Base station, cleaning equipment and cleaning system

Abstract

The invention provides a base station, cleaning equipment and a cleaning system, the base station is used for the cleaning system, the cleaning system comprises the base station and the cleaning equipment, the base station comprises a body and a pickup assembly, the body is provided with a containing bin, and the containing bin is used for containing the cleaning equipment; and the pickup assembly is arranged above the accommodating bin, is movably arranged relative to the body, and is used for picking up a first battery pack of the cleaning equipment so as to carry out battery replacement on the cleaning equipment. According to the invention, the alignment difficulty of the cleaning equipment during battery replacement can be reduced, so that the alignment requirement of battery replacement operation on the cleaning equipment can be reduced.

Description

Technical Field

[0001] This application relates to the field of clean technology, and in particular to a base station, cleaning equipment, and cleaning system. Background Technology

[0002] In today's society, cleaning equipment such as floor scrubbers are common household appliances. These devices consume a significant amount of electricity to perform tasks like sweeping or mopping, especially robotic floor scrubbers, which have powerful fans and high power consumption. A single battery pack is often insufficient to support a single cleaning cycle, necessitating battery swapping. Currently, when swapping batteries in the power supply compartment of cleaning equipment, the base station typically swaps batteries from the bottom of the main unit, resulting in limited space and requiring precise alignment of the cleaning equipment during the swapping process. Summary of the Invention

[0003] This application provides a base station, cleaning equipment, and cleaning system that can reduce the difficulty of aligning the cleaning equipment during battery swapping, thereby reducing the alignment requirements of the cleaning equipment for battery swapping operations.

[0004] To address the aforementioned technical problems, this application provides a base station for a cleaning system. The cleaning system includes a base station and a cleaning device. The base station includes a main body and a pickup component. The main body has a receiving compartment for accommodating the cleaning device. The pickup component is positioned above the receiving compartment and is movably disposed relative to the main body for picking up the first battery pack of the cleaning device to swap the battery of the cleaning device.

[0005] To address the aforementioned technical problems, this application further provides a cleaning device. This cleaning device is used in a cleaning system, which includes a base station and the cleaning device. The base station is the aforementioned base station. The cleaning device includes a main unit and a first battery pack. The main unit has an opening, at least a portion of which is located in the upper half of the main unit in the height direction. The first battery pack is configured to enter and exit the power supply compartment of the cleaning device at least through the opening.

[0006] To address the aforementioned technical problems, this application further provides a cleaning system. The cleaning system includes a base station and a cleaning device. The base station includes a main body, a pickup component, and a control component. The main body has a receiving compartment for accommodating the cleaning device. The pickup component is positioned above the receiving compartment and movably disposed relative to the main body for picking up a first battery pack from the cleaning device to swap its power. The control component of the base station is configured to, in response to the cleaning device being located in the receiving compartment, control the pickup component to move to pick up the first battery pack. In response to the pickup component successfully picking up the first battery pack, control the pickup component to move to place the first battery pack into a compartment on the main body with a charging interface for charging. In response to the first battery pack entering a charging state, control the pickup component to move to another compartment on the main body to pick up a replaceable battery pack for replacing the first battery pack. In response to the pickup component successfully picking up the replaceable battery pack, control the pickup component to move to the battery swapping interface of the cleaning device to install the replaceable battery pack into the power supply compartment of the cleaning device.

[0007] The beneficial effects of this application are as follows: The base station of this application is used in a cleaning system, which includes a base station and cleaning equipment. The base station includes a main body and a pickup component. The main body has a receiving compartment for accommodating the cleaning equipment. The pickup component is located above the receiving compartment and is movable relative to the main body. It is used to pick up the first battery pack of the cleaning equipment for battery swapping. Through this method, the pickup component can swap the battery of the cleaning equipment from the upper part of the cleaning equipment, providing a large operating space. The movable pickup component allows for flexible adjustment of its position to adapt to the opening positions of different models of cleaning equipment or the opening positions of the cleaning equipment under different conditions. This improves the multi-scenario adaptability of the base station, reduces the difficulty of aligning the cleaning equipment during battery swapping, and thus reduces the alignment requirements of the cleaning equipment during battery swapping, improving the success rate and efficiency of battery swapping. Furthermore, using the base station of this application, users can observe the battery replacement process. If problems occur during the replacement process, they can be detected and intervened in a timely manner, effectively improving the reliability and safety of the battery replacement process. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a structural schematic diagram of the base station and cleaning equipment in the first state during the power swapping process of the present application; Figure 2 This is a structural schematic diagram of the base station and cleaning equipment in the second state during the power swapping process. Figure 3This is a structural diagram of the third state of the power swapping process between the base station and the cleaning equipment in this application; Figure 4 This is a structural diagram of the fourth state of the power swapping process between the base station and the cleaning equipment in this application; Figure 5 This is a structural diagram of the fifth state of the battery swapping process between the base station and the cleaning equipment in this application; Figure 6 This is a structural diagram of the sixth state of the power swapping process between the base station and the cleaning equipment in this application; Figure 7 This is a flowchart illustrating an embodiment of the battery swapping method of this application. Detailed Implementation

[0009] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0010] The terms "first," "second," etc., used in this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. It should be understood that, when used in this specification, the term "comprising" indicates the presence of the described feature, integral, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification, unless the context clearly indicates otherwise, the singular forms "a," "an," and "the" are intended to include the plural forms. It should also be further understood that the term "and / or," as used in this specification, refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations.

[0011] As used in this specification, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determination" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determination," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0012] It should be noted that when one element is fixed to another element, this includes fixing the element directly to the other element or fixing the element to the other element through at least one other intermediate element. When one element is connected to another element, this includes connecting the element directly to the other element or connecting the element to the other element through at least one other intermediate element.

[0013] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0014] In today's society, cleaning equipment such as floor scrubbers are common household appliances. These devices consume a significant amount of electricity to perform tasks like sweeping or mopping, especially robotic floor scrubbers, which have powerful fans and high power consumption. A single battery pack is often insufficient for a single cleaning cycle, necessitating battery swapping. Current technology typically swaps batteries in the power supply compartment of cleaning equipment from the bottom of the device, resulting in limited space and requiring precise alignment. Furthermore, this setup prevents users from visually observing the swapping process, making it difficult to detect and intervene in issues like jamming, leading to low success rates and inefficient battery swapping.

