Cleaning system

Abstract

The utility model relates to a cleaning system which comprises a cleaning robot and a base station used for maintaining the cleaning robot, and the cleaning robot comprises a mop plate for installing a mop; the base station comprises a base platform, the base platform is provided with a stopping surface for the cleaning robot to stop, the stopping surface is provided with a stopping position for the cleaning robot to stop so as to replace a mop, and the stopping surface is obliquely or vertically arranged; the cleaning system further comprises an operating part, the operating part is arranged on at least one of the base station and the cleaning robot, and the operating part is configured to operate the mop plate and / or the mop so as to replace the mop for the cleaning robot stopping on the base platform. According to the technical scheme, the stopping face, used for stopping of the cleaning robot, of the base station is obliquely or vertically arranged, the occupied area of the base station on the horizontal plane is effectively reduced, the operation piece of the cleaning system can automatically replace the mop for the cleaning robot, therefore, dirt is prevented from being left on the cleaning robot and the base station in the mop cleaning process, and the user experience is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a cleaning system. Background Art

[0002] With the development of science and technology, robots play an increasingly important role in people's lives, especially cleaning robots, which help people free themselves from heavy housework. Among them, cleaning robots with mopping functions are widely favored by users due to their wide applicability.

[0003] In order to improve the intelligence of the cleaning robot, the cleaning robot returns to the base station after working for a period of time. The automatic cleaning system set in the base station can clean and dry the mop on the cleaning robot, but the cleaning process is time-consuming and water-consuming, and dirt will be left in the base station during the cleaning process. At the same time, the current base station occupies a large space, which reduces user-friendliness. Summary of the invention

[0004] The purpose of the present disclosure is to provide a cleaning system that can automatically replace the mop for a cleaning robot, and the base station occupies a small area.

[0005] To achieve the above disclosed purpose, the present disclosure provides a cleaning system, including a cleaning robot and a base station for maintaining the cleaning robot.

[0006] The cleaning robot comprises a mop plate for mounting a mop;

[0007] The base station comprises a base platform, the base platform is provided with a docking surface for the cleaning robot to dock, the docking surface has a docking position for the cleaning robot to dock to change the mop, and the docking surface is inclined or vertically arranged;

[0008] The cleaning system further includes an operating member, which is disposed on at least one of the base station and the cleaning robot, and is configured to operate the mop plate and / or the mop so as to replace the mop for the cleaning robot.

[0009] As a further improvement of the present disclosure, the docking surface is an inclined surface, and the angle between the docking surface and the horizontal plane is 30°-60°.

[0010] As a further improvement of the present disclosure, the cleaning system includes a limiting structure arranged on the base station or the cleaning robot, and the limiting structure is used to limit the cleaning robot at the parking position.

[0011] As a further improvement of the present disclosure, the operating member includes a separation operating member and an installation operating member, the separation operating member is configured to operate the mop board and / or the mop installed on the mop board to separate the mop board and the mop; the installation operating member is configured to operate the mop board and / or an unused mop to install the unused mop on the mop board.

[0012] As a further improvement of the present disclosure, the cleaning system further includes a first mop bin for storing unused mops and a second mop bin for storing mops separated from the mop board.

[0013] As a further improvement of the present disclosure, the first mop bin and the second mop bin are arranged on a side of the base platform facing away from the docking surface, and an operating hole is provided on the base platform, and the operating hole connects the docking surface and the back-to-back surface arranged away from the docking surface, so that the docking position is connected with the first mop bin and the second mop bin.

[0014] As a further improvement of the present disclosure, the separation operating member is configured to apply a force to the mop board and / or the mop installed on the mop board to separate the mop board and the mop, so as to separate the mop board and the mop installed on the mop board; the installation operating member is configured to apply a force to the mop board and / or the first mop bin so that the mop board and the first mop bin move relative to each other, so as to install the unused mop on the mop board.

[0015] As a further improvement of the present disclosure, the second mop bin is configured to be disposed on a moving path of the mop separated from the mop plate, so that the separated mop enters the second mop bin.

[0016] As a further improvement of the present disclosure, the installation operating member is arranged on the body of the cleaning robot, and the installation operating member applies a force to the mop board so that the mop board moves relative to the first mop bin or the second mop bin.

[0017] As a further improvement of the present disclosure, the separation operating member is arranged on the path of the mop board moving toward the second mop bin, and the mop board passes through the separation operating member when it moves toward the direction where the second mop bin is located. When the mop board moves toward the direction away from the second mop bin, the separation operating member separates the mop board and the mop installed on the mop board.

[0018] As a further improvement of the present disclosure, an avoidance hole is provided on the mop board, and the avoidance hole and the separation operating member are provided correspondingly so that the mop board passes through the separation operating member.

[0019] As a further improvement of the present disclosure, the cleaning system also includes a driving device, which is configured to drive the cleaning robot to move relative to at least one of the first mop bin and the second mop bin, so that the projections of the mop plate and the first opening of the first mop bin on the surface where the docking surface is located at least partially overlap, or the projections of the mop plate and the second opening of the second mop bin on the surface where the docking surface is located at least partially overlap.

[0020] As a further improvement of the present disclosure, the driving device is arranged on the base station, and the driving device is connected to the first mop bin and the second mop bin, and the driving device is configured to drive the first mop bin and the second mop bin to move so that the first opening of the first mop bin or the second opening of the second mop bin at least partially overlaps with the projection of the operating hole on the surface where the docking surface is located.

[0021] As a further improvement of the present disclosure, the driving device is connected to the body of the cleaning robot, and the driving device is configured to drive the body of the cleaning robot to move on the base platform.

[0022] As a further improvement of the present disclosure, the first mop bin and the second mop bin are fixedly arranged on a side of the base platform facing away from the docking surface, and are arranged up and down along the extension direction of the base platform. The base platform is provided with mounting holes and disassembly holes arranged up and down along the extension direction of the base platform, and the mounting holes and the disassembly holes communicate with the docking surface and the back-to-back surface arranged back to back with the docking surface, so that the docking position is connected with the first mop bin and the second mop bin;

[0023] One of the first mop bin and the second mop bin at least partially overlaps with a projection of one of the mounting hole and the disassembly hole on the surface where the docking surface is located, and the other of the first mop bin and the second mop bin at least partially overlaps with a projection of the other of the mounting hole and the disassembly hole on the surface where the docking surface is located.

[0024] The beneficial effects of the present disclosure are as follows: the docking surface of the base station of the present disclosure for the cleaning robot to dock is inclined or vertically arranged, which effectively reduces the footprint of the base station on the horizontal plane while ensuring that the cleaning robot can dock, and the operating parts of the cleaning system can automatically replace the mop for the cleaning robot, thereby avoiding dirt on the cleaning robot and the base station during the mop cleaning process, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the structure of a cleaning system in one embodiment of the present disclosure.

[0026] Figure 2It is a schematic structural diagram of a cleaning system in another embodiment of the present disclosure.

[0027] Figure 3 It is a schematic structural diagram of a cleaning system in another embodiment of the present disclosure.

