Cleaning assembly replacement base station and replacement method, cleaning robot and storage medium

Abstract

The invention provides a cleaning assembly replacement base station, and the base station comprises a cleaning assembly carrying unit which is used for carrying a dismounted cleaning assembly and carrying a cleaning assembly to be mounted; the cleaning assembly storage unit is used for storing the detached cleaning assembly and storing the cleaning assembly to be installed; the cleaning assembly conveying mechanism is used for conveying the detached cleaning assembly from the bearing unit to the storage unit and conveying the cleaning assembly to be installed from the storage unit to the bearing unit, and the cleaning assembly conveying mechanism comprises a conveying trolley and a conveying rail; the conveying trolley is used for conveying the cleaning assembly along the conveying rail; the transport trolley is provided with a picking and falling mechanism, the picking and falling mechanism is used for picking and falling the cleaning assembly, and the picking and falling mechanism comprises a picking motor, an iron block, a sliding structure and a guide structure; the picking and falling-off cleaning assembly of the picking and falling-off mechanism is achieved by adjusting the magnetic force, and the magnetic force is achieved by adjusting the distance between a magnet and an iron block.

Description

[0001] The present application claims priority from Chinese Patent Application No. 202311451596.2, filed on November 2, 2023, entitled "Cleaning Component Replacement Base Station and Replacement Method, Cleaning Robot and Storage Medium", the contents of which are incorporated herein by reference in its entirety. The present application is a divisional application of the original application with the application number 202411554405.X and the original filing date of November 1, 2024, the contents of which are incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of robots, in particular, to a cleaning component replacement base station and replacement method, a cleaning robot and a storage medium. BACKGROUND

[0003] With the rapid development of technology, robot technology has been widely applied in various fields. Among them, cleaning robots can automatically perform cleaning tasks such as dust collection, sweeping, and mopping, and are deeply welcomed by people.

[0004] In the prior art, during the cleaning process of the cleaning robot, its cleaning components (such as a mop, a roller brush, and an edge brush) are often used to clean various different environments, such as mopping the living room after mopping the bathroom and kitchen. On the one hand, this can lead to a decrease in cleaning effect because the cleaning components are not suitable for a certain environment. On the other hand, it can cause cross-contamination because the same cleaning component is used to clean different environments, which seriously affects the cleaning effect. SUMMARY

[0005] The present application provides a cleaning robot cleaning component replacement base station and replacement method, a cleaning robot and a cleaning method, and a storage medium. The cleaning robot automatically replaces the cleaning components suitable for different cleaning environments or conditions, improves the cleaning effect, avoids cross-contamination, and improves the user experience.

[0006] According to an embodiment of the present application, a cleaning robot cleaning component replacement base station is provided, comprising: a cleaning component receiving unit for receiving a cleaning component detached from a cleaning device and for receiving a cleaning component to be installed in the cleaning device;

[0007] a cleaning component storage unit for storing the detached cleaning component and for storing the cleaning component to be installed;

[0008] a cleaning component transportation mechanism for transporting the detached cleaning component from the receiving unit to the storage unit and for transporting the cleaning component to be installed from the storage unit to the receiving unit.

[0009] According to another embodiment of the present application, a cleaning robot cleaning component replacement method is provided, the method comprising:

[0010] determining area feature information of the area to be cleaned according to the area map data;

[0011] controlling the cleaning robot to return to the base station and replace the corresponding cleaning component according to the area feature information.

[0012] According to another embodiment of the present application, a computer readable storage medium is also provided, the computer readable storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the method embodiments described above when running.

[0013] According to another embodiment of the present application, a mobile robot is also provided, comprising a memory and a processor, the memory storing a computer program, and the processor being configured to execute the computer program to perform the steps in any of the method embodiments described above.

[0014] According to another embodiment of the present application, a computer program product is also provided, comprising a computer program, the computer program being executed by a processor to implement the steps in any of the method embodiments described above.

