Cleaning base station, cleaning system, cleaning part replacement method and cleaning method

Abstract

The invention discloses a cleaning base station, a cleaning system, a cleaning part replacement method and a cleaning method, and belongs to the technical field of cleaning systems. The cleaning base station comprises a base station body and a driving mechanism installed on the base station body. The cloth changing mechanism is in transmission connection with the driving mechanism and can move relative to the base station body under the driving of the driving mechanism, so that the cloth changing mechanism can move among a changing position, an overturning position and a storage position; and the projections of the replacement position, the turnover position and the storage position on the bottom surface of the base station body are at least partially staggered. The cleaning equipment does not need to wait for the cleaning time of the dirty cleaning part, the overall cleaning time of the cleaning equipment can be shortened, and the user experience is improved.

Description

Technical Field

[0001] This application belongs to the field of cleaning system technology, and in particular relates to a cleaning base station, a cleaning system, a cleaning part replacement method and a cleaning method. Background Technology

[0002] With the development of technology and the fast pace of life, using cleaning robots and other cleaning equipment for environmental cleaning not only improves cleaning efficiency but also frees up people's hands. Therefore, cleaning equipment on the market is currently very popular.

[0003] Current cleaning robots and other cleaning equipment can automatically perform functions such as mopping, sweeping, and wiping. These cleaning devices are usually equipped with a cleaning base station. During the cleaning process, the cleaning device can wash and dry the mop, or after completing the cleaning work, the cleaning device needs to return to the cleaning base station for charging and self-cleaning, such as washing and drying the mop.

[0004] If the cleaning equipment needs to clean the mop during the cleaning process, the cleaning equipment needs to return to the cleaning base station and then execute the cleaning program to clean the mop. After cleaning is completed, it can start cleaning the environment again. However, cleaning the mop will take up the cleaning time of the cleaning equipment, resulting in an increase in the overall cleaning time. Summary of the Invention

[0005] This application aims to at least partially solve the technical problem of long cleaning times. To this end, this application provides a cleaning base station, a cleaning system, a method for replacing the cleaning unit, and a cleaning method.

[0006] In a first aspect, embodiments of this application provide a cleaning base station for housing cleaning equipment, the cleaning base station comprising:

[0007] The base station body and the drive mechanism installed on the base station body;

[0008] The fabric changing mechanism is connected to the drive mechanism and can move relative to the base station body under the drive of the drive mechanism, so that the fabric changing mechanism can move between the changing position, the flipping position and the storage position.

[0009] The projections of the replacement position, the flipping position, and the storage position on the bottom surface of the base station body are at least partially misaligned.

[0010] The cloth-changing mechanism is capable of flipping relative to the base station body to replace the cleaning part of the cleaning equipment.

[0011] After the cleaning device cleans for a period of time, the cleaning part of the cleaning device is contaminated, and if the cleaning continues, the surface that has been cleaned may be contaminated again. Therefore, the contaminated cleaning part needs to be cleaned, the cleaning device returns to the cleaning base station, and the cleaning part is placed in the placement position, so that the base station body can detach the cleaning part from the cleaning device. The driving mechanism can drive the cloth changing mechanism to move to the placement position, fix the contaminated cleaning part, and turn over the entire cloth changing mechanism, so as to place the clean cleaning part in the placement position. Thus, the cleaning device can obtain a clean cleaning part, so that the cleaning device can continue to clean the surface, without waiting for the contaminated cleaning part to be cleaned, thereby reducing the cleaning time of the cleaning device and improving the cleaning effect.

[0012] In an optional embodiment of the present application, when the cloth changing mechanism is in the replacement position, the cloth changing mechanism can obtain the cleaning part from the cleaning device or place the cleaning part in the base station body.

[0013] When the cloth changing mechanism is in the storage position, the cloth changing mechanism can be stored in the base station body.

[0014] In an optional embodiment of the present application, the storage position is located above the replacement position.

[0015] In an optional embodiment of the present application, the storage position and the replacement position are at least partially misaligned on the projection of the base station body bottom surface.

[0016] In an optional embodiment of the present application, the storage position and the replacement position are located on both sides of the cloth changing mechanism, respectively.

[0017] In an optional embodiment of the present application, the replacement position and the storage position are arranged in the base station body.

[0018] In an optional embodiment of the present application, the cloth changing mechanism can be turned over at the turning position to turn the cleaning part fixed on the cloth changing mechanism, so that the cleaning part can be switched between the storage state and the replacement state.

[0019] When the cleaning part is in the storage state, the cleaning part can be stored in the storage position.

[0020] When the cleaning part is in the replacement state, the cleaning part can be replaced in the cleaning device.

[0021] In an optional embodiment of the present application, the cleaning part is in the storage state when it is above the cloth changing mechanism, and the cleaning part is in the replacement state when it is below the cloth changing mechanism.

[0022] In an alternative embodiment of the present application, the turnover position is located between the replacement position and the storage position.

[0023] In an alternative embodiment of the present application, projections of the turnover position and the storage position on the bottom surface of the base station body are at least partially misaligned.

[0024] In an alternative embodiment of the present application, projections of the replacement position and the turnover position on the bottom surface of the base station body are at least partially misaligned.

[0025] In an alternative embodiment of the present application, the cloth replacement mechanism comprises a cloth replacement driving member, a mounting portion, and a plurality of fixing portions. The cloth replacement driving member is in transmission connection with the mounting portion, and can drive the fixing portions to rotate through the mounting portion, so as to turn the cleaning portion fixed to the fixing portions.

[0026] In an alternative embodiment of the present application, the fixing portions are two, and the two fixing portions are respectively located on two opposite sides of the mounting portion.

[0027] In an alternative embodiment of the present application, in the case where one of the fixing portions is located above the other fixing portion, the cleaning portion of the fixing portion located above is in the storage state, and the cleaning portion of the fixing portion located below is in the replacement state.

[0028] In an alternative embodiment of the present application, the fixing portions are in sliding connection with the mounting portion.

[0029] In an alternative embodiment of the present application, the fixing portions can slide relative to the mounting portion, so that the fixing portions can cooperate with the cleaning portion in the base station body or place the cleaning portion in the replacement state in the base station body.

[0030] In an alternative embodiment of the present application, the base station body has a cleaning tank configured as the replacement position.

[0031] In an alternative embodiment of the present application, the base station body has a containing groove configured as the storage position.

[0032] In an alternative embodiment of the present application, the cloth replacement mechanism comprises a cloth replacement driving member and a fixing member for fixing the cleaning portion. The cloth replacement driving member is in transmission connection with the fixing member, and can drive the cleaning portion to switch between the replacement state and the storage state through the fixing member.

[0033] In an alternative embodiment of the present application, the cloth replacement driving member can drive the fixing member to rotate, so as to switch the cleaning portion between the replacement state and the storage state.

[0034] In an alternative embodiment of the present application, the fixing member comprises a mounting portion and a fixing portion, the fixing portion is mounted on the mounting portion, and the fixing portion is used for fixing the cleaning portion, and the mounting portion is in transmission connection with the cloth replacing driving member.

[0035] In an alternative embodiment of the present application, the fixing portion is in sliding connection with the mounting portion.

[0036] In an alternative embodiment of the present application, the fixing portion is in sliding connection with the mounting portion.

[0037] In an alternative embodiment of the present application, the fixing portion is in sliding connection with the mounting portion.

[0038] In an alternative embodiment of the present application, the fixing portion is in sliding connection with the mounting portion.

[0039] In an alternative embodiment of the present application, the fixing member further comprises a synchronizing portion, the synchronizing portion can simultaneously drive two fixing portions to slide relative to the mounting portion.

[0040] In an alternative embodiment of the present application, the synchronizing portion can drive two fixing portions to move away from each other or move towards each other.

[0041] In an alternative embodiment of the present application, the synchronizing portion comprises a synchronizing gear and a gear rack, the synchronizing gear is mounted on the mounting portion, the gear rack is mounted on the fixing portion, and the synchronizing gear is in meshing connection with the gear rack of two fixing portions.

[0042] In an alternative embodiment of the present application, among the fixing portion and the mounting portion, one is provided with a sliding groove, and the other is provided with a sliding rail, and the sliding groove is in sliding cooperation with the sliding rail.

[0043] In an alternative embodiment of the present application, the fixing portion is provided with a locking portion matched with the cleaning portion.

[0044] In an alternative embodiment of the present application, the fixing portion is further provided with a lap joint portion matched with the cleaning cloth.

[0045] In an alternative embodiment of the present application, the driving mechanism comprises a driver and a transmission arm, the driver is mounted on the base body, the transmission arm is in transmission connection with the driver and in rotational connection with the cloth replacing mechanism.

[0046] In an alternative embodiment of the present application, the transmission arm comprises a main arm and a sub-arm, the main arm is in transmission connection with the driver and the cloth replacing mechanism, and the sub-arm is in rotational connection with the base body and the cloth replacing mechanism.

[0047] In optional embodiments of the present application, the transmission arm is two, and the driving mechanism further comprises a transmission shaft, which is connected to the two transmission arms and the driver.

[0048] In optional embodiments of the present application, the cleaning base station further comprises an unlocking mechanism, which is mounted on the base body and can separate or lock the cleaning part from the cleaning device and / or the cloth changing mechanism.

[0049] In optional embodiments of the present application, the cloth changing mechanism is provided with a locking part, the cleaning part is provided with a stopper, and the unlocking mechanism can make the stopper cooperate with or separate from the locking part.

[0050] In optional embodiments of the present application, the unlocking mechanism comprises an unlocking piece and an unlocking driving piece, the unlocking piece is mounted on the base body, and the unlocking driving piece can make the stopper cooperate with or separate from the locking part through the unlocking piece.

[0051] In optional embodiments of the present application, the unlocking driving piece can drive the unlocking piece to rotate relative to the base body, so that the stopper moves relative to the mop cloth, and then cooperates with or separates from the stopper.

[0052] In optional embodiments of the present application, the unlocking piece comprises a connecting part, an unlocking part and a transmission part, the unlocking part and the transmission part are respectively located at both ends of the connecting part, the connecting part is rotatably connected with the base body, and the transmission part is connected with the unlocking driving piece.

[0053] In optional embodiments of the present application, the unlocking mechanism further comprises a reset piece, which is connected between the unlocking piece and the base body, and the reset piece can cooperate with the unlocking driving piece to make the stopper cooperate with the locking part.

[0054] In optional embodiments of the present application, the unlocking mechanism further comprises a rotating shaft, the unlocking piece is rotatably connected with the base body through the rotating shaft, and the reset piece is sleeved on the rotating shaft and abuts against the unlocking piece.

[0055] In optional embodiments of the present application, the unlocking driving piece comprises an unlocking driving part and a connecting rope, the connecting rope is wound around the unlocking driving part and connected with the unlocking piece.

[0056] In optional embodiments of the present application, the cleaning part comprises a mop plate, a mop cloth and a stopper, and the mop cloth and the stopper are both mounted on the mop plate.

[0057] In an optional embodiment of the present application, the mop plate is provided with a receiving cavity, and the stopper is partially mounted in the receiving cavity.

[0058] In an optional embodiment of the present application, the stopper is movable in the receiving cavity.

[0059] In an optional embodiment of the present application, the stopper comprises a trigger portion, a stop portion and a transition portion, the trigger portion and the stop portion are connected to the transition portion, the unlocking mechanism can act on the trigger portion, and the stop portion can cooperate with the cloth changing mechanism or the cleaning device.

[0060] In an optional embodiment of the present application, the stopper further comprises an elastic member, which is arranged between the transition portion and the mop plate and can provide an elastic force for resetting the stopper.

[0061] In an optional embodiment of the present application, the driving mechanism can drive the cloth changing mechanism to reciprocate between the replacement position and the storage position.

[0062] In an optional embodiment of the present application, the driving mechanism can drive the cloth changing mechanism to perform circular arc motion.

[0063] In a second aspect, the embodiments of the present application provide a cleaning system, comprising a cleaning device and the cleaning base station provided in the first aspect, and the cleaning device can be accommodated in the cleaning base station.

[0064] The cleaning system provided in the second aspect has the same beneficial effects as the cleaning base station provided in the first aspect, and details are not repeated here.

[0065] In an optional embodiment of the present application, the mop plate has a matching groove, and the stopper can be arranged in a groove opening of the matching groove to limit the locking portion in the matching groove.

[0066] In a third aspect, the embodiments of the present application provide a method for replacing a cleaning part, applied to a cleaning base station, comprising:

[0067] Controlling the cloth changing mechanism to move to a replacement position to pick up a dirty cleaning part, wherein the cloth changing mechanism is used to store a plurality of cleaning parts and to flip different cleaning parts, and the cleaning part is a component for processing a work surface;

[0068] Controlling the cloth changing mechanism to move to a flipping position to flip the cloth changing mechanism so that a clean cleaning part is flipped downward;

[0069] Controlling the cloth changing mechanism to move to the replacement position again to place the clean cleaning part in the replacement position.

[0070] The replacement method of the cleaning part provided by the third aspect has the same advantages as the cleaning base station provided by the first aspect, which will not be described here.

[0071] In an optional embodiment of the present application, before the cloth changing mechanism is controlled to move to the replacement position and pick up the dirty cleaning part, the method further comprises:

[0072] removing the cleaning part from the cleaning device.

[0073] In an optional embodiment of the present application, after the clean cleaning part is placed in the replacement position, the method further comprises:

[0074] installing the clean cleaning part on the cleaning device.

[0075] In an optional embodiment of the present application, the cleaning part replacement method further comprises:

[0076] The cloth changing mechanism places the clean cleaning part in the replacement position, and the cleaning base station triggers a control signal to enable the cleaning device to return to the cleaning base station.

[0077] In an optional embodiment of the present application, after the step of the cleaning device obtaining the clean cleaning part, the method further comprises:

[0078] controlling the cloth changing mechanism to place the dirty cleaning part in the washing tank;

[0079] In an optional embodiment of the present application, after the dirty cleaning part is processed clean, the method further comprises:

[0080] controlling the cleaning base station to perform a washing program to process the dirty cleaning part into the clean cleaning part;

[0081] controlling the cloth changing mechanism to move to a turnover position, and controlling the cloth changing mechanism to turn over so that the clean cleaning part is in a storage state;

[0082] controlling the cloth changing mechanism to the storage position to store the clean cleaning part.

[0083] In a fourth aspect, the embodiments of the present application provide a cleaning part replacement method applied to a cleaning device, the cleaning part replacement method comprising:

[0084] when the cleaning part of the cleaning device reaches a replacement condition, controlling the cleaning device to return to a cleaning base station (100);

[0085] removing a dirty cleaning part on the cleaning device, wherein the cleaning part is a component of a treatment work surface;

[0086] controlling the cleaning device to exit the cleaning base station;

[0087] controlling the cleaning device to return to the cleaning base station in response to a control signal;

[0088] obtaining a clean cleaning part.

[0089] The cleaning part replacement method provided in the fourth aspect has the same beneficial effects as the cleaning part replacement method provided in the third aspect, which will not be described here.

[0090] In an optional embodiment of the present application, the control signal indicates that the cleaning base station is to replace the dirty cleaning part with a clean cleaning part.

[0091] In an optional embodiment of the present application, after obtaining the clean cleaning part, the cleaning part replacement method further comprises:

[0092] The cleaning device exits the cleaning base station and performs a cleaning program.

[0093] In an optional embodiment of the present application, before the step of controlling the cleaning device to return to the cleaning base station, the cleaning part replacement method further comprises:

[0094] obtaining whether the cleaning base station performs a cleaning program and / or a drying program;

[0095] If the cleaning base station does not perform the cleaning program and the drying program, controlling the cleaning device to return to the cleaning base station.

[0096] In an optional embodiment of the present application, the cleaning part replacement method further comprises:

[0097] If the cleaning base station performs the cleaning program or the drying program, controlling the cleaning device to wait until the cleaning program and the drying program are completed, and then controlling the cleaning device to return to the cleaning base station.

[0098] In an optional embodiment of the present application, the cleaning part replacement method further comprises:

[0099] obtaining a working time of the cleaning device performing the cleaning program;

[0100] If the working time is greater than or equal to a preset time, determining that the cleaning part of the cleaning device meets the replacement condition.

[0101] In an optional embodiment of the present application, the cleaning part replacement method further comprises:

[0102] obtaining a working record of the cleaning device;

[0103] If a working record of the cleaning device reaches a cleaning area, it is determined that the cleaning part of the cleaning device (300) reaches a replacement condition.

[0104] In an optional embodiment of the present application, the cleaning part replacement method further comprises:

[0105] Obtaining a dirtiness degree of the cleaning device;

[0106] If the dirtiness degree is greater than or equal to a set degree, it is determined that the cleaning part of the cleaning device reaches a replacement condition.