[0028] Figure 4 for Figure 1 Schematic diagram of the structure of the cleaning robot with the mop plate in the working position.

[0029] Figure 5 for Figure 1 Schematic diagram of the structure of the cleaning robot with the mop plate in the raised position.

[0030] Figure 6 for Figure 1 Schematic diagram of the structure of the cleaning robot with the mop plate in the lowered position.

[0031] Figure 7 for Figure 1 The schematic diagram of the structure of the cleaning robot is that the mop plate in the middle is a flat plate.

[0032] Figure 8 for Figure 1 Schematic diagram of the structure of a cleaning robot with a disc-shaped mop plate in the middle.

[0033] Fig. 9 for Figure 1 Schematic diagram of the structure of the base station.

[0034] Fig.10 for Fig. 9 Schematic diagram of the structure of the mop bin of the central base station.

[0035] Fig.11 for Figure 1 Schematic diagram of the structure of the cleaning robot before it drives onto the base station.

[0036] Fig.12 for Figure 1 Schematic diagram of the structure of the docking between the cleaning robot and the traction device of the base station.

[0037] Fig.13 for Fig.12 Schematic diagram of the structure of the cleaning robot at the docking position on the base station.

[0038] Fig.14 for Fig.12 Schematic diagram of the structure of the cleaning robot's mop plate extending into the second mop bin.

[0039] Fig.15 for Fig.12 Schematic diagram of the structure in which the mop of the cleaning robot is disassembled and enters the second mop compartment.

[0040] Fig.16 for Fig.14 and Fig.15 Schematic diagram of the structure of the mop plate of the cleaning robot docking with the second mop bin.

[0041] Fig.17 for Fig.12 Schematic diagram of the structure in which the mop plate of the cleaning robot extends into the first mop bin.

[0042] Fig.18 for Fig.17 Schematic diagram of the structure of the mop plate of the cleaning robot docking with the first mop bin.

[0043] Fig.19 for Fig.12 A schematic diagram of the structure of the recycling device of the central base station recycling the dirt in the dust box of the cleaning robot and the mop in the second mop compartment into the recycling box.

[0044] Fig. 20 for Fig.12 Schematic diagram of the cleaning robot driving out of the base station after completing mop replacement and dust box cleaning maintenance.

[0045] Fig.21 for Fig.12 Schematic diagram of the structure of the recycling bin of the base station removed from the base station.

[0046] Fig. 22 for Figure 1 A schematic diagram of the structure of a base station shown in another embodiment.

[0047] Fig.23 for Fig.23 Schematic diagram of the structure of the second mop bin of the middle base station disassembled from the base station.

[0048] Fig.24 for Figure 1 A structural schematic diagram of a cleaning robot having a disc-shaped mop plate disassembling its mop on a base station.

[0049] Fig.25 for Fig.24 A structural schematic diagram of a mop plate of a cleaning robot docking with a first mop bin.

[0050] Fig.26 for Fig.24 Schematic diagram of the structure of another mop plate of the cleaning robot docking with the first mop bin.

[0051] Fig. 27 for Figure 1 A schematic structural diagram of a cleaning system is shown in yet another embodiment.

[0052] Fig.28 for Fig. 27Schematic diagram of the structure of the mop plate of the cleaning robot located at the mid-slope position and the docking with the second mop bin.

[0053] Fig.29 for Fig. 27 A structural schematic diagram of the docking of the mop plate of the cleaning robot at the docking position and the first mop bin.

[0054] Fig.30 for Figure 1 Schematic diagram of the structure of the cleaning system with the central operating part located above the base platform.

[0055] Fig.31 for Fig.30 Schematic diagram of the structure of the cleaning robot after it removes the mop board to the tray and drives away from the base station.

[0056] Fig.32 for Fig.30 Schematic diagram of the structure in which the middle clamping component picks up the mop plate and moves it in the height direction.

[0057] Fig.33 for Fig.30 Schematic diagram of the structure in which the middle clamping assembly drives the mop plate for replacing a clean mop to the tray.

[0058] Fig.34 for Fig.30 The middle clamping component releases the mop plate that is replaced with a clean mop onto the tray and then rises, showing the structure of the cleaning robot entering the station.

[0059] Fig.35 for Fig.30 Schematic diagram of the structure of the mop plate installed in the cleaning robot for replacing the clean mop.

[0060] Fig.36 for Fig.30 Schematic diagram of the cleaning robot driving out of the base station after installing the mop board with a clean mop

[0061] Fig.37 for Figure 1 Schematic diagram of the structure of a cleaning system with a hair cutting device.

[0062] Fig.38 for Figure 1 Another structural schematic diagram of the arrangement of the first mop bin and the second mop bin. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0064] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0065] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0066] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0067] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0068] See also Figures 1 to 3 , is a schematic diagram of a cleaning system including a cleaning robot 1 and a base station 2 provided in an embodiment. The base station 2 is used for the cleaning robot 1 to dock detachably and to perform maintenance on the cleaning robot 1. The cleaning robot 1 performs the cleaning task of the working area according to the preset operation logic, and docks in the base station 2 to complete the maintenance work when the cleaning task is completed or terminated, thereby ensuring the endurance of the cleaning robot 1.

[0069] In this embodiment, the maintenance work performed by the cleaning robot 1 when returning to the base station 2 at least includes replacing the mop cloth of its mop board 13. In one embodiment, the maintenance work also includes returning to the base station 2 for charging, water replenishment, etc. The charging function, water replenishment function and mop cloth replacement function are combined on the base station 2 to realize multiple functions through one base station, thereby reducing costs and saving space.

[0070] See also Figures 4 to 8 The cleaning robot 1 includes a body 11 and a mop board 13 connected to the body 11. The mop board 13 is used for installing a mop. The mop board 13 installed with the mop contacts the working surface of the working area during the operation of the cleaning robot 1 to clean the working area.

[0071] See also Figure 1 and Fig. 9 The base station 2 includes a body 21 and a base platform 22 formed on the body 21 and used for the cleaning robot 1 to dock. The location of the base platform 11 is not limited here. In this embodiment, the body 21 is surrounded by a docking cavity 211 with one end open to accommodate at least part of the cleaning robot 1. That is, the docking cavity 211 is set in the body 21, and the base platform 22 is located at the bottom of the docking cavity 211. Please refer to Figure 2 In other embodiments, the base platform 22 may also be located on the upper surface of the body 21. The location of the base platform 11 may be set according to actual needs.

[0072] The base platform 22 is provided with a docking surface for the cleaning robot 1 to dock. The docking surface is inclined or vertically arranged. The cleaning robot 1 is inclined or vertically arranged to dock with the base station 2. The base station 2 can dock the cleaning robot 1 on the premise of reducing the size on the horizontal plane. This setting can effectively reduce the footprint of the base station 2 on the horizontal plane, realize the miniaturization of the base station 2, and improve the user experience. Furthermore, the surface where the base platform 23 is located is inclined or vertically arranged, that is, the base platform 23 has a certain thickness, so that the base station 2 forms a space that can accommodate the structure on the other side of the base platform 23 relative to the docking surface, and the space of the base station 2 is reasonably utilized.