[0015] Through the embodiments provided in the present application, the cleaning component suitable for different cleaning environments or conditions can be automatically replaced for the cleaning robot, the cleaning effect is improved, cross contamination is avoided, and user experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic diagram of a cleaning component replacement base station provided by an embodiment of the present application;

[0017] Figure 2 is a schematic diagram of an application scenario of a cleaning component replacement base station provided by an embodiment of the present application;

[0018] Figure 3 is a structural schematic diagram of a cleaning robot provided by an embodiment of the present application;

[0019] Figure 4 is a structural schematic diagram of the transport trolley provided by an embodiment of the present application;

[0020] Figure 5 is a first perspective structural schematic diagram of the transport trolley in a state of carrying a cleaning cloth provided by an embodiment of the present application;

[0021] Figure 6 is a second perspective structural schematic diagram of the transport trolley in a state of carrying a cleaning cloth provided by an embodiment of the present application;

[0022] Figure 7 is a structural schematic view of the chassis of the transport trolley provided by the embodiment of the present application;

[0023] Figure 8 is a matching structure view of the transport trolley and the track provided by the embodiment of the present application;

[0024] Figure 9 is an application scene schematic view of the picking-off mechanism picking up the cleaning cloth provided by the embodiment of the present application;

[0025] Figure 10 is a structural schematic view of another cleaning assembly replacement base station provided by the embodiment of the present application;

[0026] Figure 11 is an application scene schematic view of still another cleaning assembly replacement base station provided by the embodiment of the present application;

[0027] Figure 12 is a structural schematic view of the cleaning assembly storage unit provided by the embodiment of the present application;

[0028] Figure 13 is a schematic view of a region map provided by the embodiment of the present application;

[0029] Figure 14 is a flowchart of a cleaning cloth replacement process provided by the embodiment of the present application;

[0030] Figure 15 is a structural schematic view of a cleaning assembly provided by the embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a 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 persons skilled in the art without creative labor should belong to the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0033] Figure 1 is an application scenario schematic diagram of a cleaning assembly replacing base station provided by an embodiment of the present application. As shown in Figure 1 , an embodiment of the present application provides a cleaning assembly replacing base station, which can include:

[0034] A cleaning assembly receiving unit 1 is used to receive a cleaning assembly detached from a cleaning device, and is used to receive a cleaning assembly to be installed on the cleaning device;

[0035] A cleaning assembly storage unit 2 is used to store the detached cleaning assembly, and is used to store the cleaning assembly to be installed;

[0036] A cleaning assembly transportation mechanism 3 is used to transport the detached cleaning assembly from the receiving unit to the storage unit, and is used to transport the cleaning assembly to be installed from the storage unit to the receiving unit.

[0037] In this example, the cleaning device includes a cleaning robot, and the cleaning assembly can include a mop assembly of the cleaning robot, wherein the cleaning robot includes a sweeping robot, a mopping robot, a washing robot, a sweeping and mopping robot, or any automatic cleaning device with a cleaning function.

[0038] In this example, the cleaning device includes a cleaning robot, and the cleaning assembly can include a mop assembly of the cleaning robot. The mop assembly can be a disc mop assembly such as a disc mop or a triangular mop. As shown in Figure 15 , a mounting protrusion is arranged at the center position of the mop assembly, and the mounting protrusion can be mounted with a magnetic element such as a magnet.

[0039] In this example, the cleaning assembly storage unit can include a plurality of storage discs for detachably fixing the cleaning assembly, and the plurality of storage discs are arranged on the side wall of the base station from top to bottom, and the bottom of the storage disc is substantially parallel to the side wall of the base station.

[0040] In this example, the transport mechanism may include a transport trolley and a transport track. The transport track is bent to form a lifting section and a translation section. The transport trolley can move along the lifting section to the side of the storage tray and along the translation section to the top of the receiving unit. The transport trolley is used to transport the cleaning components.

[0041] In this example, the transport trolley has a pick-and-drop mechanism for picking up the disassembled cleaning components from the receiving unit and for dropping the disassembled cleaning components into the storage unit.

[0042] In this example, the pick-up and drop mechanism is also used to pick up the cleaning component to be replaced from the storage unit and to drop the cleaning component to be replaced into the receiving unit.

[0043] In one embodiment of this application, the cleaning component can be a disc-shaped mop cloth, which is equipped with a magnet. Correspondingly, the pick-up and release mechanism has a first magnetic element that can be attracted by the magnet, and the pick-up and release mechanism can use the magnetic element to pick up the cleaning component. The mop assembly can be a disc-shaped mop cloth, a triangular mop cloth, or other disc-shaped mop cloth assembly. Figure 15 As shown, the mop assembly has a mounting protrusion at its center, which can be used to mount magnetic components such as magnets.

[0044] In one embodiment of this application, the receiving unit has a second magnetic element at its bottom that can be attracted by a magnet, and the storage disk has a third magnetic element at its bottom that can be attracted by a magnet. The second magnetic element is used to attract and detach the cleaning component attracted by the pickup and detachment structure into the receiving unit, and the third magnetic element is used to attract and detach the cleaning component attracted by the pickup and detachment structure into the storage disk.