[0107] In a fifth aspect, an embodiment of the present application provides a cleaning part replacement method applied to a cleaning system, the cleaning system comprising a cleaning base station and a cleaning device, and the cleaning part replacement method comprising:

[0108] When the cleaning part of the cleaning device reaches a replacement condition, controlling the cleaning device to return to the cleaning base station;

[0109] Dismounting a dirty cleaning part of the cleaning device;

[0110] Controlling the cleaning device to exit the cleaning base station;

[0111] A cloth replacement mechanism of the cleaning base station replaces the dirty cleaning part with a clean cleaning part and triggers a control signal;

[0112] The cleaning device returns to the cleaning base station in response to the control signal;

[0113] The cleaning device obtains the clean cleaning part;

[0114] Controlling the cleaning device to exit the cleaning base station.

[0115] The cleaning part replacement method provided in the fifth aspect has the same beneficial effects as the cleaning part replacement method provided in the third aspect, and thus repeated description is omitted here.

[0116] In an optional embodiment of the present application, the control signal represents that the cleaning base station replaces the dirty cleaning part with the clean cleaning part.

[0117] In an optional embodiment of the present application, the step of replacing the dirty cleaning part with the clean cleaning part by the cloth replacement mechanism of the cleaning base station comprises:

[0118] Controlling the cloth replacement mechanism to move to a replacement position and pick up the dirty cleaning part; wherein the cloth replacement mechanism is used to store a plurality of the cleaning parts and flip different cleaning parts, and the cleaning part is a component of a treatment work surface;

[0119] Controlling the cloth changing mechanism to move to a turnover position, and turning over the cloth changing mechanism so that the clean cleaning part is turned over to a replacement state;

[0120] Controlling the cloth changing mechanism to move to a replacement position again, and placing the clean cleaning part in the replacement position.

[0121] In an optional embodiment of the present application, after the step of controlling the cleaning device to exit the cleaning base station, the cleaning part replacement method further comprises:

[0122] The cleaning device performs a cleaning program;

[0123] The cleaning base station performs a cleaning step.

[0124] In an optional embodiment of the present application, the cleaning program and the cleaning step at least partially overlap in time.

[0125] In an optional embodiment of the present application, the cleaning base station performing a cleaning step comprises:

[0126] Controlling the cloth changing mechanism to place the dirty cleaning part in the cleaning tank;

[0127] Controlling the cleaning base station to perform a cleaning program and / or a drying program to process the dirty cleaning part into the clean cleaning part.

[0128] In an optional embodiment of the present application, the cleaning base station performing a cleaning step further comprises:

[0129] Controlling the cloth changing mechanism to move to a turnover position, and controlling the cloth changing mechanism to turn over so that the clean cleaning part is in a storage state;

[0130] Controlling the cloth changing mechanism to a storage position to store the clean cleaning part.

[0131] In an optional embodiment of the present application, the cleaning part replacement method further comprises:

[0132] Obtaining a working time of the cleaning device performing a cleaning program;

[0133] If the working time is greater than or equal to a preset time, it is determined that the cleaning part of the cleaning device meets the replacement condition.

[0134] In an optional embodiment of the present application, the cleaning part replacement method further comprises:

[0135] Obtaining a working record of the cleaning device;

[0136] If the working record of the cleaning device meets a cleaning area, it is determined that the cleaning part of the cleaning device (300) meets the replacement condition.

[0137] In an optional embodiment of the present application, the cleaning part replacement method further comprises:

[0138] obtaining a degree of dirtiness of the cleaning device;

[0139] if the degree of dirtiness is greater than or equal to a set degree, determining that the cleaning part of the cleaning device reaches a replacement condition.

[0140] In an optional embodiment of the present application, before the step of controlling the cleaning device to return to the cleaning base station, the cleaning part replacement method further comprises:

[0141] obtaining whether the cleaning base station performs a cleaning program and / or a drying program;

[0142] if the cleaning base station does not perform the cleaning program and the drying program, controlling the cleaning device to return to the cleaning base station.

[0143] In an optional embodiment of the present application, the cleaning part replacement method further comprises:

[0144] if the cleaning base station performs the cleaning program or the drying program, controlling the cleaning device to wait until the cleaning program and the drying program are completed, and then controlling the cleaning device to return to the cleaning base station.

[0145] In a sixth aspect, an embodiment of the present application provides a cleaning part cleaning method applied to a cleaning base station, and the cleaning part cleaning method comprises:

[0146] controlling the cloth changing mechanism to place the dirty cleaning part in the cleaning tank;

[0147] controlling the cleaning base station to perform a cleaning program to process the dirty cleaning part into a clean cleaning part;

[0148] In an optional embodiment of the present application, the cleaning part cleaning method further comprises:

[0149] controlling the cloth changing mechanism to move to a turnover position and controlling the cloth changing mechanism to turn over so that the clean cleaning part is in a storage state;

[0150] controlling the cloth changing mechanism to the storage position to store the clean cleaning part.

[0151] The cleaning part cleaning method provided in the sixth aspect has the same beneficial effects as the cleaning base station provided in the first aspect, and details are not repeated here.

[0152] In a seventh aspect, the embodiments of the present application provide a computer readable storage medium, having stored thereon a computer program, wherein the program is executed by a processor to implement the method of the third aspect, the fourth aspect, the fifth aspect and the sixth aspect. BRIEF DESCRIPTION OF DRAWINGS

[0153] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0154] Figure 1 A structural schematic diagram of a first perspective of a cleaning system provided by the embodiments of the present application is shown.

[0155] Figure 2 A structural schematic diagram of a cleaning base station provided by the embodiments of the present application is shown.

[0156] Figure 3 A structural schematic diagram of a cloth changing mechanism of a cleaning base station provided by the embodiments of the present application in a storage position is shown.

[0157] Figure 4 A structural schematic diagram of a cloth changing mechanism of a cleaning base station provided by the embodiments of the present application in a replacement position is shown.

[0158] Figure 5 A sectional view of a cleaning system provided by the embodiments of the present application is shown.

[0159] Figure 6 A structural schematic diagram of a cloth changing mechanism of a cleaning base station provided by the embodiments of the present application in a turnover position is shown.

[0160] Figure 7 A structural schematic diagram of a cloth changing mechanism of a cleaning base station provided by the embodiments of the present application is shown. Figure 6 A partial enlarged view of B in FIG. 8 is shown.

[0161] Figure 8 A structural schematic diagram of a cloth changing mechanism of a cleaning base station provided by the embodiments of the present application is shown. Figure 3 A partial enlarged view of A in FIG. 8 is shown.

[0162] Figure 9 A structural schematic diagram of a fixing member of a cloth changing mechanism of a cleaning base station provided by the embodiments of the present application is shown.

[0163] Figure 10 A structural schematic diagram of a cloth changing mechanism of a cleaning base station provided by the embodiments of the present application is shown. Figure 9 A partial enlarged view of D in FIG. 8 is shown.

[0164] Figure 11 A sectional view of a fixing member of a cloth changing mechanism of a cleaning base station provided by the embodiments of the present application is shown.

[0165] Figure 12 A schematic view showing part of the structure of the cleaning base station.

[0166] Figure 13 A schematic view showing the structure of the cleaning part.

[0167] Figure 14 A schematic view showing Figure 9 A partial enlarged view at C.

[0168] Figure 15 A schematic view showing Figure 13 A partial enlarged view at F.

[0169] Figure 16 A schematic view showing the structure of the stop portion stop slot of the cleaning part.

[0170] Figure 17 A schematic view showing Figure 16 A partial enlarged view at H.

[0171] Figure 18 A schematic view showing the structure of the stop portion opening slot of the cleaning part.

[0172] Figure 19 A schematic view showing Figure 18 A partial enlarged view at G.

[0173] Figure 20 A schematic view showing Figure 9 A partial enlarged view at.

[0174] Figure 21 A schematic view showing part of the structure of the cleaning base station.

[0175] Figure 22 A schematic view showing the structure of the unlocking member of the unlocking mechanism of the cleaning base station provided by the application.

[0176] Figure 23 A schematic view showing Figure 21 A partial enlarged view at K.

[0177] Figure 24 A schematic view showing the structure of the cleaning system from a second perspective.

[0178] Figure 25 A flow chart showing the cleaning part replacement method applied to the cleaning base station provided by the application.

[0179] Figure 26 A flow chart showing the cleaning part cleaning method provided by the application.

[0180] Figure 27 A flow chart showing the cleaning part replacement method applied to the cleaning device provided by the application.

[0181] Figure 28 A flow chart of steps S31a and S31b of the cleaning part replacement method applied to the cleaning device is shown.

[0182] Figure 29 A flow chart of steps S31c and S31d of the cleaning part replacement method applied to the cleaning device is shown.

[0183] Figure 30 A flow chart of steps S31e and S31f of the cleaning part replacement method applied to the cleaning device is shown.

[0184] Figure 31 A flow chart of the cleaning part replacement method applied to the cleaning system is shown.

[0185] Figure 32 A flow chart of steps S41a and S41b of the cleaning part replacement method applied to the cleaning system is shown.

[0186] Figure 33 A flow chart of steps S41c and S41d of the cleaning part replacement method applied to the cleaning system is shown.

[0187] Figure 34 A flow chart of steps S41e and S41f of the cleaning part replacement method applied to the cleaning system is shown.

[0188] Figure 35 A flow chart of sub-steps of step S45 of the cleaning part replacement method applied to the cleaning system is shown.

[0189] Figure 36 A flow chart of sub-steps of step S49 of the cleaning part replacement method applied to the cleaning system is shown.

[0190] 10-cleaning system, 100-cleaning base station, 110-base station body, 112-washing tank, 114-holding tank, 120-cloth changing mechanism, 122-cloth changing driving member, 124-fixing member, 126-mounting portion, 126a-driving hole, 126b-sliding rail, 128-fixing portion, 128b-sliding groove, 128c-locking portion, 128d-overlapping portion, 129-synchronizing portion, 129b-synchronizing gear, 129c-rack gear, 130-driving mechanism, 132-driver, 134-driving arm, 134a-main arm, 134b-sub arm, 134c-adapting arm, 136-driving shaft, 140-unlocking mechanism, 142-unlocking member, 142a-connecting portion, 142b-unlocking portion, 142c-driving portion, 143-unlocking driving member, 143a-unlocking driving portion, 143b-connecting rope, 145-returning member, 146-rotation shaft, 200-cleaning portion, 210-stop member, 212-triggering portion, 213-stop portion, 214-transition portion, 230-dragging plate, 231-matching groove, 232-slot, 234-holding cavity, 235-overlapping groove, 240-dragging cloth, 240-elastic member, 300-cleaning device. DETAILED DESCRIPTION

[0191] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0192] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative positional relationship, movement condition and the like between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0193] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixing" and the like should be understood in a broad sense, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0194] In addition, the descriptions such as "first", "second" and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0195] With the development of science and technology and the acceleration of life rhythm, using cleaning robots and other cleaning equipment to clean the environment can not only improve the cleaning efficiency, but also achieve the purpose of freeing hands. Therefore, the current market cleaning equipment is favored by people.

[0196] The current cleaning robots and other cleaning equipment can automatically complete the functions of mopping, sweeping and wiping, and the cleaning equipment is usually equipped with a cleaning base station. The mop of the cleaning equipment can be washed and dried during the cleaning process of the cleaning equipment, or the cleaning equipment needs to return to the cleaning base station for charging and self-cleaning after completing the cleaning work, such as mop washing, mop drying and the like.

[0197] If the cleaning equipment needs to wash the mop during the cleaning process, the cleaning equipment needs to return to the cleaning base station and then execute the washing program to wash the mop. After the washing is completed, the cleaning equipment starts again to clean the environment. However, washing the mop will occupy the cleaning time of the cleaning equipment, resulting in an increase in the entire cleaning time. The cleaning base station and cleaning system provided by the embodiments of the present application can improve the above problems. The cleaning base station and cleaning system provided by the embodiments of the present application can replace the mop during the cleaning process of the cleaning equipment. When the mop of the cleaning equipment needs to be washed, the cleaning equipment can return to the cleaning base station to replace the mop. The time for replacing the mop is greatly reduced compared with the time for washing the mop. There is no need to wait for the cleaning of the mop, so as to improve the cleaning efficiency of the cleaning equipment.

[0198] The present application will be described below in conjunction with the drawings and specific embodiments:

[0199] Please refer to Figure 1 and Figure 2 , Figure 1 Fig. 1 shows a structural schematic diagram of a cleaning equipment 300 provided by the embodiments of the present application, Figure 2A structure schematic diagram of the cleaning base station 100 provided by the embodiment of the present application is shown. The embodiment of the present application provides a cleaning base station 100 applied to a cleaning system 10. The cleaning base station 100 provided by the embodiment of the present application is mainly used for accommodating a cleaning device 300. The cleaning base station 100 provided by the embodiment of the present application can make the cleaning device 300 not need to wait for the time of cleaning of the dirty cleaning part 200, can reduce the cleaning time of the cleaning device 300, and improve the cleaning effect.

[0200] In the embodiment of the present application, the cleaning base station 100 comprises a cloth changing mechanism 120, a base station body 110, and a driving mechanism 130 mounted on the base station body 110. The cloth changing mechanism 120 is in transmission connection with the driving mechanism 130 and can move relative to the base station body 110 under the driving of the driving mechanism 130, so that the cloth changing mechanism 120 can move between a replacing position, a turning position, and a storage position. The projections of the replacing position, the turning position, and the storage position on the bottom surface of the base station body 110 are at least partially misaligned.

[0201] The base station body 110 is the main structure of the entire cleaning base station 100 and is the basis of the entire cleaning base station 100. The base station body 110 can provide a mounting basis for the cleaning module, the drying module, and other structures of the cleaning base station 100. The driving mechanism 130 and the cloth changing mechanism 120 are both mounted in the base station body 110. The cloth changing mechanism 120 can move relative to the base station body 110 under the driving of the driving mechanism 130.

[0202] The driving mechanism 130 can drive the cloth changing mechanism 120 to move relative to the base station body 110. The driving mechanism 130 can drive the cloth changing mechanism 120 to move relative to the base station body 110, to rotate relative to the base station body 110, or to move during rotation. In addition, the driving mechanism 130 can drive the cloth changing mechanism 120 to move in other ways, as long as the relative position between the cloth changing mechanism 120 and the base station body 110 can be changed.

[0203] The replacing position, the turning position, and the storage position are three different positions of the cloth changing mechanism 120 relative to the base station body 110. The driving mechanism 130 can drive the cloth changing mechanism 120 to move between the replacing position, the turning position, and the storage position. The driving mechanism 130 can drive the cloth changing mechanism 120 to move from the replacing position to the turning position, to move from the replacing position to the storage position, to move from the turning position to the storage position, to move from the turning position to the replacing position, to move from the storage position to the turning position, or to move from the storage position to the replacing position.

[0204] The projections of the replacement position, the turnover position and the storage position on the bottom surface of the base station body 110 are at least partially misaligned. The projection direction can be along the height direction of the base station body 110, or can be a direction at an angle to the height direction. In this application, the projection direction is taken as the height direction as an example.

[0205] The base station body 110 is arranged vertically, and the height direction of the base station body 110 is substantially along the vertical direction. In the height direction of the base station body 110, the projections of the replacement position, the turnover position and the storage position on the bottom surface of the base station body 110 are at least partially misaligned, that is, at least one of the three positions is at least partially misaligned with the other two positions.

[0206] The projections of the replacement position and the storage position on the bottom surface of the base station body 110 in the height direction, and the projection of the turnover position on the bottom surface of the base station body 110 in the height direction are at least partially misaligned.

[0207] The projections of the replacement position and the turnover position on the bottom surface of the base station body 110 in the height direction, and the projection of the storage position on the bottom surface of the base station body 110 in the height direction are at least partially misaligned.

[0208] The projections of the storage position and the turnover position on the bottom surface of the base station body 110 in the height direction, and the projection of the replacement position on the bottom surface of the base station body 110 in the height direction are at least partially misaligned.

[0209] The projections of any two positions of the replacement position, the turnover position and the storage position on the base station body 110 in the height direction are at least partially misaligned.

[0210] At least partially misaligned means that the positions can be completely misaligned, partially misaligned, or partially overlapped. Take the projections of the replacement position and the turnover position on the bottom surface of the base station body 110 in the height direction as an example.

[0211] The projections of the replacement position and the turnover position on the bottom surface of the base station body 110 in the height direction are at least partially overlapped, that is, the projections of the replacement position and the turnover position on the bottom surface of the base station body 110 in the height direction can be completely misaligned, or partially overlapped and partially misaligned.

[0212] The projections of the replacing position, the overturning position and the storage position on the bottom surface of the base station body 110 are at least partially misaligned in the height direction of the base station body 110, which means that the replacing position, the overturning position and the storage position are three different positions of the cloth replacing mechanism 120 relative to the base station body 110, so that the cloth replacing mechanism 120 has a certain activity space in the horizontal direction, and the space above the replacing position is used as much as possible, so as to leave the space above the replacing position for other components, so that the structure of the cleaning base station 100 is more compact, and the cleaning base station 100 can be miniaturized. Specifically, in order to facilitate description, the dirty cleaning part 200 and the clean cleaning part 200 are defined respectively, wherein the dirty cleaning part 200 is the cleaned cleaning part 200, and the clean cleaning part 200 is the cleaning part 200 after cleaning or before use. It should be noted that the clean cleaning part 200 and the dirty cleaning part 200 have the same structure, and the difference lies in the cleanliness.

