Disassembling and assembling method of cleaning module

Abstract

The embodiment of the invention provides a dismounting and mounting method for a cleaning module, and relates to the technical field of cleaning, when the cleaning module on cleaning equipment needs to be dismounted, an equipment dismounting and mounting assembly moves to enable the cleaning module to be connected with a base station dismounting and mounting assembly, and the equipment dismounting and mounting assembly continues to move to enable the equipment dismounting and mounting assembly to be disconnected from the cleaning module. When the cleaning module needs to be mounted on the cleaning equipment, the equipment dismounting and mounting assembly moves to enable the cleaning module to be connected with the equipment dismounting and mounting assembly, and the equipment dismounting and mounting assembly continues to move to enable the base station dismounting and mounting assembly to be disconnected from the cleaning module. Therefore, the cleaning module can be automatically mounted and dismounted, the use convenience is better, and the user experience is better.

Description

Cleaning module disassembly and assembly method Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a method for disassembling and assembling a cleaning module. Background Technology

[0002] Cleaning systems consist of cleaning equipment and cleaning base stations. Cleaning equipment (such as robotic vacuum cleaners) is a mobile device that performs floor cleaning tasks, while the cleaning base station serves as its "logistics support center" and "data exchange hub." Together, they form a complete cleaning system. The cleaning base station can charge the cleaning equipment and, through functions such as automatic dust collection, mop washing, and drying, achieve fully automated cleaning, significantly reducing the cost of manual intervention.

[0003] In related technologies, the cleaning equipment is equipped with a baseboard cleaning module, which can be used to clean the baseboards.

[0004] However, the baseboard cleaning module requires manual installation and removal, which makes it inconvenient to use and results in a poor user experience. Summary of the Invention

[0005] This application provides a method for assembling and disassembling a cleaning module, so as to achieve the effect of automatic installation and disassembly of the cleaning module.

[0006] In a first aspect, embodiments of this application provide a method for disassembling and assembling a cleaning module, applied to a cleaning system. The cleaning system includes cleaning equipment and a cleaning base station. The cleaning equipment is equipped with an equipment disassembly and assembly component, and the cleaning base station is equipped with a base station disassembly and assembly component. Both the equipment disassembly and assembly component and the base station disassembly and assembly component are used for detachably connecting a cleaning module, wherein the cleaning module is used for cleaning baseboards; the method includes:

[0007] Control the movement of the equipment disassembly and assembly components so that both the base station disassembly and assembly components and the equipment disassembly and assembly components are connected to the cleaning module;

[0008] The connection force between the base station disassembly component and the cleaning module, as well as the relative magnitude of the connection force between the equipment disassembly component and the cleaning module, are controlled. The movement of the equipment disassembly component is controlled to disengage the cleaning module from either the base station disassembly component or the equipment disassembly component.

[0009] In one possible implementation, the equipment disassembly assembly includes a first swing arm and a second swing arm, wherein the first swing arm is connected to the cleaning equipment and the second swing arm is connected to the first swing arm.

[0010] The movement of the control equipment disassembly and assembly components includes: controlling the first swing arm to rotate along the first direction by a first angle, so that both the base station disassembly and assembly components and the equipment disassembly and assembly components are connected to the cleaning module.

[0011] In one possible implementation, the base station disassembly assembly includes a first connector for detachably connecting a cleaning module, and a second swing arm is provided with a second connector for detachably connecting a cleaning module.

[0012] The control device disassembly and assembly component movement includes: when the cleaning device is connected to a cleaning module and the cleaning module needs to be disassembled and assembled to the cleaning base station, controlling the first swing arm to rotate a first angle along a first direction, causing the second connector to swing so that the first connector is connected to the cleaning module.

[0013] In one possible implementation, the base station disassembly assembly includes a first connector for detachably connecting a cleaning module, and a second swing arm is provided with a second connector for detachably connecting a cleaning module.

[0014] When a cleaning module is connected to a cleaning base station and the cleaning module needs to be installed or removed from the cleaning equipment, the first swing arm is controlled to rotate at a first angle along the first direction, causing the second connector to swing so that the second connector is connected to the cleaning module.

[0015] In one possible implementation, the control device disassembly and assembly component moves along a second direction, such that the connection force between the base station disassembly and assembly component and the cleaning module is greater than the connection force between the device disassembly and assembly component and the cleaning module, and the cleaning module is disconnected from the device disassembly and assembly component; wherein, the second direction is the opposite direction to the first direction.

[0016] In one possible implementation, the first connector includes a connecting post for detachably connecting the cleaning module;

[0017] Control the first swing arm to rotate a second angle along the second direction, causing the second connector to swing so that the connection force between the connecting column and the cleaning module is greater than the connection force between the second connector and the cleaning module, causing the second connector to disengage from the cleaning module.

[0018] In one possible implementation, the movement of the cleaning equipment is controlled to move the equipment disassembly and assembly components along a third direction, so that the connection force between the base station disassembly and assembly components and the cleaning module is less than the connection force between the equipment disassembly and assembly components and the cleaning module, and the cleaning module is disconnected from the base station disassembly and assembly components; wherein, the third direction is the direction in which the cleaning equipment moves away from the cleaning base station.

[0019] In one possible implementation, the base station disassembly assembly is equipped with a first electromagnet and / or the equipment disassembly assembly is equipped with a second electromagnet. By controlling the current flowing through the first electromagnet and / or the second electromagnet, the connection force between the base station disassembly assembly and the cleaning module is made greater than the connection force between the equipment disassembly assembly and the cleaning module. The cleaning module is disconnected from the equipment disassembly assembly by controlling the equipment disassembly assembly to move in a fourth direction. The fourth direction does not include the direction opposite to the direction in which the cleaning equipment leaves the cleaning base station.

[0020] In one possible implementation, the base station disassembly assembly is equipped with a first electromagnet and / or the equipment disassembly assembly is equipped with a second electromagnet. By controlling the current flowing through the first electromagnet and / or the second electromagnet, the connection force between the base station disassembly assembly and the cleaning module is made less than the connection force between the equipment disassembly assembly and the cleaning module. The cleaning module is disconnected from the base station disassembly assembly by controlling the movement of the equipment disassembly assembly along a fourth direction. The fourth direction does not include the direction opposite to the direction in which the cleaning equipment leaves the cleaning base station.

[0021] In one possible implementation, the first swing arm is controlled to rotate a third angle in a fourth direction; or, the cleaning device is controlled to move so as to cause the first swing arm to rotate a third angle in a fourth direction.

[0022] In one possible implementation, the base station disassembly and assembly component includes a first detection component, which detects the connection status between the cleaning module and the base station disassembly and assembly component by controlling the first detection component.

[0023] And / or the equipment disassembly assembly includes a second detection assembly, which detects the connection status between the cleaning module and the equipment disassembly assembly by controlling the second detection assembly.