[0045] In one embodiment of this application, the receiving unit is provided with a detachment stop for touching and detaching the cleaning component adsorbed by the pickup and detachment structure into the receiving unit.

[0046] In some embodiments of this application, the receiving unit may also have a cleaning component cleaning function, such as automatically washing the cloth tray replaced by the cleaning robot before transporting it to the storage unit. This allows for both replacing dirty cloths and cleaning the soiled cloths.

[0047] Figure 11 This is a schematic diagram illustrating another application scenario for replacing a base station with a cleaning component, as provided in an embodiment of this application. Figure 11As shown, it includes the following modules: 1. H1 gripping mechanism, 2. H2 lifting mechanism, 3. H3 rotating mechanism. The storage module consists of multiple storage units, each capable of holding two mop assemblies. The gripping mechanism, as shown in H1, is used to pick up and place the mop modules. The lifting mechanism, as shown in H2, controls the vertical displacement of the gripping mechanism. The rotating mechanism, as shown in H3, directs the idle gripping mechanism towards the mop assemblies detached from the sweeper. Specifically, as shown... Figure 2 As shown, the process of replacing the mop using the base station is as follows: After the sweeper K returns to the base station J, it cleans the mop (1) in the mop cleaning module J4. After cleaning, the sweeper K automatically removes the mop, the lifting trolley J2 descends, and the lifting trolley J21 has a gripping mechanism on it. The gripping mechanism grabs the cleaned mop (1), and the lifting trolley J2 climbs along the track to an empty storage unit. The mop (1) is placed in the storage unit, and the lifting trolley rises and falls along the track to another mop tray storage compartment. The lifting trolley grabs the mop (2), and the climbing trolley descends along the track. The gripping mechanism on the lifting trolley releases the mop (2), which falls into the cleaning unit. The lifting trolley rises, and the sweeper automatically installs the mop. The mop replacement is completed. Among them, the gripping mechanism H1, the lifting mechanism H2, and the rotating mechanism H3 together constitute the cleaning component transportation mechanism, and the mop component is a type of cleaning component.

[0048] like Figure 1 As shown, the base station includes a cleaning tray, a lifting trolley, a lifting track, a storage tray, and a cloth drying duct. The cleaning tray is one type of cleaning component, and the lifting trolley and the lifting track together form the cleaning component transport mechanism. Figure 4 This is a schematic diagram of a transport vehicle provided in an embodiment of this application. Figure 5 This is a first-view structural diagram of the transport trolley carrying the rag provided in the embodiments of this application. Figure 6 This is a second-view structural diagram of the transport trolley carrying the rag provided in the embodiments of this application. Figure 7 This is a schematic diagram of the chassis of the transport vehicle provided in the embodiments of this application. Figure 8 This is a structural diagram of the cooperation between the transport trolley and the track provided in the embodiments of this application. Figure 9 This is a schematic diagram illustrating an application scenario of the detached pick-up mechanism for picking up a rag, as provided in this embodiment of the application. Figures 5-9 As shown, the transport trolley may include ① a lifting trolley chassis, ② a picking and dropping mechanism, and ③ a positioning module. Detailed descriptions are as follows:

[0049] ① The chassis of the car consists of: drive motor, gearbox, drive wheel, driven wheel, chassis, Hall sensor, and bullseye wheel.

[0050] ② The pickup and detachment mechanism consists of a pickup motor, an iron block, a sliding structure, and a guiding structure. Picking up and detaching the cloth is achieved by adjusting the magnetic force. The magnetic force is adjusted by changing the distance between the magnet and the iron block, thus enabling the cloth to be picked up and detached.

[0051] ③ The positioning structure can utilize photoelectric sensors, Hall effect sensors, and micro switches. The lifting trolley's ascent relies on the static friction between its tires and the track. When the trolley rises vertically, since it cannot provide sufficient positive pressure, a pulley is added next to the tire. This pulley is coaxial with the tire and rolls within track 2. The pulley and track 2 work together to compress tire 1. The rebound force generated after tire deformation provides positive pressure, ensuring the trolley does not slip when moving on the track. Regarding the cloth-picking principle, the suction force on the picking mechanism is greater than that of the washing tray and the storage tray, thus enabling the cloth-picking function.

