 221 specifically configured to mount the second element 21. In the present application, it is preferred that the second element 21 be mounted on the cleaning scraper. This configuration not only saves space but also facilitates installation and maintenance.

[0099] like Figure 2 、 Figure 6 and Figure 7 As shown, a guide groove 222 is provided on the raised portion 221. The guide groove 222 extends from the second element 21 to the outer edge of the cleaning disc 22, and the height of the bottom surface of the guide groove 222 gradually decreases as it moves away from the second element 21. This configuration provides an inclined bottom surface of the guide groove 222. When the cleaning assembly 13 is removed from the cleaning disc 22, the falling wastewater can be quickly drained into a wastewater tank (not shown). If wastewater or dirt remains in the second element 21 after cleaning the cleaning assembly 13, the guide groove 222 allows the remaining wastewater or dirt to be quickly drained into the wastewater tank (not shown) after the machine is shut down, eliminating the need for the user to manually clean the wastewater or dirt in the guide groove 222 and the interior of the second element 21.

[0100] See again Figure 2 、 Figure 6 and Figure 7 As shown, the cleaning component 13 has an inward position set close to the cleaning host 10 and an outward position extending beyond the outer edge of the cleaning host 10, and in the projection in the height direction of the cleaning host 10, the area of ​​the cleaning component 13 extending beyond the outer edge of the cleaning host 10 when the cleaning component 13 is in the outward position is larger than the area of ​​the cleaning component 13 extending beyond the outer edge of the cleaning host 10 when the cleaning component 13 is in the inward position; a limiting member 223 is provided at the cleaning disk 22, and when the drive motor 11 drives the transmission assembly 12 and drives the cleaning component 13 to rotate and descend in the first direction, the limiting member 223 is used to limit the cleaning component 13 in the cleaning disk 22 to prevent the cleaning component 13 from switching from the inward position to the outward position.

[0101] Specifically, during the disassembly of the cleaning assembly 13, when the drive motor 11 drives the transmission assembly 12 to rotate and descend in a first direction, a torque is generated when the cleaning assembly 13 contacts the cleaning disc 22, etc., and this torque can cause the cleaning assembly 13 to swing relative to the cleaning host 10 in a second direction opposite to the first direction, thereby driving the cleaning assembly 13 to protrude from the outer edge of the cleaning host 10 and be in an outwardly expanded position. However, when disassembling the cleaning assembly 13, it is necessary to disassemble the cleaning assembly 13 into the cleaning disc 22 according to a preset path. The limiter 223 limits the lateral / radial displacement of the cleaning assembly 13 to prevent it from protruding from the cleaning host 10 and being in an outwardly expanded position when subjected to force, thereby preventing the cleaning assembly 13 from colliding with the surrounding structures of the cleaning disc 22, getting stuck, or even damaging the drive motor 11 or the transmission assembly 12, thereby maintaining the stability and safety of the specific operation. In addition, when the transmission component 12 drives the cleaning component 13 to rotate and descend, there may be a certain amount of mechanical impact force. The limiter 223 can absorb part of the impact force through its own structural characteristics, ensuring that the cleaning component 13 can stably fall into the target position after disassembly, and protect the second element 21 on the cleaning disc 22 to reduce wear.

[0102] According to the above embodiments, the cleaning system provided by the present application can at least achieve the following technical effects:

[0103] The present application arranges a first element 131 on the cleaning component 13, and arranges a second element 21 on the base station 20 to cooperate with the first element 131. By controlling the drive motor 11 to drive the transmission component 12 to rise and fall and rotate along the first direction or the second direction, the first element 131 and the second element 21 are cooperated or released, thereby realizing the disassembly or assembly of the cleaning component 13, reducing the user's manual disassembly and assembly of the cleaning component 13, and improving the user's usage experience.

[0104] In this application, the working principle of disassembly and assembly of the cleaning component 13 is as follows:

[0105] First: when the cleaning host 10 receives the recharging operation, the cleaning host 10 returns to the fixed position on the base station 20, and the electrode pieces of the cleaning host 10 and the base station 20 detect whether it is in place successfully.

