Method and device for installing a cleaning assembly of a robot, cleaning base station and cleaning system

Abstract

This invention provides a method, apparatus, cleaning base station, and cleaning system for installing cleaning components in a robotic vacuum cleaner, belonging to the field of cleaning technology. Applied to a cleaning base station, the cleaning base station is equipped with a storage compartment for storing multiple cleaning components. The method includes: before the robotic vacuum cleaner returns to the cleaning base station after completing its current task, obtaining information about the required cleaning components, which is the information about the cleaning components needed by the robotic vacuum cleaner to perform the next task; based on the required cleaning component information, retrieving a new cleaning component from the storage compartment and placing the new cleaning component in a first position, which does not conflict with the disassembly position, which is the position where the robotic vacuum cleaner disassembles the current cleaning component; and after the robotic vacuum cleaner returns to the cleaning base station after completing its current task, installing the new cleaning component onto the robotic vacuum cleaner. This shortens the waiting time for the cleaning components to be transferred, thus improving overall operating efficiency.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology, specifically to a method for installing cleaning components of a sweeping machine, a device for installing cleaning components of a sweeping machine, a cleaning base station, a cleaning system, a machine-readable storage medium, and a controller for a cleaning base station. Background Technology

[0002] With the increasing popularity of cleaning robots, cleaning base stations, as supporting equipment, can automatically replace and clean the cleaning components (such as mops and rags) on the robot vacuum cleaner, and support the replacement and cleaning of various types of rags (such as kitchen rags, bathroom rags, living room rags, etc.).

[0003] In practical use, the robot vacuum needs to return to the base station after completing one task before installing or replacing cleaning components for the next task. For example, the robot vacuum may complete a whole-house cleaning task and return to the base station, where the user or the base station will automatically replace the mopping cloth before setting off to perform the mopping task.

[0004] However, the aforementioned existing technologies have the following technical drawbacks: long waiting times for installing or replacing cleaning components. For example, in the "sweep first, mop later" mode, the robot vacuum returns to the base station after completing its cleaning task. Only then does the base station begin to identify the type of mop needed for the next task, retrieve the corresponding mop from the storage compartment, and transfer it to the washing tray. This process takes several seconds to tens of seconds, requiring the robot vacuum to wait and reducing overall cleaning efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a cleaning component installation method for a sweeping machine, a cleaning component installation device for a sweeping machine, a cleaning base station, a cleaning system, a machine-readable storage medium, and a controller for a cleaning base station. This cleaning component installation method for a sweeping machine shortens the waiting time for the cleaning component to be transferred, thereby improving the overall operating efficiency.

[0006] To achieve the above objectives, the first aspect of this application provides a method for installing cleaning components of a sweeping robot, applied to a cleaning base station, wherein the cleaning base station is provided with a storage compartment for storing multiple cleaning components; the method includes: Before the sweeping robot returns to the cleaning base station after completing the current task, it obtains the required cleaning component information, which is the cleaning component information required by the sweeping robot when performing the next task. Based on the required cleaning component information, a new cleaning component is taken out from the storage compartment and placed in the first position. The first position does not conflict with the disassembly position, which is the position where the sweeping robot disassembles the current cleaning component. After the sweeping machine completes its current task and returns to the cleaning base station, the new cleaning component is installed on the sweeping machine.

[0007] In this embodiment of the application, the sweeper is not currently equipped with cleaning components; The process of installing the new cleaning component onto the sweeper includes: The new cleaning component is installed onto the sweeper at the first position.

[0008] In this embodiment of the application, the cleaning base station is further provided with a cleaning tray; the first position is the cleaning tray.

[0009] In this embodiment of the application, the sweeper is currently equipped with a cleaning component; The process of installing the new cleaning component onto the sweeper includes: Remove the current cleaning component at the disassembly position; Move the new cleaning component from the first position to the disassembly position; The new cleaning component is installed onto the sweeper at the disassembly position.

[0010] In this embodiment of the application, the clean base station is further provided with a temporary storage location, and the first location is the temporary storage location.

[0011] In this embodiment of the application, the step of retrieving a new cleaning component from the storage compartment based on the required cleaning component information and placing the new cleaning component in the first position includes: Based on the required cleaning component information, determine whether the cleaning components on the sweeper need to be replaced; If it is determined that a replacement is needed, a new cleaning component is taken out from the storage compartment and placed in the first position.

[0012] In this embodiment of the application, obtaining the required cleaning component information includes: The current status information of the sweeper can be obtained in real time; Based on the current state information, determine whether the pre-placement trigger condition is met; Under the condition that the pre-placement triggering condition is met, obtain the required cleaning component information; The pre-placement triggering conditions include any one or more of the following: The sweeper's task progress meets a preset progress threshold; The distance between the sweeper and the cleaning base station meets a preset distance threshold; The remaining time for the sweeping machine to return to the cleaning base station meets a preset time threshold; The sweeper sends a return signal.

[0013] In this embodiment of the application, obtaining the required cleaning component information includes: Obtain the current task information of the sweeping machine; Based on the current task information and cleaning task sequence of the sweeping machine, the next task information is determined; Based on the next task information, the required cleaning component information is determined.

[0014] In this embodiment of the application, it also includes: If an exception occurs during the placement of the new cleaning component in the first position, the exception type is obtained, and the corresponding processing strategy is executed based on the exception type.

[0015] In this embodiment of the application, the cleaning base station is further provided with a cleaning tray, which is used to clean the cleaning components. The method further includes: Based on the required cleaning component information, determine whether the new cleaning component needs to be wetted or cleaned; When it is determined that the new cleaning component needs to be wetted or cleaned and the cleaning tray is in an idle state, pre-fill the cleaning tray with clean water or cleaning solution.