[0213] After the cleaning device 300 cleans for a period of time, the cleaning part 200 of the cleaning device 300 is dirty, and if the cleaning continues, the surface that has been cleaned may be contaminated again, so the dirty cleaning part 200 needs to be cleaned. The cleaning device 300 returns to the cleaning base station 100 and makes the cleaning part 200 located at the placing position, so that the base station body 110 can detach the cleaning part 200 from the cleaning device 300. The driving mechanism 130 can drive the cloth replacing mechanism 120 to move to the placing position, fix the dirty cleaning part 200, overturn the entire cloth replacing mechanism 120, so as to place the clean cleaning part 200 at the placing position, and then make the cleaning device 300 obtain the clean cleaning part 200. The cleaning device 300 can continue to clean the surface, without waiting for the cleaning time of the dirty cleaning part 200, so as to reduce the cleaning time of the cleaning device 300 and improve the cleaning efficiency.

[0214] Please refer to Figure 3 and Figure 4 , Figure 3 Fig. 1 shows a structure schematic view of the cloth replacing mechanism 120 of the cleaning base station 100 in the storage position provided by the embodiment of the application, Figure 4 Fig. 2 shows a structure schematic view of the cloth replacing mechanism 120 of the cleaning base station 100 in the replacing position provided by the embodiment of the application, in some embodiments, the driving mechanism 130 can drive the cloth replacing mechanism 120 to move between the replacing position and the storage position;

[0215] When the cloth replacing mechanism 120 is located at the replacing position, the cloth replacing mechanism 120 can obtain the cleaning part 200 replaced from the cleaning device 300 or place the cleaning part 200 on the base station body 110; when the cloth replacing mechanism 120 is located at the storage position, the cloth replacing mechanism 120 can be stored in the base station body 110.

[0216] The replacement position and the storage position refer to the positions of the cloth replacement mechanism 120 relative to the base body 110, and the replacement position and the storage position are two different positions of the cloth replacement mechanism 120 relative to the base body 110. In the case where the cleaning part 200 is not replaced or cleaned, the cloth replacement mechanism 120 is basically located at the storage position, i.e., the storage position is the normal position of the cloth replacement mechanism 120. When the cleaning part 200 of the cleaning device 300 needs to be replaced, the cloth replacement mechanism 120 moves to the replacement position, takes away the dirty cleaning part 200, and places a clean cleaning part 200 at the replacement position, so that the cleaning device 300 can use the clean cleaning part 200.

[0217] In some embodiments, the storage position is located above the replacement position.

[0218] In the related art, the cleaning part 200 of the cleaning device 300 is generally located below the cleaning device 300, so that the cleaning device 300 can conveniently clean the ground. Therefore, in order to facilitate the cleaning of the cleaning part 200, the replacement position in the base body 110 is generally located below the base body 110. Since the bottom of the base body 110 is thin, and other cleaning devices need to be arranged, there is basically no space below to place the cloth replacement mechanism 120. Therefore, the cloth replacement mechanism 120 can be arranged above the replacement position. In the case where the cloth replacement mechanism 120 is arranged directly above the replacement position and is close to the replacement position, interference is likely to occur during the return of the cleaning device 300 to the cleaning base 100. Therefore, during the return of the cleaning device 300 to the cleaning base 100, the driving mechanism 130 can drive the cloth replacement mechanism 120 to move to another position, so that the cleaning device 300 can smoothly return to the cleaning base 100.

[0219] That is, the entire cloth replacement mechanism 120 is arranged above the replacement position and can move between the storage position and the replacement position. The storage position is arranged above the replacement position, so that the entire cloth replacement mechanism 120 can be located above the base body 110 in the normal state, and can avoid the cleaning device 300, so as to avoid interference between the cloth replacement mechanism 120 and the cleaning device 300 during the return of the cleaning device 300 to the cleaning base 100.

[0220] In some embodiments, the projection of the storage position and the replacement position on the bottom surface of the base body 110 is at least partially misaligned.

[0221] The base station body 110 is arranged vertically, and the projection of the storage position and the replacement position on the bottom surface of the base station body 110 is arranged at least partially staggered in the vertical direction. That is, the replacement position and the storage position are staggered in the horizontal direction, so that the cloth changing mechanism 120 has a certain space in the horizontal direction, and the space above the replacement position is left for other components as much as possible.

[0222] In addition, the projection of the storage position and the replacement position on the bottom surface of the base station body 110 is arranged at least partially staggered. The projection of the storage position and the replacement position can be completely staggered, partially staggered, or partially overlapped.

[0223] From the direction of the cleaning device 300 moving out of the base station body 110, the storage position is located in front of the replacement position, that is, the replacement position can be located at the lower rear of the base station body 110, and the storage position can be located at the upper front of the base station body 110.

[0224] In some embodiments, the replacement position and the storage position are arranged in the base station body 110, which means that the replacement position and the storage position are two fixed positions. Under the driving of the driving mechanism 130, the cloth changing mechanism 120 can move from the replacement position to the storage position, and from the storage position to the replacement position.

[0225] Since the replacement position and the storage position are two fixed positions, the driving mechanism 130 can control the movement of the cloth changing mechanism 120 by controlling the action of the driving mechanism 130 during the movement of the cloth changing mechanism 120, so as to improve the stability of the cloth changing mechanism 120 during the movement.

[0226] Specifically, the driving mechanism 130 drives the cloth changing mechanism 120 to rotate, so that the cloth changing mechanism 120 can move between the replacement position and the storage position. Since the replacement position and the storage position are relatively fixed, that is, the distance between the replacement position and the storage position is fixed, the stroke of the driving mechanism 130 can be set according to the distance between the replacement position and the storage position. When the driving mechanism 130 moves a preset stroke, it can be determined that the cloth changing mechanism 120 moves from the storage position to the replacement position or from the replacement position to the storage position.

[0227] Of course, in addition to the above, a detection switch can also be arranged at the replacement position and the storage position. When the detection switch detects the arrival signal of the cloth changing mechanism 120, it can be determined that the cloth changing mechanism 120 moves to the replacement position or the storage position.

[0228] Please refer to Figure 5 , Figure 5A cross-sectional view of the cleaning system 10 provided by the embodiments of the present application is shown. In some embodiments, the base station body 110 has a cleaning tank 112, which is configured as a replacement position.

[0229] The cleaning tank 112 is mainly used for cleaning the cleaning part 200 of the cleaning device 300, i.e., the cleaning tank 112 is arranged in the base station body 110. The cleaning tank 112 is configured as a replacement position. After the cleaning device 300 returns to the inside of the cleaning base station 100, the cleaning part 200 is located approximately above or in the cleaning tank 112. After the cleaning part 200 is removed from the cleaning device 300, the cleaning device 300 moves out of the base station body 110, and the cloth replacement mechanism 120 can be moved to the cleaning tank 112 (i.e., the replacement position), fixed to the cleaning part 200, and then removed from the cleaning device 300.

[0230] The cleaning tank 112 is configured as a replacement position, so that the existing structure can be used as the replacement position. After the cleaning part 200 is removed from the cleaning device 300, the cleaning part 200 does not need to be moved to another position. The cloth replacement mechanism 120 can be directly moved to the cleaning tank 112 (i.e., the replacement position), fixed to the cleaning part 200, and then removed from the cleaning device 300, which is simple and fast.

[0231] Since the existing cleaning tank 112 is used as the replacement position, the number of components in the base station body 110 can be reduced, and the structure of the entire cleaning base station 100 can be more compact, without increasing the size of the cleaning base station 100.

[0232] In some embodiments, the base station body 110 has a containing groove 114, which is configured as a storage position.

[0233] The containing groove 114 is arranged above the cleaning body, and the opening of the containing groove 114 is arranged downward, so that the cloth replacement mechanism 120 can be stored in the containing groove 114. When the cloth replacement mechanism 120 is in the storage position, the cleaning part 200 on the cloth replacement mechanism 120 is mostly a clean cleaning part 200. Arranging the entire cloth replacement mechanism 120 in the containing groove 114 can also protect the clean cleaning part 200, so that the clean cleaning part 200 can be prevented from being contaminated by other impurities, and the cleaning effect of the cleaning device 300 can be improved.

[0234] The opening of the accommodating groove 114 is downwardly arranged, and the opening of the cleaning groove 112 is upwardly arranged. It can be considered that the accommodating groove 114 and the cleaning groove 112 are oppositely arranged in the vertical direction, so that the cloth changing mechanism 120 does not need to move below the replacement position when moving to the replacement position, and does not need to move above the storage position when moving to the storage position. The cloth changing mechanism 120 only needs to move between the storage position and the replacement position, so that the driving mechanism 130 can drive the cloth changing mechanism 120 to keep a movement track, and the driving difficulty of the driving mechanism 130 can be reduced.

[0235] In some embodiments, the storage position and the replacement position are respectively located on two sides of the cloth changing mechanism 120.

[0236] The cloth changing mechanism 120 is arranged between the storage position and the replacement position, so that the cloth changing mechanism 120 can move between the storage position and the replacement position under the driving of the driving mechanism 130. The storage position and the replacement position are respectively located on two sides of the cloth changing mechanism 120, so that the cloth changing mechanism 120 can make reciprocating movement between the storage position and the replacement position, that is, the track of the cloth changing mechanism 120 from the storage position to the replacement position and the track from the replacement position to the storage position are substantially the same, so that the driving mechanism 130 can drive the cloth changing mechanism 120 to perform the replacement or storage action in the same driving mode.

[0237] The replacement position and the storage position of the cloth changing mechanism 120 are introduced above, and the specific structure of the cloth changing mechanism 120 and the turnover position will be introduced below. How the cloth changing mechanism 120 replaces the cleaning part 200, that is, how the dirty cleaning part 200 is replaced by the clean cleaning part 200.

[0238] Please refer to Figure 6 , Figure 6 The structure schematic diagram of the cloth changing mechanism 120 of the cleaning base station 100 provided by the embodiment of the application in the turnover position is shown. In some embodiments, the cloth changing mechanism 120 can be turned over in the turnover position, so as to turn over the cleaning part 200 fixed to the cloth changing mechanism 120, so that the cleaning part 200 can be switched between the storage state and the replacement state. In the case that the cleaning part 200 is in the storage state, the cleaning part 200 can be stored in the storage position. In the case that the cleaning part 200 is in the replacement state, the cleaning part 200 can be replaced in the cleaning device 300.

[0239] The cloth changing mechanism 120 can fix the cleaning part 200, and the cleaning part 200 is located on the cloth changing mechanism 120 and has the replacement state and the storage state. When the cleaning part 200 is in the replacement state, the cloth changing mechanism 120 can place the cleaning part 200 in the replacement position. When the cleaning part 200 is in the storage state, the cleaning part 200 can be stored in the base station body 110.

[0240] It should be noted that in some embodiments, the replacement state of the cleaning part 200 refers to the position of the cleaning part 200 on the cloth replacement mechanism 120, and the replacement position refers to the position of the cloth replacement mechanism 120 on the base body 110. When the cleaning part 200 is in the replacement state on the cloth replacement mechanism 120, the cloth replacement mechanism 120 can be placed in the replacement position on the base body 110 under the driving of the driving mechanism 130.

[0241] Similarly, in some embodiments, the storage state of the cleaning part 200 refers to the position of the cleaning part 200 on the cloth replacement mechanism 120, and the storage position refers to the position of the cloth replacement mechanism 120 on the base body 110. When the cleaning part 200 is in the storage state on the cloth replacement mechanism 120, the cloth replacement mechanism 120 can be placed in the storage position on the base body 110 under the driving of the driving mechanism 130.

[0242] The cloth replacement mechanism 120 can be flipped relative to the base body 110, which means that the cloth replacement mechanism 120 can rotate relative to the base body 110, so that the cleaning part 200 can be flipped from the replacement state to the storage state, or from the storage state to the replacement state, thereby enabling the cleaning part 200 removed from the cleaning device 300 to be replaced with a clean cleaning part 200 on the cleaning device 300.

[0243] The cloth replacement mechanism 120 has two motion states, one is that the driving mechanism 130 drives the cloth replacement mechanism 120 to move relative to the base body 110, which can move from the replacement position to the storage position, or from the storage position to the replacement position, i.e. between the storage position and the replacement position. The driving mechanism 130 drives the cloth replacement mechanism 120 to move relative to the base body 110, so that the position of the cloth replacement mechanism 120 relative to the base body 110 changes. For the sake of convenience, the movement of the cloth replacement mechanism 120 relative to the base body 110 driven by the driving mechanism 130 can be considered as the revolution of the cloth replacement mechanism 120, i.e. the revolution means that the position of the cloth replacement mechanism 120 relative to the base body 110 changes.

[0244] In addition, the cloth replacement mechanism 120 itself can also rotate, i.e. flip, which means that the cloth replacement mechanism 120 flips at a fixed position, i.e. the cloth replacement mechanism 120 can flip at the replacement position, at the storage position, or at any one of the replacement position and the storage position. That is, the flip of the cloth replacement mechanism 120 means that the position of the cloth replacement mechanism 120 relative to the base body 110 is basically unchanged, and the flip is only the self-rotation of the cloth replacement mechanism 120, i.e. the flip can be understood as the self-rotation of the cloth replacement mechanism 120.

[0245] That is, the cloth changing mechanism 120 can both revolve with respect to the base station body 110 (the driving mechanism 130 drives the cloth changing mechanism 120 to move) and rotate (turn over) with respect to the base station body 110.

[0246] The state that the cleaning part 200 is in the storage state means that the cleaning part 200 can be stored in the storage position. Since the storage position is above the replacement position, the cleaning part 200 is above the cloth changing mechanism 120 when the cleaning part 200 is in the storage state. The state that the cleaning part 200 is in the replacement state means that the cloth changing mechanism 120 can place the cleaning part 200 in the replacement position. Since the replacement position is below, the cleaning part 200 is below the cloth changing mechanism 120 when the cleaning part 200 is in the replacement position.

[0247] When the cloth changing mechanism 120 needs to replace the cleaning part 200, a clean cleaning part 200 can be first fixed on the cloth changing mechanism 120. When the cloth changing mechanism 120 obtains the dirty cleaning part 200 replaced from the cleaning device 300, the clean cleaning part 200 and the dirty cleaning part 200 can be exchanged in position by turning over, that is, the clean cleaning part 200 can be in the replacement state (below the cloth changing mechanism 120), and then the clean cleaning part 200 can be placed in the replacement position, so that the cleaning device 300 can obtain the clean cleaning part 200 and continue cleaning.

[0248] In some embodiments, the turning position is between the replacement position and the storage position.

[0249] When the cleaning part 200 needs to be replaced, the cloth changing mechanism 120 first moves to the replacement position, obtains the dirty cleaning part 200 replaced from the cleaning device 300, then moves to the turning position, turns over the entire cloth changing mechanism 120, so that the clean cleaning part 200 and the dirty cleaning part 200 are exchanged in position, and then the cloth changing mechanism 120 moves to the replacement position, places the clean cleaning part 200 in the replacement position, so that the cleaning device 300 can obtain the clean cleaning part 200. The turning position is arranged between the replacement position and the storage position, which can reduce the stroke of the cloth changing mechanism 120 in the process of replacing the cleaning part 200, and reduce the replacement time of the cloth changing mechanism 120.

[0250] It should be noted that the turning position is any position between the replacement position and the storage position, that is, the turning position can be a fixed position or not.

[0251] The flip position is a fixed position, which means that the cloth changing mechanism 120 flips at a specified position each time. Since the replacement position and the storage position are staggered in the vertical direction and the horizontal direction, when the driving mechanism 130 drives the cloth changing mechanism 120 to move between the replacement position and the storage position, the movement trajectory of the cloth changing mechanism 120 is approximately a circular arc. The flip position is a fixed position, which means that the cloth changing mechanism 120 flips at a specified angle each time.

[0252] The flip position can not be a fixed position, and can be adjusted according to the replacement situation or the state of the cleaning part 200.

[0253] For example, the cleaning part 200 may absorb part of the water stains during cleaning, so that the weight of the cleaning part 200 increases. Due to the different weights of the cleaning part 200, the flipping force caused by gravity is different during the flipping of the cleaning part 200 at the same position, which may cause different moments during flipping. If the moment is too large, the cloth changing mechanism 120 and the driving mechanism 130 may become loose. Different flipping heights can be set according to different weights to minimize damage to the cloth changing mechanism 120.