[0015] This application first proposes a base station, such as Figures 1 to 6 As shown. The base station 10 is used in a cleaning system, which includes the base station 10 and cleaning equipment 20.

[0016] In one embodiment, the base station 10 includes a body 11 and a pickup component 12.

[0017] In one embodiment, the main body 11 is provided with a receiving compartment 100 for receiving cleaning equipment 20.

[0018] In one embodiment, the pickup component 12 is disposed above the receiving compartment 100 and movably disposed relative to the body 11, for picking up the first battery pack 21 of the cleaning device 20 to swap the battery of the cleaning device 20.

[0019] The cleaning device 20 can be used to clean dry and wet waste on the surface to be cleaned. The cleaning device 20 is powered on within the housing 100 of the main body 11 of the base station 10. The base station 10 is used at least for powering the cleaning device 20. For example, the cleaning device 20 can be a floor scrubbing robot, a sweeping robot, a sweeping and mopping robot, or a floor scrubber, a vacuum cleaner, etc.

[0020] In some embodiments, the base station 10 is also used to remove dirt from the cleaning equipment 20, clean the cleaning components of the cleaning equipment 20, etc.

[0021] In some embodiments (not shown), the cleaning device 20 includes a cleaning component and drive wheels disposed at the bottom of the main unit.

[0022] In one embodiment, the drive wheel is positioned in front of the cleaning component along the forward direction of the main unit, facilitating timely adjustment of the main unit's forward direction.

[0023] In one embodiment, the cleaning component includes a roller brush assembly, which can be used to clean dry and wet waste on the surface to be cleaned.

[0024] In one embodiment, the roller brush assembly includes a rolling cleaning element, such as a roller brush, a roller, a tracked tractor, etc.

[0025] In one embodiment, the cleaning equipment further includes a dirt collection component and a liquid supply component. The dirt collection component has a dirt collection chamber, and the dirt collection chamber and the liquid supply component are arranged between two sets of drive wheels, which can optimize the center of gravity distribution of the whole machine and improve the structural compactness.

[0026] In one embodiment, the liquid supply assembly includes components such as a clean water tank, which can provide cleaning fluid to the cleaning assembly. The cleaning fluid can be clean water or a liquid containing detergent, etc., without limitation. In one embodiment, the rotation direction of the roller brush assembly in the working state is opposite to the rotation direction of the drive wheel, which can scoop dry or wet waste on the surface to be cleaned into the roller brush cavity where the roller brush assembly is located.

[0027] In one embodiment, a roller brush cavity communicating with the dirt collection chamber is formed on the host, and the roller brush assembly is disposed in the roller brush cavity.

[0028] In one embodiment, the cleaning equipment is further provided with a suction component, which can suck dry and wet waste in the roller brush chamber into the collection chamber to improve cleaning efficiency; for example, the suction component can be a fan, etc.

[0029] In one embodiment, the main unit has a main body and a movable part. A roller brush cavity is formed on the movable part for mounting the roller brush assembly. The movable part can be movably set relative to the main body. For example, the movable part can be set to be telescopically movable in a horizontal direction perpendicular to the forward direction of the main unit. This enables the roller brush assembly to telescopically move, which can effectively reduce cleaning blind spots and help with edge cleaning.

[0030] For example, see Figure 1In the first state of the battery swapping process, the pickup component 12 can extend from above the receiving compartment 100 into the receiving compartment 100 to pick up the first battery pack 21 disposed on the cleaning device 20. For example, the upper surface of the main unit of the cleaning device 20 has an opening, and the first battery pack 21 is detachably disposed on the main unit. The pickup component 12 can remove the first battery pack 21 from the cleaning device 20 through the opening. In some embodiments, the pickup component 12 can also be used to install a replaceable battery pack 13 with available power into the cleaning device 20 through the opening. In some embodiments, the control component of the base station 10 controls the pickup component 12 to move to the opening, which helps to improve the convenience of battery swapping of the cleaning device 20 and reduce the difficulty of alignment. In other embodiments, the upper half of the main unit of the cleaning device 20 has an opening on its side, and the pickup component 12 can move downward within the receiving compartment 100 to the side opening of the upper half of the main unit and pick up the first battery pack 21 disposed on the cleaning device 20 from the opening. In some embodiments, a pickup accessory that cooperates with the pickup component 12 may be provided on the first battery pack 21. The pickup accessory may be provided on the side of the upper half of the first battery pack 21 or on the upper surface of the first battery pack 21, etc. The specific pickup method can be referred to the following embodiments, which will not be repeated here.

[0031] In the above manner, the pickup component 12 can swap the battery of the cleaning device 20 from the upper part of the cleaning device 20. It has a large operating space and the pickup component 12 can be moved and set, which makes it easy to flexibly adjust its position to adapt to the opening position of different models of cleaning devices 20 or the opening position of cleaning devices 20 under different conditions. This can improve the multi-scenario adaptability of the base station 10, reduce the alignment difficulty of the cleaning device 20, thereby reducing the alignment requirements of the cleaning device 20 and improving the battery swapping success rate and battery swapping efficiency.

[0032] Furthermore, compared to swapping batteries from the bottom or rear, the top-swap design, combined with the movable pickup component 12, eliminates the need for precise front-to-back or left-to-right alignment when the cleaning equipment enters the receiving chamber. It can simply be roughly placed inside the chamber, greatly simplifying the control logic and execution difficulty of the cleaning equipment's autonomous return to the chamber for battery swapping. This reduces the requirements for the navigation accuracy of the cleaning equipment and helps improve the success rate and efficiency of battery swapping.

[0033] For example, when the cleaning equipment 20 enters the receiving chamber 100, the control component can detect the specific model of the cleaning equipment 20 and the real-time coordinates or positioning of the opening through sensors, and then drive the picking component 12 to move precisely to the target position along the preset track to achieve automated alignment and picking.

[0034] In some embodiments, the main body 11 has at least one compartment for placing a replaceable battery pack 13, which is used to replace the first battery pack 21.

[0035] For example, the main body 11 has a first compartment 101, which is used to store at least a replaceable battery pack 13 with available power.