[0024] This application provides a method for assembling and disassembling a cleaning module. When the cleaning module needs to be disassembled from the cleaning equipment (i.e., when the cleaning module is connected to the equipment disassembly / assembly component), the equipment disassembly / assembly component moves to connect the cleaning module to the base station disassembly / assembly component, and then continues to move to disengage the equipment disassembly / assembly component from the cleaning module. When the cleaning module needs to be installed on the cleaning equipment (i.e., when the cleaning module is connected to the base station disassembly / assembly component), the equipment disassembly / assembly component moves to connect the cleaning module to the equipment disassembly / assembly component, and then continues to move to disengage the base station disassembly / assembly component from the cleaning module. Therefore, the cleaning module can be automatically installed and disassembled, offering good convenience and a better user experience. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0026] Figure 1 is a schematic diagram of the cleaning system provided in this application;

[0027] Figure 2 is a structural schematic diagram of the cleaning system provided in this application from another angle;

[0028] Figure 3 is a structural schematic diagram of the cleaning system provided in this application from another angle;

[0029] Figure 4 is a structural schematic diagram of the cleaning base station and the base station disassembly and assembly components in the cleaning system provided in this application;

[0030] Figure 5 is a structural diagram of the cleaning equipment, equipment disassembly and assembly components and cleaning module in the cleaning system provided in this application;

[0031] Figure 6 is a structural schematic diagram of Figure 5 from another angle;

[0032] Figure 7 is a schematic diagram of the base station disassembly and assembly components in the cleaning system provided in this application;

[0033] Figure 8 is a structural schematic diagram of the first connector in the cleaning system provided in this application;

[0034] Figure 9 is a top view of the first connector in the cleaning system provided in this application;

[0035] Figure 10 is a schematic diagram of the structure of the cleaning module in the cleaning system provided in this application;

[0036] Figure 11 is a schematic diagram of the base station disassembly and assembly components in the cleaning system provided in this application from another angle.

[0037] Figure 12 is a cross-sectional view along direction AA in Figure 11;

[0038] Figure 13 is a schematic diagram of the structure of the base in the cleaning system provided in this application;

[0039] Figure 14 is a schematic diagram of the equipment disassembly and assembly components and the cleaning module in the cleaning system provided in this application;

[0040] Figure 15 is a structural schematic diagram of the equipment disassembly and assembly components in the cleaning system provided in this application;

[0041] Figure 16 is a schematic diagram of the mounting plate in the cleaning system provided in this application;

[0042] Figure 17 is a schematic diagram of the process of installing the cleaning module in the equipment disassembly and assembly components of the cleaning system provided in this application;

[0043] Figure 18 is a schematic diagram of the process of disassembling the cleaning module in the cleaning system provided in this application;

[0044] Figure 19 is a flowchart illustrating the disassembly and assembly method of the cleaning module provided in this application.

[0045] Explanation of reference numerals in the attached figures:

[0046] 100 - Cleaning equipment;

[0047] 200 - Clean base station; 210 - Receiving cavity; 220 - Clearance slot;

[0048] 300-Cleaning Module;

[0049] 410 - Base station assembly / disassembly assembly; 411 - First connector; 4111 - Connecting post; 4112 - Mounting post; 412 - Base; 4121 - Through hole; 413 - Elastic element; 420 - Equipment assembly / disassembly assembly; 421 - Swing arm mechanism; 4211 - First swing arm; 4212 - Second swing arm; 4213 - Opening; 422 - Second connector.

[0050] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0051] In related technologies, a cleaning module is installed on a cleaning device to clean the baseboards. The cleaning device moves the cleaning module, which then cleans the baseboards. After cleaning, the cleaning module is removed from the cleaning device. However, this process requires manual installation and removal of the cleaning module, resulting in poor convenience and a poor user experience.

[0052] To address the aforementioned technical problems, this application provides a method for disassembling and assembling a cleaning module, applied to a cleaning system. The disassembly and assembly system includes a base station disassembly and assembly component and an equipment disassembly and assembly component. Both the base station disassembly and assembly component and the equipment disassembly and assembly component are used for detachably connecting the cleaning module. The base station disassembly and assembly component is disposed on the cleaning base station, and the equipment disassembly and assembly component is disposed on the cleaning equipment.

[0053] When it is necessary to disassemble the cleaning module on the cleaning equipment, that is, when the cleaning module is connected to the equipment disassembly and assembly component, the cleaning equipment drives the disassembly and assembly component to move. The movement of the equipment disassembly and assembly component connects the cleaning module to the base station disassembly and assembly component. The cleaning equipment continues to drive the disassembly and assembly component to move, and the movement of the equipment disassembly and assembly component disconnects the equipment disassembly and assembly component from the cleaning module.

[0054] When the cleaning module needs to be installed on the cleaning equipment, that is, when the cleaning module is connected to the base station disassembly and assembly component, the cleaning equipment drives the disassembly and assembly component to move. The disassembly and assembly component connects the cleaning module to the disassembly and assembly component through movement. The cleaning equipment continues to drive the disassembly and assembly component to move, and the disassembly and assembly component disconnects the base station disassembly and assembly component from the cleaning module through movement.

[0055] Therefore, the cleaning module can be automatically installed and removed, making it convenient to use and providing a good user experience.

[0056] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0057] Referring to Figures 1 to 3, this application embodiment provides a cleaning system, including a cleaning device 100, a cleaning base station 200, a cleaning module 300, and a disassembly / assembly system. The cleaning device 100 can clean the surface to be cleaned by movement (movement and rotation). The surface to be cleaned can be a floor or carpet, etc.

[0058] In addition, the cleaning base station 200 can provide charging for the cleaning equipment 100, and can also achieve fully automated cleaning through functions such as automatic dust collection, mop washing, and drying.

[0059] It should be noted that the cleaning module 300 is used for cleaning baseboards. For example, the cleaning module 300 can be used to clean the top surface, sides, and bottom surface of the baseboard. Specifically, the cleaning equipment includes a device body, a swing arm mechanism 421, and the cleaning module 300. The swing arm mechanism 421 is movably connected to the device body. Specifically, the swing arm mechanism 421 is rotatably connected to the device body.

[0060] In one example, the device body identifies the position of the baseboard and moves towards the baseboard based on the baseboard position. When the distance to the baseboard position is detected to be within a set distance, the swing arm mechanism 421 is extended. At this time, the cleaning module 300 is in the extended position and is in contact with the baseboard. Then, the device body moves along the length of the baseboard, and the cleaning module 300 cleans the baseboard.

[0061] In another example, the swing arm mechanism 421 is not extended, and the cleaning module 300 is in the retracted position. The cleaning device 100 identifies the position of the baseboard and moves towards the baseboard until the cleaning module 300 contacts it. Then, the cleaning device moves along the length of the baseboard, and the cleaning module 300 cleans the baseboard.

[0062] Furthermore, the disassembly and assembly system is used to realize the disassembly and installation of the cleaning module 300 between the cleaning equipment 100 and the cleaning base station 200. Specifically, the disassembly and assembly system of this application embodiment is applied to the cleaning system, and the disassembly and assembly system includes a base station disassembly and assembly component 410 and an equipment disassembly and assembly component 420.

[0063] It should be noted that the cleaning equipment 100 can be a sweeper or a floor scrubber. The cleaning base station 200 can be a sweeper or a floor scrubber; the following explanation uses a sweeper as an example.

[0064] Referring to Figure 4, the cleaning base station 200 is provided with a receiving cavity for accommodating the cleaning equipment 100. In one possible embodiment, the cleaning base station 200 is provided with a clearance groove 220, which communicates with the receiving cavity 210 and is used to clear the cleaning module 300.