[0254] In some embodiments, the driving mechanism 130 can drive the cloth changing mechanism 120 to move in a circular arc. That is, the movement trajectory of the cloth changing mechanism is approximately a circular arc, so that the cloth changing mechanism 120 has a certain distance in the vertical direction and the horizontal direction between any two positions on the circular arc, thereby making the movement trajectory of the cloth changing mechanism not substantially above the replacement position, and leaving the space above the replacement position to other components as much as possible.

[0255] In some embodiments, the driving mechanism 130 can drive the cloth changing mechanism 120 to move back and forth between the replacement position and the storage position. The cloth changing mechanism 120 only needs to move between the storage position and the replacement position, so that the driving mechanism 130 drives the cloth changing mechanism 120 to maintain a movement trajectory, which can reduce the driving difficulty of the driving mechanism 130.

[0256] In some embodiments, the flip position and the storage position are at least partially staggered on the projection of the bottom surface of the base body 110.

[0257] The base body 110 is approximately vertically arranged, and the height direction of the base body 110 is approximately the vertical direction. The flip position and the storage position are at least partially staggered on the projection of the bottom surface of the base body 110. That is, in the horizontal direction, the storage position and the flip position are staggered, so that the cloth changing mechanism 120 has a certain activity space in the horizontal direction, so that the cloth changing mechanism 120 has at least one of the flip position and the storage position not above the replacement position, so as to not occupy the space above the replacement position as much as possible, and leave the space above the replacement position to other components.

[0258] In some embodiments, the projection of the replacement position and the turnover position on the bottom surface of the base station body 110 are at least partially misaligned.

[0259] The base station body 110 is arranged substantially vertically, and the height direction of the base station body 110 is substantially vertical. The projection of the replacement position and the turnover position on the bottom surface of the base station body 110 are at least partially misaligned. That is, in the horizontal direction, the replacement position and the turnover position are misaligned, so that the cloth replacement mechanism 120 has a certain space for movement in the horizontal direction, and the space above the replacement position is left as much as possible for other components.

[0260] Please refer to Figure 7 , Figure 7 shows Figure 6 a local enlarged view at B in FIG. 13. As for the structure of the driving mechanism 130, in some embodiments, the driving mechanism 130 can include a driver 132 and a transmission arm 134. The driver 132 is mounted to the base station body 110, and the transmission arm 134 is in transmission connection with the driver 132 and in rotational connection with the cloth replacement mechanism 120.

[0261] The driver 132 is mounted in the base station body 110 and drives the cloth replacement mechanism 120 to swing between the replacement position and the storage position through the transmission arm 134. That is, the transmission arm 134 is a swing arm for the movement of the entire cloth replacement mechanism 120. When the cloth replacement mechanism 120 is in the replacement position, the transmission arm 134 is substantially vertical. When the cloth replacement mechanism 120 is in the storage position, the transmission arm 134 is substantially horizontal. The distance between the replacement position and the storage position in the vertical direction and the horizontal direction is the length of the connecting arm.

[0262] That is, the angle between the transmission arm 134 and the horizontal direction is used to describe the positional relationship between the storage position, the turnover position, and the storage position. When the cloth replacement mechanism 120 is in the storage position, the transmission arm 134 is substantially horizontal, and it can be considered that the angle of the transmission arm 134 at this time is 0 degrees, that is, it can be considered that the angle of the cloth replacement mechanism 120 at this time is 0 degrees. When the cloth replacement mechanism 120 is in the replacement position, the transmission arm 134 is substantially vertical, and it can be considered that the angle of the transmission arm 134 at this time is 90 degrees, that is, it can be considered that the angle of the cloth replacement mechanism 120 at this time is 90 degrees. When the cloth replacement mechanism 120 is in the turnover position, the transmission arm 134 is arranged at an angle with the horizontal direction, and it can be considered that the angle of the transmission arm 134 at this time is one of 0 degrees-90 degrees, that is, it can be considered that the angle of the cloth replacement mechanism 120 at this time is 0 degrees-90 degrees.

[0263] Specifically, in some embodiments, the angle of the cloth replacement mechanism 120 can be 30 degrees, 40 degrees, 45 degrees, 60 degrees, 75 degrees, etc., and the specific angle can not be limited.

[0264] In some embodiments, the transmission arm 134 comprises a main arm 134a and a sub-arm 134b, the main arm 134a is transmissionally connected to the driver 132 and the cloth changing mechanism 120, and the sub-arm 134b is rotationally connected to the base body 110 and the cloth changing mechanism 120.

[0265] Under the driving of the transmission arm 134, the whole cloth changing mechanism 120 moves along an arc trajectory, and the cloth changing mechanism 120 is in a substantially horizontal state at any position, including the replacement position, the storage position, and any position between the replacement position and the storage position. The cooperation of the main arm 134a and the sub-arm 134b can make the cloth changing mechanism 120 be in a substantially horizontal state at any position, thereby reducing the interference between the cloth changing mechanism 120 and other structures.

[0266] In addition, a relay arm 134c can be arranged between the sub-arm 134b and the cloth changing mechanism 120, the relay arm 134c is rotationally connected to the sub-arm 134b and the cloth changing mechanism 120, respectively, so that the cloth changing mechanism 120 can be kept horizontal in other cases except for the turning over.

[0267] In some embodiments, the transmission arm 134 is two, and the driving mechanism 130 further comprises a transmission shaft 136, the transmission shaft 136 is transmissionally connected to the two transmission arms 134 and the driver 132.

[0268] Since the cleaning part 200 is substantially plate-shaped, the cloth changing mechanism 120 is also substantially plate-shaped under the condition of being able to fix the cleaning part 200 and not increasing the volume as much as possible, that is, the cloth changing mechanism 120 is substantially longer, and the two transmission arms 134 are arranged on the two sides of the cloth changing mechanism 120, which can improve the stability of the cloth changing mechanism 120 during movement.

[0269] When the cloth changing mechanism 120 needs to move from the replacement position to the storage position, the driver 132 can be forward rotated to drive the transmission arm 134 to rotate, and then the cloth changing mechanism 120 moves from the replacement position to the storage position. Conversely, when the cloth changing mechanism 120 needs to move from the storage position to the replacement position, the driver 132 can be reversed to drive the transmission arm 134 to reverse, and then the cloth changing mechanism 120 moves from the storage position to the replacement position.

[0270] If the cloth changing mechanism 120 needs to stay at the turning over position, the driver 132 can be controlled to stop at the corresponding position or be stalled so that the cloth changing mechanism 120 can stay at the turning over position.

[0271] The above describes the movement and switching among the turning over position, the storage position, and the replacement position, and the specific structure of the cloth changing mechanism 120 will be described in detail below.

[0272] Please refer to Figure 8 ,Figure 8 A local enlarged view at A in FIG. 12 shows Figure 3 In some embodiments, the cloth replacing mechanism 120 comprises a cloth replacing driving member 122 and a fixing member 124, the fixing member 124 is used to fix the cleaning part 200, the cloth replacing driving member 122 is in transmission connection with the fixing member 124, and the fixing member 124 can drive the cleaning part 200 to switch between the replacing state and the storage state.

[0273] The cloth replacing driving member 122 is in transmission connection with the fixing member 124, and can drive the fixing member 124 to move, so that the cleaning part 200 can switch between the replacing state and the storage state, i.e. can switch from the storage state to the replacing state, and can switch from the replacing state to the storage state.

[0274] As for the movement mode of the cloth replacing driving member 122 driving the fixing member 124, the cloth replacing driving member 122 can drive the fixing member 124 to slide, and then the cleaning part 200 can switch between the replacing state and the storage state. The cloth replacing driving member 122 can also drive the fixing member 124 to rotate, and then the cleaning part 200 can switch between the replacing state and the storage state. The cloth replacing driving member 122 can also drive the fixing member 124 to reciprocate, and then the cleaning part 200 can switch between the replacing state and the storage state.

[0275] In some embodiments, the cloth replacing driving member 122 is in transmission connection with the fixing member 124, and can drive the cleaning part 200 to overturn through the fixing member 124.

[0276] The cleaning part 200 is fixed on the fixing member 124, and the cloth replacing driving member 122 can drive the fixing member 124 to overturn, so that the cleaning part 200 can overturn along with the fixing member 124, thereby the cleaning part 200 can be replaced. The cloth replacing driving member 122 and the fixing member 124 as a whole can move between the replacing position and the storage position under the driving of the driving mechanism 130, and the cloth replacing driving member 122 drives the fixing member 124 to overturn when the cloth replacing mechanism 120 moves to the overturning position.

[0277] For example, two cleaning parts 200 are respectively fixed on the fixing member 124, one of which is in the replacing state, and the other of which is in the storage state, and the cloth replacing driving member 122 can drive the fixing member to overturn, so that the cleaning part 200 in the replacing state is switched to the storage state, and the cleaning part 200 in the storage state is switched to the replacing state.

[0278] In some embodiments, the cloth replacing driving member 122 can be installed on the transmission arm 134, i.e. the entire cloth replacing mechanism 120 can be in rotational connection with the transmission arm 134.

[0279] Please refer to Figure 9 ,Figure 9 A structure diagram of the fixing member 124 of the cloth changing mechanism 120 of the base station 100 is shown. In some embodiments, the fixing member 124 includes a mounting portion 126 and a fixing portion 128, and the fixing portion 128 is mounted on the mounting portion 126. The fixing portion 128 is used to fix the cleaning portion 200, and the mounting portion 126 is in transmission connection with the cloth changing driving member 122.

[0280] The fixing portion 128 is mainly used to fix the cleaning portion 200, and the mounting portion 126 is in transmission connection with the cloth changing driving member 122. A transmission hole 126a can be arranged on the mounting portion 126, and the driving shaft of the cloth changing driving member 122 is inserted into the transmission hole 126a, so as to realize the overturning of the entire fixing member 124 driven by the cloth changing driving member 122.

[0281] In some embodiments, the fixing portion 128 is multiple, and the multiple fixing portions 128 are respectively located at different sides of the mounting portion 126.

[0282] One fixing portion 128 can fix one cleaning portion 200. The cloth changing mechanism 120 includes multiple fixing portions 128, so that the cloth changing mechanism 120 can fix multiple cleaning portions 200 at the same time, that is, after the dirty cleaning portion 200 is obtained from the replacement position, the clean cleaning portion 200 can be directly placed at the replacement position, without returning to the storage position to take the cleaning portion 200 and then placing it at the replacement position. The time for the entire cloth changing mechanism 120 to replace the cleaning portion 200 can be reduced, so that the time for the cleaning equipment 300 to replace the cleaning portion 200 can be reduced, and the total time of the cleaning equipment 200 in the cleaning process can be reduced, and the total time of the cleaning equipment can be reduced.

[0283] The total time of the cleaning equipment 300 includes the sum of the effective time and the ineffective time. The effective time refers to the time for the cleaning equipment 300 to clean the surface during the execution of the cleaning program. The ineffective time refers to the time for the cleaning equipment 300 to not clean the surface during the execution of the cleaning program, for example, the cleaning time of the cleaning portion 200, the dust collecting time of the cleaning equipment 200, etc.

[0284] The fixing portion 128 can be two, three or four. The number of the fixing portion 128 can be determined according to the specific structure of the cloth changing mechanism 120 and the space of the base station body 110, which is not limited in the embodiments of the present application. The following will take the fixing portion 128 as two to illustrate how the cloth changing mechanism 120 changes the cleaning portion 200.

[0285] In some embodiments, the fixing part 128 is two, and the two fixing parts 128 are respectively located on the two sides opposite to the mounting part 126. In the process of replacing the cleaning part 200, one of the fixing parts 128 can fix the clean cleaning part 200, and the other fixing part 128 can be empty. The empty fixing part 128 is arranged downward, the driving mechanism 130 drives the whole cloth replacing mechanism 120 to move to the replacement position, the empty fixing part 128 fixes the cleaning part 200 removed from the cleaning device 300, the driving mechanism 130 drives the whole cloth replacing mechanism 120 to move to the turnover position, the cloth replacing driving part 122 drives the whole mounting part 126 and the fixing part 128 to turn over, so that the clean cleaning part 200 and the dirty cleaning part 200 are exchanged, that is, the clean cleaning part 200 is downward (replacement state), and the dirty cleaning part 200 is upward (storage state). The driving mechanism 130 drives the whole cloth replacing mechanism 120 to move to the replacement position to place the clean cleaning part 200 in the replacement position.

[0286] That is, when the fixing part 128 is two, one of the fixing parts 128 is located above the other fixing part 128, that is, one fixing part 128 is arranged upward, and one fixing part 128 is arranged downward. The cleaning part 200 of the fixing part 128 located above is in the storage state, and the cleaning part 200 of the fixing part 128 located below is in the replacement state.

[0287] Please refer to Figure 10 , Figure 10 It is shown that Figure 9 In some embodiments, the fixing part 128 is in sliding connection with the mounting part 126, so that the fixing part 128 can cooperate with the cleaning part 200 in the base station body 110 or place the cleaning part 200 in the replacement state in the base station body 110.

[0288] As for the specific sliding mode, one of the fixing part 128 and the mounting part 126 is provided with a sliding rail 126b, and the other is provided with a sliding groove 128b, and the sliding groove 128b is in sliding cooperation with the sliding rail 126b. It can be that the fixing part 128 is provided with the sliding rail 126b, and the mounting part 126 is provided with the sliding groove 128b. It can also be that the fixing part 128 is provided with the sliding groove 128b, and the mounting part 126 is provided with the sliding rail 126b.

[0289] In order to improve the stability of the sliding cooperation between the fixing part 128 and the mounting part 126, the number of the sliding rail 126b and the sliding groove 128b can be multiple.

[0290] The fixing part 128 is in sliding connection with the mounting part 126, so that there is a relative position between the fixing part 128 and the mounting part 126, that is, the fixing part 128 can move relative to the mounting part 126, so that the fixing part 128 is misaligned relative to the mounting part 126, and then the cleaning part 200 is fixed.

[0291] The cleaning part 200 is located below the cleaning device 300, and the position where the cleaning part 200 cooperates with the fixing part 128 is below the cleaning part 200. The fixing part 128 is in sliding connection with the mounting part 126, so that the fixing part 128 slides into the lower part of the cleaning part 200 and can be fixedly cooperated with the cleaning part 200, thereby moving the cleaning part 200 out of the replacement position.

[0292] On the contrary, when the cloth changing mechanism 120 places the clean cleaning part 200 in the replacement position, the fixing part 128 slides away from the cleaning part 200, so that the fixing part 128 can be separated from the cleaning part 200, and the clean cleaning part 200 can be placed in the replacement position.

[0293] When the fixing part 128 is two, since each fixing part 128 can cooperate with the cleaning part 200 located in the replacement position, the two fixing parts 128 are in sliding connection with the mounting part 126. Each fixing part 128 can extend into the lower part of the cleaning part 200 and can cooperate with the cleaning part 200.

[0294] That is, when the fixing part 128 is two, the two fixing parts 128 are located on the two sides of the mounting part 126, and the two fixing parts 128 can move relative to the mounting part 126. Since the cleaning part 200 located in the replacement position is only one, only one fixing part 128 needs to move relative to the mounting part 126 when the cleaning part 200 in the replacement position is fixed.

[0295] It can be understood that the two fixing parts 128 can move relative to the mounting part 126, but the two fixing parts 128 can not move at the same time, or can move at the same time, which is not limited.

[0296] Please refer to Figure 11 , Figure 11 The cross-sectional view of the fixing part 124 is shown, and in some embodiments, the fixing part 124 further comprises a synchronization part 129, which can simultaneously drive the two fixing parts 128 to slide relative to the mounting part 126.

[0297] The synchronization part 129 is installed on the mounting part 126 and can simultaneously drive the two fixing parts 128 to slide relative to the mounting part 126, that is, the two fixing parts 128 are synchronously moved, so that the two fixing parts 128 can be synchronously accommodated on the mounting part, and then the structure of the whole cloth changing mechanism 120 can be more compact.

[0298] In some embodiments, the synchronization part 129 can drive the two fixing parts 128 to move away from each other or move towards each other.

[0299] In some embodiments, moving away from each other means that the two fixing parts 128 move away from each other, and moving towards each other means that the two fixing parts 128 move towards each other.

[0300] In some embodiments, the synchronization part 129 comprises a synchronization gear 129b and a rack 129c, the synchronization gear 129b is installed on the mounting part 126, the rack 129c is installed on the fixing part 128, and the synchronization gear 129b is engaged with the racks 129c of the two fixing parts 128. The synchronization gear 129b is engaged with the racks 129c of the two fixing parts 128 at the same time, so that the synchronization gear 129b can drive the racks 129c of the two fixing parts 128 at the same time during rotation, so that the two fixing parts 128 can move synchronously, and then the fixing part 128 can be accommodated on the mounting part 126, so as to not extend outside the mounting part 126 as much as possible, and to reduce the occupied volume of the cloth changing mechanism 120 as much as possible.

[0301] The synchronization part 129 can further comprise a synchronization driving part, which is in transmission connection with the synchronization gear 129b.