[0052] Figure 10 This is a schematic diagram of another cleaning component replacement base station provided in an embodiment of this application. In this example, the cleaning component storage unit may include multiple storage disks, which are arranged from top to bottom on the side wall of the base station, roughly parallel to the side wall of the base station, and are used to hold the cleaning components.

[0053] In this example, the transport mechanism includes a lifting mechanism and a gripping mechanism. The lifting mechanism is used to raise and lower the gripping mechanism to a predetermined height, and the gripping mechanism is used to grip the cleaning component from the storage tray at the predetermined height.

[0054] In this example, the lifting mechanism and the gripping mechanism can be movably connected by a telescopic mechanism, which can drive the gripping mechanism to move in the horizontal direction.

[0055] Figure 12 This is a schematic diagram of the structure of the cleaning component storage unit provided in an embodiment of this application. For example... Figures 10-12 As shown, the base station can be composed of the following mechanisms: 1. F1 gripping mechanism, 2. F2 lifting mechanism, and 3. F3 telescopic mechanism. The storage module consists of multiple storage units, and each storage unit F4 can store two mop assemblies.

[0056] The gripping mechanism, as shown in Figure F1, is used to pick up and put down the mop module.

[0057] The lifting mechanism, as shown in Figure F2, controls the vertical displacement of the pickup mechanism.

[0058] The telescopic mechanism, as shown in Figure F3, controls the horizontal displacement of the gripping mechanism.

[0059] The storage unit, as shown in Figure F4, is used to store the mop modules for each area.

[0060] The specific process for replacing the cleaning components is as follows: After the cleaning robot returns to the base station, it cleans the mop in the H4 mop cleaning module (1). After cleaning, the I sweeper automatically removes the mop, the H2 lifting mechanism lowers, the H1 gripping mechanism grabs the cleaned mop (1), the H2 lifting mechanism rises, the H3 rotating mechanism rotates, the H2 lifting mechanism lowers, the gripping mechanism releases the mop (2), and it falls into the cleaning unit. The H2 lifting mechanism rises again, and the I sweeper automatically installs the mop. This completes the mop replacement. Figure 12 As shown, multiple storage units a1, b1, c1, etc. are arranged vertically on the side wall of the base station.

[0061] Figure 11 This is a schematic diagram illustrating another application scenario for replacing a base station with a cleaning component, as provided in this application embodiment. In this example, the base station may include:

[0062] A cleaning component receiving unit is used to receive cleaning components removed from the cleaning equipment, and to receive cleaning components to be installed on the cleaning equipment.

[0063] A cleaning component storage and transportation unit is used to store the disassembled cleaning components, to store the cleaning components to be installed, and to transport the cleaning components to be installed to the receiving unit.

[0064] The storage and transportation unit includes a lifting mechanism, a gripping mechanism, and a rotating mechanism.

[0065] like Figure 11 As shown, the base station may include 1. H1 a gripping mechanism, 2. H2 a lifting mechanism, and 3. H3 a rotating mechanism. The storage module consists of multiple storage units, each of which can store two mop assemblies.

[0066] The gripping mechanism, as shown in Figure H1, is used to pick up and put down the mop module.

[0067] The lifting mechanism, as shown in Figure H2, controls the vertical displacement of the picking mechanism.

[0068] The rotating mechanism, as shown in Figure H3, directs the free gripping mechanism towards the detachable mop assembly of the sweeper. Specifically, as shown... Figure 2As shown, the process of changing cleaning components for the cleaning robot is as follows: After the sweeper K returns to the base station J, it cleans the mop (1) in the mop cleaning module J4. After cleaning, the sweeper K automatically removes the mop, the lifting trolley J2 descends, and the gripping mechanism J21 on the lifting trolley grabs the cleaned mop (1). The lifting trolley J2 climbs along the track to an empty storage unit and places the mop (1) into the storage unit. The lifting trolley rises and falls along the track to another mop tray storage compartment and grabs the mop (2). The climbing trolley descends along the track, and the gripping mechanism on the lifting trolley releases the mop (2), which falls into the cleaning unit. The lifting trolley climbs, and the sweeper automatically installs the mop. The mop replacement is completed.

[0069] One embodiment of this application also provides a method for replacing cleaning components of a cleaning robot. This method can be used in the base station and corresponding cleaning robot system described in the above embodiments, and can also be applied to other base station and robot systems with replaceable cleaning cloths. Correspondingly, the method may include:

[0070] S1: Determine the regional characteristics of the area to be cleaned based on the regional map data.