[0073] The docking surface has a docking position for the cleaning robot 1 to dock and replace the mop. When the cleaning robot 1 moves to the docking position, the cleaning robot 1 can complete the maintenance work.

[0074] The cleaning system further comprises an operating member, which is disposed on at least one of the base station 2 and the cleaning robot 1 , and is configured to operate the mop plate 13 and / or the mop so as to replace the mop for the cleaning robot 1 .

[0075] In this embodiment, the cleaning robot 1 is docked at the docking position of the base platform 22, and the operating unit replaces the mop cloth thereon, and the mop cloth can be replaced without disassembling the mop board 13, which is simple to operate and has a simple structure. In other embodiments, the cleaning robot 1 can disassemble the mop board 13 to the docking surface, and the operating unit replaces the mop cloth on the mop board 13, and then the cleaning robot 1 enters the base station 2 to install the mop board 13 for replacing the mop cloth.

[0076] For further information, see Figures 4 to 8 The cleaning robot 1 further comprises a walking device 12 and a control device. The control device controls the walking device 12 to drive the body 11 to move in the working area, and controls the mop plate 13 connected to the body 11 to complete the cleaning task of the working area.

[0077] The body 11 is hollow and used to accommodate or partially accommodate the walking device 12 and the control device. The mop board 13 is connected to the bottom of the body 11. In this embodiment, the mop is detachably connected to the mop board 13. The mop can be fixed to the side of the mop board 13 close to the working surface by means of Velcro or double-sided tape, or it can be fixed to the mop board 13 by a clamp, a snap, or a magnetic structure. The connection form between the mop and the mop board 13 can be selected according to actual needs and is not limited to this. In this embodiment, the mop is mop paper, etc. In other embodiments, the mop can also be a wiping member such as a sponge that can wipe the working surface, which is not specifically limited here.

[0078] The specific number and structural shape of the mop plate 13 can be set according to actual conditions and are not specifically limited here. Figure 7 In this embodiment, the mop board 13 is a flat mop board 13 with a bottom surface, and the mop covers the bottom surface of the mop board 13 to clean the stains in the working area; Figure 8 As shown, in another embodiment, the mop board 13 may also be a double disc structure, and the number of mop boards 13 is two, and the two mop boards 13 are rotatably connected to the body 11. When cleaning the work surface, the mop board 13 and the mop rotate synchronously to clean the stains on the work surface. In other embodiments, the number and shape of the mop boards 13 can also be set to a corresponding structure according to actual conditions.

[0079] For further information, see Figure 4 and Figure 5The cleaning robot 1 further includes a position adjustment device 16 for adjusting the height of the mop board 13 relative to the working surface, and the mop board 13 is connected to the body 11 through the position adjustment device 16. In this embodiment, the mop board 13 is connected to the body 11 through the position adjustment device 16; in other embodiments, when two mop boards 13 are provided, the two mop boards 13 can be adjusted synchronously through one position adjustment device 16, or the two mop boards 13 are respectively connected to one position adjustment device 16 to achieve height adjustment, which is not specifically limited here.

[0080] The mop plate 13 has at least one working position A (such as Figure 4 ), and can stay in a raised position B away from the work surface (as shown Figure 5 ). The lifting position B is higher than the working position A. The position adjustment device 16 is electrically connected to the control device, so that the position adjustment device 16 adjusts the height position of the mop board 13 relative to the working surface under the control of the control device, so that the mop board 13 can at least move between the working position A and the moving position.

[0081] When the cleaning robot 1 needs to move to the area to be cleaned in the working area, or return to the base station 2 for maintenance, the position adjustment device 16 drives the mop plate 13 to move to the lifting position B, so that the mop plate 13 is separated from the working surface, thereby improving the moving efficiency of the cleaning robot 1, reducing the probability of being blocked by obstacles, and effectively preventing the mop installed on the mop plate 13 from continuing to contact the working surface, causing contamination of the working surface. In addition, when the cleaning robot 1 encounters obstacles during the cleaning process, the mop plate 13 can also be moved to the lifting position B to easily overcome obstacles and improve cleaning efficiency.

[0082] When the cleaning robot 1 needs to perform cleaning work, the position adjustment device 16 drives the mop plate 13 to move to the working position A, and the mop installed on the mop plate 13 is in full contact with the working surface, thereby ensuring the cleaning effect of the cleaning robot 1. Alternatively, when the mop plate 13 is at the working position A, there is an interference fit between the mop and the working surface, and the mop has a certain pressure to wipe off the stains on the working surface, thereby further improving the cleaning effect of the cleaning robot 1.

[0083] See also Figure 6, the height position of the mop board 13 also includes a descending position C, which is lower than the working position A and the lifting position B. The descending position C, the working position A, and the lifting position B are arranged in descending order as the height of the lifting position B, the height of the working position A, and the height of the descending position C. When the mop board 13 is in the descending position C, the mop board 13 descends downward relative to the working surface. The control device controls the position adjustment device 16 to drive the mop board 13 to move among the descending position C, the working position A, and the lifting position B.

[0084] The specific structure of the position adjustment device 16 is not limited in this embodiment, as long as it can drive the mop plate 13 to move relative to the fuselage 11. For example, in one embodiment, the position adjustment device 16 includes a motor (not shown), a pusher 161 connected to the mop plate 13, and a transmission structure 162 connecting the motor and the pusher 161. The motor drives the pusher 161 to move up and down relative to the fuselage through the transmission structure 162, and the pusher 161 drives the mop plate 13 to move between the lowered position C, the working position A, and the raised position B. It should be noted that the motor can rotate forward or reverse. In other embodiments, the specific structure of the position adjustment device 16 can also be in other forms, such as a structure using a cylinder as a power source.

[0085] The manner in which the mop board 13 is connected to the fuselage 11 is not specifically limited in this embodiment. The mop board 13 is connected to the fuselage 11 in a non-detachable manner or in a detachable manner. When the mop board 13 is detachably connected to the fuselage 11, the fuselage 11 is provided with an ejection device (not shown) facing downward, and the ejection device and the mop board 13 generate relative motion and contact the mop board 13, thereby removing the mop board 13 from the fuselage 11. The ejection device can be an ejector column or a convex ball, etc. The mop board 13 also has a disassembly position (not shown), which is higher than the working position A and the lifting position B. When the position adjustment device 16 drives the mop board 13 to move to the disassembly position, the ejection device contacts the mop board 13, thereby removing the mop board 13 from the fuselage 11.

[0086] See also Figure 1 and Fig. 9 In this embodiment, the docking surface is an inclined surface, that is, the docking surface is inclinedly arranged in the body 21, and the cleaning robot 1 is tilted and docked on the base platform 22 to dock with the base station 2, thereby ensuring the contact stability between the cleaning robot 1 and the base station 2. The base platform 22 is formed at the bottom of the docking cavity 211 to support the cleaning robot 1. The body 21 and the base platform 22 are surrounded by a receiving space 212 located below the docking cavity 211. In other embodiments, see Figure 3The docking surface is vertically arranged in the body 21, and the cleaning robot 1 is vertically arranged to dock with the base station 2 to complete maintenance work such as charging and changing the mop.