[0302] In a normal state, the cloth changing mechanism 120 is accommodated in the accommodation position, and the upper fixing part 128 is provided with a clean cleaning part 200. When the cleaning device 300 returns to the base body 110 to detach the dirty cleaning part 200, the cleaning device 300 exits the base body 110. The driving mechanism 130 drives the entire cloth changing mechanism 120 to move to the replacement position, and the lower fixing part 128 slides relative to the mounting part 126 until it is fixed with the dirty cleaning part 200. The driving mechanism 130 drives the cloth changing mechanism 120 to move away from the replacement position and to the turnover position, and the cloth changing driving part 122 drives the entire mounting part 126 and the fixing part 128 to turn over, so that the upper clean cleaning part 200 (in the accommodation state) is turned over to the lower side of the mounting part 126 (in the replacement state), and the lower dirty cleaning part 200 (in the replacement state) is turned over to the upper side of the mounting part 126 (in the accommodation state). After the clean cleaning part 200 is turned over to the replacement state, the driving mechanism 130 drives the entire cloth changing mechanism 120 to move to the replacement position, and the fixing part 128 slides relative to the mounting part 126, so as to place the clean cleaning part 200 in the replacement position. The driving mechanism 130 drives the cloth changing mechanism 120 to move away from the replacement position. The cleaning device 300 returns to the base body 110, so as to obtain the clean cleaning part 200.

[0303] The cleaning part 200 is easy to be contaminated during the cleaning process of the cleaning device 300, and the replacement of the cleaning part 200 is shorter than the cleaning time of the cleaning part 200, which can reduce the invalid time of the cleaning device 300 during the cleaning process, and further reduce the total cleaning time of the cleaning device 300.

[0304] The above describes the specific structure of the cloth changing mechanism 120 and how to change the cloth by turning over. The following will describe in detail how the cleaning part 200 cooperates with and unlocks the cleaning device 300 and the cloth changing mechanism 120.

[0305] Please refer to Figure 12 , Figure 12 The schematic diagram showing part of the structure of the cleaning base station 100, in some embodiments, the cleaning base station 100 further comprises an unlocking mechanism 140, which is installed on the base station body 110 and can separate or lock the cleaning part 200 from the cleaning device 300 and / or the cloth changing mechanism 120.

[0306] The unlocking mechanism 140 is installed on the base station body 110 and can lock or separate the cleaning part 200 from the cleaning device 300, and can also lock or separate the cleaning part 200 from the cloth changing mechanism 120. That is, the unlocking mechanism 140 can disassemble the cleaning part 200 from the cleaning device 300, and can also install the cleaning part 200 on the cleaning device 300. Similarly, the unlocking mechanism 140 can install the cleaning part 200 on the cloth changing mechanism 120, and can also disassemble the cleaning part 200 from the cloth changing mechanism.

[0307] Please refer to Figure 13 and Figure 14 , Figure 13 The schematic diagram showing the structure of the cleaning part 200, Figure 14 The enlarged view of C in Figure 9 In some embodiments, the cloth changing mechanism 120 is provided with a locking part 128c, the cleaning part 200 is provided with a stopper 210, and the unlocking mechanism 140 can cooperate or separate the stopper 210 with the locking part 128c.

[0308] The locking part 128c is arranged on the fixing part 128, and the unlocking mechanism 140 can act on the stopper 210 to make the stopper 210 cooperate or separate with the locking part 128c.

[0309] Specifically, the cleaning part 200 can include a mop plate 230, a mop cloth 240 and a stopper 210, the mop cloth 240 and the stopper 210 are both mounted on the mop plate 230. The mop cloth 240 is a cleaning member of the entire cleaning part 200, the mop cloth 240 is a mounting member of the entire cleaning part 200, and the stopper 210 can cooperate with the locking part 128c. The stopper 210 can move relative to the mop plate 230 under the action of the unlocking mechanism 140, adjust the position of the stopper 210 on the mop plate 230, that is, adjust the relative position between the stopper 210 and the locking part 128c, so that the stopper 210 can cooperate with or separate from the locking part 128c.

[0310] Please refer to Figure 15 、 Figure 16 and Figure 17 , Figure 15 shows a partial enlarged view of F in Figure 13 , Figure 16 shows a structure diagram of the stopper part 213 of the cleaning part 200 and the stopper slot 232, Figure 17 shows a partial enlarged view of H in Figure 16 . In some embodiments, the stopper 210 and the locking part 128c can be clamped, the stopper 210 can include a trigger part 212, a stopper part 213 and a transition part 214, the trigger part 212 and the stopper part 213 are both connected to the transition part 214, the unlocking mechanism 140 can act on the trigger part 212, and the stopper part 213 can cooperate with the cloth changing mechanism 120 or the cleaning device 300.

[0311] The mop plate 230 can be provided with a cooperation slot 231, and the stopper part 213 can cooperate with the locking part 128c in the cooperation slot 231. The stopper part 213 can be arranged on the slot 232 of the cooperation slot 231, and the locking part 128c is limited in the cooperation slot 231, so as to realize the cooperation between the stopper part 213 and the locking part 128c. Specifically, the unlocking mechanism 140 can act on the trigger part 212, the trigger part 212 drives the stopper part 213 to move relative to the mop plate 230 through the transition part 214, so that the stopper part 213 can move relative to the cooperation slot 231, so that the stopper part 213 opens the slot 232 of the cooperation slot 231, so that the locking part 128c can enter the cooperation slot 231 or separate from the cooperation slot 231.

[0312] In other words, when the unlocking mechanism 140 acts on the stopper 210, the unlocking mechanism 140 can make the stopper 213 open the notch 232 of the fitting groove 231, so that the locking portion 128c can enter or disengage from the fitting groove 231. If it is necessary to fix the cleaning portion 200 to the cloth changing mechanism 120, the locking portion 128c can be made to enter the fitting groove 231 from the notch 232, and the unlocking mechanism 140 can cancel the force applied to the trigger portion 212, so that the entire stopper 210 is reset, i.e., the stopper 213 can extend into the notch 232 of the fitting groove 231, so that the stopper 213 can stop the locking portion 128c in the notch 232 of the fitting groove 231, so that the stopper 213 can cooperate with the locking portion 128c, thereby fixing the cleaning portion 200 to the cloth changing mechanism 120.

[0313] Referring to Figure 18 and Figure 19 , Figure 18 FIG. 13 shows a structure diagram of the stopper 213 of the cleaning portion 200 opening the notch 232, Figure 19 FIG. 14 shows Figure 18 a local enlarged view of G in FIG. 13. On the contrary, if it is necessary to disassemble the cleaning portion 200 from the cloth changing mechanism 120, the unlocking mechanism 140 can apply a force to the trigger portion 212, so that the stopper 213 can open the notch 232 of the fitting groove 231, and the locking portion 128c can disengage from the fitting groove 231, so that the locking portion 128c is disconnected from the fitting groove 231, i.e., the cleaning portion 200 can be disassembled from the cloth changing mechanism 120.

[0314] In some embodiments, the stopper 210 further comprises an elastic member 240, which is arranged between the transition portion 214 and the drag plate 230, and can provide an elastic force for resetting the stopper 210.

[0315] The elastic member 240 can cooperate with the unlocking mechanism 140 to realize the movement of the stopper 210 in the fitting groove 231. When the unlocking mechanism 140 applies a force to the trigger portion 212, the trigger portion 212 drives the stopper 213 to move through the transition portion 214, and the transition portion 214 can compress the elastic member 240, so that the elastic member 240 has a certain restoring force. After the unlocking mechanism 140 cancels the force applied to the trigger portion 212, the trigger portion 212 drives the stopper 213 to move in the opposite direction through the transition portion 214 under the action of the restoring force of the elastic member 240, so that the stopper 213 can be reset and stop the notch 232 of the fitting groove 231.

[0316] That is, under the action of the unlocking mechanism 140 on the trigger portion 212, the stop portion 213 can open the notch 232 of the fitting groove 231, so that the locking portion 128c can enter or exit the fitting groove 231. The action of the unlocking mechanism 140 is removed, and under the action of the restoring force of the elastic member 240, the stop portion 213 can stop the notch 232 of the fitting groove 231, and further stop the locking portion 128c.

[0317] In some embodiments, the elastic member 240 can be a spring.

[0318] In some embodiments, the drag plate 230 is provided with a containing cavity 234, and part of the stop piece 210 is installed in the containing cavity 234. The stop piece 210 can move in the containing cavity 234.

[0319] Part of the elastic member 240, the transition portion 214 and the trigger portion 212 are arranged in the containing cavity 234, and part of the stop portion 213 is arranged in the containing cavity 234 and part of the fitting groove 231. The containing cavity 234 can protect part of the structure of the stop piece 210, and as much as possible reduce the damage of water or other impurities to the stop piece 210 during the working process of the cleaning part 200.

[0320] The stop piece 210 can move in the containing cavity 234, which means that the internal space of the containing cavity 234 is larger than the external size of the stop piece 210, so that the stop piece 210 has a moving space in the containing cavity 234, which can facilitate the movement of the whole stop piece 210.

[0321] It should be noted that the above only introduces how the cleaning part 200 cooperates with and separates from the cloth changing mechanism 120, and the cooperation and separation mode of the cleaning part 200 and the cleaning equipment 300 is exactly the same as that of the cleaning part 200 and the cloth changing mechanism 120. That is, the locking portion 128c is also arranged on the cleaning equipment 300, that is, the cooperation and separation of the cleaning part 200 and the cleaning equipment 300 is realized by the cooperation of the locking portion 128c and the stop piece 210. The cooperation and separation of the cleaning part 200 and the cleaning equipment 300 can refer to the cooperation and separation mode of the cleaning part 200 and the cloth changing mechanism 120, and will not be repeated here.

[0322] Please refer to Figure 18 , Figure 19 and Figure 20 , Figure 20 illustrates Figure 9The local enlarged view of the middle part. In some embodiments, the fixing part 128 is further provided with a lapping part 128d which cooperates with the cleaning part 200. The cleaning part 200 is provided with a lapping groove 235, and the lapping part 128d can be inserted into the lapping groove 235, so that the cleaning part 200 can be prevented from falling down by the cooperation of the lapping groove 235 and the lapping part 128d when the cleaning part 200 is arranged downward.

[0323] Since the cleaning part 200 has two states of replacement and storage on the cloth replacement mechanism 120, when in the replacement state, the cleaning part 200 is located below the cloth replacement mechanism 120, and without the fixing structure, the cleaning part 200 is prone to falling down under the action of its own gravity when in the replacement state. The lapping part 128d is inserted into the lapping groove 235, so that the cleaning part 200 can be limited from above and below, and the cleaning part 200 can be prevented from falling down by the cooperation of the lapping groove 235 and the lapping part 128d when arranged downward (in the replacement state).

[0324] Please refer to Figure 21 , Figure 21 A schematic view showing part of the structure of the cleaning base station 100. In some embodiments, the unlocking mechanism 140 includes an unlocking piece 142 and an unlocking driving piece 143, the unlocking piece 142 is installed on the base station body 110, and the unlocking driving piece 143 can make the stopper 210 cooperate with or separate from the locking part 128c through the unlocking piece 142.

[0325] The unlocking driving piece 143 is used to drive the unlocking piece 142 to act, so that the unlocking piece 142 can move relative to the cleaning part 200 under the action of the unlocking driving piece 143, thereby exerting a force on the stopper 210 of the cleaning part 200, so that the stopper 210 can cooperate with or separate from the locking part 128c. The structure and working process of the unlocking piece 142 will be described in detail below.

[0326] In some embodiments, the unlocking driving piece 143 can drive the unlocking piece 142 to rotate relative to the base station body 110, so that the stopper 210 moves relative to the mop plate 230, and then cooperates with or separates from the locking part 128c. Exerting a force on the stopper 210 by rotating can make the unlocking piece 142 move in a smaller space, reduce the activity space of the unlocking piece 142, and make the internal structure of the entire cleaning base station 100 more compact.

[0327] Of course, in addition to this, the unlocking driving piece 143 can also drive the unlocking piece 142 to move relative to the base station body 110, and then act on the stopper 210. Specifically, the unlocking piece can be driven to move relative to the base station body 110, and then exert a force on the stopper 210, and can also slide relative to the base station body 110, etc.

[0328] Please refer to Figure 22 , Figure 22 A structural diagram of the unlocking member 142 is shown. In some embodiments, the unlocking member 142 includes a connecting portion 142a, an unlocking portion 142b and a transmission portion 142c, the unlocking portion 142b and the transmission portion 142c are respectively located at two ends of the connecting portion 142a, the connecting portion 142a is rotationally connected with the base body 110, and the transmission portion 142c is connected with the unlocking driving member 143.

[0329] The connecting portion 142a is rotationally connected with the base body 110, so that the entire unlocking member 142 can have a rotation fulcrum. The unlocking driving member 143 drives the transmission portion 142c to move away from the cleaning portion 200, so that the unlocking portion 142b can move towards the cleaning portion 200, and then the unlocking portion 142b can contact the trigger portion 212 of the stop member 210. The entire stop member 210 can move relative to the mop plate 230, so that the stop portion 213 can open the slot 232 of the fitting groove 231, and the locking portion 128c can enter or exit the fitting groove 231.

[0330] In order to improve the stability of the cooperation between the unlocking portion 142b and the trigger portion 212, one of the trigger portion 212 and the unlocking portion 142b can be provided with a groove, and the other can be provided with a protrusion. The stable cooperation between the unlocking portion 142b and the trigger portion 212 is realized by the groove and the protrusion.

[0331] Specifically, the trigger portion 212 can be provided with a groove, and the unlocking portion 142b can be provided with a protrusion. Alternatively, the unlocking portion 142b can be provided with a groove, and the trigger portion 212 can be provided with a protrusion.

[0332] In some embodiments, the unlocking mechanism 140 further includes a reset member 145, the reset member 145 is connected between the unlocking member 142 and the base body 110, and the reset member 145 can cooperate with the unlocking driving member 143 to make the stop member 210 cooperate with the locking portion 128c.

[0333] In the case that the unlocking driving member 143 stops driving the unlocking member 142, the reset member 145 can provide a restoring force to the unlocking member 142, so that the unlocking member 142 can be reset, and then the next work can be prepared.

[0334] Specifically, the unlocking mechanism 140 further includes a rotating shaft 146, the unlocking member 142 is rotationally connected with the base body 110 through the rotating shaft 146, and the reset member 145 is sleeved on the rotating shaft 146 and abuts against the unlocking member 142.

[0335] The reset element 145 can be a torsion spring, which is sleeved on the rotating shaft 146. When the unlocking drive element 143 drives the entire unlocking element 142 to rotate, the reset element 145 can store force. After the unlocking drive element 143 stops driving, the reset element 145, under its own torsional force, drives the entire unlocking element 142 to rotate in the opposite direction, thereby enabling the unlocking element 142 to reset.

[0336] Of course, in addition to this, the reset member 145 can also be a spring. If the reset member 145 is a spring, the elastic member 240 can be connected between the unlocking member 142 and the base station body 110. During the process of the unlocking drive member 143 driving the entire unlocking member 142 to rotate, the reset member 145 is compressed or stretched. After the unlocking drive member 143 stops driving, the reset member 145 drives the entire unlocking member 142 to rotate in the opposite direction under the action of its own restoring force, so that the unlocking member 142 can be reset.

[0337] Please see Figure 23 , Figure 23 It shows Figure 21 In the enlarged view at point K, in some embodiments, the unlocking drive 143 includes an unlocking drive part 143a and a connecting rope 143b. The connecting rope 143b is wound around the unlocking drive part 143a and connected to the unlocking member 142. One end of the connecting rope 143b is connected to the transmission part 142c, and the other end can be wound around the unlocking drive part 143a. When the unlocking drive part 143a is working, the connecting rope 143b is wound around the unlocking drive part 143a, and the length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move. This allows the unlocking part 142b to move in the opposite direction of the transmission part 142c, that is, to move closer to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212. The entire stop 210 can move relative to the sliding plate 230, so that the stop 213 can open the slot 232 of the mating groove 231, allowing the locking part 128c to enter or disengage from the mating groove 231.

[0338] In other words, during the process of the unlocking mechanism 140 acting on the cleaning part 200, the unlocking drive part 143a rotates, causing the connecting rope 143b to wrap around the unlocking drive part 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move. This allows the unlocking part 142b to move in the opposite direction of the transmission part 142c, that is, to move closer to the cleaning part 200. This allows the unlocking part 142b to contact the trigger part 212, and the entire stop 210 to move relative to the slide plate 230, so that the stop 213 can open the slot 232 of the mating groove 231, allowing the locking part 128c to enter or disengage from the mating groove 231.

[0339] When the locking portion 128c enters or exits the matching groove 231, the unlocking driving portion 143a is reversed or stopped, the reset member 145 is driven by the restoring force to rotate the unlocking member 142 in the opposite direction, so that the unlocking member 142 is reset, the unlocking portion 142b cancels the force applied to the trigger portion 212, and the stop portion 213 can stop the slot opening 232 of the matching groove 231 under the restoring force of the elastic member 240, thereby stopping the locking portion 128c.