[0106] Furthermore, when the cleaning host 10 returns to the base station 20, the cleaning component 13 is usually in a position that has been lowered to a position close to the ground. At this time, it is necessary to control the drive motor 11 to reverse (rotate in the opposite direction to the direction in which the cleaning component 13 is lowered). After reversing for a predetermined time, the cleaning component 13 is lifted to a predetermined position, which is conducive to the cleaning host 10 accurately entering the docking area on the base station 20 and improving the alignment accuracy. By first reversing to lift the cleaning component 13, the cleaning component 13 can be temporarily separated from the ground or avoid the docking structure of the base station 20, freeing up enough space for the cleaning host 10 to return to the station, reducing the risk of mechanical interference, and ensuring that the cleaning host 10 smoothly enters the preset position. In addition, when the cleaning component 13 is first lifted to the predetermined position, it is conducive to calibrating the posture of the cleaning component 13, ensuring accurate resetting when descending during subsequent disassembly; it is also conducive to reducing friction damage between the cleaning component 13 and the ground, and extending the service life of the cleaning component 13.

[0107] When the cleaning host 10 is in place and is to be disassembled: the driving motor 11 drives the transmission assembly 12 to rotate and descend in the first direction (the direction of the mating connection between the first element 131 and the second element 21), and at the same time drives the cleaning assembly 13 to rotate and descend in the first direction. A first element 131 is provided on the cleaning assembly 13, and a second element 21 that cooperates with the first element 131 is provided on the cleaning disk 22 of the base station 20. A guide section 13221 is provided on the mounting bracket 132 of the cleaning assembly 13, and the guide section 13221 cooperates with the second element 21 on the cleaning disk 22. During the rotation of the cleaning assembly 13, the first element 131 cooperates with the second element 21, and the magnet 1334 on the cleaning assembly 13 and the magnetic attraction member 127 provided at the bottom of the transmission assembly 12 are disengaged, thereby removing the cleaning assembly 13 from the cleaning disk 22.

[0108] When the cleaning host 10 is assembled: after the cleaning host 10 is recharged and in place on the base station 20, the drive motor 11 is controlled to drive the transmission assembly 12 to rotate in a second direction opposite to the first direction and descend, and the transmission assembly 12 is connected with the cleaning assembly 13. During this process, after rotating for a period of time, the cleaning assembly 13 is controlled to rise and detect whether the cleaning assembly 13 is assembled in place. If it is in place, any of the following operations can be performed: cleaning operation, drying operation of the cleaning assembly 13, or leaving the station operation; if it is detected that the cleaning assembly 13 is not in place, the transmission assembly 12 is controlled to descend again and the assembly operation is performed, and the detection process is repeated until the assembly operation is completed.

[0109] On the other hand, see Figures 1 to 13As shown, the present application also provides a control method for a cleaning system, which is used to control the above-mentioned cleaning system. The control method of the cleaning system includes: controlling the cleaning host 10 to move to the base station 20; detecting whether the cleaning component 13 is connected to the transmission component 12 and determining whether the cleaning system performs the disassembly or assembly of the cleaning component 13 based on the detection result; when it is necessary to disassemble the cleaning component 13, controlling the drive motor 11 to drive the transmission component 12 to rotate in a first direction and descend; when it is necessary to assemble the cleaning component 13, controlling the drive motor 11 to drive the transmission component 12 to rotate in a second direction and descend.

[0110] Specifically, the cleaning host 10 is controlled to execute the recharge command and move to the base station 20. The base station 20 is provided with a recharge positioning structure, and the electrodes of the cleaning host 10 and the base station 20 detect whether the position is successful. Then, the cleaning component 13 is detected to be connected to the transmission component 12, and the cleaning component 13 is determined to be disassembled or assembled based on the detection result.

[0111] Furthermore, based on the detection results, the cleaning system is judged to execute the disassembly of the cleaning component 13, and the drive motor 11 is controlled to drive the transmission component 12 to rotate and descend in the first direction: the first predetermined parameter of the cleaning system is detected, and the first predetermined parameter is used to determine whether the cleaning component 13 has completed disassembly.