[0087] In one embodiment, the angle between the docking surface and the horizontal plane is 30°-60°, so that the storage space 212 has a larger spatial volume, can accommodate more structures for maintaining the cleaning robot 1, and ensure that the base station 2 has a smaller footprint on the horizontal plane. In another embodiment, the angle between the docking surface and the horizontal plane is 45°, so that the footprint of the base station 2 and the volume of the storage space 212 are both preferred. The inclination angle of the docking surface is not specifically limited here, and it can be 35°, 40°, 50°, 55°, etc., and can be set according to actual needs.

[0088] The operating member includes a separation operating member and an installation operating member. The installation operating member is configured to operate the mop board 13 and / or the unused mop to install the unused mop on the mop board 13. In one embodiment, the installation operating member is configured to apply a force to the mop board 13 and / or the unused mop so that the mop board 13 and the unused mop move relative to each other to install the unused mop on the mop board 13. The installation operating member is arranged on the base station 2, and applies a force to the unused mop to drive the unused mop to move toward the mop board 13. The unused mop is relatively fixed to the mop board 13 by bonding force, magnetic attraction force or clamping force, so that the unused mop is installed on the mop board 13. In another embodiment, the installation operating member can also be arranged on the cleaning robot 1, and applies a force to the mop board 13 to drive the mop board 13 to move toward the unused mop located on the base station 2, so that the unused mop is installed on the mop board 13. Obviously, two installation operating parts can be provided, one is provided on the base station 2 to apply force to the unused mop, and the other is provided on the cleaning robot 1 to apply force to the mop plate 13, so that the two installation operating parts drive the unused mop and the mop plate 13 to move to complete the installation of the mop.

[0089] The separation operating member is configured to operate the mop board 13 and / or the mop installed on the mop board 13 to separate the mop board 13 and the mop. In one embodiment, the separation operating member is configured to apply a force to separate the mop board 13 and the mop installed on the mop board 13 to separate the mop board 13 and the mop installed on the mop board 13. Specifically, the separation operating member applies a force to the mop board 13 and / or the mop connected to the mop board 13 to overcome the installation force between the mop board 13 and the mop, thereby separating the two. The installation force can be a magnetic attraction, an adhesive force, a clamping force, etc.

[0090] In one embodiment, the separation operation member and the installation operation member may be the same component, specifically, the component is a manipulator provided on the cleaning robot 1 or the base station 2, the manipulator separates the mop installed on the mop board 13 from the mop board 13, or picks up a clean mop and installs it on the mop board 13, so as to realize the replacement of the mop of the cleaning robot 1. Preferably, the manipulator is provided on the base station 2, and when the cleaning robot 1 is parked at the parking position, the manipulator replaces the mop for it.

[0091] In another embodiment, the mop is detachably connected to the mop board through a clamping member. The clamping member has a clamping state and a releasing state. When the clamping member is in the clamping state, the mop is connected to the mop board, and when the clamping member is in the releasing state, the mop is separated from the mop board. When the cleaning robot needs to replace the mop and docks on the base platform, the separation operating member operates the clamping member that clamps the mop board and the mop, so that it switches to the releasing state, and the mop connected to the mop board overcomes the clamping force between it and the mop board and separates from the mop board. The separated mop can fall under the action of gravity. The installation operating member operates the mop board and / or the unused mop, the clamping member is in the releasing state, the unused mop moves to the lower surface of the mop board, the clamping member switches to the clamping state, and the mop is installed on the mop board.

[0092] In this embodiment, the installation operating member is arranged on the body 11 of the cleaning robot 1, and the installation operating member applies a force to the mop plate 13 to drive the mop plate 13 to move. The power for the movement of the installation operating member can be provided by a motor. In order to simplify the structure, the installation operating member is a part of the position adjustment device 16, which can be a pusher 161. The motor of the position adjustment device 16 drives the installation operating member to move through the transmission structure, thereby driving the mop plate 13 to move.

[0093] The separation operating member includes a fixed structure for fixing the mop to act on a part of the mop, and the fixed part of the mop is hereinafter referred to as the mop tearing area. The fixed structure fixes the tearing area of ​​the mop, and then tears off the mop. In one embodiment, the fixed structure includes a toothed structure or a hooked structure or a clamping structure, which fixes the tearing area of ​​the mop by piercing or clamping, and then tears off the mop. Further, the separation operating member may also include a driving structure for applying a force to separate the mop plate 13 and the mop. Specifically, after the fixed structure fixes the tearing area of ​​the mop, in order to separate the mop from the mop plate 13, the mop plate 13 and the fixed structure need to move. The driving structure can be a driving member that drives one of the fixed structure and the mop plate 13 to move, and it may include a driving member connected to the fixed structure or the mop plate 13, and further, it may include a power member of a motor or a cylinder, the power member drives the driving member to move, and the driving member drives the fixed structure or the mop plate 13 to move. In this embodiment, the driving structure and the installation operating member are the same structure, thereby simplifying the structure of the cleaning system. The installation operating member drives the mop plate 13 to move relative to the fixed structure, so that the fixed structure separates the mop from the mop plate 13.

[0094] It should be noted that the unused mop is placed on the base platform 22 or inside the base station 2, which is not specifically limited here. The mop separated from the mop plate 13 is also placed inside the base platform 22 or the base station 2. In order to facilitate the centralized placement and processing of the separated mops and avoid the clean mops from being contaminated, the cleaning system also includes a mop bin. The mop bin cooperates with the installation operating member and the separation operating member to realize the replacement of the mop for the cleaning robot 1 docked on the base platform 22.

[0095] See also Fig. 9 and Fig.16 In this embodiment, the mop bin 23 includes a first mop bin 231 for storing unused mops. The first mop bin 231 may also be referred to as a clean mop bin. In some embodiments, when there are more than two unused mops, the unused mops may be placed in the first mop bin 231 in a stacked manner. In this embodiment, the unused mops are placed in the first mop bin 231 in a completely overlapping manner, so that the cleaning robot 1 can connect the mops at the same position each time, which is simple to operate and saves space in the first mop bin 231. In other embodiments, the unused mops may also be placed in the first mop bin 231 in a partially overlapping manner, and the cleaning robot 1 may adaptively adjust the position when connecting the mops to facilitate docking with the corresponding mops.

[0096] The mop bin 23 further includes a second mop bin 232 for storing the mop separated from the mop plate 13 . The second mop bin 232 may also be referred to as a dirty mop bin.