[0036] It should be noted that the first compartment 101 refers to the compartment storing a spare battery pack (i.e., replaceable battery pack 13). The spare battery pack can be a fully charged battery pack or a battery pack with some usable power. The replaceable battery pack 13 has a higher power level than the first battery pack 21 retrieved from the cleaning device 20. For example, the replaceable battery pack 13 may have a power level of 50%, 60%, 80%, 90%, or 100%, while the first battery pack 21 is typically at a very low power level (0%, 5%, 8%, 10%, or 20%) when retrieved. For example, the pickup component 12 can obtain a replaceable battery pack 13 with usable power from the first compartment 101, and the replaceable battery pack 13 can power the cleaning device 20.

[0037] The replaceable battery pack 13 has available power, such as when it is fully charged, and can power the cleaning device 20 when placed inside it. The pickup assembly 12 can also be used to pick up the replaceable battery pack 13 and place it into the power supply compartment of the cleaning device 20 through an opening. In some embodiments, the replaceable battery pack 13 can also be placed into the power supply compartment of the cleaning device 20 by other components or manual operation.

[0038] In some embodiments, the first compartment 101 is provided with a charging interface, and the replaceable battery pack 13 is provided with a corresponding charging interface. The first compartment 101 can not only be used to store the replaceable battery pack 13, but also to charge the replaceable battery pack 13.

[0039] In some embodiments, the main body 11 has a second compartment 102, which is used at least to charge the first battery pack 21.

[0040] The second compartment 102 has at least a charging function. In some embodiments, the main body 11 is provided with a first compartment 101 and a second compartment 102. The first compartment 101 is used to store a replaceable battery pack 13, and the second compartment 102 is used to charge the first battery pack 21. In some embodiments, the first compartment 101 may also have a charging function and can be used as the second compartment 102.

[0041] In some embodiments, the main body 11 has multiple compartments, at least one of which has a charging interface for charging the first battery pack 21. In some embodiments, multiple compartments may also be provided with charging interfaces for charging the battery packs; wherein, an empty compartment can be used as a second compartment 102, and the pickup component 12 can place the first battery pack 21 picked up from the cleaning device 20 into such a compartment. Non-empty compartments contain fully charged or partially charged usable battery packs, which can be used as replaceable battery packs 13, and the compartment where they are located can be used as the first compartment 101. The pickup component 12 can pick up the replaceable battery pack 13 from such a compartment and place it into the power supply compartment of the cleaning device 20. For example, in other embodiments, multiple first compartments 101 and second compartments 102 can be provided. The second compartment 102 serves as a charging compartment for the battery pack and can be used to accommodate the first battery pack 21 removed from the cleaning device 20. The first compartment 101 serves as a storage compartment for the fully charged battery pack and can be used to accommodate the fully charged battery pack in the second compartment 102. For example, after the first battery pack 21 is fully charged in the second compartment 102, the control component can control the picking component 12 to move it to the first compartment 101 so that it can be used as a replaceable battery pack 13 for backup.

[0042] In other embodiments (not shown), the main body 11 does not have a replaceable battery pack 13, but has a second compartment 102 for charging the first battery pack 21.

[0043] In some embodiments, the pickup assembly 12 includes a pickup element 121 and a transport assembly 122. In one embodiment, the pickup element 121 is used to pick up the first battery pack 21. In one embodiment, the transport assembly 122 is disposed above the receiving compartment 100 and movably disposed relative to the body 11. In one embodiment, the pickup element 121 is connected to the transport assembly 122.

[0044] The transport component 122 can move the pickup 121 within a preset range, allowing the pickup 121 to flexibly switch positions between the opening of the cleaning device 20, the first compartment 101, or the second compartment 102. For example, when the cleaning device 20 needs a battery change, refer to... Figure 1 In the first state of the battery swapping process, the transport component 122 first drives the pickup component 121 to move above the receiving compartment 100 and align it with the opening of the cleaning device 20. The pickup component 121 then performs a pickup action to remove the first battery pack 21. (See also...) Figure 2 In the second state of the battery swapping process, the transport component 122 moves the pickup component 121 to the second compartment 102, and places the first battery pack 21 into the second compartment 102 for charging; then refer to Figure 3In the third state of the battery swapping process, the transport component 122 drives the pickup component 121 to move above the first compartment 101, ready to pick up the replaceable battery pack 13; then refer to Figure 4 In the fourth state of the battery swapping process, the transport component 122 picks up the replaceable battery pack 13 with available power. See also... Figure 5 In the fifth state of the battery swapping process, the transport component 122 moves the pickup component 121 to above the opening of the cleaning device 20, ready to install the replaceable battery pack 13; see reference Figure 6 In the sixth state of the battery swapping process, the transport component 122 moves the pickup component 121 to install the replaceable battery pack 13 into the power supply compartment of the cleaning equipment, thereby completing the entire battery swapping process. This structural design makes the movement path of the pickup component 12 more flexible and controllable, enabling efficient pickup, transport, and placement of the battery pack, and improving the automation level and work efficiency of the base station 10 battery swapping.

[0045] For example, the pickup element 121 is located at the end of the transport component 122. The pickup element 121 is an adaptive gripper structure that can automatically adjust the gripping force according to the different sizes and shapes of the first battery pack 21, reducing damage and interference to the first battery pack 21 during the gripping process and improving gripping stability. This structure can effectively reduce the risk of the first battery pack 21 falling off or colliding during movement.

[0046] In some embodiments, the pickup member 121 is a suction cup structure, a claw structure, or an adhesive structure, capable of adsorbing, grasping, or adhering to the upper surface of the first battery pack 21 to move the first battery pack 21; in some embodiments, the pickup member 121 is a magnetic member, capable of magnetically attracting the first battery pack 21 to achieve pickup; in some embodiments (not shown), the upper surface or the side of the upper half of the first battery pack 21 may also be provided with a pickup accessory that cooperates with the pickup member 121 to improve pickup stability.

[0047] In some embodiments, the transport component 122 includes a robotic arm that moves relative to the body 11 in a first direction x1, and the pickup component 121 is connected to the robotic arm.

[0048] The first direction x1 has at least a vertical component, enabling the first battery pack 21 to be picked up from above the cleaning device 20.

[0049] In some embodiments (not shown), the transport assembly 122 includes a jointed robotic arm, for example, one end of the robotic arm is movably mounted on the body 11 via a joint, and the robotic arm can move, rotate or bend relative to the body 11 in multiple directions via the joint, for example, the robotic arm can move relative to the body 11 at least in a first direction x1, and the pickup 121 is disposed at the other end of the robotic arm.