[0112] The first predetermined parameter includes the current of the drive motor 11, and the current of the drive motor 11 is detected in real time. If the current of the drive motor 11 is greater than a first preset value, the disassembly of the cleaning component 13 is completed. Specifically, the drive motor 11 drives the transmission component 12 to rotate in a first direction and descend, and the first element 131 provided on the cleaning component 13 and the second element 21 provided on the base station 20 gradually contact and engage until they are tightened. When it is detected that the current of the drive motor 11 is greater than the first preset value (this can be based on the current reading on the control system, or a corresponding current detection device can be set to monitor the current value), it is determined that the disassembly of the cleaning component 13 is complete, and subsequent related instructions can be executed.

[0113] Specifically, the driving motor 11 drives the transmission assembly 12 to descend and rotate in the first direction until the guide section 13221 on the cleaning assembly 13 is in abutment with the second element 21 to press the cleaning assembly 13, the second transmission member 124 of the transmission assembly 12 continues to rotate downward, the floating connection assembly 133 is pressed and moves downward relative to the mounting bracket 132, so that the first element 131 and the second element 21 are in contact and occlusion and continue to drive the floating connection assembly 133 to move downward, the magnetic force between the magnet 1334 on the floating connection assembly 133 and the magnetic attraction member 127 on the transmission assembly 12 is less than the lifting reset force of the elastic member 125 of the second transmission member 124 of the transmission assembly 12, and the magnet 1334 is disengaged from the transmission assembly 12. When the first element 131 and the second element 21 are completely connected, the driving motor 11 is locked-rotor, the current is large, and the cleaning main machine 10 judges that the cleaning assembly 13 is disassembled according to the signal, and the cleaning main machine 10 can execute the lifting instruction, at this time the driving motor 11 is slightly reversed, the second transmission member 124 is lifted, the cleaning assembly 13 is left in the base station 20, and the cleaning system completes the disassembly of the cleaning assembly 13.

[0114] Optionally, the first predetermined parameter further includes a presence detection signal of the cleaning assembly 13, which detects whether the cleaning assembly 13 is connected to the transmission assembly 12 through a detection element arranged between the transmission assembly 12 and the cleaning assembly 13, and when it is detected that the cleaning assembly 13 is not connected to the transmission assembly 12, it is judged that the cleaning assembly 13 is disassembled. Specifically, in the actual process, after the driving motor 11 drives the second transmission assembly 12 to rotate and descend in the first direction for a period of time, the detection element arranged is used to detect whether the cleaning assembly 13 is in place, and further judge whether the cleaning assembly 13 is disassembled successfully; if it is detected that the cleaning assembly 13 is connected to the transmission assembly 12 (i.e. in place), the driving motor 11 is controlled again to drive the transmission assembly 12 to rotate and descend in the first direction, and the disassembly of the cleaning assembly 13 is executed again. If it is detected that the cleaning assembly 13 is not connected to the transmission assembly 12 (i.e. not in place), it is judged that the disassembly is completed, and the cleaning main machine 10 after disassembly can execute the next related instruction according to actual needs, such as charging or executing off-site instruction and cleaning.

[0115] Further, according to the detection result, when the cleaning system executes the assembly of the cleaning assembly 13, the driving motor 11 is controlled to drive the transmission assembly 12 to rotate and descend in the second direction:

[0116] The second predetermined parameter of the cleaning system is detected, and whether the cleaning assembly 13 is assembled is judged according to the second predetermined parameter; wherein,

[0117] The second predetermined parameter includes the current of the drive motor 11. When it is detected that the current of the drive motor 11 is less than the second preset value, it is judged that the assembly of the cleaning component 13 is completed. Specifically, when the drive motor 11 drives the transmission component 12 to rotate and descend in the second direction, when the transmission component 12 descends to the extreme position (i.e., when it cooperates with the cleaning component 13 located on the cleaning disc 22), the drive motor 11 will be blocked (at this time, the first element 131 and the second element 21 are in a fully tightened state), resulting in an increase in the current value. When the drive motor 11 drives the transmission component 12 to continue rotating in the second direction, the first element 131 and the second element 21 gradually release the cooperation, and the current will gradually decrease. When the current value is less than the second preset value and the current is greater than the second preset value, it is judged that the first element 131 and the second element 21 are completely released, indicating that the assembly of the cleaning component 13 is completed.