[0016] In this embodiment of the application, the step of pre-filling the cleaning tray with clean water or cleaning solution includes: Determine whether hot water cleaning is needed based on the next task. If so, pre-fill the cleaning tray with heated water or cleaning solution.

[0017] A second aspect of this application provides a cleaning component installation device for a sweeping robot, applied to a cleaning base station, wherein the cleaning base station is provided with a storage compartment for storing multiple cleaning components; the device includes: The acquisition module is used to acquire the required cleaning component information before the sweeping robot returns to the cleaning base station after completing the current task. The required cleaning component information is the cleaning component information required by the sweeping robot when performing the next task. The placement module is used to take out a new cleaning component from the storage compartment based on the required cleaning component information, and place the new cleaning component in a first position, which does not conflict with the disassembly position, which is the position where the sweeping robot disassembles the current cleaning component. The installation module is used to install the new cleaning component onto the sweeper after the sweeper returns to the cleaning base station after completing the current task.

[0018] A third aspect of this application provides a cleaning base station, which is used to install cleaning components by performing the cleaning component installation method of the sweeper described above.

[0019] A fourth aspect of this application discloses a cleaning system comprising the aforementioned cleaning base station and a sweeping machine, wherein the sweeping machine is used to perform cleaning tasks, and the cleaning base station is used to install cleaning components onto the sweeping machine.

[0020] The fifth aspect of this application provides a controller for a cleaning base station, including a processor and a memory, wherein the memory stores instructions that, when executed by the processor, implement the above-described method for installing cleaning components of a sweeping machine.

[0021] A sixth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the above-described method for installing the cleaning components of a sweeping robot.

[0022] The above technical solution involves setting up a storage compartment on the cleaning base station to store multiple cleaning components. Before the robot vacuum returns to the cleaning base station after completing its current task, the required cleaning component information is obtained. This required cleaning component information refers to the cleaning components needed by the robot vacuum for the next task. Based on this information, a new cleaning component is retrieved from the storage compartment and placed in a first position, which does not conflict with the disassembly position, where the robot vacuum removes the current cleaning component. After the robot vacuum returns to the cleaning base station, the new cleaning component is installed on the robot vacuum. By pre-identifying the cleaning components needed for the next task before returning to the cleaning base station and placing them in the first position before returning, the robot vacuum can directly replace the cleaning components upon returning. This shortens the waiting time for cleaning component transfer, improves overall work efficiency, allows for seamless transition to the next task, provides a smoother user experience, and is applicable to various application scenarios involving switching between different cleaning component types.

[0023] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 The illustration shows a flowchart of a cleaning component installation method for a sweeper according to an embodiment of this application; Figure 2This schematic diagram illustrates a structural block diagram of a cleaning component mounting device for a sweeper according to an embodiment of this application; Figure 3 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0025] Explanation of reference numerals in the attached figures 410 - Acquisition module; 420 - Placement module; 430 - Installation module; A01 - Processor; A02 - Network interface; A03 - Internal memory; A04 - Display screen; A05 - Input device; A06 - Non-volatile storage medium; B01 - Operating system; B02 - Computer program. Detailed Implementation

[0026] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0027] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0028] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0029] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0030] Please refer to Figure 1 , Figure 1This illustration schematically shows a flowchart of a cleaning component installation method for a sweeping robot according to an embodiment of this application. This embodiment provides a cleaning component installation method for a sweeping robot, applied to a cleaning base station. The cleaning base station is equipped with a storage compartment for storing multiple cleaning components. The method includes the following steps: Step 210: Before the sweeping robot returns to the cleaning base station after completing the current task, obtain the required cleaning component information, which is the cleaning component information required by the sweeping robot when performing the next task; In this embodiment, the cleaning components can be mops, rags, etc., which complete the cleaning of the area to be cleaned by mopping, wet wiping, etc. The cleaning components on the sweeper can be disassembled and installed. The storage compartment can provide multiple locations for storing the cleaning components. The multiple cleaning components in the storage compartment can be components of different materials or types, each used to perform different cleaning tasks. In specific implementation, when the sweeper completes a part of the cleaning work and needs to clean the cleaning components, it can return to the cleaning base station, where the cleaning base station can replace, clean, and dry the cleaning components on the sweeper; alternatively, the cleaning components can be automatically installed when there are no cleaning components on the sweeper.

[0031] The aforementioned cleaning component information, that is, the cleaning component information required by the robot vacuum to perform the next task, can be obtained by the user directly inputting it, i.e., the user specifying the cleaning components; or it can be obtained based on the task and task sequence currently being performed by the robot vacuum.

[0032] In some embodiments, obtaining the required cleaning component information includes: First, obtain the current task information of the sweeping machine; In this embodiment, the robot vacuum cleaner can communicate with the cleaning base station to obtain information about the task it is currently performing, or the robot vacuum cleaner can report its task progress to obtain its current task information. The current task information of the robot vacuum cleaner includes the task name, task progress, and the type of cleaning components used in the task.

[0033] Then, based on the current task information and cleaning task sequence of the sweeping machine, the next task information is determined; In this embodiment, the cleaning task sequence can be defined under different cleaning modes, including the current task, the next task, and the required mop type corresponding to the next task. That is, the cleaning task sequence can include multiple task sequences, and these sequences have a sequential relationship. For example, the cleaning task sequence can be one of the following: sweeping before mopping, dry mopping before wet mopping, kitchen cleaning before living room cleaning, or whole-house cleaning. Specifically, it can be preset by the user according to actual conditions, or a default order obtained after mapping, or predicted based on user history, or a task plan obtained from the cloud. For example, the cleaning task sequence can be a cleaning task sequence (such as sweeping before mopping) set by the user in the APP before the robot vacuum cleaner starts executing the task. Since the cleaning task sequence is fixed, after determining the current task information, the subsequent task can be found in the cleaning task sequence, i.e., the next task information can be obtained.