[0097] The first mop bin 231 and the second mop bin 232 are arranged on the side of the base platform 22 that is opposite to the docking surface. In this embodiment, the docking surface of this embodiment is an inclined surface. When the cleaning robot 1 is docked on the base platform 22, the cleaning robot 1 is located above the base platform 22, and the first mop bin 231 and the second mop bin 232 are arranged below the base platform 22, that is, they are accommodated in the accommodation space 212. In other embodiments, when the base platform 22 is arranged vertically, the mop bin 23 and the cleaning robot 1 are located on both sides of the base platform 22.

[0098] The docking surface is an inclined surface so that the receiving space 212 has a larger spatial volume, so that the first mop bin 231 and the second mop bin 232 in the receiving space 212 have a larger volume while ensuring that the base station 2 has a smaller footprint on the horizontal plane, so that the first mop bin 231 can place enough unused mops, and the second mop bin 232 can recycle the mops after multiple cleanings by the cleaning robot 1, effectively reducing the maintenance frequency of the base station 2 and improving the user-friendliness of the base station 2. Compared with the embodiment in which the operating member for replacing the mop on the mop board and the cleaning robot are arranged on the same side of the base platform, this embodiment does not need to disassemble the mop board 13 and drive it to the top of the base platform 22 for mop replacement, and does not need to set a driving structure, which simplifies and reduces the size of the base station 2.

[0099] See also Figures 11 to 15 , Fig.17 An operating hole 220 is provided on the base platform 22 , and the operating hole 220 connects the docking surface and the back-to-back surface arranged opposite to the docking surface, so that the docking position is connected with the first mop bin 231 and the second mop bin 232 .

[0100] The installation operating member is configured to apply a force to the mop board 13 and / or the first mop bin 231, so that the mop board 13 and the first mop bin 231 move relative to each other, so that the mop board 13 is located at the mop docking position, so that a single mop is attached to the adhesive surface below the mop board 13, so that the unused mop is installed on the mop board 13. In this embodiment, the installation operating member is arranged on the body 11, and the installation operating member drives the mop board 13 to move relative to the first mop bin 231, so as to reach the mop docking position. Specifically, the first mop bin 231 has a first opening 2311, and the installation operating member drives the mop board 13 to pass through the first opening 2311 and extend into the first mop bin 231, and reach the mop docking position. The mop docking position may refer to a position where the mop board 13 and the unused mop located in the first mop bin 231 contact each other, or a position where the mop board 13 can be connected or engaged with the mop. In other embodiments, the installation operating member may also be arranged on the base station 2, and the installation operating member drives the first mop bin 231 to move relative to the mop board 13. It should be noted that when the installation operating member drives the first mop bin 231 to move and the mop board 13 remains stationary, the body 11 of the cleaning robot 1 is provided with a clearance space, so that the first mop bin 231 moves toward the mop board 13 and the mop board 13 extends into the first mop bin 231 to reach the mop docking position.

[0101] It is understandable that when the mop docking position is the position where the mop plate 13 and the mop contact each other, the mop docking position can change as the mop is taken out. For example, when there is no gap between two adjacent mops, the mop docking position can change the thickness of one mop each time as the mops are taken out, so as to contact the next mop. When there is a gap between two adjacent mops, the mop docking position can change the thickness of one mop and the height of the gap each time as the mops are taken out, so as to contact the next mop. The mop docking position can change the thickness of at least one mop each time as the mops are taken out.

[0102] The second mop bin 232 is configured to be arranged on the moving path of the mop separated from the mop plate 13, so that the separated mop enters the second mop bin 232, avoids contaminating the base station 1, and is also convenient for unified treatment of the separated mops, which is convenient for user operation. The installation operating member applies a force to the mop plate 13, and the mop plate 13 can also move relative to the second mop bin 232. In this embodiment, the second mop bin 232 has a second opening 2321, and the mop plate 13 can extend into the second mop bin 232. In addition, the mop plate 13, the first mop bin 231 and the second mop bin 232 can all remain stationary, and the mop connected to the mop plate 13 is separated and thrown into the second mop bin 232 by the manipulator arranged on the cleaning robot 1 or the base station 2, and the manipulator picks up a clean mop from the first mop bin 231 to install it on the mop plate 13.

[0103] The operation hole 220 allows the mop plate 13 to pass through the base platform 22 and enter the receiving space 212, so that the mop plate 13 can extend into the first mop bin 231 to reach the mop docking position or extend into the second mop bin 232. It should be noted that the cleaning robot 1 is located in the docking position, the mop plate 13 and the operation hole 220 are correspondingly arranged, and the mop plate 13 can pass through the operation hole 220 to enter the receiving space 212 located below the base platform 22. In other embodiments, the first mop bin 231 or the second mop bin 232 moves to the top of the base platform 22 through the operation hole 220, so that the mop plate 13 extends into the first mop bin 231 to reach the mop docking position or extends into the second mop bin 232.

[0104] The number of the mop plates 13 is the same as the number of the operation holes 220, and they are arranged correspondingly. In this embodiment, one operation hole 220 is provided. In an embodiment, two mop plates 13 are provided, and it is obvious that two operation holes 220 are correspondingly provided, and the two mop plates 13 and the two operation holes 220 are arranged one by one, so that the two mop plates 13 pass through the base platform 22 through their corresponding operation holes 220 and extend into the first mop bin 231 or the second mop bin 232.

[0105] Along the extension direction of the base platform 22, the operating hole 220 is located above the base platform 22. The cleaning robot 1 enters the station backwards to replace the mop. This setting can place the mop compartment 23 under the base platform 22 with a larger space, fully utilizing the space and further reducing the height of the base station 2.

[0106] The arrangement of the first opening 2311 and the second opening 2321 is not limited here, as long as the mop plate 13 can pass through the first opening 2311 or the second opening 2321 and extend into the first mop bin 231 or the second mop bin 232, respectively, and no specific limitation is made here. Preferably, the first opening 2311 and the second opening 2321 are respectively arranged parallel to the surface where the docking surface is located, so that the mop plate 13 can smoothly pass through the first opening 2311 and extend into the first mop bin 231, or pass through the second opening 2321 and extend into the second mop bin 232. In other embodiments, the first opening 2311 and the second opening 2321 can also be arranged to be inclined relative to the base platform 22, respectively, and no specific limitation is made here.

[0107] The first mop bin 231 and the second mop bin 232 can be a cube, a cuboid or other special-shaped structures, as long as their openings are parallel to the surface where the docking surface is located. Further, the bottom surface of the first mop bin 231 and the second mop bin 232 are parallel to the surface where the docking surface is located, so as to improve the success rate of the mop plate 13 and the clean mop located in the first mop bin 231.

[0108] As described above, the mop board 13 moves between the lowered position C, the working position A, and the raised position B. The installation operating member drives the mop floor 131 to move relative to the first mop bin 231 or the second mop bin 232, and the mop board 13 has a first position and a second position relative to the body 11 of the cleaning robot 1. When the mop board 13 is in the raised position B, the mop board 13 is in the first position; when the mop board 13 is in the lowered position C, the mop board 13 is in the second position. In other embodiments, when the mop board 13 is in the working position A, the mop board 13 is in the first position; when the mop board 13 is in the lowered position C, the mop board 13 is in the second position.