[0065] By setting the clearance slot 220, when the cleaning equipment 100 equipped with the cleaning module 300 returns to the cleaning base station 200, the clearance slot 220 can avoid the cleaning module 300, so that the cleaning equipment 100 can smoothly enter the receiving cavity 210.

[0066] The receiving cavity 210 can be generally rectangular in shape, and the clearance groove 220 can be generally rectangular in shape.

[0067] Specifically, a portion of the clearance groove 220 can be located at the top of the receiving cavity 210. It is understood that the top height of the baseboard may be higher than the height of the cleaning device 100. To improve versatility, the dimension of the cleaning module 300 along the height direction can be set larger to meet the cleaning needs of baseboards of different heights. When the cleaning module 300 is installed on the cleaning device 100, the top height of the cleaning module 300 can be higher than the top height of the cleaning device 100. Therefore, a portion of the clearance groove 220 needs to be located at the top of the receiving cavity 210.

[0068] Specifically, a portion of the clearance groove 220 may be located at the rear of the receiving cavity 210. The cleaning module 300 protrudes from the cleaning device 100. After the cleaning device 100 enters the cleaning base station 200, the rear clearance groove 220 is required to avoid the cleaning module 300.

[0069] Referring to Figures 3 and 4, the disassembly and assembly system includes a base station disassembly and assembly component 410, which is disposed on the clean base station 200. The base station disassembly and assembly component 410 is used for detachable connection to the clean module 300.

[0070] Referring to Figures 5 and 6, the disassembly and assembly system includes an equipment disassembly and assembly component 420, which is disposed on the cleaning equipment 100 and is used to detachably connect the cleaning module 300.

[0071] When it is necessary to disassemble the cleaning module 300 on the cleaning equipment 100, that is, when the equipment disassembly assembly 420 is connected to the cleaning module 300, the cleaning equipment 100 moves the equipment disassembly assembly 420 and the cleaning module 300 back to the cleaning base station 200. The equipment disassembly assembly 420 moves (either driven by the cleaning equipment 100 or by its own movement), thereby connecting the cleaning module 300 to the base station disassembly assembly 410. At this time, the cleaning module 300 is connected to both the equipment disassembly assembly 420 and the base station disassembly assembly 410. Then, the equipment disassembly assembly 420 continues to move, causing the equipment disassembly assembly 420 to disconnect from the cleaning module 300, thus completing the disassembly of the cleaning module 300 on the cleaning equipment 100.

[0072] When the cleaning module 300 needs to be installed on the cleaning equipment 100, that is, when the base station disassembly assembly 410 is connected to the cleaning module 300, the cleaning equipment 100 drives the disassembly assembly 420 back to the cleaning base station 200. The disassembly assembly 420 moves (either driven by the cleaning equipment 100 or by its own movement), thereby connecting the cleaning module 300 to the disassembly assembly 420. At this time, the cleaning module 300 is connected to both the disassembly assembly 420 and the base station disassembly assembly 410. Then, the disassembly assembly 420 continues to move, causing the base station disassembly assembly 410 to disconnect from the cleaning module 300, thus installing the cleaning module 300 onto the cleaning equipment 100.

[0073] Referring to Figure 7, in one possible implementation, the base station disassembly assembly 410 includes a first connector 411 for detachable connection with the cleaning module 300. By providing the first connector 411 and detachably connecting it to the cleaning module 300, it is convenient to install and remove the cleaning module 300 during the movement of the cleaning equipment 100 or the equipment disassembly assembly 420.

[0074] Referring to Figures 8 to 10, in one possible implementation, the first connector 411 includes a connecting post 4111, the front end face of which is inclined, and the connecting post 4111 is used to engage with the groove of the cleaning module 300.

[0075] The connecting post 4111 facing the cleaning module 300 can be matched with the groove. Specifically, the connecting post 4111 can be generally columnar, such as rectangular. The groove can be generally rectangular.

[0076] Understandably, compared to the first connector 411 having a groove and the cleaning module 300 having a protrusion that matches the groove for engagement, this embodiment provides a groove on the cleaning module 300 without providing a protrusion, thus making it less likely for the cleaning module 300 to interfere with or collide with the baseboard. Furthermore, the front end face of the connecting post 4111 is inclined, allowing the frontmost dimension to easily insert the connecting post 4111 into the groove.

[0077] Referring to Figures 11 to 13, in one possible implementation, the base station assembly 410 further includes a base 412, and the connecting post 4111 is floatingly connected to the base 412 via an elastic member 413.

[0078] The base 412 is provided with a first mounting cavity, and the two sides inside the first mounting cavity are provided with second mounting cavities. The two sides of the connecting column 4111 are provided with protrusions. The connecting column 4111 is located in the first mounting cavity, and the protrusions are located in the second mounting cavities.

[0079] By providing a first mounting cavity, a second mounting cavity, and a protrusion, the size of the connection area between the base 412 and the first connector 411 is increased, thereby improving the connection reliability between the base 412 and the first connector 411. Furthermore, the direct insertion method results in higher connection efficiency.

[0080] The second mounting cavity and the protrusion can be mated to each other. The first mounting cavity and the second mounting cavity can communicate with each other. Exemplarily, the protrusion can be generally cylindrical.

[0081] The first connecting member 411 is floatingly connected to the base 412 via an elastic member 413. That is, the first connecting member 411 can slide relative to the base 412. Specifically, the first connecting member 411 can slide relative to the base 412 in the direction in which the cleaning device 100 leaves the station. The elastic member 413 can be a spring or elastic rubber, etc.

[0082] It is understandable that by floating the first connector 411 to the base 412 via the elastic member 413, when the cleaning device 100 enters the cleaning base station 200, the cleaning device 100 and the first connector 411 are less likely to collide hard. The elastic member 413 can play a buffering role, thereby effectively avoiding collision damage to the cleaning device 100.

[0083] Referring to Figures 11 to 13, in one possible embodiment, the base 412 has a through hole 4121, the rear end of the connecting post 4111 has a mounting post 4112, and the elastic member 413 is sleeved on the mounting post 4112. The mounting post 4112 is configured to extend out of the through hole 4121 under external force and retract into the base 412 under the action of the elastic member 413. By providing the mounting post 4112, the elastic member 413 is sleeved on the outer wall of the mounting post 4112, and the mounting post 4112 can limit the deformation direction of the elastic member 413, and the position of the elastic member 413 is not easily changed. By providing the through hole 4121, the mounting post 4112 is inserted into the through hole 4121, thereby guiding the sliding direction of the first connecting member 411.

[0084] When the cleaning device 100 needs to disassemble the cleaning module 300, after the cleaning device 100 carries the cleaning module 300 back to the cleaning base station 200, the cleaning device 100 continues to move so that the cleaning module 300 and the connecting post 4111 of the first connector 411 abut against and compress the elastic member 413. Then, the cleaning device 100 is controlled to rotate or the device disassembly and assembly components are rotated until the connecting post 4111 of the first connector 411 is opposite to the groove. Under the reset action of the elastic member 413, the connecting post 4111 of the first connector 411 engages with the groove on the cleaning module 300.

[0085] The end face of the connecting post 4111 is inclined toward the groove of the cleaning module 300. When the cleaning module 300 and the connecting post 4111 of the first connecting member 411 abut and compress the elastic member 413, the left end of the cleaning module 300 can abut with the side of the end face of the connecting post 4111 that is farther away from the exit (the right side in Figure 9). Then the cleaning device 100 rotates to the left, so that the compression of the elastic member 413 can gradually increase. After the connecting post 4111 of the first connecting member 411 is opposite to the groove, the connecting post 4111 is engaged with the groove under the reset action of the elastic member 413.