[0034] Then, based on the next task information, the required cleaning component information is determined.

[0035] In this embodiment, each task can be pre-mapped with the corresponding cleaning component information. After the next task information is determined, the required cleaning component information can be obtained.

[0036] For example, in a cleaning task sequence of sweeping followed by mopping, where the current task is sweeping and the next task is mopping, the required mop type is configured as a mopping mop, such as a living room mop suitable for living room floors. In a cleaning task sequence of dry wiping followed by wet wiping, where the current task is dry wiping and the next task is wet wiping, the required mop type is determined to be a wet wiping mop. In a cleaning task sequence of kitchen cleaning followed by living room cleaning, where the current task is kitchen cleaning and the next task is living room cleaning, the required mop type is set to a living room-specific mop. In a whole-house cleaning mode, where the current task is bedroom cleaning and the next task is living room cleaning, the required mop type is also determined to be a living room-specific mop.

[0037] By using the current task information and cleaning task sequence of the sweeping robot, the next task information is determined. Based on the next task information, the required cleaning component information can be automatically identified without human intervention, thus improving the level of automation. At the same time, based on the cleaning task sequence prediction, the accuracy rate is high (the task sequence is known), and the determined required cleaning component information can accurately match the next task, which helps to ensure the accurate and reliable execution of the cleaning task.

[0038] In some embodiments, in order to trigger the pre-placement process of the cleaning component at an appropriate time, a pre-placement trigger condition can be set. The required cleaning component information is only obtained when the pre-placement trigger condition is met. That is, obtaining the required cleaning component information includes: First, the current status information of the sweeping machine is obtained in real time; In this embodiment, the aforementioned current status information includes the progress, time, distance (distance between the sweeper and the cleaning base station), and instruction information of the sweeper performing the current task. This information can be obtained through communication with the sweeper or reported by the sweeper.

[0039] Then, based on the current state information, it is determined whether the pre-placement trigger condition is met; wherein, the pre-placement trigger condition includes any one or more of the following: the task progress of the sweeping robot meets a preset progress threshold; the distance between the sweeping robot and the cleaning base station meets a preset distance threshold; the remaining time for the sweeping robot to return to the cleaning base station meets a preset time threshold; the sweeping robot sends a return signal; In this embodiment, the pre-placement trigger conditions can be set according to actual needs. When the pre-placement trigger condition is that the task progress of the sweeper meets a preset progress threshold, the progress in the current status information can be compared with the preset progress threshold to determine whether the pre-placement trigger condition is met. Correspondingly, when the pre-placement trigger condition is that the distance between the sweeper and the cleaning base station meets a preset distance threshold, the distance in the current status information can be compared with the preset distance threshold to determine whether the pre-placement trigger condition is met. Correspondingly, when the pre-placement trigger condition is that the current time meets a preset time threshold, the time in the current status information can be compared with the preset time threshold to determine whether the pre-placement trigger condition is met. When the pre-placement trigger condition is that the sweeper sends a return signal, it can be determined whether the instruction information is a return instruction to the cleaning base station to determine whether the pre-placement trigger condition is met. The aforementioned preset distance threshold, preset progress threshold, and preset time threshold can all be set according to actual conditions.

[0040] The aforementioned preset time threshold can also be obtained by subtracting the cleaning component transfer time from the estimated return time. For example, if the estimated return time is 10:00:00 and the cloth transfer time is 15 seconds, the preset time threshold can be calculated as 09:59:45. The cleaning component transfer time is related to the storage compartment structure. For example, if the storage positions in the storage compartment are horizontally arranged and the movement distance is short, the corresponding cleaning component transfer time is 5-10 seconds; if the storage positions in the storage compartment are vertically arranged and require lifting and lowering, the corresponding cleaning component transfer time is 10-15 seconds; if the storage positions in the storage compartment are multi-layer turntables and require rotation for positioning, the corresponding cleaning component transfer time is 8-12 seconds.

[0041] For example: Task progress triggering is configured to trigger cloth pre-placement when the cleaning equipment's current task completion rate reaches 90%. Distance triggering is configured to trigger cloth pre-placement based on location information when the cleaning equipment detects that it is less than 5 meters away from the base station. Time triggering is configured to trigger cloth pre-placement based on time lead 30 seconds before the cleaning equipment is expected to return to the base station. Command triggering is configured to trigger cloth pre-placement when the cleaning equipment's main control unit generates and sends a "coming back soon" signal.

[0042] Finally, if the pre-placement trigger conditions are met, obtain the required cleaning component information; In this embodiment, by providing multiple pre-placement trigger conditions, specifically including task progress triggering, distance triggering, time triggering, and command triggering, the corresponding trigger condition can be selected according to the actual situation. Only when the pre-placement trigger condition is met will the acquisition of the required cleaning component information begin, i.e., the cleaning component pre-placement process be triggered; otherwise, the cleaning component pre-placement process will not be executed, i.e., the required cleaning component information will not be acquired. This allows the cleaning base station to trigger the cleaning component pre-placement process at the appropriate time, ensuring that the pre-placement of cleaning components does not affect the cleaning task.