[0071] S2: Control the cleaning robot to return to the base station and replace the corresponding cleaning components according to the area feature information.

[0072] The regional feature information includes any one or more of the following: the degree of contamination of the area to be cleaned, the area type, the material of the cleaning surface, and the cleaning component information set by the user.

[0073] In some embodiments of this application, the area map data may be pre-stored in the storage unit of the cleaning robot, and the area map data includes the area feature information, which may be obtained by the cleaning robot through sensor identification or pre-input by the user.

[0074] Figure 13 This is a schematic diagram of a region map provided in an embodiment of this application. For example... Figure 13As shown, the cleaning robot can create a regional map using its sensors and stored algorithms. This map divides the indoor space into N zones, such as A, B, C, etc. The robot can determine the zone type based on its features, and then select the appropriate cleaning components, such as a mop tray, for that zone. Specifically, the regional features can be categorized by room function (e.g., bedroom, living room, bathroom, kitchen, balcony) or by pollution level (e.g., lightly polluted, moderately polluted, heavily polluted). Users can manually divide the zones on the app according to their needs, pre-inputting the zone type and other feature information for each zone. Figure 12 As shown, corresponding mops a, b, c... are configured for areas A, B, C..., as follows. Figure 12 As shown, the robot vacuum cleaner base station has corresponding mop tray storage units a1, b1, c1... (mop b generally refers to the mopping mechanism adapted to area B. If area B is a prohibited area such as a carpet, then mop b is an empty tray. This correspondence is not limited to this method. Areas a and b can be set to correspond to mop tray b1). The mop tray storage unit is the cleaning component storage unit.

[0075] Before the robot begins cleaning, the S1 cleaning path planning is completed (the path can be automatically planned by the program, and user-defined cleaning paths are also supported). The robot then cleans the first, second, third, and other areas according to the planned path. After cleaning the first area, the robot automatically replaces the mop with a special mop for the second area using the mop replacement module on the base station, and then cleans the second area. This process is repeated to clean the subsequent areas and replace the mop, thus avoiding cross-contamination when cleaning different areas.

[0076] One addition to the solution is a mop cleaning function in this system, which can ensure the reuse of the mop.

[0077] Figure 14 This is a flowchart illustrating a process for changing a cleaning cloth, provided in an application example of this application. For example... Figure 14 As shown, the specific procedure for changing the cleaning cloth is as follows:

[0078] Step S1: Plan the cleaning path. For example: Start - ABC - End Cleaning, or: Start - BCD - End Cleaning; that is, after starting cleaning, pass through area A, area B, and area C in sequence and then end cleaning, or after starting cleaning, pass through area B, area C, and area D in sequence.

[0079] Step S2: Determine the cleaning area, for example, A. The cleaning area is area A.

[0080] Step S3: Replace the mop a with the mop a corresponding to area A, that is, replace the cleaning component with the cleaning component corresponding to area A.

[0081] Step S4, Area Cleaning: If the mop gets dirty during the area cleaning process, it can be returned to the base station for mop cleaning. Mop cleaning is completed within the "Area Cleaning" step.

[0082] Step S5: Return to the base station and use the self-cleaning mop, which means using the base station's cleaning tank to automatically clean the cleaning components.

[0083] In step S6, a judgment is made as to whether there is an area to be cleaned. If so, return to step S2, that is, redetermine the area to be cleaned and determine the cleaning component corresponding to the area.

[0084] If not, proceed to step S7 to end this cleaning task.

[0085] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0086] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0087] According to another aspect of the embodiments of this application, a cleaning robot is also provided, including a storage unit and a control unit, wherein the storage unit stores a computer program, and the control unit is configured to run the computer program to perform the steps in any of the above method embodiments.

[0088] In one exemplary embodiment, the cleaning robot may further include a transmission device and an input / output device, wherein the transmission device is connected to the input / output resource pool, and the input / output device is connected to the input / output resource pool.

[0089] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0090] Obviously, those skilled in the art should understand that the modules or steps of the embodiments of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the embodiments of this application are not limited to any particular combination of hardware and software.