[0050] This setup is simple in structure, and a single robotic arm can achieve displacement in multiple directions, which simplifies the overall structure of the base station.

[0051] In some embodiments, the transport component 122 includes at least a first robotic arm 1221 and / or a second robotic arm 1222.

[0052] In one embodiment, a first robotic arm 1221 moves relative to the body 11 in a first direction x1. For example, the first robotic arm 1221 is movably connected to the body 11 and is movable relative to the body 11 in the first direction x1. A pickup element 121 is disposed on the first robotic arm 1221. In another embodiment, a second robotic arm 1222 moves relative to the body 11 in a second direction y1. For example, the second robotic arm 1222 is movably connected to the body 11 and is movable relative to the body 11 in the second direction y1. A pickup element 121 is disposed on the second robotic arm 1222. The first direction x1 and the second direction y1 intersect, and at least one of the first direction x1 and the second direction y1 has a horizontal component and at least one of the second direction y1 has a vertical component.

[0053] In one embodiment, a first robotic arm 1221 moves relative to the body 11 in a first direction x1, and a second robotic arm 1222 moves relative to the first robotic arm 1221 in a second direction y1 to achieve movement relative to the body 11 in the second direction y1. At this time, a pickup 121 can be disposed on either the first robotic arm 1221 or the second robotic arm 1222. For example, one end of the second robotic arm 1222 is movably connected to the first robotic arm 1221, and the other end is provided with the pickup 121. The pickup 121 can adjust its position in space as the first robotic arm 1221 and the second robotic arm 1222 move, thereby achieving movement in the first direction x1 and the second direction y1.

[0054] The first direction x1 and the second direction y1 are intersected, which allows the transport component 122 to flexibly adjust the position of the pickup 121 within at least the planar space formed by the first direction x1 and the second direction y1.

[0055] In some embodiments, one of the first direction x1 and the second direction y1 is parallel to the horizontal direction, and the other is parallel to the vertical direction.

[0056] Taking the first direction x1 as the horizontal direction and the second direction y1 as the vertical direction as an example, the first robotic arm 1221 can drive the second robotic arm 1222 and the pickup 121 to move left and right along their length direction. The second robotic arm 1222 can drive the pickup 121 to move up and down relative to the first robotic arm 1221, thereby enabling the pickup 121 to be adjusted in horizontal position and vertical height. In this case, the first robotic arm 1221 provides horizontal displacement, and the second robotic arm 1222 provides vertical displacement. The two work together to enable the pickup 121 to reach a designated position above the receiving compartment 100, within the space where the first compartment 101 and the second compartment 102 are located. In other application scenarios, the first direction x1 can also be an oblique direction with a horizontal component, and the second direction y1 can be a direction with a vertical component and another horizontal component. By moving the first robotic arm 1221 in the first direction x1 and the second robotic arm 1222 in the second direction y1, more complex spatial trajectory movements can be achieved to adapt to the battery swapping needs of different layouts of compartments and cleaning equipment 20. In other application scenarios, the first direction x1 can also be set as a vertical direction and the second direction y1 as a horizontal direction.

[0057] Through this combination of multi-directional movement, the transport component 122 can drive the pickup 121 to accurately position itself at various target locations, such as the opening of the cleaning equipment 20, the replaceable battery pack 13 in the first compartment 101, and the second compartment 102, thereby improving the automation level and reliability of the battery swapping operation.

[0058] In some embodiments, the pickup element 121 may also be movably connected to the end of the transport assembly 122, such as the end of the second robotic arm 1222. For example, in some embodiments, the pickup element 121 is rotatably connected to the end of the second robotic arm 1222, and its plane of rotation is perpendicular to both the first direction x1 and the second direction y1. This arrangement allows the pickup element 121 to move freely even in a plane perpendicular to both the first direction x1 and the second direction y1.

[0059] In some embodiments, the main body 11 is provided with a slide rail extending along a first direction x1, and the first robotic arm 1221 is disposed within the slide rail and slidably disposed along the first direction x1. In some embodiments, the first robotic arm 1221 is provided with a slide rail extending along a second direction y1, and the first robotic arm 1221 can slide along the second direction y1 on the second robotic arm 1222, thereby driving the picking member 121 to slide.

[0060] In some embodiments (not shown), a pulley assembly may also be provided on the first robotic arm 1221, and the pulley assembly drives the second robotic arm 1222 to move relative to the first robotic arm 1221 in the second direction y1.

[0061] In some embodiments (not shown), a third robotic arm may also be provided, positioned between the first robotic arm 1221 and the second robotic arm 1222. The third robotic arm is movable relative to the first robotic arm 1221 in a third direction. The second robotic arm 1222 is movably connected to the third robotic arm and is movable relative to the third robotic arm in a second direction y1. The third direction intersects both the first direction x1 and the second direction y1. For example, the first direction x1, the second direction y1, and the third direction are perpendicular to each other.

[0062] This setup enables the pickup component 121 to move in three dimensions within a three-dimensional space, flexibly adapting to openings and storage layouts of different heights, depths, or lateral positions.

[0063] In some embodiments (not shown), the movement of the pickup 121 relative to the body 11 can also be achieved by means of a hinge assembly, a conveyor belt assembly, or the like.

[0064] In some embodiments, the base station 10 further includes a first positioning component (not shown) and a control component (not shown). In one embodiment, the first positioning component is disposed on the pickup component 12 and is used to detect the first battery pack 21 on the cleaning device 20. In one embodiment, the control component is electrically connected to the first positioning component and the pickup component 12 and is used to control the moving component to pick up the first battery pack 21 when the first positioning component detects the first battery pack 21.

[0065] The control component can be installed inside the main body 11 to control the normal operation of various components within the base station 10.

[0066] The first positioning component is disposed on the pickup component 121 or the transport component 122. In other embodiments, the first positioning component may also be fixedly disposed on the body 11, for example, disposed above the receiving compartment 100, or disposed on the lower wall of the receiving compartment 100. The first positioning component may be an infrared sensing component, a pressure sensor, a camera component, etc.