[0086] In one possible implementation, the first connector 411 further includes a first magnetic element for magnetically connecting with the magnetic element of the cleaning module 300. This magnetic connection method enables a detachable connection and offers high convenience.

[0087] In one possible implementation, both the first connector 411 and the cleaning module 300 are equipped with magnetic components. The attraction force between the first connector 411 and the cleaning module 300 can be relatively large, which helps to improve the reliability of the connection. The first magnetic component can be a permanent magnet or an electromagnet. The magnetic component of the cleaning module 300 can also be a permanent magnet or an electromagnet.

[0088] In one possible implementation, one of the first connector 411 and the cleaning module 300 may be provided with a magnetic component, and the other may be provided with a magnetic attraction component. The magnetic component may be a permanent magnet or an electromagnet. The magnetic attraction component may be made of iron or steel, etc.

[0089] Referring to Figures 14 and 15, in one possible embodiment, the device disassembly assembly 420 includes a swing arm mechanism 421, one end of which is provided with a second connector 422 for detachable connection with the cleaning module 300. By providing the second connector 422 and detachably connecting it to the cleaning module 300, it is convenient to install and remove the cleaning module 300 during the movement of the cleaning device 100 or the device disassembly assembly 420.

[0090] Specifically, in one example, the second connector 422 includes a first magnetic component, which is magnetically connected to the magnetic component of the cleaning module 300. This magnetic connection allows for a detachable connection, offering high convenience.

[0091] Referring to Figures 14 and 15, in one possible embodiment, the swing arm mechanism 421 includes a first swing arm 4211 and a second swing arm 4212. The first swing arm 4211 is rotatably connected to the cleaning device 100, and the first swing arm 4211 and the second swing arm 4212 are connected. A second connecting member 422 is disposed on the second swing arm 4212, wherein the first swing arm 4211 is configured to swing to drive the second connecting member 422 to move. Through the first swing arm 4211 and the second swing arm 4212 of the swing arm mechanism 421, and with the cleaning module 300 disposed on the second swing arm 4212, the outward extension of the swing arm mechanism 421 can be relatively far when extended, thereby facilitating the cleaning of baseboards at corners or edges, and improving the cleaning effect.

[0092] The second swing arm 4212 can be rotatably connected to the first swing arm 4211, with the first swing arm 4211 rotating relative to the cleaning device 100 and the second swing arm 4212 rotating relative to the first swing arm 4211. Alternatively, the second swing arm 4212 can be slidably connected to the first swing arm 4211, with the first swing arm 4211 rotating relative to the cleaning device 100 and the second swing arm 4212 sliding relative to the first swing arm 4211. Alternatively, the second swing arm 4212 can be fixedly connected to the first swing arm 4211, with the first swing arm 4211 rotating relative to the cleaning device 100 and the second swing arm 4212 remaining stationary relative to the first swing arm 4211.

[0093] In one possible implementation, the second connector 422 includes a second magnetic element, which is magnetically connected to the magnetic element of the cleaning module 300. This magnetic connection allows for a detachable connection and offers high convenience.

[0094] In one possible implementation, both the second connector 422 and the cleaning module 300 are equipped with magnetic components. The attraction force between the second connector 422 and the cleaning module 300 can be relatively large, which helps to improve the reliability of the connection. The second magnetic component can be a permanent magnet or an electromagnet. The magnetic component of the cleaning module 300 can also be a permanent magnet or an electromagnet.

[0095] In one possible implementation, one of the second connector 422 and the cleaning module 300 may be provided with a magnetic component, and the other may be provided with a magnetic attraction component. The magnetic component may be a permanent magnet or an electromagnet. The magnetic attraction component may be made of iron or steel, etc.

[0096] Specifically, the second connector 422 is provided with a second magnetic attractor, which is at least partially located inside the swing arm mechanism 421. In this way, the second connector 422 does not occupy the external space of the swing arm mechanism 421, and the second magnetic attractor does not occupy the external space of the swing arm mechanism 421 or occupies a small space, which is beneficial to improving the overall compactness.

[0097] Specifically, the second magnetic element can be disposed on the side of the second connector 422 opposite to the opening 4213, that is, the second magnetic element can be located inside the second connector 422. Alternatively, the second magnetic element can be disposed on the side of the second connector 422 facing the opening 4213.

[0098] In one possible implementation, the cleaning module 300 has a protrusion and the second connector 422 has a groove.

[0099] Alternatively, as shown in Figure 16, the cleaning module 300 has a groove and the second connector 422 has a protrusion.

[0100] When the cleaning module 300 is connected to one end of the swing arm mechanism 421, the protrusion aligns with the groove. It is understood that the groove and protrusion serve a positioning function, and their alignment improves installation accuracy.

[0101] Specifically, referring to Figures 15 and 16, a second connecting member 422 is provided inside one end of the swing arm mechanism 421, and an opening 4213 is provided at one end of the swing arm mechanism 421 relative to the second connecting member 422. The second connecting member 422 includes a first mounting portion and a second mounting portion connected to each other. The first mounting portion is located on the front side of the second mounting portion and protrudes outward. A groove is provided on the outer side of the first mounting portion. A second magnetic member is located on the inner side of the first mounting portion and on one side of the groove. For example, the groove is located at the lower part of the first mounting portion, and the second magnetic member is located at the upper part of the first mounting portion. In this way, the groove and the second magnetic member can make full use of the space protruding outward from the first mounting portion, thereby improving the compactness of the structure and reducing the space occupied.

[0102] In one possible implementation, the cleaning module 300 is snapped together with one end of the swing arm mechanism 421.

[0103] In one possible implementation, the cleaning module 300 is provided with a slot, and one end of the swing arm mechanism 421 is provided with a hook. When the cleaning module 300 is connected to one end of the swing arm mechanism 421, the hook is connected to the slot.

[0104] In one possible implementation, the cleaning module 300 is provided with a hook, and one end of the swing arm mechanism 421 is provided with a slot. When the cleaning module 300 is connected to one end of the swing arm mechanism 421, the hook connects with the slot. It is understood that by providing a slot at one end of the swing arm mechanism 421, the hook will not protrude when the cleaning module 300 is disassembled, thus making it less likely to be damaged by collision with external objects.

[0105] In one possible implementation, the base station disassembly assembly 410 includes a first electromagnet for magnetically connecting with the cleaning module 300. The first electromagnet is configured to change the connection strength between the base station disassembly assembly 410 and the cleaning module 300 by altering the current flowing through it. It is understood that changing the current can change the magnetic force, thereby changing the connection strength. Furthermore, changing the connection strength by altering the current provides high accuracy, which is beneficial for controlling the relative magnitude of the connection strength between the base station disassembly assembly 410 and the cleaning module 300, as well as the connection strength between the device disassembly assembly 420 and the cleaning module 300. Specifically, increasing the current increases the magnetic force, and decreasing the current decreases the magnetic force.