[0118] Optionally, the second predetermined parameter includes an operating time of the drive motor 11. When the drive motor 11 drives the transmission assembly 12 to rotate in the second direction and descend for the predetermined operating time, it is determined that the assembly of the cleaning assembly 13 is complete. Specifically, according to the predetermined operating time set on the cleaning system, when the drive motor 11 drives the transmission assembly 12 to rotate in the second direction for a predetermined time, so that the first element 131 and the second element 21 are completely disengaged and the magnet 1334 on the cleaning assembly 13 is magnetically attracted to the magnetic attraction member 127 on the transmission assembly 12, the assembly action is completed.

[0119] Optionally, the second predetermined parameter includes a detection signal of whether the cleaning component 13 is in place. When the detection element arranged between the transmission component 12 and the cleaning component 13 detects whether the cleaning component 13 is connected to the transmission component 12, when it is detected that the cleaning component 13 is connected to the transmission component 12, it is determined that the cleaning component 13 is assembled.

[0120] Specifically, when the current of the drive motor 11 is less than the second preset value or when the drive motor 11 has been working for a predetermined time, the detection element provided between the transmission assembly 12 and the cleaning assembly 13 can be used to detect whether the cleaning assembly 13 is connected to the transmission assembly 12 to further determine whether the assembly is complete. If it is in place (i.e., the cleaning assembly 13 is connected to the transmission assembly 12), subsequent related tasks can be performed. If not, the drive motor 11 is controlled again to drive the transmission assembly 12 to rotate and descend in the second direction, and the assembly of the cleaning assembly 13 is performed again. The detection element can be a linear Hall detection element. After detecting that the cleaning assembly 13 is assembled in place, the cleaning host 10 can detect whether the lifting position of the cleaning assembly 13 on the cleaning host 10 meets the requirements based on the linear Hall detection element. If it meets the requirements, the cleaning host 10 is controlled to execute the task of leaving the base station 20 or perform other tasks; if it is detected that the lifting position of the cleaning assembly 13 does not meet the requirements, the cleaning assembly 13 is continued to be controlled to execute the lifting instruction again until it meets the requirements and performs other operations.

[0121] Furthermore, when the control method of the cleaning system further includes: after the assembly of the cleaning component 13 is completed, when the cleaning host 10 needs to perform any one of the cleaning task, drying task, and off-station task of the cleaning component 13, or before, controlling the cleaning host 10 to move so that the first element 131 and the second element 21 are misaligned. Optionally, when the cleaning host 10 is located on the base station 20 and the assembly of the cleaning component 13 is completed, before the cleaning host 10 controls the cleaning component 13 to rotate in the first direction, controlling the cleaning host 10 to move so that the first element 131 and the second element 21 are misaligned.

[0122] Specifically, in some usage scenarios, after the cleaning component 13 is magnetically connected to the transmission component 12, and the fit between the first element 131 and the second element 21 is gradually released, the first element 131 may still be in contact with the second element 21. At this time, before the cleaning host 10 needs to perform any of the aforementioned tasks, when the cleaning host 10 controls the cleaning component 13 to rotate and lift in the first direction, it is necessary to first control the cleaning host 10 to move forward (i.e., move in the direction away from the positioning structure) to cause the first element 131 and the second element 21 to be misaligned. At this time, the cleaning component 13 and the base station 20 are completely disengaged, making it easier to execute the lifting command and prevent the cleaning component 13 from being disassembled into the cleaning tray 22. If the first element 131 and the second element 21 are not misaligned first and the lifting is performed directly, a vertical hard collision may occur between the first element 131 and the second element 21, resulting in damage to the edge of the second element 21, and the lifting will be hindered, increasing the probability of the drive motor 11 being blocked. In other usage scenarios, when the cleaning component 13 does not need to be lifted and rotated during the execution of the task, if the rotation direction of the cleaning component 13 is consistent with the disassembly direction of the cleaning component 13 (i.e., the first direction), the first element 131 and the second element 21 are first misaligned to avoid interference during the rotation process and causing wear on the structure on the base station 20.