[0067] In some embodiments, the first positioning component can accurately detect the first battery pack 21 on the cleaning device 20 and obtain its specific position information on the cleaning device 20, such as three-dimensional coordinates or relative position parameters. After receiving the detection signal fed back by the first positioning component, the control component can control the picking component 12 to move accurately to the location of the first battery pack 21, thereby realizing the automatic picking of the first battery pack 21. This automated positioning and picking can reduce the risk of picking failure or battery pack damage due to non-standard positioning when the cleaning device 20 enters the compartment, improve the stability and reliability of the battery swapping process of the base station 10, reduce alignment difficulty, and significantly improve the battery swapping success rate.

[0068] For example, when the first positioning component is a camera component, it can capture image information of the first battery pack 21 on the cleaning device 20 and transmit the image information to the control component. The control component can analyze and process the image through an image recognition algorithm to determine the center position, edge contour and other features of the first battery pack 21, and then calculate the path and distance that the pickup component 12 needs to move, so as to control the pickup component 12 to dock more accurately with the first battery pack 21 and complete the pickup action.

[0069] In some embodiments, the base station 10 further includes a sensing component disposed on the pickup component 12, used to determine the pickup state of the pickup component 12. In one embodiment, a control component is electrically connected to the sensing component and used to control the pickup component 12 to move relative to the body 11 when the sensing component detects that the pickup component 12 has successfully picked up the item.

[0070] The sensing component can be mounted on the pickup component 121 or the transport component 122. The sensing component can be an infrared sensing component, a pressure sensor, a camera component, etc.

[0071] The sensing component can acquire the pickup status of the pickup component 12, such as the pickup status of the pickup element 121. For example, when the pickup element 121 is a gripper structure, the pressure sensor can detect the gripping force of the gripper on the battery pack. When the force reaches a preset threshold, it is determined that the pickup is successful, and the control component then drives the transport component 122 to move the pickup element 121. If the force does not reach the threshold or an abnormal pressure change is detected (such as uneven force caused by gripping the edge of the battery pack), the control component can control the pickup element 121 to adjust the gripping angle or realign it to avoid the battery pack falling off during transport due to unstable pickup. For example, when the pickup element 121 is a suction cup structure, the sensing component can detect the air pressure value inside the suction cup. When the air pressure reaches a set negative pressure value, it is confirmed that the suction cup has firmly adsorbed the battery pack. Only then does the control component allow the transport component 122 to start, thereby improving the reliability of the pickup action. This setup can significantly improve the safety and success rate of the battery swapping process, and reduce the risk of damage to or falling of the first battery pack 21 due to misjudgment or improper operation.

[0072] In some embodiments, the base station 10 further includes a second positioning component disposed on the body 11 for detecting the cleaning device 20. In one embodiment, the second positioning component is electrically connected to a control component, which controls the first positioning component to operate when it determines that the cleaning device 20 has reached the receiving compartment 100.

[0073] A dedicated second positioning component is used to detect whether the cleaning device 20 has entered the compartment. After it enters the compartment, the first positioning component is used to detect the specific position of the first battery pack 21, and then the pickup component 12 is moved based on the position of the first battery pack 21. This setup can greatly improve alignment accuracy and reduce the battery replacement failure rate of the cleaning device 20.

[0074] In other embodiments, only the first positioning component may be provided.

[0075] For example, in one embodiment, a first positioning component is used to detect whether the cleaning device 20 has entered the receiving compartment 100. As another example, when the first positioning component detects the presence of the first battery pack 21, the control component can determine that the cleaning device 20 has entered the receiving compartment 100, and the control component can control the picking component 12 to move along a predetermined trajectory to pick up the first battery pack 21. Furthermore, the first positioning component can also obtain the specific location information of the first battery pack 21, and the control component can set a specific movement route based on the specific location information of the first battery pack 21, controlling the picking component 12 to operate according to the specific movement route.

[0076] In some embodiments, only sensing components may be provided.

[0077] The sensing component can be used to detect the first battery pack 21 on the cleaning device 20; or it can be used to detect the pickup status of the pickup component 12; or it can detect both the first battery pack 21 on the cleaning device 20 and the pickup status of the pickup component 12.

[0078] The second positioning component can be an infrared sensor. For example, it can determine whether the cleaning device 20 has entered the receiving chamber 100 or reached a preset position by whether the infrared beam between its transmitter and receiver is blocked. When the cleaning device 20 enters the receiving chamber 100 and blocks the infrared beam, the receiver cannot receive the infrared signal, and the second positioning component immediately sends a position signal to the control component. The second positioning component can also be an ultrasonic sensor, which calculates the distance to the cleaning device 20 by emitting ultrasonic waves and receiving the time difference of the reflected echoes. When the cleaning device 20 enters the receiving chamber 100 and moves within a set distance threshold range, the ultrasonic sensor feeds back information to the control component that the cleaning device 20 has reached its position. Ultrasonic sensors have a relatively wide detection range, are not sensitive to light and color, and can work stably in complex environments, making them particularly suitable for identifying cleaning devices 20 of different colors or surface materials. The second positioning component can also be a radio frequency identification (RFID) component, with an electronic tag set on the cleaning device 20 and an RFID reader installed at a preset position at the entrance or inside the receiving chamber 100 of the main body 11. When the cleaning equipment 20 enters the receiving compartment 100, the RFID reader reads the equipment information within the electronic tag. This not only determines whether the cleaning equipment 20 is in place but also identifies key information such as its model and identity. This facilitates targeted battery swapping processes for different models of cleaning equipment 20, improving the compatibility of the base station 10 with different models of cleaning equipment 20. Furthermore, the second positioning component can also be a visual recognition component, such as a high-definition camera combined with image recognition algorithms. By capturing images within the receiving compartment 100, the outline and feature points of the cleaning equipment 20 are identified and analyzed to accurately determine whether the cleaning equipment 20 has entered the receiving compartment 100 and reached the designated battery swapping location. The visual recognition component can provide richer environmental information and, in some application scenarios, can also be used to identify whether the posture of the cleaning equipment 20 is correct, further improving the accuracy and reliability of positioning.

[0079] In some embodiments, the body 11 includes a housing, and a pickup 121, a transport assembly 122, a receiving compartment 100, a first compartment 101, and a second compartment 102 are disposed within the housing. In one embodiment, at least a portion of the housing has a visible area facing at least one of the pickup 121, the transport assembly 122, the first compartment 101, and the second compartment 102.