[0106] In one possible implementation, the device disassembly assembly 420 is equipped with a second electromagnet for magnetically connecting with the cleaning module 300. The second electromagnet is configured to change the connection strength between the device disassembly assembly 420 and the cleaning module 300 by altering the current flowing through it. It is understood that changing the current can change the attraction force, thereby changing the connection strength. Furthermore, changing the connection strength by altering the current provides high accuracy, which is beneficial for controlling the connection strength between the base station disassembly assembly 410 and the cleaning module 300, as well as the relative magnitude of the connection strength between the device disassembly assembly 420 and the cleaning module 300. Specifically, increasing the current increases the magnetic attraction force, and decreasing the current decreases the magnetic attraction force.

[0107] In one possible implementation, the base station disassembly assembly 410 includes a first electromagnet for magnetically connecting with the cleaning module 300. The first electromagnet is configured to change the connection strength between the base station disassembly assembly 410 and the cleaning module 300 by changing the flowing current. The device disassembly assembly 420 is provided with a second electromagnet for magnetically connecting with the cleaning module 300. The second electromagnet is configured to change the connection strength between the device disassembly assembly 420 and the cleaning module 300 by changing the flowing current. It is understood that changing the current can change the attraction force, thereby changing the connection strength. Moreover, changing the connection strength by changing the current has high accuracy, which is beneficial for controlling the connection strength between the base station disassembly assembly 410 and the cleaning module 300, as well as the relative magnitude of the connection strength between the device disassembly assembly 420 and the cleaning module 300. Specifically, increasing the current increases the magnetic attraction force, and decreasing the current decreases the magnetic attraction force.

[0108] Referring to Figures 17 and 18, the disassembly and installation process of the cleaning module 300 is described below:

[0109] Referring to Figure 17, in the initial state, the device disassembly / reassembly assembly 420 is connected to the cleaning module 300, while the base station disassembly / reassembly assembly 410 is not connected to the cleaning module 300. The cleaning device 100 drives the device disassembly / reassembly assembly 420 and the cleaning module 300 back to the cleaning base station 200. Then, the device disassembly / reassembly assembly 420 rotates counterclockwise by a certain angle, thereby connecting the cleaning module 300 to the base station disassembly / reassembly assembly 410. At this time, the cleaning module 300 is connected to both the device disassembly / reassembly assembly 420 and the base station disassembly / reassembly assembly. Then, the device disassembly / reassembly assembly 420 rotates clockwise by a certain angle, thereby disconnecting the device disassembly / reassembly assembly 420 from the cleaning module 300, thus completing the disassembly of the cleaning module 300 on the cleaning device 100.

[0110] Referring to Figure 18, in the initial state, the equipment disassembly / reassembly assembly 420 is not connected to the cleaning module 300, while the base station disassembly / reassembly assembly 410 is connected to the cleaning module 300. The cleaning equipment 100 drives the equipment disassembly / reassembly assembly 420 back to the cleaning base station 200, rotating it counterclockwise by a certain angle to connect the cleaning module 300 to the base station disassembly / reassembly assembly 410. At this time, the cleaning module 300 is connected to both the equipment disassembly / reassembly assembly 420 and the base station disassembly / reassembly assembly 410. Then, the cleaning equipment 100 drives the equipment disassembly / reassembly assembly 420 to move in the outgoing direction, disconnecting the base station disassembly / reassembly assembly 410 from the cleaning module 300, thereby installing the cleaning module 300 onto the cleaning equipment 100.

[0111] In one possible implementation, the base station disassembly assembly 410 includes a first detection component for detecting the connection status between the cleaning module 300 and the base station disassembly assembly 410. This allows for timely detection of the installation status of the cleaning module 300, facilitating reminders to users or control of the cleaning base station 200 and cleaning equipment 100.

[0112] Specifically, the first detection component is disposed on the cleaning base station 200, and the first detection component is used to detect whether the cleaning module 300 is connected to the first connector 411.

[0113] In one possible implementation, the first detection component includes a vision sensor. This allows for the detection and assessment of the installation status of the cleaning module 300 using images or videos.

[0114] In one possible implementation, the first detection component includes a pressure sensor. When the cleaning module 300 is installed on the first connector 411, the force conditions on the first connector 411 and the base 412 change, so the pressure sensor can be located between the bottom of the base 412 and the cleaning base station 200. When the pressure detection value of the pressure sensor reaches a preset value, it indicates that the cleaning module 300 is installed on the first connector 411.

[0115] In another possible implementation, a pressure sensor is positioned on the top of the first connector 411 near the cleaning module 300. When the pressure sensor detects a preset value, it indicates that the cleaning module 300 is mounted on the first connector 411.

[0116] In one possible implementation, the first detection component includes a vision sensor and a pressure sensor. Combining both sensors in the detection process improves accuracy.

[0117] In one possible implementation, the device disassembly assembly 420 includes a second detection component for detecting the connection status between the cleaning module 300 and the device disassembly assembly 420. This allows for timely detection of the installation status of the cleaning module 300, facilitating reminders to users or control of the cleaning base station 200 and the cleaning equipment 100.

[0118] In one possible implementation, the second detection component includes a Hall sensor disposed at one end of the swing arm mechanism 421.

[0119] Specifically, the cleaning module 300 may be equipped with magnetic components, such as a first magnetic suction component. When the cleaning module 300 on the equipment assembly 420 is installed or not installed, the Hall sensor will detect the change in the magnetic field, thereby detecting whether the cleaning module 300 and the swing arm mechanism 421 are connected.

[0120] Among them, Hall sensors are magnetoelectric conversion elements based on the Hall effect, which can convert the presence, strength, or change of a magnetic field into a measurable electrical signal (analog / digital), and have outstanding advantages such as non-contact, high reliability, and long life.

[0121] In one possible implementation, the second detection component includes a lidar detector disposed in the cleaning device 100.

[0122] Specifically, the lidar detector can be installed on the top of the cleaning equipment 100. The lidar detector can also realize functions such as global mapping, real-time positioning, path planning, obstacle avoidance assistance, or precise recharging of the cleaning equipment 100. In other words, the lidar detector can be the original lidar detector of the cleaning equipment 100 in related technologies, thus eliminating the need for additional equipment detection components and helping to reduce costs.

[0123] In one possible implementation, the second detection component includes a Hall sensor and a lidar detector. The Hall sensor is located at one end of the swing arm mechanism 421. The lidar detector is located in the cleaning device 100. It is understood that the combination of the Hall sensor and the lidar detector is beneficial for improving detection accuracy.

[0124] In one possible embodiment, the base station disassembly assembly 410 includes a first detection component for detecting the connection status between the cleaning module 300 and the base station disassembly assembly 410. The device disassembly assembly 420 includes a second detection component for detecting the connection status between the cleaning module 300 and the device disassembly assembly 420.

[0125] This application provides a method for disassembling and assembling a cleaning module 300, which is applied to a cleaning system. The cleaning system includes a cleaning device 100 and a cleaning base station 200. The cleaning device 100 is provided with a device disassembly and assembly component 420, and the cleaning base station 200 is provided with a base station disassembly and assembly component 410. Both the device disassembly and assembly component 420 and the base station disassembly and assembly component 410 are used to detachably connect the cleaning module 300, wherein the cleaning module 300 is used to clean the baseboard.

[0126] As shown in Figure 19, the method includes:

[0127] S101. Control the movement of the equipment disassembly and assembly components so that both the base station disassembly and assembly components and the equipment disassembly and assembly components are connected to the cleaning module.