[0340] The specific structure of the unlocking mechanism 140, the cloth changing mechanism 120, and the cleaning portion 200 is described above, and the working principle of the entire cleaning base station 100 will be described in detail below.

[0341] I. The cleaning portion 200 is detached from the cleaning device 300: After the cleaning device 300 works for a period of time, the cleaning portion 200 of the cleaning device 300 is contaminated, and if it continues to clean, it may contaminate the surface that has been cleaned, so the contaminated cleaning portion 200 needs to be cleaned. The cleaning device 300 returns to the cleaning base station 100 and moves to above the cleaning tank 112 (the replacement position), the unlocking driving portion 143a works, the connecting rope 143b is wound around the unlocking driving portion 143a, the length of the connecting rope 143b is shortened, thereby pulling the transmission portion 142c to move, so that the unlocking portion 142b can move in the opposite direction of the transmission portion 142c, i.e. in the direction close to the cleaning portion 200, so that the unlocking portion 142b can contact the trigger portion 212, and the entire stop member 210 can move relative to the mop plate 230 to open the slot opening 232 of the matching groove 231, so that the locking portion 128c of the cleaning device 300 is separated from the matching groove 231, and the cleaning device 300 can be removed from the base station body 110, and the contaminated cleaning portion 200 is detached from the cleaning device 300.

[0342] II. Cloth changing process of the cloth changing mechanism 120: The driving mechanism 130 drives the entire cloth changing mechanism 120 to move from the storage position to the replacement position, and the synchronous portion 129 drives the fixed portion 128 to slide with the mounting portion 126, so that the fixed portion 128 slides into the lower side of the cleaning portion 200, so that the locking portion 128c of the cloth changing mechanism 120 can enter the matching groove 231. After the locking portion 128c of the cloth changing mechanism 120 enters the matching groove 231, the unlocking driving portion 143a stops working, the reset member 145 is driven by the restoring force to rotate the unlocking member 142 in the opposite direction, so that the unlocking member 142 is reset, the unlocking portion 142b cancels the force applied to the trigger portion 212, and the stop portion 213 can stop the slot opening 232 of the matching groove 231 under the restoring force of the elastic member 240, thereby stopping the locking portion 128c.

[0343] The driving mechanism 130 drives the whole cloth changing mechanism 120 to move to the turnover position, the cloth changing mechanism 120 is turned over, the turnover driving member drives the whole turnover of the positioning part and the fixing part 128, so that the clean cleaning part 200 and the dirty cleaning part 200 are exchanged in position, that is, the clean cleaning part 200 faces downward (replacement state), and the dirty cleaning part 200 faces upward (storage state).

[0344] The driving mechanism 130 drives the whole cloth changing mechanism 120 to move to the replacement position, at this time, the clean cleaning part 200 is arranged downward, at this time, the clean cleaning part 200 moves to the unlocking mechanism 140, the unlocking driving part 143a works, so that the connecting rope 143b is arranged around the unlocking driving part 143a, the length of the connecting rope 143b is shortened, the transmission part 142c is pulled to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212, the whole stop member 210 can move relative to the mop plate 230 to make the stop part 213 open the notch 232 of the fitting groove 231, the synchronous part 129 can drive the fixing part 128 to slide with the mounting part 126, so that the locking part 128c of the cloth changing mechanism 120 can be separated from the fitting groove 231.

[0345] Three, the cloth taking process of the cleaning device 300: the driving mechanism 130 drives the whole cloth changing mechanism 120 to move to the storage position again, at this time, the cleaning device 300 returns to the cleaning base station 100, the locking part 128c of the cleaning device is inserted into the fitting groove 231, the unlocking driving part 143a stops working, the reset member 145 drives the whole unlocking member 142 to rotate in the opposite direction under the action of its restoring force, so that the unlocking member 142 can be reset, the unlocking part 142b cancels the force applied to the trigger part 212, under the action of the restoring force of the elastic member 240, the stop part 213 can stop the notch 232 of the fitting groove 231, and further stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300, and the cleaning device 300 moves out of the cleaning base station 100 to work.

[0346] Thus, the replacement of the cleaning part 200 of the cleaning device 300 is completed, if the cleaning device 300 needs to replace the cleaning part 200 again, the above process can be repeated.

[0347] Four, the cleaning part 200 cleaning process: after replacing the cleaning part 200, the dirty cleaning part 200 is placed on the cloth changing mechanism 120, and is currently in the storage state, then the driving mechanism 130 can drive the cloth changing mechanism 120 to move to the turnover position again, the cloth changing mechanism 120 is turned over, the turnover driving member drives the whole turnover of the positioning part and the fixing part 128, so that the clean cleaning part 200 and the dirty cleaning part 200 are turned over from the storage state to the replacement state.

[0348] The driving mechanism 130 drives the cloth changing mechanism 120 to move to the replacement position (the cleaning tank 112) again, so as to clean the dirty cleaning part 200. After cleaning, the driving mechanism 130 can drive the cloth changing mechanism 120 to move to the turnover position again, and the cloth changing mechanism 120 is turned over, so that the cleaning cloth is in the storage state, and finally moves to the storage position. As for the drying of the cleaning part 200, the cleaning part 200 can be dried in the cleaning tank 112, or can be dried in the storage position.

[0349] Please refer to Figure 24 , Figure 24 A structure diagram of a second perspective view of the cleaning system 10 provided by the embodiment of the application is shown. Based on the same inventive concept, the embodiment of the application provides a cleaning system 10, which comprises the cleaning device 300 and the cleaning base station 100 described above, and the cleaning device 300 can be accommodated in the cleaning base station 100.

[0350] Based on the same inventive concept, the embodiment of the application further provides a replacement method of the cleaning part 200, which is applied to the cleaning base station 100 described above. The specific structure of the cleaning base station 100 has been described in detail above, and the specific structure of the cleaning base station 100 will not be described in detail this time. The specific structure of the cleaning base station 100 can be referred to the foregoing description. The replacement method of the cleaning part 200 comprises the following specific steps:

[0351] Please refer to Figure 25 , S10, the cleaning part 200 is detached from the cleaning device 300.

[0352] The cleaning part 200 is a component for processing a work surface. After the cleaning device 300 returns to the cleaning base station 100, the unlocking mechanism 140 of the cleaning base station 100 detaches the dirty cleaning part 200. The specific detachment process is as follows:

[0353] The cleaning device 300 returns to the cleaning base station 100, moves to above the cleaning tank 112 (the replacement position), the unlocking driving part 143a works, the connecting rope 143b is arranged around the unlocking driving part 143a, the length of the connecting rope 143b is shortened, the transmission part 142c is pulled to move, the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, moves in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212, the whole stopper 210 can move relative to the drag plate 230, so that the stopper 213 can open the slot 232 of the fitting groove 231, the locking part 128c of the cleaning device 300 is separated from the fitting groove 231, the cleaning device 300 can move out of the base body 110, and the detachment process of the dirty cleaning part 200 from the cleaning device 300 is completed.

[0354] Step S11, control the cloth changing mechanism 120 to move to the replacement position, pick up the dirty cleaning part 200.

[0355] In the case that the cleaning device 300 places the cleaning part 200 in the base body 110 of the cleaning base station 100, the cleaning device 300 can return to the cleaning base station 100 after cleaning for a preset time. Specifically, the cleaning device 300 returns to the cleaning base station 100, moves above the washing tank 112 (replacement position), unlocks the driving part 143a to work, so that the connecting rope 143b is wound around the unlocking driving part 143a, the length of the connecting rope 143b becomes shorter, the transmission part 142c is pulled to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212, and the whole stop piece 210 can move relative to the mop plate 230 to make the stop part 213 open the notch 232 of the fitting groove 231, so that the locking part 128c of the cleaning device 300 is separated from the fitting groove 231, and the cleaning device 300 can move out of the base body 110, and the process of detaching the dirty cleaning part 200 from the cleaning device 300 is completed.

[0356] The driving mechanism 130 drives the whole cloth changing mechanism 120 to move from the storage position to the replacement position, and the synchronization part 129 can drive the fixing part 128 to slide with the mounting part 126, so that the fixing part 128 can slide into the lower side of the cleaning part 200, and the locking part 128c of the cloth changing mechanism 120 can enter the fitting groove 231. After the locking part 128c of the cloth changing mechanism 120 enters the fitting groove 231, the unlocking driving part 143a stops working, and the reset part 145 drives the whole unlocking part 142 to rotate in the opposite direction under the action of its restoring force, so that the unlocking part 142 can be reset, the unlocking part 142b cancels the force applied to the trigger part 212, and the stop part 213 can stop the notch 232 of the fitting groove 231 under the action of the restoring force of the elastic part 240, thereby stopping the locking part 128c.

[0357] Step S12, control the cloth changing mechanism 120 to move to the turnover position, and turn over the cloth changing mechanism 120, so that the clean cleaning part 200 is turned over to the replacement state.

[0358] After the cleaning device 300 exits to the outside of the cleaning base station 100, the driving mechanism 130 is controlled to act, and the driving mechanism 130 drives the whole cloth changing mechanism 120 to move to the turnover position, and the cloth changing mechanism 120 is turned over, the positioning part and the fixing part 128 are turned over as a whole by the turnover driving part, so that the clean cleaning part 200 and the dirty cleaning part 200 are exchanged, that is, the clean cleaning part 200 faces downward (replacement state), and the dirty cleaning part 200 faces upward (storage state).

[0359] Step S13, the control cloth changing mechanism 120 moves to the replacement position again, and the clean cleaning part 200 is placed in the replacement position.

[0360] The driving mechanism 130 drives the entire cloth changing mechanism 120 to move to the replacement position, at this time, the clean cleaning part 200 is arranged downward, at this time, the clean cleaning part 200 moves to the unlocking mechanism 140, the unlocking driving part 143a works, so that the connecting rope 143b is arranged around the unlocking driving part 143a, the length of the connecting rope 143b is shortened, the transmission part 142c is pulled to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212, the entire stop piece 210 can move relative to the mop plate 230, so that the stop part 213 can open the notch 232 of the fitting groove 231, the synchronous part 129 can drive the fixed part 128 to be connected with the mounting part 126 in sliding mode, so that the locking part 128c of the cloth changing mechanism 120 can be separated from the fitting groove 231.

[0361] Step S14, the cloth changing mechanism 120 places the clean cleaning part 200 in the replacement position, and the cleaning base station 100 triggers a control signal, so that the cleaning equipment 300 can return to the cleaning base station 100.

[0362] After the cloth changing mechanism 120 places the clean cleaning part 200 in the replacement position, the cleaning base station 100 can trigger a control signal, so that after the cleaning equipment 300 obtains the control signal, the cleaning equipment 300 returns to the cleaning base station 100, the locking part 128c of the cleaning equipment 300 extends into the fitting groove 231, the unlocking driving part 143a stops working, the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction under the action of the restoring force of the reset part 145, so that the unlocking part 142 can be reset, the unlocking part 142b cancels the force applied to the trigger part 212, under the action of the restoring force of the elastic part 240, the stop part 213 can stop the notch 232 of the fitting groove 231, and further stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning equipment 300, and the cleaning equipment 300 moves out of the cleaning base station 100 to work.

[0363] The cloth changing mechanism 120 places the clean cleaning part 200 in the replacement position, which means that the current cleaning base station 100 has replaced the dirty cleaning part 200 with the clean cleaning part 200, and the cleaning equipment 300 can obtain the clean cleaning part 200 from the cleaning base station 100.

[0364] The cloth changing mechanism 120 places the clean cleaning part 200 at the replacement position, triggering a control signal. The control signal can be sent directly to the cleaning device 300 by the cleaning base station 100, or the cleaning base station 100 triggers the control signal, and then the server receives the control signal and sends it to the cleaning device 300.

[0365] Step S15, install the clean cleaning part 200 on the cleaning device 300.

[0366] The unlocking mechanism 140 fixes the clean cleaning part 200 to the cleaning device 300, and the specific process is as follows:

[0367] The driving mechanism 130 drives the entire cloth changing mechanism 120 to move to the storage position, at this time the cleaning device 300 returns to the cleaning base station 100, the locking part 128c of the cleaning device 300 extends into the matching groove 231, the unlocking driving part 143a stops working, and the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction under the action of its restoring force, so that the unlocking part 142 can be reset, and the unlocking part 142b cancels the force applied to the trigger part 212, under the action of the restoring force of the elastic part 240, the stop part 213 can stop the slot 232 of the matching groove 231, and then stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300, and the cleaning device 300 moves out of the cleaning base station 100 to work.

[0368] Step S16, control the cloth changing mechanism 120 to place the dirty cleaning part 200 in the washing tank 112.

[0369] After the cleaning device 300 obtains the clean cleaning part 200, the cleaning device 200 moves out of the cleaning base station 100 and continues to clean the surface, and the cleaning part 200 removed from the cleaning device 300 is left on the cloth changing mechanism 120. Since the cleaning part 200 will be dirty again during the cleaning of the surface by the cleaning device 200, it needs to be replaced, and since the removed cleaning part 200 needs to be washed to prepare for the next replacement of the cleaning device 200.

[0370] After replacing the cleaning part 200, the dirty cleaning part 200 is placed on the cloth changing mechanism 120, and the current is in the storage state, then the driving mechanism 130 can drive the cloth changing mechanism 120 to move to the turnover position again, and the cloth changing mechanism 120 is turned over, and the positioning part and the fixing part 128 are turned over by the turnover driving part, so that the clean cleaning part 200 and the dirty cleaning part 200 are turned over from the storage state to the replacement state.

[0371] The driving mechanism 130 drives the cloth changing mechanism 120 to move to the replacement position (the washing tank 112), and the dirty cleaning part 200 can be washed.

[0372] Step S17, control the cleaning base station 100 to execute the cleaning program and / or the drying program to process the dirty cleaning part 200 into the clean cleaning part 200.

[0373] Controlling the cleaning base station 100 to execute the cleaning program and / or the drying program can clean and / or dry the cleaning part 200.

[0374] Controlling the cleaning base station 100 to execute the cleaning program and / or the drying program can be that the cleaning base station 100 executes the cleaning program, or the cleaning base station 100 executes the drying program, or the cleaning base station 100 executes the cleaning program first and then executes the drying program.

[0375] Step S18, control the cloth changing mechanism 120 to move to the turnover position, and control the cloth changing mechanism 120 to turn over to make the clean cleaning part 200 in the storage state.

[0376] After the cleaning is completed, the dirty cleaning part 200 becomes the clean cleaning part 200, then the driving mechanism 130 can drive the cloth changing mechanism 120 to move to the turnover position again, and the cloth changing mechanism 120 turns over so that the cleaning part 200 is in the storage state.

[0377] Step S19, control the cloth changing mechanism 120 to the storage position to store the clean cleaning part 200.

[0378] Since the cleaning time of the cleaning part 200 can be less than the working time of the cleaning equipment 300 requiring to replace the cleaning part 200, that is, after the cleaning of the cleaning part 200 is completed, the cleaning part 200 currently used by the cleaning equipment 300 is not in the state requiring to be replaced, the clean cleaning part 200 processed can be finally moved to the storage position. As for the drying of the cleaning part 200, it can be dried at the cleaning tank 112, or the cleaning part 200 can be dried at the storage position.

[0379] Based on the same inventive concept, the embodiment of the present application also provides a cleaning part 200 cleaning method applied to the cleaning base station 100, and the specific steps of the cleaning part 200 cleaning method are as follows:

[0380] Please refer to Figure 26 Step S21, control the cloth changing mechanism 120 to place the dirty cleaning part 200 on the cleaning tank 112.

[0381] In the case that the cleaning device 300 is working outside, if the cloth changing mechanism 120 is fixed with the dirty cleaning part 200, the dirty cleaning part 200 can be cleaned. The driving mechanism 130 can drive the cloth changing mechanism 120 to move to the turnover position, the cloth changing mechanism 120 is turned over, the turnover driving part drives the whole of the positioning part and the fixing part 128 to turn over, so that the clean cleaning part 200 and the dirty cleaning part 200 are turned over from the storage state to the replacement state.

[0382] The driving mechanism 130 drives the cloth changing mechanism 120 to move to the replacement position (the cleaning tank 112) again, and the dirty cleaning part 200 can be cleaned.

[0383] In step S22, the cleaning base station 100 is controlled to execute the cleaning program to process the dirty cleaning part 200 into the clean cleaning part 200.

[0384] The cleaning base station 100 is controlled to execute the cleaning program to process the dirty cleaning part 200 into the clean cleaning part 200.

[0385] In step S23, the cloth changing mechanism 120 is controlled to move to the turnover position, and the cloth changing mechanism 120 is controlled to turn over, so that the clean cleaning part 200 is in the storage state.