[0080] The visible area can be made of transparent material, such as high-strength acrylic sheet or tempered glass. Its setting position can be adaptively adjusted according to the layout of the internal components of the base station 10, such as setting it on the front or side of the shell. The size of the visible area can be adjusted according to actual needs. For example, the picking action and movement of the picking component 12 during the battery swapping process can be clearly observed through the visible area, or the status of the corresponding battery packs in the first compartment 101 and the second compartment 102 can be observed.

[0081] By setting up a visible area, users can intuitively understand the internal workings of base station 10, such as how the pickup component 121 picks up the battery pack, how the battery pack moves between various compartments under the drive of the transport component 122, and the number and charging status of battery packs in the first compartment 101 and the second compartment 102. This setup facilitates real-time monitoring of the base station 10's operating status, helping users to promptly detect potential anomalies such as battery pack jamming or pickup failures, enabling quick intervention and maintenance. This effectively improves the reliability and safety of the battery replacement process, increases the success rate and efficiency of battery swapping, and enhances the reliability of base station 10. Simultaneously, this visible area design also increases the technological sophistication and aesthetics of base station 10, improving the user experience.

[0082] In some embodiments, the outer casing is provided with compartment doors corresponding to the first compartment 101 and the second compartment 102. Users can open the corresponding compartment through the corresponding compartment door to perform maintenance and inspection of the first compartment 101 or the second compartment 102.

[0083] In some embodiments, the bottom of the housing forms a receiving compartment 100, and it is not limited to whether the receiving compartment 100 has a bottom wall. In some applications, the receiving compartment 100 has at least one side wall and one top wall, and the pickup component 12 is disposed on an opening in its top wall.

[0084] In some embodiments (not shown), the picking component 12 may include two sets of robotic arms, one set of robotic arms being responsible for picking up the first battery pack 21 to be replaced, and the other set of robotic arms being able to simultaneously deliver the fully charged replaceable battery pack 13 into the power supply compartment of the cleaning device 20, which can significantly improve the battery swapping efficiency.

[0085] This application further proposes a cleaning device 20, such as... Figures 1 to 6 As shown. The cleaning device 20 is used in a cleaning system, which includes a base station 10 and the cleaning device 20.

[0086] In one implementation, base station 10 is any of the base station 10 described above.

[0087] In one embodiment, the cleaning device 20 includes a main unit and a first battery pack 21; in another embodiment, the main unit has an opening, at least a portion of which is located in the upper half of the main unit in the height direction, for example, the upper surface of the main unit has an opening, or for another example, the side of the upper half of the main unit has an opening; the first battery pack 21 is configured to enter and exit the power supply compartment of the cleaning device 20 provided on the main unit at least through the opening, for example, the projection of the first battery pack 21 toward the main unit is located within the opening.

[0088] The specific implementation method and working principle of base station 10 can be found in the above embodiments, and will not be repeated here. Cleaning equipment 20 can be a floor scrubber, sweeper, sweeper-mop combo, etc.

[0089] Since cleaning equipment 20, such as floor scrubbers, typically has a flat size, placing the opening in the upper half of its main unit increases the operational space for battery swapping, improves the accuracy and convenience of battery swapping operations, and reduces the difficulty of aligning the cleaning equipment 20.

[0090] For example, when the cleaning equipment 20 enters the receiving compartment 100 of the base station 10 and stops in place, since the projection of the first battery pack 21 is located within the opening, the first positioning components such as the camera component of the base station 10 can directly capture a clear image of the first battery pack 21 through the opening. Based on this, the control component can accurately calculate the movement path of the pickup component 121, and then control the first robotic arm 1221 and the second robotic arm 1222 to accurately extend the pickup component 121 into the opening to complete the pickup of the first battery pack 21. When the replaceable battery pack 13 is installed on the cleaning equipment 20, the control component can control the pickup component 12 to accurately place the replaceable battery pack 13 into the power supply compartment of the host based on the position of the opening and the projection range of the first battery pack 21, reducing damage to the cleaning equipment 20 or the replaceable battery pack 13 caused by misalignment.

[0091] This application further proposes a cleaning system, such as Figures 1 to 6 As shown. The cleaning system includes a base station 10 and a cleaning device 20.

[0092] In one embodiment, the base station 10 includes a body 11, a pickup component 12, and a control component. In one embodiment, the body 11 has a receiving compartment 100 for accommodating a cleaning device 20. In one embodiment, the pickup component 12 is disposed above the receiving compartment 100 and movably disposed relative to the body 11, for picking up the first battery pack 21 of the cleaning device 20 to swap the battery of the cleaning device 20. In one embodiment, the control component of the base station 10 controls the pickup component 12 to operate and execute a corresponding battery swapping method.

[0093] The specific implementation methods and working principles of base station 10 and cleaning equipment 20 can be found in the above embodiments, and will not be repeated here.

[0094] In some embodiments, the battery swapping method includes, for example, Figure 7 Steps S11 to S14 are shown.

[0095] Step S11: In response to the cleaning device being located in the receiving compartment, control the pickup component to move to pick up the first battery pack of the cleaning device.

[0096] For example, the base station 10 is equipped with a first positioning component, which can determine the position of the first battery pack 21 on the cleaning device 20 for accurate retrieval. Furthermore, the base station 10 may also be equipped with a second positioning component to determine whether the cleaning device 20 is located within the receiving compartment 100. When it is confirmed that the cleaning device 20 is located within the receiving compartment 100, the retrieval component 12 is controlled to retrieve the first battery pack 21. The first positioning component is also used to determine whether the cleaning device 20 is located within the receiving compartment 100.

[0097] Step S12: In response to the successful pickup component picking up the first battery pack, control the pickup component to move to place the first battery pack into the compartment with the charging interface on the main body for charging.

[0098] For example, base station 10 is equipped with a sensing component to determine the pickup status of pickup component 12. The pickup status includes at least two states: successful pickup and failed pickup. As another example, base station 10 has multiple rechargeable compartments, and base station 10 is also equipped with a detection component to detect whether the multiple compartments are in an empty state. The detection component can identify the rechargeable compartments in an empty state and mark them as second compartment 102, for placing the first battery pack 21. The specific implementation of the second compartment 102 can be referred to the above embodiments, and will not be repeated here.

[0099] Step S13: In response to the first battery pack entering the charging state, control the pickup component to move to another compartment of the body to pick up the replaceable battery pack for replacing the first battery pack.