[0128] The control of the movement of the equipment disassembly and assembly components can be achieved by controlling the cleaning equipment to drive the movement of the equipment disassembly and assembly components, or by controlling the cleaning equipment to drive the movement of the equipment disassembly and assembly components while simultaneously controlling the movement of the equipment disassembly and assembly components themselves. Movement includes at least one of rotation and translation.

[0129] S102, control the connection force between the base station disassembly component and the cleaning module, as well as the relative magnitude of the connection force between the equipment disassembly component and the cleaning module, and control the movement of the equipment disassembly component to disengage the cleaning module from either the base station disassembly component or the equipment disassembly component.

[0130] When the connection force between the base station disassembly / reassembly component and the cleaning module is greater than that between the equipment disassembly / reassembly component and the cleaning module, the cleaning module is disconnected by controlling the movement of the equipment disassembly / reassembly component. When the connection force between the base station disassembly / reassembly component and the cleaning module is less than that between the equipment disassembly / reassembly component and the cleaning module, the cleaning module is disconnected by controlling the movement of the equipment disassembly / reassembly component.

[0131] Specifically, when it is necessary to disassemble the cleaning module on the cleaning equipment, that is, when the equipment disassembly / removal assembly is connected to the cleaning module, the cleaning equipment drives the equipment disassembly / removal assembly and the cleaning module back to the cleaning base station. The equipment disassembly / removal assembly moves, thereby connecting the cleaning module to the base station disassembly / removal assembly. At this point, the cleaning module is connected to both the equipment disassembly / removal assembly and the base station disassembly / removal assembly. Then, by controlling the connection force between the base station disassembly / removal assembly and the cleaning module to be greater than the connection force between the equipment disassembly / removal assembly and the cleaning module, the equipment disassembly / removal assembly is controlled to move, causing it to disengage from the cleaning module, thus completing the disassembly of the cleaning module on the cleaning equipment.

[0132] When the cleaning module needs to be installed on the cleaning equipment, that is, when the base station disassembly / removal assembly is connected to the cleaning module, the cleaning equipment drives the disassembly / removal assembly back to the clean base station. The movement of the disassembly / removal assembly causes the cleaning module to connect with it. At this point, the cleaning module is connected to both the disassembly / removal assembly and the base station disassembly / removal assembly. Then, the connection force between the base station disassembly / removal assembly and the cleaning module is controlled to be less than the connection force between the disassembly / removal assembly and the cleaning module. The movement of the disassembly / removal assembly causes the base station disassembly / removal assembly to disconnect from the cleaning module, thereby installing the cleaning module on the cleaning equipment.

[0133] The connection force between the base station disassembly and assembly components and the cleaning module, as well as the relative magnitude of the connection force between the equipment disassembly and assembly components and the cleaning module, can be controlled by controlling the movement direction of the equipment disassembly and assembly components, or by controlling the connection force itself.

[0134] In one possible implementation, the device assembly includes a first swing arm and a second swing arm. The first swing arm is rotatably connected to the cleaning device, and the second swing arm is connected to the first swing arm. Alternatively, the second swing arm can be rotatably connected to the first swing arm, with the first swing arm rotating relative to the cleaning device and the second swing arm rotating relative to the first swing arm. Or, the second swing arm can be slidably connected to the first swing arm, with the first swing arm rotating relative to the cleaning device and the second swing arm sliding relative to the first swing arm. Alternatively, the second swing arm can be fixedly connected to the first swing arm, with the first swing arm rotating relative to the cleaning device and the second swing arm remaining stationary relative to the first swing arm.

[0135] Controlling the movement of the equipment disassembly and assembly components to connect both the base station disassembly and assembly components and the equipment disassembly and assembly components to the cleaning module includes:

[0136] The first swing arm is controlled to rotate a first angle along a first direction, so that both the base station disassembly / reassembly assembly and the equipment disassembly / reassembly assembly are connected to the cleaning module. This allows both the base station disassembly / reassembly assembly and the equipment disassembly / reassembly assembly to be connected to the cleaning module. In one example, the first angle ranges from 10° to 60°, i.e., the first angle can be 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, or 60°. In another example, the first angle ranges from 1° to 30°, i.e., the first angle can be 1°, 5°, 10°, 15°, 20°, 25°, or 30°.

[0137] Specifically, as shown in Figures 17 and 18, the first direction can be counterclockwise.

[0138] Alternatively, the cleaning equipment can be controlled to rotate a first angle along a first direction, so that both the base station disassembly / removal assembly and the equipment disassembly / removal assembly are connected to the cleaning module. Alternatively, the second swing arm can be controlled to rotate a first angle along a first direction, so that both the base station disassembly / removal assembly and the equipment disassembly / removal assembly are connected to the cleaning module.

[0139] In one possible implementation, the base station disassembly assembly includes a first connector for detachably connecting a cleaning module, and a second swing arm is provided with a second connector for detachably connecting a cleaning module.

[0140] The control device disassembly and assembly components move to ensure that both the base station disassembly and assembly components and the equipment disassembly and assembly components are connected to the cleaning module, including:

[0141] When a cleaning module is connected to the cleaning equipment and needs to be disassembled and installed on a cleaning base station, the first swing arm is controlled to rotate by a first angle in a first direction. The first swing arm drives the second connector to swing through the second swing arm, and the second connector drives the cleaning module to swing, so that the first connector is connected to the cleaning module. In this way, when the cleaning equipment needs to disassemble the cleaning module, both the base station disassembly and assembly components and the equipment disassembly and assembly components can be connected to the cleaning module.

[0142] In one possible implementation, the base station disassembly assembly includes a first connector for detachably connecting a cleaning module, and a second swing arm is provided with a second connector for detachably connecting a cleaning module.

[0143] The control device disassembly and assembly components move to ensure that both the base station disassembly and assembly components and the equipment disassembly and assembly components are connected to the cleaning module, including:

[0144] When a cleaning module is connected to a cleaning base station and needs to be installed or removed from the cleaning equipment, the first swing arm is controlled to rotate by a first angle along a first direction. The first swing arm drives the second connector to swing through the second swing arm, thereby connecting the second connector to the cleaning module. In this way, when the cleaning equipment needs to be connected to the cleaning module, both the base station installation / removal components and the equipment installation / removal components can be connected to the cleaning module.

[0145] In one possible implementation, controlling the connection force between the base station disassembly assembly and the cleaning module, as well as the relative magnitude of the connection force between the device disassembly assembly and the cleaning module, and controlling the movement of the device disassembly assembly to disengage the cleaning module from either the base station disassembly assembly or the device disassembly assembly, includes:

[0146] The control device disassembly / removal assembly moves along a second direction, such that the connection force between the base station disassembly / removal assembly and the cleaning module is greater than the connection force between the device disassembly / removal assembly and the cleaning module, and the cleaning module is disengaged from the device disassembly / removal assembly. The second direction is the opposite of the first direction. Thus, by controlling the direction of movement, the relative magnitudes of the connection forces between the base station disassembly / removal assembly and the cleaning module, as well as between the device disassembly / removal assembly and the cleaning module, are adjusted, thereby achieving the removal of the cleaning module from the cleaning device.

[0147] Specifically, as shown in Figures 17 and 18, the first direction can be clockwise.