[0091] The above description is merely a preferred embodiment of this application and is not intended to limit the embodiments of this application. For those skilled in the art, various modifications and variations can be made to the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A cleaning component for replacing a base station, characterized in that, The base station includes: A cleaning component receiving unit is used to receive cleaning components disassembled from the cleaning robot, and to receive cleaning components to be installed on the cleaning robot. A cleaning component storage unit is used to store the disassembled cleaning components and to store the cleaning components to be installed. A cleaning component transport mechanism is used to transport the disassembled cleaning components from the cleaning component receiving unit to the cleaning component storage unit, and to transport the cleaning components to be installed from the storage unit to the cleaning component receiving unit. The cleaning component transport mechanism includes a transport trolley and a transport track; the transport trolley is used to transport the cleaning component along the transport track; the transport trolley has a pick-and-drop mechanism for picking up and dropping the cleaning component, the pick-and-drop mechanism includes a pick-up motor, an iron block, a sliding structure, and a guide structure; the pick-and-drop mechanism picks up and drops the cleaning component by adjusting the magnetic force, the magnetic force being adjusted by adjusting the distance between the magnet and the iron block.

2. The base station replacement cleaning component according to claim 1, characterized in that, The picking and dropping mechanism is used to pick up the disassembled cleaning component from the cleaning component receiving unit and to drop the disassembled cleaning component into the cleaning component storage unit.

3. The base station replacement cleaning component according to claim 1, characterized in that, The pick-up and detachment mechanism is also used to pick up the cleaning component to be installed from the cleaning component storage unit, and to detach the cleaning component to be installed into the cleaning component receiving unit.

4. The base station replacement cleaning component according to claim 1, characterized in that, The transport vehicle also has a gripping mechanism for gripping the cleaning components.

5. The base station replacement cleaning component according to claim 1, characterized in that, The transport trolley includes a chassis, which comprises: a drive motor, a gearbox, a drive wheel, a driven wheel, a chassis, a Hall sensor, and a bullseye wheel.

6. The base station replacement cleaning component according to claim 1, characterized in that, The transport trolley includes a positioning module, which includes at least one of a photoelectric sensor, a Hall sensor, and a micro switch.

7. The base station replacement cleaning component according to claim 1, characterized in that, The transport trolley includes a trolley tire and a pulley. The pulley is located next to the trolley tire, coaxial with the trolley tire, and rolls within the track. During the movement of the transport trolley on the track, the pulley is controlled to cooperate with the track to squeeze the trolley tire, thereby providing positive pressure to the trolley tire.

8. A method for replacing cleaning components of a cleaning robot, characterized in that, The method applied to the cleaning component replacement base station as described in any one of claims 1-7, the method comprising: After the cleaning robot removes the cleaning components, the transport trolley is controlled to pick up the removed cleaning components and climb along the transport track to the position of the empty cleaning component storage unit, and the removed cleaning components are placed into the cleaning component storage unit. The transport trolley is controlled to move up and down along the transport track to the location of another cleaning component storage unit, and the cleaning component to be replaced is obtained through the transport trolley; The transport trolley is controlled to descend along the transport track to the position of the cleaning component receiving unit, and the cleaning component to be replaced is placed into the cleaning component receiving unit for installation.

9. A method for replacing cleaning components of a cleaning robot, characterized in that, An application is made to a cleaning component replacement base station, the cleaning component replacement base station comprising: a cleaning component receiving unit for receiving cleaning components disassembled from a cleaning robot, and a cleaning component to be installed on the cleaning robot; A cleaning component storage unit is used to store the disassembled cleaning components and to store the cleaning components to be installed. The gripping mechanism is used to pick up and place cleaning components; A lifting mechanism is used to control the vertical displacement of the gripping mechanism; A rotating mechanism is used to turn the idle gripping mechanism toward the cleaning components disassembled from the cleaning robot; The method includes: After the cleaning robot removes the cleaning components, it controls the lifting mechanism to descend to the position of the cleaning component receiving unit and controls the gripping mechanism to grab the removed cleaning components. The lifting mechanism is controlled to rise to the position of the cleaning component storage unit, and the gripping mechanism is controlled to put the disassembled cleaning component into the cleaning component storage unit; Control the lifting mechanism to move up and down to the position of another cleaning component storage unit, and control the gripping mechanism to grip the cleaning component to be replaced from the other cleaning component storage unit; Control the lifting mechanism to descend to the position of the cleaning component receiving unit, and control the rotating mechanism to rotate the gripping mechanism so that the cleaning component to be replaced is aligned with the cleaning component receiving unit; The gripping mechanism is controlled to release the cleaning component to be replaced, so that the cleaning component to be replaced falls into the cleaning component receiving unit for installation.

10. A cleaning robot, characterized in that, include: Storage unit, which stores computer programs; The control unit is configured to run the computer program to perform the method as described in any one of claims 8 or 9.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method as described in any one of claims 8 or 9.

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