[0109] When the cleaning robot 1 is docked at the docking position and the mop plate 13 is at the first position, the mop plate 13 and the first mop bin 231 are located on both sides of the base platform 22, that is, the mop plate 13 and the first mop bin 231 are separated by the base platform 22. When the mop plate 13 is at the second position, the mop plate 13 extends into the first mop bin 231 through the operation hole 220. Specifically, when the mop plate 13 moves toward the direction of the second position, the mop plate 13 can extend into the first mop bin 231 and reach the mop docking position to achieve docking between the mop plate 13 and the mop. This docking method is simple to operate. The cleaning robot 1 only needs to dock on the base platform 22 to achieve docking between the mop plate 13 and the mop.

[0110] Similarly, when the cleaning robot 1 is docked at the docking position and the mop plate 13 is at the first position, the mop plate 13 and the second mop bin 232 are located on both sides of the base platform 22, that is, the mop plate 13 and the second mop bin 232 are separated by the base platform 22. When the mop plate 13 is at the second position, the mop plate 13 extends into the second mop bin 232 through the operating hole 220. When the installation operating member drives the mop plate 13 to move from the first position toward the direction of the second position, the mop plate 13 extends into the second mop bin 232. When the installation operating member drives the mop plate 13 to move from the second position toward the direction of the first position, the mop plate 13 moves away from the second mop bin 232.

[0111] The separation operating member 233 is arranged on the path where the mop board 13 moves toward the second mop bin 232. When the mop board 13 moves toward the second mop bin 232, it passes through the separation operating member 233. When the mop board 13 moves away from the second mop bin 232, the separation operating member 2332 separates the mop board 13 from the mop cloth installed on the mop board 13. In this embodiment, the separation operating member 233 is arranged on the second mop bin 232. In other embodiments, the separation operating member 233 may also be arranged above the second opening 2321 of the second mop bin 232.

[0112] See also Fig.16, the separation operating member 233 includes a plurality of separation hooks 2331, and the separation hooks 2331 are used to penetrate into the mop tearing area of ​​the mop on the mop board 13 during the process of the mop board 13 moving from the second position to the first position, and separate the mop board 13 and the mop. The separation operating member 233 is arranged at the second opening 2321. Further, a plurality of separation hooks 2331 are arranged at the second opening 2321, and the separation hooks 2331 extend toward the bottom of the second mop bin 232. In one embodiment, the separation hooks 2331 are arranged at equal intervals at the second opening 2321 to smoothly remove the mop from the mop board 13. Obviously, the separation hooks 2331 can also be arranged at the second opening 2321 according to the implementation needs, which is not specifically limited here.

[0113] See also Fig. 9 The separation operating member 233 may also be a plurality of saw teeth arranged on the inner wall of the second mop bin 232, and the saw teeth extend toward the bottom of the second mop bin 232. The specific structure and installation position of the separation operating member 233 are not specifically limited here, as long as it is arranged on the second mop bin 232 and located on the path of the mop plate 13 moving from the first position to the second position.

[0114] See also Fig.24 In order for the mop board 13 to smoothly enter the second mop bin 232 or move out of the second mop bin 232, an avoidance hole 131 is provided on the mop board 13, and the avoidance hole 131 and the separation operating member 233 are provided in correspondence. Specifically, the avoidance hole 131 and the separation hook 2331 or the sawtooth are provided in a one-to-one correspondence to make way for the separation hook 2331 or the sawtooth. This arrangement will not block the movement of the mop board 13 when the mop board 13 moves toward the second position. At the same time, when the mop board 13 moves from the second position to the first position, when passing through the second opening 2321, the separation hook 2331 extending toward the inside of the second mop bin 232 pierces the mop, and the mop board 13 continues to move, and the mop is separated from the mop board 13 under the action of the separation hook 2331.

[0115] The number of the first mop bin 231 and the second mop bin 232 can be set according to actual needs. In this embodiment, the number of the first mop bin 231 and the second mop bin 232 is one. Fig.10In one embodiment, the number of the first mop bin 231 is one, and the number of the second mop bin 232 is two. Obviously, unused clean mops can be stacked and placed in the first mop bin 231, occupying less space. Used dirty mops, due to their attachment of dirt, occupy a large space. The number of the second mop bins 232 is greater than the number of the first mop bins 231, and the number of mop bins for placing dirty mops is increased, thereby increasing the space for storing dirty mops in the base station 2 and reducing the maintenance frequency of the base station 2. When two mop boards 13 are provided, the two second mop bins 232 and the two mop boards 13 are provided correspondingly, so that the mops on the two mop boards 13 can be disassembled at the same time, thereby improving the replacement efficiency. In other embodiments, the number of mop bins can also be other numbers, such as two, four, etc. The number of the first mop bins 231 is two, etc., and the number of the second mop bins 232 is one, etc., which can be set according to actual needs.

[0116] It should be noted that the above description is based on the automatic removal and installation of the mop of the cleaning robot 1 as an example. In other embodiments, the mop bin 23 can also be set as the first mop bin 231 to install a clean mop on the mop board 13 without a mop. Similarly, the mop bin 23 can also be the second mop bin 232 to remove the used mop of the mop board 13. It can be set according to actual needs.

[0117] In order to realize automatic replacement of the mop when the cleaning robot 1 is docked at the docking position, in the present embodiment, the cleaning system further includes a driving device 234, which is configured to drive the cleaning robot 1 to move relative to at least one of the first mop bin 231 and the second mop bin 232, so that the projections of the mop plate 13 and the first opening 2311 of the first mop bin 231 on the surface where the docking surface is located at least partially overlap, so that the mop plate 13 extends into the first mop bin 231 to realize the installation of the mop, or the projections of the mop plate 13 and the second opening 2321 of the second mop bin 232 on the surface where the docking surface is located at least partially overlap, so that the mop plate 13 moves toward the second mop bin 232, and the separation operating member 233 separates the mop installed on the mop plate 13.

[0118] When the mop plate 13 and the mop installed thereon need to be separated, the mop plate 13 needs to at least partially overlap with the projection of the second opening 2321 of the second mop bin 232 on the surface where the docking surface is located, so that the installation operating member drives the mop plate 13 to move relative to the second mop bin 232, and the separation operating member 233 separates the mop on the mop plate 13. Then the driving device 234 drives the cleaning robot 1 to move relative to at least one of the first mop bin 231 and the second mop bin 232, so that the projection of the mop plate 13 and the first opening 2311 of the first mop bin 231 on the surface where the docking surface is located at least partially overlaps, so that the installation operating member drives the mop plate 13 to move toward the first mop bin 231 to complete the installation of the mop.