[0148] In one possible implementation, the first connector includes a connecting post for detachably connecting the cleaning module.

[0149] Controlling the connection force between the base station disassembly / removal component and the cleaning module, as well as the relative magnitude of the connection force between the equipment disassembly / removal component and the cleaning module, and controlling the movement of the equipment disassembly / removal component to disengage the cleaning module from either the base station disassembly / removal component or the equipment disassembly / removal component, includes:

[0150] The first swing arm is controlled to rotate at a second angle along the second direction. The first swing arm drives the second connector to swing through the second swing arm, so that the connection force between the connecting column and the cleaning module is greater than the connection force between the second connector and the cleaning module, causing the second connector to disengage from the cleaning module.

[0151] In this way, by controlling the rotation of the first swing arm, the connection force between the base station disassembly / removal component and the cleaning module, as well as the relative magnitude of the connection force between the equipment disassembly / removal component and the cleaning module, can be adjusted, thereby enabling the removal of the cleaning module from the cleaning equipment. In one example, the second angle is the same as the first angle. In another example, the range of the second angle is 10° to 60°, that is, the second angle can be 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, or 60°. In yet another example, the range of the second angle is 1° to 30°, that is, the second angle can be 1°, 5°, 10°, 15°, 20°, 25°, or 30°.

[0152] In one possible implementation, controlling the connection force between the base station disassembly assembly and the cleaning module, as well as the relative magnitude of the connection force between the device disassembly assembly and the cleaning module, and controlling the movement of the device disassembly assembly to disengage the cleaning module from either the base station disassembly assembly or the device disassembly assembly, includes:

[0153] The movement of the cleaning equipment is controlled to move the equipment disassembly and assembly components along a third direction, so that the connection force between the base station disassembly and assembly components and the cleaning module is less than the connection force between the equipment disassembly and assembly components and the cleaning module, and the cleaning module is disconnected from the base station disassembly and assembly components; where the third direction is the direction in which the cleaning equipment moves away from the cleaning base station. In this way, by controlling the direction of movement, the relative magnitudes of the connection force between the base station disassembly and assembly components and the cleaning module, as well as the connection force between the equipment disassembly and assembly components and the cleaning module, are adjusted, and the cleaning module is installed on the cleaning equipment.

[0154] In one possible implementation, controlling the connection force between the base station disassembly assembly and the cleaning module, as well as the relative magnitude of the connection force between the device disassembly assembly and the cleaning module, and controlling the movement of the device disassembly assembly to disengage the cleaning module from either the base station disassembly assembly or the device disassembly assembly, includes:

[0155] The movement of the cleaning equipment drives the second connector to move along a third direction, so that the connection force between the first connector and the cleaning module is less than the connection force between the second connector and the cleaning module, and the cleaning module is disengaged from the base station assembly. Here, the third direction refers to the direction in which the cleaning equipment moves away from the cleaning base station.

[0156] Specifically, the extension direction of the connecting post in the first connector is parallel to a third direction. The cleaning module is inserted and removed along the extension direction of the connecting post, thereby allowing the first connector to be connected to or disconnected from the cleaning module.

[0157] In one possible implementation, the base station disassembly and assembly component is equipped with a first electromagnet. By controlling the current flowing through the first electromagnet, the connection force between the base station disassembly and assembly component and the cleaning module is made greater than the connection force between the equipment disassembly and assembly component and the cleaning module. The cleaning module is disconnected from the equipment disassembly and assembly component by controlling the equipment disassembly and assembly component to move in the fourth direction.

[0158] In one possible implementation, the device disassembly and assembly assembly is equipped with a second electromagnet. By controlling the current flowing through the second electromagnet, the connection force between the base station disassembly and assembly assembly and the cleaning module is made greater than the connection force between the device disassembly and assembly assembly and the cleaning module. The cleaning module is disconnected from the device disassembly and assembly assembly by controlling the device disassembly and assembly assembly to move in the fourth direction.

[0159] In one possible implementation, the base station disassembly and assembly component is equipped with a first electromagnet, and the equipment disassembly and assembly component is equipped with a second electromagnet. By controlling the current flowing through the first and second electromagnets, the connection force between the base station disassembly and assembly component and the cleaning module is made greater than the connection force between the equipment disassembly and assembly component and the cleaning module. By controlling the equipment disassembly and assembly component to move in the fourth direction, the cleaning module is disconnected from the equipment disassembly and assembly component.

[0160] The fourth direction does not include the direction opposite to the direction in which the cleaning equipment leaves the cleaning base station. Specifically, the fourth direction can include any one of the first, second, and third directions, where the second direction is the opposite of the first direction, the first direction can be counterclockwise, and the second direction can be clockwise. The third direction is the direction in which the cleaning equipment leaves the cleaning base station.

[0161] It is understandable that changing the current can alter the suction force, thereby changing the connection strength. Moreover, changing the connection strength by altering the current is highly accurate, which is beneficial for controlling the connection strength between the base station assembly / disassembly components and the cleaning module, as well as the relative magnitude of the connection strength between the equipment assembly / disassembly components and the cleaning module.

[0162] In one possible implementation, the base station disassembly and assembly component is equipped with a first electromagnet. By controlling the current flowing through the first electromagnet, the connection force between the base station disassembly and assembly component and the cleaning module is made less than the connection force between the equipment disassembly and assembly component and the cleaning module. By controlling the equipment disassembly and assembly component to move in the fourth direction, the cleaning module is disconnected from the base station disassembly and assembly component.

[0163] In one possible implementation, the device disassembly and assembly assembly is equipped with a second electromagnet. By controlling the current flowing through the second electromagnet, the connection force between the base station disassembly and assembly assembly and the cleaning module is made less than the connection force between the device disassembly and assembly assembly and the cleaning module. Furthermore, by controlling the device disassembly and assembly assembly to move in the fourth direction, the cleaning module is disconnected from the base station disassembly and assembly assembly.

[0164] In one possible implementation, the base station disassembly and assembly component is provided with a first electromagnet, and the equipment disassembly and assembly component is provided with a second electromagnet. By controlling the current flowing through at least one of the first and second electromagnets, the connection force between the base station disassembly and assembly component and the cleaning module is made less than the connection force between the equipment disassembly and assembly component and the cleaning module. Furthermore, by controlling the equipment disassembly and assembly component to move in the fourth direction, the cleaning module is disconnected from the base station disassembly and assembly component.

[0165] The fourth direction does not include the direction opposite to the direction in which the cleaning equipment leaves the cleaning base station. Specifically, the fourth direction can include any one of the first, second, and third directions, where the second direction is the opposite of the first direction, the first direction can be counterclockwise, and the second direction can be clockwise. The third direction is the direction in which the cleaning equipment leaves the cleaning base station.

[0166] It is understandable that changing the current can alter the suction force, thereby changing the connection strength. Moreover, changing the connection strength by altering the current is highly accurate, which is beneficial for controlling the connection strength between the base station assembly / disassembly components and the cleaning module, as well as the relative magnitude of the connection strength between the equipment assembly / disassembly components and the cleaning module.

[0167] In one possible implementation, the first swing arm is controlled to rotate a third angle in a fourth direction.

[0168] Alternatively, the cleaning equipment can be controlled to rotate the first swing arm by a third angle in the fourth direction.

[0169] Alternatively, control the second swing arm to rotate a third angle along the fourth direction.