[0043] Step 220: Based on the required cleaning component information, take out a new cleaning component from the storage compartment and place the new cleaning component in the first position. The first position does not conflict with the disassembly position, which is the position where the robot vacuum removes the current cleaning component. In this embodiment, the corresponding cleaning component, i.e., the new cleaning component, is located in the storage compartment based on the required cleaning component information. It is then removed from the storage compartment and placed in the first position. Placing the new cleaning component in the first position does not affect the removal of the cleaning component from the sweeping machine; that is, the first position and the removal position do not conflict. The removal position is the location where the sweeping machine removes the current cleaning component. The first position can be a cleaning disc or a specially designed temporary storage location. The removal and placement can be performed by a moving mechanism on the cleaning base station, such as a robotic arm or conveyor belt. By controlling the moving mechanism to move between the first position and the storage compartment, the new cleaning component can be automatically placed in the first position without manual intervention, thus improving the level of automation.

[0044] In some embodiments, the step of retrieving a new cleaning component from the storage compartment based on the required cleaning component information and placing the new cleaning component in a first position includes: First, based on the required cleaning component information, it is determined whether the cleaning components on the sweeper need to be replaced; In this embodiment, the required cleaning component information is compared with the cleaning components on the sweeper. If they match, no replacement is needed; otherwise, replacement is required.

[0045] For example, the robot vacuum cleaner cleans in the following order: kitchen, dining room, living room, bedroom, and bathroom. In stage 1, while cleaning the kitchen, the robot vacuum anticipates the next task will be cleaning the dining room. Since both the kitchen and dining room are prone to grease buildup, the required cloths are the same type used for cleaning grease-prone areas, so no replacement is needed; a grease-prone cloth is pre-placed. In stage 2, the robot vacuum switches to cleaning the dining room and anticipates the next task will be cleaning the living room. Cleaning the living room requires a regular cloth, which is different from the currently used grease-prone cloth, so a replacement is needed; a regular cloth is pre-placed. In stage 3, while cleaning the living room, the robot vacuum anticipates the next task will be cleaning the bedroom. The bedroom also requires a regular cloth, which is the same type used; no replacement is needed, and a regular cloth is pre-placed. In stage 4, while cleaning the bedroom, the robot vacuum anticipates the next task will be cleaning the bathroom. The bathroom requires a disinfectant cloth with antibacterial properties, which is different from the currently used regular cloth, so a disinfectant cloth is pre-placed. By predicting and placing mops in advance in stages, the robot vacuum cleaner can complete the cleaning of the whole house in an orderly manner and automatically match the type of mop required for each area.

[0046] Then, if it is determined that the cleaning component needs to be replaced, a new cleaning component is taken out from the storage compartment and placed in the first position.

[0047] In this embodiment, a new cleaning component is taken out of the storage compartment and placed in the first position only when the cleaning component needs to be replaced; otherwise, no operation is performed, thereby avoiding unnecessary actions and further improving the installation efficiency of the cleaning component.

[0048] Step 230: After the sweeper completes the current task and returns to the cleaning base station, install the new cleaning component onto the sweeper.

[0049] In this embodiment, after the sweeping robot completes its current task and returns to the cleaning base station, the new cleaning component can be directly installed onto the sweeping robot, greatly saving the sweeping robot's waiting time and allowing it to quickly set off to perform the next task. The installation can be done at the first position or at the removal position.

[0050] In some embodiments, the sweeper is not currently equipped with a cleaning component; accordingly, installing the new cleaning component onto the sweeper includes: installing the new cleaning component onto the sweeper in the disassembly position.

[0051] In this embodiment, the determination of whether the sweeper currently has a cleaning component installed can be based on the sweeper's current status information or by real-time detection of whether a cleaning component is installed on the sweeper. If the sweeper does not currently have a cleaning component installed (e.g., sweeping before mopping), the cleaning component can be directly installed in the cleaning tray after the sweeper returns to the cleaning base station, greatly saving time and allowing the sweeper to quickly start performing the next task.

[0052] In some embodiments, the cleaning base station is further provided with a cleaning tray; the first position is the cleaning tray.

[0053] In this embodiment, the cleaning tray can be used to clean cleaning components, and it can also be used to place and install cleaning components. New cleaning components can be placed in the cleaning tray for installation, which improves the utilization rate of the cleaning tray.

[0054] In some embodiments, the sweeper is currently equipped with a cleaning component; The process of installing the new cleaning component onto the sweeper includes: First, remove the current cleaning component at the disassembly position; In this embodiment, the aforementioned disassembly position has the function of disassembling and installing cleaning components, allowing for the disassembly or installation of cleaning components within the disassembly position. The specific implementation methods for disassembly and installation at the aforementioned disassembly position can be achieved using existing technologies, and will not be elaborated upon here.

[0055] Then, the new cleaning component is moved from the first position to the disassembly position; Finally, the new cleaning component is installed onto the sweeper at the disassembly position.

[0056] In this embodiment, the cleaning component in the disassembly position may be replaced with a new cleaning component first, and then the new cleaning component may be installed in the disassembly position. Alternatively, the cleaning component in the disassembly position may be removed first, and then the new cleaning component in the first position may be moved to the disassembly / installation position.

[0057] For example, the aforementioned disassembly point can be a cleaning tray. When the disassembly point is a cleaning tray, the cleaning components can be disassembled and removed from the cleaning tray, and then the new cleaning components can be placed into the cleaning tray for installation.

[0058] By first removing the cleaning component from the sweeper in the removal position while the sweeper is currently equipped with a cleaning component, and then moving the new cleaning component to the removal position for installation, the cleaning component can be installed correctly and reliably.

[0059] In some embodiments, the cleaning base station is further provided with a temporary storage location, and the first location is the temporary storage location.