[0100] For example, the first battery pack 21 is equipped with a charging interface, and the second compartment 102 is equipped with a corresponding charging interface. When the two charging interfaces are successfully connected, the first battery pack 21 is confirmed to be in a charging state. Furthermore, a battery pack monitoring unit 14 can be installed in the second compartment 102, electrically connected to its charging interface. The battery pack monitoring unit 14 can be used to monitor whether there is a battery pack in the corresponding compartment, the charging status of the battery pack, its health status, etc.

[0101] Step S14: In response to the pickup component successfully picking up the replaceable battery pack, control the pickup component to move to the battery swapping interface of the cleaning equipment to install the replaceable battery pack into the power supply compartment of the cleaning equipment.

[0102] The control component can control the orderly operation of each component through a preset battery swapping method. For example, when the cleaning device 20 enters the receiving compartment 100 and is detected in place by the second positioning component, the control component first activates the first positioning component to locate the first battery pack 21 on the cleaning device 20. After obtaining the precise location information of the first battery pack 21, the control component drives the transport component 122 to move the pickup component 121 to the target position to complete the pickup of the first battery pack 21. During this process, the sensing component monitors the pickup status in real time. Only after confirming successful pickup will the control component issue the next instruction to control the transport component 122 to move the first battery pack 21 to the second compartment 102 for charging. After the first battery pack 21 is successfully placed in the second compartment 102 and begins charging, the control component then controls the pickup component 12 to turn to the first compartment 101 to pick up the pre-charged or usable replaceable battery pack 13. After the sensing component confirms successful pickup of the replaceable battery pack 13, the control component drives the transport component 122 to precisely transfer it to the battery swapping interface of the cleaning device 20 and install it into the power supply compartment. The entire battery swapping process can realize a fully automated process from the cleaning device 20 entering the compartment to the replacement of the old battery and the installation of the new battery, which can effectively improve the battery swapping efficiency and reduce the need for manual intervention in the battery swapping process.

[0103] Battery swapping from above the storage compartment 100 effectively utilizes the vertical space of the compartment, reducing the horizontal space occupied by battery swapping components and thus making the overall structure of the base station 10 more compact, especially suitable for scenarios with limited installation space. This layout also reduces the risk of interference between the cleaning equipment 20 and other components inside the base station 10 when it enters the storage compartment 100. Furthermore, picking up and installing the equipment from above utilizes gravity to assist in battery swapping, provides ample operating space, and allows the picking component 12 to be movable, thereby reducing the alignment requirements for the cleaning equipment 20.

[0104] In some embodiments, the first compartment 101 and the second compartment 102 are provided with a battery pack monitoring unit 14, which can be used to monitor whether there is a battery pack in the corresponding compartment, the charging status of the battery pack, the health status, etc.

[0105] In some embodiments, the base station 10 may also integrate a battery pack health management system or a safety monitoring component. This system is electrically connected to the control component and the battery pack monitoring units 14 in the first compartment 101 and the second compartment 102, and can collect key parameters such as voltage, current, temperature, and cycle count of each battery pack in real time. The control component can analyze these parameters using a preset health assessment algorithm to accurately determine the current health status of the battery pack, such as whether there is an overcharge risk, the degree of capacity degradation, and whether equalization maintenance is required. When a health abnormality is detected in a battery pack, such as excessively high temperature or abnormal voltage, the control component can immediately issue an alarm or control the corresponding battery pack to stop charging or discharging. Simultaneously, it can push fault information and suggested solutions to the user through the display interface of the base station 10 or connected terminal devices.

[0106] In some embodiments, the health management system can also be configured to intelligently allocate charging or battery swapping priorities based on the usage frequency and health status of each battery pack. For example, it can prioritize fully charging battery packs with better health and fewer cycle counts, making them preferred replaceable battery packs 13 to extend the overall battery pack's lifespan. This design can improve battery safety, reduce the risk of safety accidents caused by battery failure, reduce battery replacement costs, and further enhance the intelligence level and overall efficiency of the cleaning system.

[0107] In some embodiments, the base station 10 further includes an alarm component for issuing an alarm signal. For example, when the second positioning component (such as an infrared sensor, ultrasonic sensor, etc.) detects that the cleaning device 20 has entered the receiving chamber 100 but fails to reach the preset position within a preset time, the system will determine that the "cleaning device 20 is not in place" anomaly and trigger an alarm. The alarm method may include the base station 10 emitting a prompt sound with a built-in buzzer, the warning light on the casing flashing (such as a red LED light), and if the base station 10 has network connectivity, it can also send a push notification to the user's mobile terminal, prompting the user to check whether the cleaning device 20 is blocked by foreign objects, whether the navigation is deviated, or whether there are obstacles at the entrance of the receiving chamber 100.

[0108] For example, if the cleaning equipment 20 is in place, but the first positioning component (such as a visual recognition component or an RFID component) cannot accurately identify the position of the first battery pack 21, or identifies the position of the first battery pack 21 as exceeding the preset normal range, the control component can determine that "the battery pack is abnormally positioned". In addition to issuing an audible and visual alarm, the specific cause of the abnormality can also be displayed on the display screen of the base station 10, such as "Please check whether the battery pack of the cleaning equipment 20 is installed correctly" or "The battery pack position is offset, please dock again", etc.

[0109] For example, when the pickup component 12 attempts to grab the first battery pack 21 or the replaceable battery pack 13, if the pressure sensor or clamping sensor indicates that the grab was unsuccessful (e.g., insufficient gripping force, battery pack not fully entering the clamping area), or if the battery pack falls off during movement, the control component can control the pickup component 12 to immediately stop the current action and trigger a "pickup failure" alarm signal. Furthermore, real-time positioning information provided by the first positioning component can be set, and the control component can control the pickup component 12 to attempt to re-execute the pickup action based on this real-time positioning information. Furthermore, an alarm signal can be issued when the number of pickup failures reaches a preset value to prompt the user to perform a manual inspection to determine if there are problems such as battery pack jamming, damage to the pickup component 121, or foreign object interference.

[0110] For example, after the pickup component 12 places the first battery pack 21 into the second compartment 102, if the battery pack monitoring unit 14 of the second compartment 102 does not detect that the first battery pack 21 has been correctly connected to the charging circuit within a preset time, the control component determines that the "battery pack has not entered the charging state" is abnormal. At this time, the control component can be set to control the pickup component 12 to pick up the first battery pack 21 again and place it back. Furthermore, it can also be set to issue an alarm signal when the number of times the repositioning still fails to charge reaches a preset value, such as prompting "Battery pack charging abnormal, please check the battery pack or charging compartment".