[0170] In this way, the cleaning module can be separated from the equipment disassembly / removal assembly or the base station disassembly / removal assembly by rotating in the fourth direction. In one example, the third angle is at least 5° or greater, while the first angle can be 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, or 60°. In another example, the third angle ranges from 1° to 30°, meaning the third angle can be 1°, 5°, 10°, 15°, 20°, 25°, or 30°.

[0171] Specifically, the fourth direction can be the same as the first or second direction. The first direction can be counterclockwise, and the second direction can be clockwise.

[0172] In one possible implementation, the base station disassembly and assembly component includes a first detection component, which detects the connection status between the cleaning module and the base station disassembly and assembly component by controlling the first detection component.

[0173] In one possible implementation, the device disassembly assembly includes a second detection assembly, which detects the connection status between the cleaning module and the device disassembly assembly by controlling the second detection assembly.

[0174] In one possible implementation, the base station disassembly / reassembly assembly includes a first detection component, which detects the connection status between the cleaning module and the base station disassembly / reassembly assembly by controlling the first detection component. Furthermore, the equipment disassembly / reassembly assembly includes a second detection component, which detects the connection status between the cleaning module and the equipment disassembly / reassembly assembly by controlling the second detection component.

[0175] This allows for timely detection of the cleaning module's installation status, facilitating reminders to users or control of the cleaning base station and equipment.

[0176] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0177] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0178] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0179] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0180] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0181] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0182] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0183] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0184] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0185] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the described embodiments and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0186] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclusively include, for example, a product or device that includes a series of components is not necessarily limited to those that are explicitly listed, but may include other components that are not explicitly listed or that are inherent to such product or device.

[0187] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0188] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0189] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0190] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for disassembling and assembling a cleaning module, applied to a cleaning system, the cleaning system comprising cleaning equipment and a cleaning base station, characterized in that, The cleaning equipment is equipped with an equipment disassembly and assembly component, and the cleaning base station is equipped with a base station disassembly and assembly component. Both the equipment disassembly and assembly component and the base station disassembly and assembly component are used to detachably connect to the cleaning module, wherein the cleaning module is used to clean the baseboard. The method includes: controlling the movement of the equipment disassembly and assembly component so that both the base station disassembly and assembly component and the equipment disassembly and assembly component are connected to the cleaning module; controlling the connection force between the base station disassembly and assembly component and the cleaning module and the relative magnitude of the connection force between the equipment disassembly and assembly component and the cleaning module, and controlling the movement of the equipment disassembly and assembly component to disconnect the cleaning module from one of the base station disassembly and assembly component and the equipment disassembly and assembly component.

2. The method for disassembling and assembling the cleaning module according to claim 1, characterized in that, The equipment disassembly and assembly assembly includes a first swing arm and a second swing arm, the first swing arm being rotatably connected to the cleaning equipment, and the second swing arm being connected to the first swing arm; The control of the movement of the device disassembly and assembly components includes: controlling the first swing arm to rotate along the first direction by a first angle, so that both the base station disassembly and assembly components and the device disassembly and assembly components are connected to the cleaning module.

3. The method for disassembling and assembling the cleaning module according to claim 2, characterized in that, The base station disassembly and assembly assembly includes a first connector for detachably connecting a cleaning module, and the second swing arm is provided with a second connector for detachably connecting a cleaning module; The control of the movement of the device assembly / disassembly component includes: when the cleaning device is connected to the cleaning module and the cleaning module needs to be disassembled / assembled to the cleaning base station, controlling the first swing arm to rotate a first angle along the first direction, so as to drive the second connector to swing so that the first connector is connected to the cleaning module.

4. The method for disassembling and assembling the cleaning module according to claim 2, characterized in that, The base station disassembly and assembly assembly includes a first connector for detachably connecting a cleaning module, and the second swing arm is provided with a second connector for detachably connecting a cleaning module; The control of the movement of the device assembly / disassembly component includes: when the cleaning module is connected to the cleaning base station and the cleaning module needs to be disassembled / assembled to the cleaning device, controlling the first swing arm to rotate a first angle along a first direction, so as to drive the second connector to swing so that the second connector is connected to the cleaning module.

5. The method for disassembling and assembling the cleaning module according to claim 3, characterized in that, The device disassembly and assembly assembly is controlled to move along a second direction, such that the connection force between the base station disassembly and assembly assembly and the cleaning module is greater than the connection force between the device disassembly and assembly assembly and the cleaning module, and the cleaning module is disconnected from the device disassembly and assembly assembly; wherein, the second direction is the opposite direction to the first direction.

6. The method for disassembling and assembling the cleaning module according to claim 5, characterized in that, The first connector includes a connecting post, which is used to detachably connect to the cleaning module; the first swing arm is controlled to rotate at a second angle along the second direction, causing the second connector to swing so that the connection force between the connecting post and the cleaning module is greater than the connection force between the second connector and the cleaning module, so that the second connector is disconnected from the cleaning module.

7. The method for disassembling and assembling the cleaning module according to claim 4, characterized in that, The movement of the cleaning equipment is controlled to move the second connector along a third direction, so that the connection force between the first connector and the cleaning module is less than the connection force between the second connector and the cleaning module, and the cleaning module is disengaged from the base station assembly; wherein, the third direction is the direction in which the cleaning equipment moves away from the cleaning base station.

8. The method for disassembling and assembling the cleaning module according to claim 1, characterized in that, The base station disassembly / reassembly assembly is equipped with a first electromagnet and / or the device disassembly / reassembly assembly is equipped with a second electromagnet; by controlling the current flowing through the first electromagnet and / or the second electromagnet, the connection force between the base station disassembly / reassembly assembly and the cleaning module is made greater than the connection force between the device disassembly / reassembly assembly and the cleaning module, and by controlling the device disassembly / reassembly assembly to move along a fourth direction, the cleaning module is disconnected from the device disassembly / reassembly assembly; wherein, the fourth direction does not include the direction opposite to the direction in which the cleaning device leaves the cleaning base station.

9. The method for disassembling and assembling the cleaning module according to claim 1, characterized in that, The base station disassembly / reassembly assembly is equipped with a first electromagnet and / or the device disassembly / reassembly assembly is equipped with a second electromagnet; by controlling the current flowing through the first electromagnet and / or the second electromagnet, the connection force between the base station disassembly / reassembly assembly and the cleaning module is made less than the connection force between the device disassembly / reassembly assembly and the cleaning module, and by controlling the device disassembly / reassembly assembly to move along a fourth direction, the cleaning module is disconnected from the base station disassembly / reassembly assembly; wherein, the fourth direction does not include the direction opposite to the direction in which the cleaning device leaves the cleaning base station.

10. The method for disassembling and assembling the cleaning module according to claim 8 or 9, characterized in that, Control the first swing arm to rotate a third angle along the fourth direction; or control the cleaning equipment to move so as to drive the first swing arm to rotate a third angle along the fourth direction.

11. The method for disassembling and assembling a cleaning module according to any one of claims 1 to 9, characterized in that, The base station disassembly and assembly component includes a first detection component, which detects the connection status between the cleaning module and the base station disassembly and assembly component by controlling the first detection component; and / or, the device disassembly and assembly component includes a second detection component, which detects the connection status between the cleaning module and the device disassembly and assembly component by controlling the second detection component.

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