[0060] In this embodiment, the aforementioned temporary storage location is used to temporarily place the cleaning component after it has been removed from the storage compartment and before it is installed on the sweeper. This location can be situated in the middle of the cleaning component's operating path, which refers to the path the cleaning component takes from its storage location in the storage compartment to its installation location. For example, the temporary storage location can be located at the exit of the storage compartment. The temporary storage location can accommodate at least one or a group of cleaning components. By using the temporary storage location as the primary location, it can be ensured that the cleaning components can be installed quickly and reliably.

[0061] In one embodiment, the cleaning disc can serve as a disassembly point for removing and installing the cleaning component. When the sweeper is not currently equipped with a cleaning component, the new cleaning component can be moved from the temporary storage location to the cleaning disc, and then installed onto the sweeper from the cleaning disc. By setting up the cleaning disc and the temporary storage location, the new cleaning component is placed in the temporary storage location. Even when the sweeper is not currently equipped with a cleaning component, the new component can be moved to the cleaning disc first, and then installed, greatly saving time and allowing the sweeper to quickly start performing the next task.

[0062] In one embodiment, both the cleaning disc and the disassembly / installation position are used to install and remove the cleaning component, and the sweeper is currently equipped with the cleaning component; the cleaning component can be removed from the sweeper in a second position first; then the new cleaning component is moved to a third position and installed on the sweeper in the third position, wherein the second position is one of the cleaning disc and the disassembly / installation position, and the third position is the other.

[0063] In this embodiment, the new cleaning component is placed in a temporary storage position. This allows both the cleaning tray and the disassembly position to be used to remove the cleaning component from the sweeper. Specifically, the second position can be either the cleaning tray or the disassembly position. If the cleaning component is removed from the sweeper in the cleaning tray, the new cleaning component can be moved to the disassembly position for installation; conversely, if the cleaning component is removed from the sweeper in the disassembly position, the new cleaning component can be moved to the cleaning tray for installation. By placing the new cleaning component in the temporary storage position, when a cleaning component is currently installed on the sweeper, the existing cleaning component can be removed from the disassembly / installation position or the cleaning tray before the new cleaning component is installed in another position. The pre-placement and removal of the cleaning component do not interfere with each other and will not affect the installation of the new cleaning component, ensuring that the cleaning component can be installed correctly and reliably.

[0064] For example, in a user-defined sweep-then-mop scenario, the complete workflow of the robot vacuum and the cleaning base station working together is as follows: At time T0, the robot vacuum departs from the cleaning base station to begin the sweeping task, at which point the cleaning base station remains inactive. At time T1, the robot vacuum is in the sweeping process, and the cleaning base station remains on standby. At time T2, when the sweeping task is 80% complete, the cleaning base station predicts the next task will be mopping based on the task sequence and pre-identifies the required cleaning component as a mopping cloth. At time T3, when the sweeping task is 90% complete, the cleaning base station retrieves the mopping cloth from the storage compartment and pre-places it on the cleaning tray, completing the pre-placement of the mopping cloth. At time T4, the robot vacuum completes the sweeping task and begins its return to the cleaning base station, at which point the mopping cloth is ready on the cleaning tray. At time T5, after arriving at the cleaning base station, the robot vacuum directly detaches the sweeping module or sweeping cloth and installs the pre-placed mopping cloth from the cleaning tray. At time T6, the robot vacuum cleaner sets off with the mopping cloth to perform the mopping task. The entire process does not require waiting for the mop to be transferred, saving 10-30 seconds and achieving a seamless connection between sweeping and mopping tasks.

[0065] For example, in a scenario where the robot vacuum cleaner cleans in the order of kitchen → living room, the collaborative process between the robot vacuum cleaner and the cleaning base station is as follows: At time T0, the robot vacuum cleaner departs from the cleaning base station and begins cleaning the kitchen area; at this time, the cleaning base station is inactive. At time T1, while the robot vacuum cleaner is cleaning the kitchen, the cleaning base station remains in standby mode and does not perform any actions. At time T2, when the kitchen cleaning task is 90% complete, the cleaning base station predicts the next task will be cleaning the living room based on the preset cleaning task sequence and pre-identifies that this task requires a special living room cleaning cloth. At time T3, when the kitchen cleaning task is 95% complete, the cleaning base station retrieves a special living room cleaning cloth from the storage compartment and pre-places it on the washing tray. At time T4, the robot vacuum cleaner completes the kitchen cleaning task and begins returning to the cleaning base station; at this time, the special living room cleaning cloth is ready on the washing tray. At time T5, after the robot vacuum arrives at the cleaning station, it directly unloads the kitchen cloth it is currently carrying and installs the living room cloth that is already in place on the washing tray. There is no need to wait for the cloth to be transferred, so the cloth replacement can be completed quickly and the robot vacuum can continue to perform the living room cleaning task.

[0066] In the above implementation process, a storage compartment is set on the cleaning base station to store multiple cleaning components. Before the robot vacuum returns to the cleaning base station after completing the current task, the required cleaning component information is obtained. This required cleaning component information is the information of the cleaning components needed by the robot vacuum to perform the next task. Based on the required cleaning component information, a new cleaning component is taken out from the storage compartment and placed in a first position, which does not conflict with the disassembly position, which is the position where the robot vacuum removes the current cleaning component. After the robot vacuum returns to the cleaning base station after completing the current task, the new cleaning component is installed on the robot vacuum. By pre-identifying the cleaning component required for the next task before the robot vacuum completes the current task and returns to the cleaning base station, and placing the required cleaning component for the next task in the first position before returning to the cleaning base station, the cleaning component can be directly replaced after the robot vacuum returns to the cleaning base station. This shortens the waiting time for cleaning component transfer, improves overall work efficiency, enables seamless transition to the next task, provides a smoother user experience, and this solution is applicable to application scenarios with multiple cleaning component type switching.