[0119] The location where the driving device 234 is arranged is not limited here. In this embodiment, the driving device 234 is arranged on the base station 1, and the driving device 234 is connected to the first mop bin 231 and the second mop bin 232. The driving device 234 is configured to drive the first mop bin 231 and the second mop bin 232 to move, so that the first opening 2311 of the first mop bin 231 or the second opening 2321 of the second mop bin 232 at least partially overlaps with the projection of the operation hole 220 on the surface where the docking surface is located, so that the mop plate 13 passes through the operation hole 220 and extends into the first mop bin 231 or the second mop bin 232. Preferably, the driving device 234 is configured to drive the first mop bin 231 and the second mop bin 232 to rotate around an axis perpendicular to the surface where the docking surface is located, so as to ensure that the surface where the first opening 2311 and the second opening 2321 are always parallel to the surface where the docking surface is located, and ensure the smoothness of the mop plate 13 extending into the first mop bin 231 and the second mop bin 232. In other embodiments, the driving device 234 may also be provided on the cleaning robot 1 and connected to the body 11 to drive the body 11 of the cleaning robot 1 to move on the base platform 22, thereby performing relative movement with at least one of the first mop bin 231 and the second mop bin 232.

[0120] The driving device 234 includes a motor (not shown) having a motor shaft, and a connecting member connecting the motor shaft and the mop bin 23. When the motor is started, the motor shaft rotates to drive the first mop bin 231 and the second mop 232 to rotate around the motor shaft. The connection method between the mop bin 23 and the motor shaft is not specifically limited here. Preferably, the extension direction of the motor shaft is parallel to the axis perpendicular to the surface where the docking surface is located.

[0121] When the number of the first mop bin 231 and the second mop bin 232 is both one, please refer to Fig.15 and Fig.16After the cleaning robot 1 stops at the parking position, the driving device 234 drives the mop bin 23 to rotate to the second mop bin 232 to align with the mop board 13. The installation operating member drives the mop board 13 with the dirty mop to move from the first position to the second position, and the mop board 13 extends into the second mop bin 232 through the operating hole 220, and the mop board 13 passes through the separation operating member 233. Then the installation operating member drives the mop board 13 to move toward the first position, and the separation operating member 233 separates the dirty mop on the mop board 13 and enters the corresponding second mop bin 232.

[0122] See also Fig.17 and Fig.18 After the mop plate 13 moves to the first position, the driving device 234 drives the mop bin 23 to rotate until the first mop bin 231 is aligned with the operating hole 220, and the installation operating member drives the mop plate 13 to extend into the first mop bin 231 through the operating hole 220 and reach the mop docking position to dock with the clean mop, completing the installation of the clean mop, and then drives the mop plate 13 to move to the first position to complete the automatic replacement of the mop.

[0123] For further information, see Fig. 9 The base station 2 also includes a controller 24, which is used to control the maintenance work of the base station 2 on the cleaning robot 1, such as controlling the start-up of the driving device 234.

[0124] For further information, see Fig. 9 , the cleaning system includes a limiting structure arranged on the base station 2 or the cleaning robot 1, and the limiting structure is used to limit the cleaning robot 1 at the docking position, so as to prevent the cleaning robot 1 from sliding off the base platform 22 under the action of gravity, and ensure the stability of the cleaning robot 1 docked on the base platform 22. The limiting structure can be a blocking member arranged on the base platform 22. When the cleaning robot 1 is docked at the docking position, the blocking member located below the cleaning robot 1 protrudes from the base platform 22 along the extension direction of the docking surface to prevent the cleaning robot 1 from sliding down. When the cleaning robot 1 moves on the base platform 22, the blocking member can be reset to ensure the smooth movement of the cleaning robot 1. In another embodiment, the limiting structure is a traction member arranged on the base station 2. When the cleaning robot 1 is docked at the docking position, the traction member located above the cleaning robot 1 along the extension direction of the docking surface hooks the cleaning robot 1 to prevent the cleaning robot 1 from sliding down. In another embodiment, the limiting structure may also be a brake structure provided on the cleaning robot 1. When the cleaning robot 1 is parked at the parking position, it may maintain the parking stability through its own brake structure.

[0125] In order for the cleaning robot 1 to smoothly climb onto the base platform 22, the cleaning system further includes a power device, which is used to provide power for the cleaning robot 1 to move to the docking position on the base platform 22. The power device can be arranged on the body 11 of the cleaning robot 1, and it is the same structure as the structure that provides power for the walking device 12. The cleaning robot 1 climbs onto the base platform 22 by its own power. The power device can also be a device arranged on the base station 2 and providing traction or thrust to move the cleaning robot 1 to the docking position, which is not limited here. Please refer to Fig. 9 , Figures 11 to 13 In this embodiment, the power device is a traction device 25 arranged on the base station 2, and the traction device 25 is used to drive the cleaning robot 1 to move on the base platform 22, and make the cleaning robot 1 dock on the base platform 22 along the extension direction of the base platform 22.

[0126] The specific structure of the traction device 25 is not specifically limited here. For example, in the present embodiment, the traction device 25 includes a traction track 251 and a traction member 252 provided on the base platform 22. The traction member 252 can slide up and down along the traction track 251 driven by the traction track 251. The traction member 252 also includes a traction motor, which drives the traction track 251 to move up and down along the extension direction of the base platform 22. The traction member 252 is rotatably provided on the traction track 251. Specifically, it can be connected to the traction track 251 via a rotating shaft 253 to achieve an adjustable pitch angle of the traction member 252. The edge of the cleaning robot 1 is provided with a docking piece 111 (such as a traction member 252) that cooperates with the traction member 252. Figures 4 to 6 After the traction member 252 is connected to the docking member 111, the traction motor drives the traction track 251 to drive the traction member 252 to move, thereby driving the cleaning robot 1 to move on the base platform 22. In other embodiments, the traction device can also be other structures, such as a transmission belt for transmission.

[0127] See also Fig.11 When the cleaning robot 1 needs to climb onto the base platform 22, the cleaning robot 1 moves to the bottom of the base station 2 and approaches the opening of the docking cavity 211, and makes the docking member 111 located above the traction member 252 and the traction member 252 extends into the inner side of the docking member 111. Fig.12 The traction motor drives the traction rail 251 and the traction member 252 to move upward on the base platform 22 synchronously, and makes the placement angle of the traction member 252 rotate upward with the rotation shaft 253 as the axis toward the direction of the docking member 111, so as to dock with the docking member 111, thereby driving the cleaning robot 1 to move on the base platform 22. Fig.13 When the cleaning robot 1 moves to the parking position, the traction motor stops working, and the cleaning robot 1 remains at the parking position for maintenance work.

[0128] When the cleaning robot 1 needs to drive out of the base station 2, the traction motor drives the traction track 251 and the traction member 252 to move downward on the base platform 22 synchronously, driving the cleaning robot 1 to move downward along the base platform 22. When the cleaning robot 1 moves to the bottom edge of the base station 2, the traction member 252 continues to move a certain distance driven by the traction track 251, so that the placement angle of the traction member 252 drops back, and the traction member 252 detaches from the docking member 111, thereby realizing the separation between the traction device 25 and the cleaning robot 1.

[0129] When the cleaning robot 1 returns to the base station 2, the traction device 25 tows it to the base platform 22, and the cleaning system replaces the used dirty mop on the mop plate 13 with an unused clean mop, thereby achieving the purpose of automatically replacing the mop for the cleaning robot 1 and improving the user experience.