[0123] For example, when the cleaning host 10 needs to perform a cleaning task, when the cleaning direction of the cleaning component 13 is consistent with the direction of the mating connection between the first element 131 and the second element 21 when the cleaning component 13 is disassembled (i.e., the first direction), the first element 131 and the second element 21 are first misaligned to avoid accidental contact and tightening of the first element 131 and the second element 21 during the rotation of the cleaning component 13 during the cleaning task, and the cleaning component 13 is disassembled into the cleaning disk 22 again, disengaging from the transmission component 12 and being unable to rotate normally for cleaning. If the cleaning direction of the cleaning component 13 is consistent with the direction of the release of the mating connection between the first element 131 and the second element 21 (i.e., the second direction), the first element 131 and the second element 21 are first misaligned before the cleaning task is performed, to avoid friction between the first element 131 and the second element 21 due to contact, which hinders the rotation of the cleaning component 13, increases the load on the drive motor 11, and may even cause component wear. That is, misaligning the first element 131 and the second element 21 before performing the cleaning task can prevent the cleaning component 13 from accidentally falling off during cleaning, and can also avoid structural interference to improve the cleaning effect and extend the service life of the components.

[0124] Furthermore, when the assembly is completed, when the cleaning host 10 needs to perform a drying task, the first element 131 and the second element 21 also need to be misaligned first. Specifically, the drying task usually relies on a specific drying device (such as a hot air outlet, a heating plate, etc.) to dry the cleaning component 13. These devices may be close to the second element 21 of the base station 20 (such as the nut of the cleaning disk 22) in spatial position. If the first element 131 and the second element 21 are not misaligned, the first element 131 and the second element 21 will interfere with each other due to contact, thereby hindering the stable rotation of the cleaning component 13, and may also limit the alignment accuracy of the drying device and cause uneven drying. In addition, during the drying process, the cleaning component 13 needs to maintain a stable connection with the transmission component 12 of the cleaning host 10 (such as through magnetic attraction) to ensure that the cleaning component 13 can rotate with the transmission component 12 (uniform drying). In some usage scenarios, before performing the drying task, when the drying rotation direction of the cleaning component 13 is consistent with the direction of the mating connection between the first element 131 and the second element 21, the first element 131 and the second element 21 are first misaligned to prevent the cleaning component 13 from being disassembled into the cleaning tray 22 and out of the control of the transmission component 12, resulting in the cleaning component 13 being unable to rotate with the transmission component 12, resulting in uneven drying. Moreover, the misalignment between the first element 131 and the second element 21 can also ensure the drying efficiency of the cleaning component 13, avoid local obstruction or heat loss, and improve the drying speed and uniformity of the cleaning component 13. In other usage scenarios, the cleaning component 13 needs to be lifted before drying. At this time, the rotation direction of the cleaning component 13 when lifting is consistent with the direction of disassembly of the cleaning component 13 (i.e., the first direction). It is necessary to first misalign the first element 131 and the second element 21 to avoid the cleaning component 13 being blocked from lifting and affecting its drying.

[0125] Furthermore, when the assembly is completed, when the cleaning host 10 needs to perform the task of leaving the station, it is also necessary to first dislocate the first component 131 and the second component 21. Before the cleaning host 10 performs the task of leaving the station, it is necessary to lift the cleaning component 13 first to prevent the clean cleaning component 13 from being contaminated by the dirty structure on the base station 20 or the unclean cleaning component 13 from contaminating the clean structure on the base station 20. At this time, if the lifting rotation direction of the cleaning component 13 is consistent with the first direction (i.e., the disassembly direction of the cleaning component 13), the first component 131 and the second component 21 are dislocated first, which can completely disconnect the physical connection between the cleaning host 10 and the base station 20, ensuring smooth power when leaving the station. In addition, dislocating the first component 131 and the second component 21 first can avoid spatial interference during the departure process and prevent the first component 131 from colliding with the structure on the base station 20. At the same time, the misalignment of the first element 131 and the second element 21 can also ensure a stable connection between the cleaning component 13 and the transmission component 12, thereby preventing the cleaning component 13 from falling off or shifting when the cleaning host 10 leaves the station. After the misalignment, the cleaning component 13 is only constrained by the transmission component 12, and can maintain a stable state during assembly, ensuring that it can work normally immediately after leaving the station.

[0126] That is to say, after completing the assembly of the cleaning component 13, when the cleaning host 10 needs to perform the cleaning task of the cleaning component 13, the drying task of the cleaning component 13, or any of the off-station tasks or before, the cleaning host 10 is controlled to move so that the first element 131 and the second element 21 are misaligned, which can eliminate the risk of interference, ensure the independence of the action, and improve the reliability of the equipment.