[0067] In some embodiments, it also includes: If an exception occurs during the placement of the new cleaning component in the first position, the exception type is obtained, and the corresponding processing strategy is executed based on the exception type.

[0068] In this embodiment, different processing strategies can be set in advance for different types of anomalies. If an anomaly occurs during the process of placing the new cleaning component in the first position, it can be handled according to the corresponding processing strategy, which helps to improve the success rate of placing the new cleaning component.

[0069] For example, when a mop gets stuck, the robot vacuum is configured to retry three times. If it still cannot clear the blockage after the retry, an alarm will be triggered. When a missing mop is detected, the robot vacuum is configured to issue a reminder, prompting the user to place the mop corresponding to the next task. When an empty storage compartment is detected, the robot vacuum is configured to issue a reminder, prompting the user to replenish the mop. When a pre-placement timeout occurs, the robot vacuum is configured to return to the base station, wait, and attempt pre-placement again.

[0070] In some embodiments, the cleaning base station is further provided with a cleaning tray, the cleaning tray being used to clean the cleaning components, and the method further includes: First, based on the required cleaning component information, determine whether the new cleaning component needs to be wetted or cleaned; In this embodiment, the required cleaning component information may include the dryness of the cleaning component and whether it needs to be cleaned. This allows us to determine whether a new cleaning component needs to be soaked or cleaned based on the required cleaning component information.

[0071] Then, when it is determined that the new cleaning component needs to be wetted or cleaned and the cleaning tray is in an idle state, clean water or cleaning solution is pre-filled into the cleaning tray.

[0072] In this embodiment, the information regarding the required cleaning components may further include the method by which the cleaning components are wetted, including wetted with clean water or cleaning solution. Accordingly, if it is necessary to wet the new cleaning components, clean water or cleaning solution can be pre-filled into the cleaning tray while it is idle. This allows clean water or cleaning solution to be prepared in advance.

[0073] For example, in a sweep-then-mop task, a wet cloth is needed for mopping, and the cleaning base station will prepare it by wetting it in advance. First, the cleaning base station pre-identifies that the cloth needed for the next task is a living room cloth; then, it performs a pre-placement action, placing the living room cloth on the washing tray; next, the cleaning base station performs a pre-liquid supply action, pre-filling the washing tray with clean water or cleaning solution to wet the cloth. When the sweeper completes its sweeping task and returns to the cleaning base station, the pre-wetted living room cloth can be directly installed, without waiting for the cloth to wet again, and the mopping task can begin immediately.

[0074] By combining pre-placed cleaning components with pre-prepared clean water or cleaning solution, waiting time can be further reduced, thus improving overall efficiency.

[0075] In some embodiments, pre-filling the cleaning tray with clean water or cleaning solution based on the required cleaning component information includes: Determine whether hot water cleaning is needed based on the next task. If so, pre-fill the cleaning tray with heated water or cleaning solution.

[0076] In this embodiment, if the next task requires hot water cleaning, the clean water or cleaning solution can be heated first and then injected into the cleaning tray.

[0077] For example, in a scenario where the next task requires hot water cleaning, the preparation workflow of the cleaning base station is as follows: First, the cleaning base station pre-identifies that the rag needed for the next task is a kitchen rag; then, it performs a pre-placement action, placing the kitchen rag on the washing tray; subsequently, the cleaning base station starts a preheating program, preheating the washing water to the target temperature. When the robot vacuum completes its current task and returns to the cleaning base station, the kitchen rag is ready in the washing tray and the water temperature has reached the target temperature, allowing the robot vacuum to immediately begin the hot water cleaning task without waiting for the heating process on-site, achieving rapid transition between tasks.

[0078] By pre-placing cleaning components, pre-preparing clean water or cleaning solution, and combining preheating, waiting time can be further reduced, overall efficiency can be further improved, and task requirements can be met.

[0079] It should be noted that for situations requiring cleaning or wetting, the cleaning disc should be selected as the first position for immediate cleaning and liquid injection. When the cleaning disc is idle, cleaning components removed from the sweeper can also be cleaned within it.

[0080] This embodiment also provides a cleaning base station, which is used to install the cleaning component by performing the above-described cleaning component installation method for a sweeper.

[0081] In this embodiment, the cleaning base station identifies the cleaning components required for the next task in advance before the sweeping machine completes its current task and returns to the cleaning base station. The cleaning components required for the next task are placed in the first position in advance before the sweeping machine returns to the cleaning base station. After the sweeping machine returns to the cleaning base station, the cleaning components can be replaced directly, thereby shortening the waiting time for the cleaning components to be transferred, improving the overall work efficiency, enabling seamless connection of the next task, providing a smoother user experience, and being applicable to application scenarios with multiple cleaning component types.

[0082] This embodiment also provides a cleaning system, including the cleaning base station and the sweeping machine described above. The sweeping machine is used to perform cleaning tasks, and the cleaning base station is used to install cleaning components to the sweeping machine.

[0083] In this embodiment, the cleaning base station identifies the cleaning components required for the next task in advance before the sweeping machine completes its current task and returns to the cleaning base station. The cleaning components required for the next task are placed in the first position in advance before the sweeping machine returns to the cleaning base station. After the sweeping machine returns to the cleaning base station, the cleaning components can be replaced directly, thereby shortening the waiting time for the cleaning components to be transferred. The overall operation efficiency of the cleaning system is improved, the next task can be seamlessly connected, the user experience is smoother, and it is applicable to application scenarios with multiple cleaning component types.