[0111] For example, in the event of abnormal situations such as jamming, overtravel, or motor overheating of the transport component 122 during movement, or when the internal temperature or humidity of the base station 10 exceeds safe ranges, the control component can be configured to monitor the corresponding component in real time and trigger the corresponding alarm mechanism. This multi-level, multi-scenario anomaly detection and alarm logic can promptly alert users when problems occur in the base station 10, reducing the risk of escalating faults. It provides clear guidance for users to troubleshoot and resolve problems, significantly improving the reliability and ease of maintenance of the base station 10.

[0112] Unlike existing technologies, the base station of this application is used in a cleaning system. The cleaning system includes a base station and cleaning equipment. The base station includes a main body and a pickup component. The main body has a receiving compartment for accommodating the cleaning equipment. The pickup component is positioned above the receiving compartment and is movable relative to the main body. It is used to pick up the first battery pack of the cleaning equipment for battery swapping. Through this method, the pickup component can swap the battery of the cleaning equipment from the upper part, providing a large operating space. The movable pickup component allows for flexible adjustment of its position to adapt to the opening positions of different models of cleaning equipment or the opening positions of the cleaning equipment under different conditions. This improves the multi-scenario adaptability of the base station, reduces the alignment difficulty of the cleaning equipment, and thus lowers the alignment requirements for the cleaning equipment. Furthermore, using the base station of this application, users can observe the battery replacement process. If problems occur during the replacement process, they can be detected and intervened in a timely manner, effectively improving the reliability and safety of the battery replacement process.

[0113] It is worth noting that the accompanying drawings are only for illustrating the structural and connection relationships of the product in this application, and do not limit the specific structural dimensions of the product in this application.

[0114] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A base station, characterized in that, For use in a cleaning system, the cleaning system includes a base station (10) and a cleaning device (20), the base station (10) including: The main body (11) is provided with a receiving compartment (100) for receiving the cleaning equipment (20). A pickup component (12), disposed above the receiving compartment (100) and movably disposed relative to the body (11), is used to pick up the first battery pack (21) of the cleaning device (20) for swapping the battery of the cleaning device (20).

2. The base station (10) according to claim 1, characterized in that, The main body (11) has at least one compartment for placing a replaceable battery pack (13), which is used to replace the first battery pack (21).

3. The base station (10) according to claim 2, characterized in that, The compartments include a first compartment (101) and a second compartment (102), at least one of which has a charging interface for charging the first battery pack (21).

4. The base station according to claim 3, characterized in that, The picking component (12) includes: Pick-up component (121) is used to pick up the first battery pack (21). A transport component (122) is disposed above the receiving compartment (100) and is movably disposed relative to the body (11), and the pickup component (121) is connected to the transport component (122).

5. The base station (10) according to claim 4, characterized in that, The transport assembly (122) includes a jointed robotic arm that moves relative to the body (11) in at least a first direction (x1) via the joint, and the pickup (121) is connected to the robotic arm.

6. The base station (10) according to claim 4, characterized in that, The transport component (122) includes at least: The first robotic arm (1221) moves relative to the body (11) in a first direction (x1); and / or, The second robotic arm (1222) moves relative to the main body (11) in the second direction (y1); The picking component (121) is connected to one of the first robotic arm (1221) and the second robotic arm (1222); The first direction (x1) and the second direction (y1) are intersecting, and at least one of the first direction (x1) and the second direction (y1) has a horizontal component and at least one of them has a vertical component.

7. The base station according to claim 1, characterized in that, The base station (10) also includes: A sensing component, disposed on the pickup component (12), is used to detect the first battery pack (21) on the cleaning device (20) and / or to detect the pickup status of the pickup component (12); A control component, electrically connected to the sensing component and the pickup component (12), is configured to control the pickup component (12) to pick up the first battery pack (21) when the sensing component detects the first battery pack (21), and to control the pickup component (12) to move relative to the body (11) when the sensing component detects that the pickup component (12) has successfully picked up the first battery pack (21).

8. The base station according to claim 7, characterized in that, The base station (10) also includes: A second positioning component is disposed on the main body (11) for detecting the cleaning device (20). The second positioning component is electrically connected to the control component, which controls the sensing component to operate when the cleaning device (20) is in position in the receiving chamber (100).

9. The base station (10) according to claim 4, characterized in that, The main body (11) includes a shell, and the pickup (121), the transport assembly (122), the receiving compartment (100), the first compartment (101) and the second compartment (102) are disposed inside the shell. At least a portion of the shell has a visible area, which faces at least one of the pickup (121), the transport assembly (122), the first compartment (101) and the second compartment (102).

10. A cleaning device (20), characterized in that, For use in a cleaning system, the cleaning system includes a base station (10) and a cleaning device (20); the cleaning device (20) includes: The host has an opening, at least a portion of which is located in the upper half of the host in the height direction; The first battery pack (21) is configured to enter and exit the power supply compartment of the cleaning device (20) at least through the opening.

11. A cleaning system, characterized in that, The system includes a base station (10) and a cleaning device (20). The base station (10) includes a main body (11), a pickup component (12), and a control component. The main body (11) is provided with a receiving compartment (100) for accommodating the cleaning device (20). The pickup component (12) is disposed above the receiving compartment (100) and is movably disposed relative to the main body (11) for picking up the first battery pack (21) of the cleaning device (20) to swap the battery of the cleaning device (20) from above. The control component of the base station (10) is used to control the pickup component (12) to move in response to the cleaning device (20) being located in the receiving compartment (100) to pick up the first battery pack (21) of the cleaning device (20); in response to the pickup component (12) successfully picking up the first battery pack (21), the control component (12) is controlled to move to place the first battery pack (21) into a compartment with a charging interface on the main body (11) for charging; in response to the first battery pack (21) entering the charging state, the control component (12) is controlled to move to another compartment of the main body (11) to pick up a replaceable battery pack (13) for replacing the first battery pack (21); in response to the pickup component (12) successfully picking up the replaceable battery pack (13), the control component (12) is controlled to move to the battery swapping interface of the cleaning device (20) to install the replaceable battery pack (13) into the power supply compartment of the cleaning device (20).

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