[0127] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0128] In addition, it should be noted that the use of the terms "first", "second" and the like does not denote any order, quantity, combination or the like, but is merely intended to distinguish the corresponding components, and the above terms have no special meaning unless otherwise stated, and therefore cannot be understood as limiting the protection scope of the present application.

[0129] The preferred embodiments of the present application are only used to explain the present application, and not used to limit the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A cleaning system, characterized in that: include: A cleaning host (10) is provided with a driving motor (11), a transmission assembly (12) and a cleaning assembly (13); the transmission assembly (12) is connected to the driving motor (11) and is lifted and rotated under the drive of the driving motor (11); the cleaning assembly (13) is detachably connected to the transmission assembly (12); and the cleaning assembly (13) is provided with a first element (131); A base station (20), wherein a second element (21) is provided on the base station (20), and the second element (21) is at least used for connecting with the first element (131); The driving motor (11) is configured to drive the transmission assembly (12) to descend and rotate in a first direction, so that the first element (131) of the cleaning assembly (13) connected to the transmission assembly (12) is connected to the second element (21), and the cleaning assembly (13) is removed from the transmission assembly (12).

2. The cleaning system according to claim 1, characterized in that The drive motor (11) is further configured to drive the transmission assembly (12) to descend and rotate in a second direction opposite to the first direction, so as to disengage the first element (131) and the second element (21) on the cleaning assembly (13) provided on the base station (20), and connect the cleaning assembly (13) to the transmission assembly (12).

3. The cleaning system according to claim 1 or 2, characterized in that: One of the first element (131) and the second element (21) includes a stud, and the other includes a threaded hole that cooperates with the stud; and / or, The cleaning component (13) further comprises: Mounting bracket (132); a floating connection assembly (133), the floating connection assembly (133) being floatingly disposed on the mounting bracket (132) and being detachably connected to the transmission assembly (12), the first element (131) being disposed on the floating connection assembly (133); When the transmission assembly (12) descends to a predetermined height, the floating connection assembly (133) and the mounting bracket (132) remain relatively stationary; when the transmission assembly (12) descends to exceed the predetermined height, the floating connection assembly (133) floats relative to the mounting bracket (132) to drive the first element (131) and the second element (21) to engage or disengage.

4. The cleaning system according to claim 3, characterized in that The mounting bracket (132) comprises a mounting groove (1321), a relief hole (1322) is provided at the bottom of the mounting groove (1321), and the relief hole (1322) extends to the bottom surface of the mounting bracket (132); The floating connection assembly (133) includes a floating member (1331), the floating member (1331) is floatingly mounted on the mounting groove (1321), and the first element (131) is mounted on the floating member (1331) and penetrates the avoidance hole (1322).

5. The cleaning system according to claim 4, characterized in that The floating connection assembly (133) further includes a first elastic element (1332), wherein the first elastic element (1332) abuts between the bottom surface of the mounting groove (1321) and the floating member (1331); and / or, A limiting portion (13211) is provided on the side wall of the installation groove (1321), and a limiting matching portion (13311) that matches the limiting portion (13211) is provided on the floating member (1331), and the limiting matching portion (13311) matches the limiting portion (13211) and limits the floating member (1331) in the installation groove (1321); and / or, The floating connection assembly (133) further includes a second elastic element (1333), wherein the second elastic element (1333) abuts between the first element (131) and the floating member (1331); and / or, A guide section (13221) is provided at one end of the avoidance hole (1322) facing away from the floating member (1331).

6. The cleaning system according to claim 5, characterized in that One of the limiting portion (13211) and the limiting matching portion (13311) is a protrusion, and the other is a groove, and the groove extends a predetermined length along the height direction of the floating member (1331).

7. The cleaning system according to claim 3, characterized in that The floating connection assembly (133) and the transmission assembly (12) are detachably connected via a magnetic attraction assembly or a snap assembly.

8. The cleaning system according to claim 1, wherein: The base station (20) comprises a cleaning tray (22), and the second element (21) is arranged on the cleaning tray (22).