[0084] Please refer to Figure 2 , Figure 2 This schematically illustrates a structural block diagram of a cleaning component installation device for a sweeping machine according to an embodiment of the present application. This embodiment provides a cleaning component installation device for a sweeping machine, applied to a cleaning base station, wherein the cleaning base station is provided with a storage compartment for storing multiple cleaning components; the device includes an acquisition module 410, a placement module 420, and an installation module 430. The acquisition module 410 is used to acquire the required cleaning component information, which is the cleaning component information required by the sweeper when performing the next task; The placement module 420 is used to, before the sweeping robot returns to the cleaning base station after completing the current task, take out a new cleaning component from the storage compartment based on the required cleaning component information, and place the new cleaning component in a first position. The first position does not conflict with the disassembly position, which is the position where the sweeping robot disassembles the current cleaning component. The installation module 430 is used to install the new cleaning component onto the sweeper after the sweeper returns to the cleaning base station after completing the current task.

[0085] The cleaning component installation device of the sweeper includes a processor and a memory. The acquisition module 410, placement module 420 and installation module 430 are all stored in the memory as program units. The processor executes the program units stored in the memory to realize the corresponding functions.

[0086] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and the installation of the cleaning components of the robot vacuum cleaner can be achieved by adjusting the kernel parameters.

[0087] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0088] This invention provides a machine-readable storage medium storing a program that, when executed by a processor, implements a method for installing the cleaning components of a sweeping robot.

[0089] This embodiment provides a controller for a cleaning base station, including a processor and a memory. The memory stores instructions, which, when executed by the processor, implement the above-described method for installing the cleaning components of a sweeping robot.

[0090] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 3As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements a method for installing cleaning components of a sweeping robot. The display screen A04 can be an LCD screen or an e-ink display screen. The input device A05 can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0091] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0092] In one embodiment, the cleaning component mounting device for the sweeper provided in this application can be implemented as a computer program, which can be configured as follows: Figure 3 The computer device shown operates on this device. The computer device's memory can store the various program modules that make up the cleaning component drying device, for example, Figure 2 The acquisition module 410, placement module 420, and installation module 430 are shown. The computer program comprised of these modules causes the processor to execute the steps in the cleaning component installation methods of the sweeper robot of the various embodiments described in this specification.

[0093] Figure 3 The computer equipment shown can be used as follows Figure 2 In the cleaning component drying device shown, the acquisition module 410 performs step 210, the placement module 420 performs step 220, and the installation module 430 performs step 230.

[0094] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. The device is applied to a cleaning base station, which has a storage compartment for storing multiple cleaning components. When the processor executes the program, it performs the following steps: Before the sweeping robot returns to the cleaning base station after completing the current task, it obtains the required cleaning component information, which is the cleaning component information required by the sweeping robot when performing the next task. Based on the required cleaning component information, a new cleaning component is taken out from the storage compartment and placed in the first position. The first position does not conflict with the disassembly position, which is the position where the sweeping robot disassembles the current cleaning component. After the sweeping machine completes its current task and returns to the cleaning base station, the new cleaning component is installed on the sweeping machine.

[0095] In one embodiment, the sweeper is not currently equipped with a cleaning component; The process of installing the new cleaning component onto the sweeper includes: The new cleaning component is installed onto the sweeper at the first position.

[0096] In one embodiment, the cleaning base station is further provided with a cleaning tray; the first position is the cleaning tray.

[0097] In one embodiment, the sweeper is currently equipped with a cleaning component; The process of installing the new cleaning component onto the sweeper includes: Remove the current cleaning component at the disassembly position; Move the new cleaning component from the first position to the disassembly position; The new cleaning component is installed onto the sweeper at the disassembly position.

[0098] In one embodiment, the cleaning base station is further provided with a temporary storage location, and the first location is the temporary storage location.

[0099] In one embodiment, retrieving a new cleaning component from the storage compartment based on the required cleaning component information and placing the new cleaning component in the first position includes: Based on the required cleaning component information, determine whether the cleaning components on the sweeper need to be replaced; If it is determined that a replacement is needed, a new cleaning component is taken out from the storage compartment and placed in the first position.

[0100] In one embodiment, obtaining the required cleaning component information includes: The current status information of the sweeper can be obtained in real time; Based on the current state information, determine whether the pre-placement trigger condition is met; Under the condition that the pre-placement triggering conditions are met, obtain the required cleaning component information; The pre-placement triggering conditions include any one or more of the following: The sweeper's task progress meets a preset progress threshold; The distance between the sweeper and the cleaning base station meets a preset distance threshold; The remaining time for the sweeping machine to return to the cleaning base station meets a preset time threshold; The sweeper sends a return signal.

[0101] In one embodiment, obtaining the required cleaning component information includes: Obtain the current task information of the sweeping machine; Based on the current task information and cleaning task sequence of the sweeping machine, the next task information is determined; Based on the next task information, the required cleaning component information is determined.

[0102] In one embodiment, it also includes: If an exception occurs during the placement of the new cleaning component in the first position, the exception type is obtained, and the corresponding processing strategy is executed based on the exception type.

[0103] In one embodiment, the cleaning base station is further provided with a cleaning tray, the cleaning tray being used to clean the cleaning components, and the method further includes: Based on the required cleaning component information, determine whether the new cleaning component needs to be wetted or cleaned; When it is determined that the new cleaning component needs to be wetted or cleaned and the cleaning tray is in an idle state, pre-fill the cleaning tray with clean water or cleaning solution.