[0386] After the cleaning is completed, the dirty cleaning part 200 becomes the clean cleaning part 200, the driving mechanism 130 can drive the cloth changing mechanism 120 to move to the turnover position again, the cloth changing mechanism 120 is turned over, so that the cleaning part 200 is in the storage state.

[0387] In step S24, the cloth changing mechanism 120 is controlled to the storage position to store the clean cleaning part 200.

[0388] Since the cleaning time of the cleaning part 200 can be less than the working time of the cleaning device 300 required to replace the cleaning part 200, that is, after the cleaning of the cleaning part 200 is completed, the cleaning part 200 currently used by the cleaning device 300 is not in the state required to be replaced, the clean cleaning part 200 can be finally moved to the storage position. As for the drying of the cleaning part 200, the drying can be performed at the cleaning tank 112, or the drying of the cleaning part 200 can be performed at the storage position.

[0389] It should be noted that the execution processes of steps S15-S18 and steps S21-S24 are the same, but the trigger conditions are different. The steps S15-S18 are executed immediately after the cleaning part 200 is replaced, and the steps S21-S24 can be executed according to the cleaning instruction or other trigger conditions.

[0390] Based on the same inventive concept, the embodiment of the present application also provides a cleaning part replacement method applied to the cleaning device 300, and the cleaning part replacement method comprises the following steps.

[0391] Please refer to Figure 27 , step S31, determine whether the cleaning part 200 of the cleaning device 300 reaches the replacement condition.

[0392] The determination of whether the cleaning part 200 of the cleaning device 300 reaches the replacement condition can be determined during the cleaning process of the cleaning device 300, or before the cleaning process of the cleaning device 300, or after the cleaning process of the cleaning device 300.

[0393] The replacement condition refers to that the cleaning part 200 of the cleaning device 300 is currently relatively dirty, and if the surface is directly cleaned with the cleaning part 200, it may cause secondary pollution to the surface that has been cleaned, and the cleaning part 200 that has been polluted needs to be cleaned. That is, whether the cleaning part 200 of the cleaning device 300 reaches the replacement condition can be determined before or during the cleaning process.

[0394] There are many ways to determine whether the cleaning part 200 of the cleaning device 300 reaches the replacement condition, and any one of them is considered to be the replacement condition of the cleaning part 200 of the cleaning device 300. Specifically, three determination methods can be provided, the first method is step S31a and step S31b, the second method is step S31c and step S31d, and the third method is step S31e and step S31f.

[0395] Please refer to Figure 28 , step S31a, obtain the working time of the cleaning device 300 performing the cleaning process.

[0396] The working time refers to the working time of the cleaning part 200 of the cleaning device 300, not the cleaning time of the entire cleaning device 300. During the cleaning process, the cleaning device 300 will replace or clean the cleaning part 200. The working time is reset every time the cleaning part 200 is replaced, that is, the timing starts after the cleaning device 300 replaces the cleaning part 200, or the timing starts after the cleaning device 300 replaces the cleaning part 200 and exits the cleaning base station 100.

[0397] Step S31b, if the working time is greater than or equal to the preset time, it is determined that the cleaning part 200 of the cleaning device 300 reaches the replacement condition.

[0398] The preset time can be set by the user or set by the cleaning device 300. The preset time refers to the working time of the cleaning part 200, which may be polluted and may cause secondary pollution to the surface that has been cleaned.

[0399] If the working time is greater than or equal to the preset time, it indicates that if the current cleaning part 200 continues to clean, secondary pollution may be caused to the surface that has been cleaned, and it can be determined that the cleaning part 200 of the cleaning device 300 reaches the replacement condition.

[0400] Referring to Figure 28 , in step S31c, the working record of the cleaning device 300 is obtained.

[0401] The working record of the cleaning device 300 is obtained during the cleaning process of the cleaning device 300. The working record refers to the cleaning area of the cleaning device 300 in the cleaning process or the specified area in the cleaning map.

[0402] In step S31d, if the working record of the cleaning device 300 reaches a cleaning area, it is determined that the cleaning part 200 of the cleaning device 300 reaches the replacement condition.

[0403] The cleaning area can be set by the user or set by the factory of the cleaning device 300.

[0404] The cleaning map can include areas such as living room, dining room, kitchen, bedroom A, bedroom B, etc. The cleaning area can be any one of the above areas or a certain area set by the user. For example, if the current cleaning device 300 is cleaning the kitchen, if the kitchen cleaning is completed, it indicates that the working record reaches a cleaning area, the cleaning device 300 has cleaned one area, and the cleaning part 200 is contaminated, so it can be determined that the cleaning part 200 reaches the replacement condition.

[0405] Referring to Figure 30 , in step S31e, the contamination degree of the cleaning device 300 is obtained.

[0406] The contamination degree also refers to the contamination degree of the cleaning part 200 of the cleaning device 300. The cleaning part 200 is mainly used for water absorption during the cleaning process, and the humidity of the cleaning device 300 can be detected by a humidity sensor to determine the contamination degree of the cleaning device 300.

[0407] In addition, some impurities will be absorbed on the cleaning part 200 during the cleaning process. The weight of the cleaning part 200 can be obtained to determine the contamination degree of the cleaning part 200 according to the weight of the cleaning part 200.

[0408] In step S31f, if the contamination degree is greater than or equal to the set degree, it is determined that the cleaning part 200 of the cleaning device 300 reaches the replacement condition.

[0409] If the contamination degree is greater than or equal to the set degree, it indicates that the current cleaning part 200 is contaminated, and further cleaning will cause secondary pollution to the place that has been cleaned. The contamination of the cleaning part 200 is relatively serious, and it needs to be replaced, so it is determined that the cleaning part 200 reaches the replacement condition.

[0410] Referring to Figure 27 , if the cleaning unit 200 of the cleaning device 300 reaches the replacement condition, it is determined whether the cleaning base station 100 is performing the cleaning program and / or the drying program.

[0411] When the cleaning base station 100 is performing the cleaning program and / or the drying program, the cleaning unit 200 being cleaned is located in the cleaning tank 112 (replacement position). If the cleaning device 300 directly enters the cleaning base station 100, interference with the cleaning unit 200 in the replacement position will cause damage or malfunction of the cleaning device 300 and the cleaning base station 100.

[0412] If the cleaning base station 100 is not performing the cleaning program and / or the drying program, the control unit 310 controls the cleaning device 300 to return to the cleaning base station 100.

[0413] If the cleaning base station 100 is not performing the cleaning program and / or the drying program, it means that no cleaning unit 200 is located in the cleaning tank 112 (replacement position), and there is no obstruction above the cleaning tank 112. Therefore, the cleaning device 300 can return to the cleaning base station 100.

[0414] If the cleaning base station 100 is performing the cleaning program and / or the drying program, the control unit 310 controls the cleaning device 300 to wait until the cleaning program and / or the drying program is completed.

[0415] When the cleaning base station 100 is performing the cleaning program and / or the drying program, the cleaning unit 200 being cleaned is located in the cleaning tank 112 (replacement position). If the cleaning device 300 directly enters the cleaning base station 100, interference with the cleaning unit 200 in the replacement position will cause damage or malfunction of the cleaning device 300 and the cleaning base station 100. Therefore, the cleaning device 300 is first controlled to wait, and the waiting position can be near the cleaning base station 100 or the last cleaning position of the cleaning device 300.

[0416] If the cleaning unit 200 of the cleaning device 300 reaches the replacement condition, the cleaning device 300 is controlled to return to the cleaning base station 100 to replace the dirty cleaning unit 200. This ensures that the cleaning unit 200 is always in a relatively clean state during cleaning, thereby improving the cleaning effect of the cleaning device 300.

[0417] The dirty cleaning unit 200 of the cleaning device 300 is removed.

[0418] After the cleaning device 300 returns to the cleaning base station 100, the unlocking mechanism 140 of the cleaning base station 100 removes the dirty cleaning unit 200. The specific removal process is as follows:

[0419] The cleaning device 300 returns to the cleaning base 100, moves above the washing tank 112 (the replacement position), unlocks the driving part 143a, and works so that the connecting rope 143b is arranged around the unlocking driving part 143a, the length of the connecting rope 143b is shortened, the transmission part 142c is pulled to move, the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, moves in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the triggering part 212, the whole stopper 210 can move relative to the mop plate 230, so that the stopper 213 can open the notch 232 of the fitting groove 231, so that the locking part 128c of the cleaning device 300 is separated from the fitting groove 231, and the cleaning device 300 can move out of the base body 110, and the process of detaching the dirty cleaning part 200 from the cleaning device 300 is completed.

[0420] Step S35, control the cleaning device 300 to exit the cleaning base 100.

[0421] After the dirty cleaning part 200 is detached, the cloth replacing mechanism 120 needs to obtain the dirty cleaning part 200 and place the clean cleaning part 200 in the washing tank 112 (the replacement position), and the cleaning device 300 needs to exit the cleaning base 100 first to avoid interference between the cleaning base 100 and the cloth replacing mechanism 120. Therefore, after the dirty cleaning part 200 is detached, the cleaning device 300 exits the cleaning base 100.

[0422] Step S36, the cleaning device 300 returns to the cleaning base 100 in response to the control signal. The control signal indicates that the cleaning base 100 replaces the dirty cleaning part 200 with the clean cleaning part 200.

[0423] After the cleaning device 300 exits the cleaning base 100, the cloth replacing mechanism 120 of the cleaning base 100 starts to replace the cleaning part 200, and triggers the control signal after the replacement is completed. The cleaning device 300 returns to the cleaning base 100 in response to the control signal.

[0424] Step S37, obtain the clean cleaning part 200.

[0425] After the cleaning device 300 enters the cleaning base 100, the unlocking mechanism 140 fixes the clean cleaning part 200 to the cleaning device 300, and the specific process is as follows:

[0426] The driving mechanism 130 drives the whole cloth changing mechanism 120 to move to the storage position, at this time the cleaning device 300 returns to the cleaning base station 100, the locking part 128c of the cleaning device 300 extends into the matching groove 231, the unlocking driving part 143a stops working, the reset part 145 drives the whole unlocking part 142 to rotate in the opposite direction under the action of the self-recovery force, so that the unlocking part 142 can be reset, the unlocking part 142b cancels the force applied to the trigger part 212, under the action of the recovery force of the elastic part 240, the stop part 213 can stop the slot 232 of the matching groove 231, and further stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300, and the cleaning device 300 moves out of the cleaning base station 100 to work.

[0427] Step S38, the cleaning device 300 exits the cleaning base station 100 and executes the cleaning program.

[0428] After obtaining the clean cleaning part 200, the cleaning device 300 exits the cleaning base station 100 and starts to execute the cleaning program or continues to execute the cleaning program. And repeat steps S31-S38.

[0429] Based on the same inventive concept, the embodiment of the present application provides a cleaning part 200 replacement method, applied to a cleaning system 10, the cleaning system 10 comprising a cleaning base station 100 and a cleaning device 300, characterized in that the cleaning part 200 replacement method comprises:

[0430] Please refer to Figure 31 Step S41, determining whether the cleaning part 200 of the cleaning device 300 meets the replacement condition.

[0431] The determination of whether the cleaning part 200 of the cleaning device 300 meets the replacement condition can be during the execution of the cleaning program by the cleaning device 300, or before the execution of the cleaning program by the cleaning device 300, or after the execution of the cleaning program by the cleaning device 300.

[0432] The replacement condition refers to that the cleaning part 200 of the cleaning device 300 is currently relatively dirty, if the surface is directly cleaned by the cleaning part 200, the surface that has been cleaned may be secondarily contaminated, and the cleaning part 200 that has been contaminated needs to be cleaned. That is, whether the cleaning part 200 of the cleaning device 300 meets the replacement condition can be determined before or during the execution of the cleaning program.

[0433] There are multiple ways to determine whether the cleaning part 200 of the cleaning device 300 reaches the replacement condition, and any one of the conditions is considered to be the replacement condition of the cleaning part 200 of the cleaning device 300. Specifically, three determination methods can be provided, the first method including steps S41a and S41b, the second method including steps S41c and S41d, and the third method including steps S41e and S41f.

[0434] Referring to Figure 32 , in step S41a, the working time of the cleaning device 300 performing the cleaning program is obtained.

[0435] The working time refers to the working time of the cleaning part 200 of the cleaning device 300, not the cleaning time of the entire cleaning device 300. During the cleaning process, the cleaning device 300 can replace or clean the cleaning part 200. The working time is reset every time the cleaning part 200 is replaced, that is, the working time is started after the cleaning device 300 replaces the cleaning part 200, or the working time is started after the cleaning device 300 replaces the cleaning part 200 and exits the cleaning base station 100.

[0436] In step S41b, if the working time is greater than or equal to the preset time, it is determined that the cleaning part 200 of the cleaning device 300 reaches the replacement condition.

[0437] The preset time can be set by the user or set by the cleaning device 300. The preset time refers to the working time of the cleaning part 200, which may be contaminated and cause secondary pollution to the cleaned surface.

[0438] If the working time is greater than or equal to the preset time, it means that the current cleaning part 200 may cause secondary pollution to the cleaned surface if it continues to clean, and the cleaning part 200 of the cleaning device 300 can be determined to reach the replacement condition.

[0439] Referring to Figure 33 , in step S41c, the working record of the cleaning device 300 is obtained.

[0440] The working record of the cleaning device 300 is obtained during the cleaning process of the cleaning device 300. The working record refers to the cleaning area of the cleaning device 300 during the cleaning process, or the specified area in the cleaning map.

[0441] In step S41d, if the working record of the cleaning device 300 reaches a cleaning area, it is determined that the cleaning part 200 of the cleaning device 300 reaches the replacement condition.

[0442] The cleaning area can be set by the user or set by the cleaning device 300.

[0443] The cleaning map can include a living room, a dining room, a kitchen, a bedroom A, a bedroom B, and the like, and the cleaning area can be any one of the above areas or a certain area set by the user. For example, if the cleaning device 300 is currently cleaning the kitchen, and the kitchen cleaning is completed, it indicates that the work record reaches a cleaning area, the cleaning device 300 has cleaned a region, and the cleaning part 200 is dirty, and it can be determined that the cleaning part 200 reaches the replacement condition.

[0444] Referring to Figure 34 , in step S41e, the degree of dirtiness of the cleaning device 300 is obtained.

[0445] The degree of dirtiness also refers to the degree of dirtiness of the cleaning part 200 of the cleaning device 300, and the cleaning part 200 is mainly used for water absorption during cleaning. The humidity of the cleaning device 300 can be detected by a humidity sensor to determine the degree of dirtiness of the cleaning device 300.

[0446] In addition, some impurities will be absorbed on the cleaning part 200 during cleaning. The weight of the cleaning part 200 can be obtained to determine the degree of dirtiness of the cleaning part 200.

[0447] In step S41f, if the degree of dirtiness is greater than or equal to the set degree, it is determined that the cleaning part 200 of the cleaning device 300 reaches the replacement condition.

[0448] If the degree of dirtiness is greater than or equal to the set degree, it indicates that the current cleaning part 200 is already dirty, and further cleaning will cause secondary pollution to the already cleaned place. The cleaning part 200 is seriously dirty and needs to be replaced, and it is determined that the cleaning part 200 reaches the replacement condition.

[0449] Referring to Figure 31 , in step S42a, when the cleaning part 200 of the cleaning device 300 reaches the replacement condition, it is determined whether the cleaning base station 100 performs the cleaning program and / or the drying program.

[0450] When the cleaning base station 100 performs the cleaning program and / or the drying program, the cleaning part 200 being cleaned is located in the cleaning tank 112 (replacement position). If the cleaning device 300 directly enters the cleaning base station 100, interference will occur between the cleaning device 300 and the cleaning part 200 in the replacement position, which will cause damage or failure of the cleaning device 300 and the cleaning base station 100.

[0451] In step S42b, if the cleaning base station 100 does not perform the cleaning program and the drying program, the cleaning device 300 is controlled to return to the cleaning base station 100.

[0452] If the cleaning base station 100 does not perform the cleaning program and the drying program, it indicates that the cleaning part 200 is not located in the cleaning groove 112 (replacement position), and there is no shielding object above the cleaning groove, so the cleaning device 300 can return to the cleaning base station 100.

[0453] In step S42c, if the cleaning base station 100 performs the cleaning program or the drying program, the cleaning device 300 is controlled to wait until the cleaning program and the drying program are completed.

[0454] When the cleaning base station 100 performs the cleaning program and / or the drying program, the cleaning part 200 being cleaned is located in the cleaning groove 112 (replacement position). If the cleaning device 300 directly enters the cleaning base station 100, interference with the cleaning part 200 in the replacement position will cause damage or malfunction of the cleaning device 300 and the cleaning base station 100. Therefore, the cleaning device 300 is first allowed to wait, and the waiting position can be near the cleaning base station 100 or the last cleaning position of the cleaning device 300.