9. The cleaning system according to claim 8, characterized in that The cleaning disc (22) is provided with a protrusion (221), the second element is provided on the protrusion (221; and / or, A guide groove (222) is provided on the protrusion (221), and the guide groove (222) extends from the second element (21) to the outer edge of the cleaning disk (22), and the height of the bottom surface of the guide groove (222) gradually decreases in a direction away from the second element (21).

10. The cleaning system according to claim 8, characterized in that The cleaning component (13) has an inward position arranged close to the cleaning main body (10) and an outward position extending beyond the outer edge of the cleaning main body (10), and within the projection in the height direction of the cleaning main body (10), the area of ​​the cleaning component (13) extending beyond the outer edge of the cleaning main body (10) when the cleaning component (13) is located at the outward position is larger than the area of ​​the cleaning component (13) extending beyond the outer edge of the cleaning main body (10) when the cleaning component (13) is located at the inward position; A limiting member (223) is provided at the cleaning disc (22). When the driving motor (11) drives the transmission assembly (12) and drives the cleaning assembly (13) to rotate and descend along the first direction, the limiting member (223) is used to limit the cleaning assembly (13) within the cleaning disc (22) to prevent the cleaning assembly (13) from switching from the retracted position to the extended position.

11. A method for controlling a cleaning system, characterized in that: The control method is used to control the cleaning system according to any one of claims 1 to 10, and the control method of the cleaning system includes: Controlling the cleaning host (10) to move to the base station (20); Detecting whether the cleaning component (13) is connected to the transmission component (12), and determining whether the cleaning system needs to perform disassembly or assembly of the cleaning component (13) based on the detection result; When the cleaning assembly (13) needs to be disassembled, the driving motor (11) is controlled to drive the transmission assembly (12) to rotate in the first direction and descend; When the cleaning assembly (13) needs to be assembled, the driving motor (11) is controlled to drive the transmission assembly (12) to rotate and descend in a second direction opposite to the first direction.

12. The control method of the cleaning system according to claim 11, characterized in that: During the process of controlling the drive motor (11) to drive the transmission assembly (12) to rotate and descend in the first direction: detecting a first predetermined parameter of the cleaning system, and judging whether the cleaning assembly (13) has been completely disassembled based on the first predetermined parameter; Wherein, the first predetermined parameter includes the current of the driving motor (11), and when the current of the driving motor (11) is greater than a first preset value, it is determined that the cleaning component (13) has been completely disassembled; or, The first predetermined parameter also includes a detection signal of whether the cleaning component (13) is in place, and whether the cleaning component (13) is connected to the transmission component (12) is detected by a detection element arranged between the transmission component (12) and the cleaning component (13). When it is detected that the cleaning component (13) is not connected to the transmission component (12), it is determined that the cleaning component (13) has been disassembled; and / or, During the process of controlling the drive motor (11) to drive the transmission assembly (12) to rotate and descend in the second direction: A second predetermined parameter of the cleaning system is detected, and whether the cleaning component (13) is assembled is determined based on the second predetermined parameter; wherein, The second predetermined parameter includes the current of the drive motor (11), and when it is detected that the current of the drive motor (11) is less than a second preset value, it is determined that the cleaning component (13) is assembled; or, The second predetermined parameter includes the working time of the driving motor (11), and when the driving motor (11) drives the transmission component (12) to rotate in the second direction and decrease for the predetermined working time, it is determined that the cleaning component (13) is assembled; or, The second predetermined parameter includes a detection signal of whether the cleaning component (13) is in position, when the detection element arranged between the transmission component (12) and the cleaning component (13) detects whether the cleaning component (13) is connected to the transmission component (12), and when it is detected that the cleaning component (13) is connected to the transmission component (12), it is determined that the cleaning component (13) is assembled; and / or, The control method of the cleaning system further comprises: after the assembly of the cleaning component (13) is completed, when the cleaning host (10) needs to perform any one of the cleaning task, drying task and off-station task of the cleaning component (13) or before, controlling the cleaning host (10) to move so that the first element (131) and the second element (21) are misaligned; and / or, The control method of the cleaning system further comprises: after the cleaning host (10) is located on the base station (20) and the assembly of the cleaning component (13) is completed, before the cleaning host (10) controls the cleaning component (13) to rotate along the first direction, controlling the cleaning host (10) to move so that the first element (131) and the second element (21) are misaligned.

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