[0104] In one embodiment, pre-filling the cleaning tray with clean water or cleaning solution includes: Determine whether hot water cleaning is needed based on the next task. If so, pre-fill the cleaning tray with heated water or cleaning solution.

[0105] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0106] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0107] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0108] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0109] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0110] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0111] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0112] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0113] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for installing cleaning components of a sweeping machine, characterized in that, An application to a cleaning base station, wherein the cleaning base station is equipped with a storage compartment for storing multiple cleaning components, the method comprising: Before the sweeping robot returns to the cleaning base station after completing the current task, it obtains the required cleaning component information, which is the cleaning component information required by the sweeping robot when performing the next task. Based on the required cleaning component information, a new cleaning component is taken out from the storage compartment and placed in the first position. The first position does not conflict with the disassembly position, which is the position where the robot vacuum removes the current cleaning component. After the sweeping machine completes its current task and returns to the cleaning base station, the new cleaning component is installed on the sweeping machine.

2. The method for installing the cleaning components of a sweeper according to claim 1, characterized in that, The sweeper is not currently equipped with cleaning components; The process of installing the new cleaning component onto the sweeper includes: The new cleaning component is installed onto the sweeper at the first position.

3. The method for installing the cleaning components of a sweeper according to claim 2, characterized in that, The cleaning base station is also equipped with a cleaning tray; the first position is the cleaning tray.

4. The method for installing the cleaning components of a sweeper according to claim 1, characterized in that, The sweeper is currently equipped with cleaning components; The process of installing the new cleaning component onto the sweeper includes: Remove the current cleaning component at the disassembly position; Move the new cleaning component from the first position to the disassembly position; The new cleaning component is installed onto the sweeper at the disassembly position.

5. The method for installing the cleaning components of a sweeper according to claim 1, characterized in that, The clean base station is also equipped with a temporary storage location, and the first location is the temporary storage location.

6. The method for installing the cleaning components of a sweeper according to claim 1, characterized in that, The step of retrieving a new cleaning component from the storage compartment based on the required cleaning component information and placing the new cleaning component in the first position includes: Based on the required cleaning component information, determine whether the cleaning components on the sweeper need to be replaced; If it is determined that a replacement is needed, a new cleaning component is taken out from the storage compartment and placed in the first position.

7. The method for installing the cleaning components of a sweeper according to claim 1, characterized in that, The process of obtaining the required cleaning component information includes: The current status information of the sweeper can be obtained in real time; Based on the current state information, determine whether the pre-placement trigger condition is met; Under the condition that the pre-placement triggering conditions are met, obtain the required cleaning component information; The pre-placement triggering conditions include any one or more of the following: The sweeper's task progress meets a preset progress threshold; The distance between the sweeper and the cleaning base station meets a preset distance threshold; The remaining time for the sweeping machine to return to the cleaning base station meets a preset time threshold; The sweeper sends a return signal.

8. The method for installing the cleaning components of a sweeper according to claim 1, characterized in that, The process of obtaining the required cleaning component information includes: Obtain the current task information of the sweeping machine; Based on the current task information and cleaning task sequence of the sweeping machine, the next task information is determined; Based on the next task information, the required cleaning component information is determined.

9. The method for installing the cleaning components of a sweeper according to claim 1, characterized in that, Also includes: If an exception occurs during the placement of the new cleaning component in the first position, the exception type is obtained, and the corresponding processing strategy is executed based on the exception type.

10. The method for installing the cleaning components of a sweeper according to claim 1, characterized in that, The cleaning base station is also equipped with a cleaning tray, which is used to clean the cleaning components. The method further includes: Based on the required cleaning component information, determine whether the new cleaning component needs to be wetted or cleaned; When it is determined that the new cleaning component needs to be wetted or cleaned and the cleaning tray is in an idle state, pre-fill the cleaning tray with clean water or cleaning solution.

11. The method for installing the cleaning components of a sweeper according to claim 10, characterized in that, The step of pre-filling the cleaning tray with clean water or cleaning solution includes: Determine whether hot water cleaning is needed based on the next task. If so, pre-fill the cleaning tray with heated water or cleaning solution.

12. A cleaning component installation device for a sweeper, characterized in that, An apparatus for use in cleaning base stations, wherein the cleaning base station is equipped with a storage compartment for storing multiple cleaning components, the apparatus comprising: The acquisition module is used to acquire the required cleaning component information before the sweeping robot returns to the cleaning base station after completing the current task. The required cleaning component information is the cleaning component information required by the sweeping robot when performing the next task. The placement module is used to take out a new cleaning component from the storage compartment based on the required cleaning component information, and place the new cleaning component in a first position, which does not conflict with the disassembly position, which is the position where the sweeping robot disassembles the current cleaning component; The installation module is used to install the new cleaning component onto the sweeper after the sweeper returns to the cleaning base station after completing the current task.

13. A clean base station, characterized in that, The cleaning base station is used to perform the cleaning component installation method of the sweeper according to any one of claims 1 to 11.

14. A cleaning system, characterized in that, The system includes the cleaning base station and the sweeping machine as described in claim 13, wherein the sweeping machine is used to perform cleaning tasks, and the cleaning base station is used to install cleaning components to the sweeping machine.

15. A controller for a clean base station, characterized in that, It includes a processor and a memory, the memory storing instructions that, when executed by the processor, implement the cleaning component installation method of the sweeper according to any one of claims 1 to 11.

16. A machine-readable storage medium having instructions stored thereon, characterized in that, When the instruction is executed by the processor, the processor performs the cleaning component installation method of the sweeper according to any one of claims 1 to 11.

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