[0455] In the case that the cleaning part 200 of the cleaning device 300 reaches the replacement condition, the cleaning device 300 can be returned to the cleaning base station 100 to replace the contaminated cleaning part 200, so that the cleaning part 200 is always in a relatively clean state during cleaning, thereby improving the cleaning effect of the cleaning device 300.

[0456] In step S43, the contaminated cleaning part 200 of the cleaning device 300 is detached.

[0457] After the cleaning device 300 returns to the cleaning base station 100, the unlocking mechanism 140 of the cleaning base station 100 detaches the contaminated cleaning part 200. The specific detachment process is as follows:

[0458] The cleaning device 300 returns to the cleaning base station 100 and moves to the upper side of the cleaning groove 112 (replacement position). The unlocking driving part 143a works, so that the connecting rope 143b is wound on the unlocking driving part 143a, the length of the connecting rope 143b is shortened, and the transmission part 142c is pulled to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, i.e., in the direction close to the cleaning part 200. In this way, the unlocking part 142b can contact the trigger part 212, and the entire stopper 210 can move relative to the mop plate 230 to make the stopper 213 open the slot 232 of the fitting groove 231, so that the locking part 128c of the cleaning device 300 is separated from the fitting groove 231, and the cleaning device 300 can move out of the base body 110. The contaminated cleaning part 200 is detached from the cleaning device 300.

[0459] In step S44, the cleaning device 300 is controlled to exit the cleaning base station 100.

[0460] After the dirty cleaning part 200 is detached, the cloth changing mechanism 120 needs to get the dirty cleaning part 200 and place the clean cleaning part 200 in the cleaning tank 112 (the replacement position), and the cleaning device 300 needs to exit the cleaning base station 100 first to avoid interference between the cleaning base station 100 and the cloth changing mechanism 120. Therefore, after the dirty cleaning part 200 is detached, the cleaning device 300 exits the cleaning base station 100.

[0461] In step S45, the cloth changing mechanism 120 of the cleaning base station 100 replaces the dirty cleaning part 200 with the clean cleaning part 200 and triggers the control signal.

[0462] Please refer to Figure 35 In step S45, the cloth changing mechanism 120 of the cleaning base station 100 replaces the dirty cleaning part 200 with the clean cleaning part 200 and triggers the control signal.

[0463] In step S45a, the cloth changing mechanism 120 is controlled to move to the replacement position and get the dirty cleaning part 200 detached from the cleaning device 300.

[0464] In the case where the cleaning device 300 places the cleaning part 200 in the base body 110 of the cleaning base station 100, the cleaning device 300 can return to the cleaning base station 100 after cleaning for a preset time. Specifically, the cleaning device 300 returns to the cleaning base station 100, moves above the cleaning tank 112 (the replacement position), unlocks the driving part 143a to work, so that the connecting rope 143b is wound around the unlocking driving part 143a, the length of the connecting rope 143b is shortened, the transmission part 142c is pulled to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, i.e., in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the triggering part 212, and the whole stop piece 210 can move relative to the mop plate 230 to make the stop part 213 open the slot 232 of the fitting groove 231, so that the locking part 128c of the cleaning device 300 is separated from the fitting groove 231, and the cleaning device 300 can move out of the base body 110, and the process of detaching the dirty cleaning part 200 from the cleaning device 300 is completed.

[0465] The driving mechanism 130 drives the whole cloth changing mechanism 120 to move from the storage position to the replacement position. The synchronous part 129 can drive the fixing part 128 to be connected with the mounting part 126 in sliding mode, so that the fixing part 128 can slide into the lower part of the cleaning part 200, and the locking part 128c of the cloth changing mechanism 120 can enter into the matching groove 231. After the locking part 128c of the cloth changing mechanism 120 enters into the matching groove 231, the unlocking driving part 143a stops working, and the reset part 145 drives the whole unlocking part 142 to rotate in the opposite direction under the action of the restoring force of the reset part 145, so that the unlocking part 142 can be reset, and the unlocking part 142b cancels the force applied on the trigger part 212. Under the action of the restoring force of the elastic part 240, the stop part 213 can stop the slot opening 232 of the matching groove 231, and further stop the locking part 128c.

[0466] In step S45b, the cloth changing mechanism 120 is controlled to move to the turnover position, and the cloth changing mechanism 120 is turned over, so that the clean cleaning part 200 is turned over to the replacement state.

[0467] After the cleaning device 300 exits from the cleaning base station 100, the driving mechanism 130 is controlled to act, and the driving mechanism 130 drives the whole cloth changing mechanism 120 to move to the turnover position. The cloth changing mechanism 120 is turned over, the positioning part and the fixing part 128 are turned over as a whole by the turnover driving part, so that the clean cleaning part 200 and the dirty cleaning part 200 are exchanged in position, that is, the clean cleaning part 200 faces downward (the replacement state), and the dirty cleaning part 200 faces upward (the storage state).

[0468] In step S45c, the cloth changing mechanism 120 is controlled to move to the replacement position again, and the clean cleaning part 200 is placed in the replacement position.

[0469] The driving mechanism 130 drives the whole cloth changing mechanism 120 to move to the replacement position again. At this time, the clean cleaning part 200 is arranged downward. At this time, the clean cleaning part 200 moves to the unlocking mechanism 140, the unlocking driving part 143a works, the connecting rope 143b is arranged around the unlocking driving part 143a, the length of the connecting rope 143b is shortened, the transmission part 142c is pulled to move, the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, in the direction close to the cleaning part 200, so that the unlocking part 142b can contact with the trigger part 212, the whole stop part 210 can move relative to the mop plate 230, so that the stop part 213 can open the slot opening 232 of the matching groove 231, and the synchronous part 129 can drive the fixing part 128 to be connected with the mounting part 126 in sliding mode, so that the locking part 128c of the cloth changing mechanism 120 can be separated from the matching groove 231.

[0470] Step S45d, the cloth changing mechanism 120 places the clean cleaning part 200 at the replacement position, and the cleaning base station 100 triggers a control signal to enable the cleaning device 300 to return to the cleaning base station 100.

[0471] After the cloth changing mechanism 120 places the clean cleaning part 200 at the replacement position, the cleaning base station 100 can trigger a control signal, so that after the cleaning device 300 obtains the control signal, the cleaning device 300 returns to the cleaning base station 100, the locking part 128c of the cleaning device 300 extends into the matching groove 231, the unlocking driving part 143a stops working, and the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction under the action of its restoring force, so that the unlocking part 142 can be reset, and the unlocking part 142b cancels the force applied to the trigger part 212, and under the action of the restoring force of the elastic part 240, the stop part 213 can stop the slot 232 of the matching groove 231, and further stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300, and the cleaning device 300 moves out of the cleaning base station 100 to work.

[0472] The cloth changing mechanism 120 places the clean cleaning part 200 at the replacement position, which means that the current cleaning base station 100 has replaced the dirty cleaning part 200 with the clean cleaning part 200, and the cleaning device 300 can obtain the clean cleaning part 200 from the cleaning base station 100.

[0473] The cloth changing mechanism 120 places the clean cleaning part 200 at the replacement position, which triggers a control signal. The control signal can be directly sent to the cleaning device 300 by the cleaning base station 100, or the cleaning base station 100 triggers the control signal, and then the server receives the control signal and sends it to the cleaning device 300.

[0474] Step S46, the cleaning device 300 responds to the control signal and returns to the cleaning base station 100.

[0475] After the cleaning device 300 exits the cleaning base station 100, the cloth changing mechanism 120 of the cleaning base station 100 starts to replace the cleaning part 200, and triggers a control signal after the replacement is completed, and the cleaning device 300 returns to the cleaning base station 100 in response to the control signal.

[0476] Step S47, the cleaning device 300 obtains the clean cleaning part 20.

[0477] After the cleaning device 300 enters the cleaning base station 100, the unlocking mechanism 140 fixes the clean cleaning part 200 to the cleaning device 300, and the specific process is as follows:

[0478] The driving mechanism 130 drives the whole cloth changing mechanism 120 to move to the storage position, at this time, the cleaning device 300 returns to the cleaning base station 100, the locking part 128c of the cleaning device 300 extends into the matching groove 231, the unlocking driving part 143a stops working, the reset part 145 drives the whole unlocking part 142 to rotate in the opposite direction under the action of the self-recovery force, so that the unlocking part 142 can be reset, the unlocking part 142b cancels the force applied to the trigger part 212, under the action of the recovery force of the elastic part 240, the stop part 213 can stop the notch 232 of the matching groove 231, and further stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300, and the cleaning device 300 moves out of the cleaning base station 100 to work.

[0479] Step S48, control the cleaning device 300 to exit the cleaning base station 100, and the cleaning device 300 performs the cleaning program.

[0480] After obtaining the clean cleaning part 200, the cleaning device 300 exits the cleaning base station 100 and starts to perform the cleaning program or continues to perform the cleaning program.

[0481] Step S49, the cleaning base station 100 performs the cleaning step.

[0482] Please refer to Figure 36 Wherein, the step S49 can include the step S49a, the step S49b, the step S49c and the step S49d.

[0483] Step S49a, control the cloth changing mechanism 120 to place the dirty cleaning part 200 in the cleaning tank 112.

[0484] After the cleaning device 300 obtains the clean cleaning part 200, the cleaning device 200 moves out of the cleaning base station 100 to continue cleaning the surface, and the cleaning part 200 replaced from the cleaning device 300 is left on the cloth changing mechanism 120. Since the cleaning part 200 will be dirty again during the cleaning of the surface by the cleaning device 200, it needs to be replaced, and since the replaced cleaning part 200 needs to be cleaned, it prepares for the next replacement of the cleaning device 200.

[0485] After replacing the cleaning part 200, the dirty cleaning part 200 is placed on the cloth changing mechanism 120, and the current is in the storage state, then the driving mechanism 130 can drive the cloth changing mechanism 120 to move to the turnover position again, the cloth changing mechanism 120 is turned over, the turnover driving part drives the whole turnover of the positioning part and the fixing part 128, so that the clean cleaning part 200 and the dirty cleaning part 200 are turned over from the storage state to the replacement state.

[0486] The driving mechanism 130 drives the cloth changing mechanism 120 to move to the replacement position (the cleaning tank 112) again, and the dirty cleaning part 200 can be cleaned.

[0487] In step S49b, the cleaning base station 100 is controlled to execute the cleaning program and / or the drying program, so that the dirty cleaning part 200 is processed into a clean cleaning part 200.

[0488] The cleaning base station 100 is controlled to execute the cleaning program and / or the drying program, so that the cleaning part 200 can be cleaned and / or dried.

[0489] The cleaning base station 100 is controlled to execute the cleaning program and / or the drying program, which can be that the cleaning base station 100 executes the cleaning program, or that the cleaning base station 100 executes the drying program, or that the cleaning base station 100 executes the cleaning program and then executes the drying program.

[0490] In step S49c, the cloth changing mechanism 120 is controlled to move to the turnover position, and the cloth changing mechanism 120 is controlled to turn over, so that the clean cleaning part 200 is in the storage state.

[0491] After the cleaning is completed, the dirty cleaning part 200 becomes a clean cleaning part 200, and then the driving mechanism 130 drives the cloth changing mechanism 120 to move to the turnover position again, and the cloth changing mechanism 120 turns over, so that the cleaning part 200 is in the storage state.

[0492] In step S49d, the cloth changing mechanism 120 is controlled to the storage position, so as to store the clean cleaning part 200.

[0493] Since the cleaning time of the cleaning part 200 can be less than the working time of the cleaning device 300 for replacing the cleaning part 200, that is, after the cleaning of the cleaning part 200 is completed, the cleaning part 200 currently used by the cleaning device 300 is not in the state of needing to be replaced, the clean cleaning part 200 can be finally moved to the storage position. As for the drying of the cleaning part 200, the drying can be performed at the cleaning tank 112, or the drying can be performed on the cleaning part 200 at the storage position.

[0494] It should be noted that the time of the cleaning program and the cleaning step at least partially overlaps. Since the execution time of the cleaning program and the execution time of the cleaning step can be different, it can be that the execution time of the cleaning program is greater than the execution time of the cleaning step, or it can be that the execution time of the cleaning program is less than the execution time of the cleaning step. The time of the cleaning program and the cleaning step at least partially overlaps means that at least one time of the cleaning program overlaps with one time of the cleaning step.

[0495] Based on the same inventive concept, the embodiment of the present application further provides a computer storage medium, which stores a computer program, and the computer program is executed by a processor to implement the cleaning part replacement method and the cleaning part cleaning method.

[0496] That is, the cleaning device 300 performs the cleaning program, and the cleaning base station 100 performs the cleaning step at the same time, that is, the cleaning device 300 performs the cleaning program to clean the surface, and the cleaning base station 100 cleans the cleaning part 200, so that the dirty cleaning part 200 is cleaned to the clean cleaning part 200, and the cleaning part 200 is prepared for the next replacement of the cleaning device 300. The cleaning time of the cleaning part 200 does not delay the cleaning time of the cleaning device 300, which can reduce the invalid time of the cleaning device 300 in the working process, and further can reduce the total time of the cleaning device 300 working. It should be noted that during the cleaning process of the cleaning device 300, it is continuously judged whether the cleaning part 200 reaches the replacement condition, that is, after step S48, steps S41-S49 are repeatedly executed.

[0497] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present specification.

[0498] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, also not within the scope of protection required by the present application.

[0499] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A cleaning base station for housing a cleaning device (300), characterized in that, The cleaning base station (100) comprises: a base station body (110) and a driving mechanism (130) mounted on the base station body (110); a cloth changing mechanism (120) in driving connection with the driving mechanism (130) and capable of moving relative to the base station body (110) under the driving of the driving mechanism (130), so that the cloth changing mechanism (120) can move between a changing position, a turning position and a storage position; wherein the projections of the changing position, the turning position and the storage position on the bottom surface of the base station body are at least partially misaligned.

2. The cleaning base station according to claim 1, wherein when the cloth changing mechanism (120) is located at the changing position, the cloth changing mechanism (120) can obtain the cleaning part (200) changed from the cleaning device (300) from the base station body (110), or the cloth changing mechanism (120) can place the cleaning part (200) on the base station body (110); when the cloth changing mechanism (120) is located at the storage position, the cloth changing mechanism (120) can be stored in the base station body (110).

3. The cleaning dock of claim 1, wherein, The storage position is located above the changing position.

4. The cleaning dock of claim 1, wherein, The projection of the storage position and the changing position on the bottom surface of the base station body (110) are at least partially misaligned.

5. A cleaning system characterized by, A cleaning system comprising a cleaning device (300) and a cleaning base station (100) according to any one of claims 1-4, wherein the cleaning device (300) can be accommodated in the cleaning base station (100).

6. A cleaning section replacement method applied to a cleaning base station (100), characterized by, comprises: controlling the cloth changing mechanism (120) to move to the changing position to pick up the dirty cleaning part (200), wherein the cloth changing mechanism (120) is used to store a plurality of cleaning parts (200) and turn different cleaning parts (200), and the cleaning part (200) is a component for processing a work surface; controlling the cloth changing mechanism (120) to move to the turning position to turn the cloth changing mechanism (120) so that the clean cleaning part (200) is turned downward; controlling the cloth changing mechanism (120) to move to the changing position again to place the clean cleaning part (200) at the changing position.

7. A cleaning section replacement method characterized by, The cleaning part changing method is applied to a cleaning device (300), and the cleaning part changing method comprises: when the cleaning part (200) of the cleaning device (300) reaches a changing condition, controlling the cleaning device (300) to return to a cleaning base station (100); removing the dirty cleaning part (200) on the cleaning device (300), wherein the cleaning part is a component for processing a work surface; controlling the cleaning device (300) to exit the cleaning base station (100); in response to a control signal, controlling the cleaning device (300) to return to the cleaning base station (100); obtaining the clean cleaning part (200).

8. A cleaning unit replacement method applied to a cleaning system (10), the cleaning system (10) comprising a cleaning base station (100) and a cleaning device (300), characterized in that, The cleaning part changing method comprises: when the cleaning part (200) of the cleaning device (300) reaches a changing condition, controlling the cleaning device (300) to return to the cleaning base station (100); Dismounting a dirty cleaning part (200) from the cleaning device (300), wherein the cleaning part (200) is a component of a processing work surface; Controlling the cleaning device (300) to exit the cleaning base station (100); A cloth changing mechanism (120) of the cleaning base station (100) replaces the dirty cleaning part (200) with a clean cleaning part (200) and triggers a control signal; The cleaning device (300) returns to the cleaning base station (100) in response to the control signal; The cleaning device (300) acquires the clean cleaning part (200); Controlling the cleaning device (300) to exit the cleaning base station (100).

9. A method for cleaning a cleaning section, applied to a cleaning base station (100), characterized by, The cleaning part cleaning method comprises: Controlling the cloth changing mechanism (120) to place the dirty cleaning part (200) in a cleaning tank (112); Controlling the cleaning base station (100) to execute a cleaning program to process the dirty cleaning part (200) into the clean cleaning part (200).

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by a processor to implement the method of any one of claims 5-9.

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