[0130] In this embodiment, the traction rails 251 are arranged in pairs, and the traction member 252 is arranged between the two traction rails 251. The traction rails 251 are arranged along the extension direction of the docking surface. When the traction device 25 pulls the cleaning robot 1 to move on the base platform 22, the traction rails 251 play a guiding role to prevent the cleaning robot 1 from deviating from the docking position, thereby ensuring the accuracy of the docking position of the cleaning robot 1.

[0131] It should be noted that the traction device 25 and the limiting structure in this embodiment are the same structure, that is, the traction device 25 simultaneously has the traction function of pulling the cleaning robot 1 to the base platform 22, the blocking function of preventing the cleaning robot 1 from sliding on the base platform 22, and the guiding function of guiding the moving direction of the cleaning robot 1. Of course, in other embodiments, the traction device 25 and the limiting structure are independent structures. In another embodiment, the traction device 25 may also be partially identical to the limiting structure, for example, the traction device 25 is a part of the limiting structure, and the cleaning robot 1 is pulled onto the base platform 22. At the same time, the base station 2 is also provided with another independent limiting structure, for example, the traction device 25 pulls the cleaning robot 1 in the front, and the limiting structure prevents the cleaning robot 1 from sliding on the base platform 22 in the back.

[0132] The method for automatically changing the mop cloth of the cleaning robot 1 at the base station 2 includes:

[0133] Step 1: When the cleaning robot 1 needs to change the mop, the cleaning robot 1 moves toward the base station 2.

[0134] Step 2, under the action of the driving device 234, the cleaning robot moves until its mop plate 13 is aligned with the second mop bin, the control device of the cleaning robot 1 controls the motor of the position adjustment device 16 to work, and the installation operating member drives the mop plate 13 to move, first moving in the direction toward the second mop bin 232, passing through the separation operating member 233, and then moving in the opposite direction to reset, and the dirty mop on the mop plate 13 is separated by the separation operating member 233 set on the second mop bin 232.

[0135] Step 3: Under the action of the driving device 234, the mop plate 13 is aligned with the first mop bin 231, and the installation operating member drives the mop plate 13 to move, and extends into the first mop bin 231 where a plurality of unused mops are stacked, and presses onto the top mop, so as to stick a single mop through the adhesive surface below the mop plate 13, thereby achieving the installation of the clean mop in the first mop bin 231 onto the mop plate 13.

[0136] Step 4: The installation operating member drives the mop plate to move in the opposite direction and reset, and the mop plate 13 completes the replacement of the mop.

[0137] The following describes the automatic mop changing process of the cleaning robot 1 at the base station 2 in one embodiment with reference to the accompanying drawings.

[0138] Step S1, see Fig.11 When the cleaning robot 1 needs to change the mop, the cleaning robot 1 moves toward the base station 2. The cleaning robot 1 and the base station 2 can be accurately positioned by a positioning device, such as an infrared positioning device and an infrared receiving device.

[0139] Step S2, see Fig.12 and Fig.13 The cleaning robot 1 cooperates with the traction device 25. Under the action of the traction device 25, the cleaning robot 1 climbs onto the base platform 22 and moves and stops at the stopping position. At this time, the base station 2 can perform maintenance work on the cleaning robot 1, such as replacing the mop.

[0140] Step S3, see Figures 14 to 16 , the driving device 234 drives the mop bin 23 to rotate, and the second mop bin 232 is aligned with the operating hole 220. The control device of the cleaning robot 1 controls the motor of the position adjustment device 16 to work, and the installation operating member drives the mop plate 13 to move, first moving in the direction toward the second mop bin 232, passing through the separation operating member 233, and then moving in the opposite direction to reset, and the separation operating member 233 set on the second mop bin 232 is used to separate the dirty mop on the mop plate 13.

[0141] Step S4, see Fig.17 and Fig.18The driving device 234 drives the mop bin 23 to rotate, the first mop bin 231 is aligned with the operating hole 220, and the installation operating member drives the mop plate 13 to move, and extends into the first mop bin 231 where a plurality of unused mops are stacked, and presses onto the top mop, so as to stick a single mop through the adhesive surface below the mop plate 13, thereby realizing the installation of the clean mop in the first mop bin 231 onto the mop plate 13.

[0142] Step S5, the installation operating part drives the mop board to move in the opposite direction and reset, and the mop board 13 completes the replacement of the mop. The cleaning robot 1 can continue to perform maintenance work such as charging or replenishing water, or choose to stay in the base station 2 and wait for the next work as needed, or exit the base station 2 to continue to perform cleaning work.

[0143] When the number of the first mop bin 231 is one and the number of the second mop bin 232 is two, see Figure 24 to Figure 26 After the cleaning robot 1 is docked at the docking position, the driving device 234 drives the mop bin 23 to rotate until the two second mop bins 232 are aligned with one mop plate 13 respectively. The installation operating member drives the mop plate 13 with the dirty mop to move from the first position to the second position, and the two mop plates 13 extend into the second mop bins 232 through the corresponding operating holes 220 respectively, and the mop plate 13 passes through the separation operating member 233. Then the installation operating member drives the mop plate 13 to move toward the first position, and the separation operating member 233 separates the dirty mop on the mop plate 13 and enters the corresponding second mop bins 232 respectively. After the mop plate 13 moves to the first position, the driving device 234 drives the mop bin 23 to rotate until the first mop bin 231 is aligned with one of the operating holes 220, and the installation operating member drives the mop plate 13 to extend into the first mop bin 231 through the operating hole 220 and reach the mop docking position to dock with the clean mop, and then drives the mop plate 13 to move to the first position. The driving device 234 drives the mop bin 23 to continue rotating until the first mop bin 231 is aligned with another operating hole 220, and the installation operating member drives the second mop plate 13 to extend into the first mop bin 231 through the operating hole 220 to connect a clean mop, and then returns to the first position to realize automatic replacement of the mop.

[0144] When the number of second mop bins 232 is one, the two mop plates 13 can be aligned with the second mop bins 232 to remove the mop. When the number of first mop bins 231 is two, the mop plates 13 and the clean mop can be docked at the same time. The specific process will not be described here.

[0145] In addition, it should be noted that in the present application, the replacement of the mop connected to the mop board 13 can be to replace a new wiping piece of the same type, or to replace a wiping piece of a different type used to mop the working surface, so that the cleaning robot 1 can clean stains of different surface materials or different types. For example, the cleaning robot 1 can replace the mop detachably connected to the mop board 13, and the types of the mops before and after the replacement are the same, and then use the clean mop to complete the cleaning of the remaining area, avoiding the use of the same mop to clean the target area and other areas different from the target area, resulting in cross-contamination of stains between different areas. Of course, the cleaning robot 1 can also automatically replace different types of mops by returning to the base station 2. Specifically, when the working area is a floor or tile with a wax layer or polishing layer on the surface, the cleaning robot 1 can connect a flexible mop to complete the cleaning of the working area, so as to ensure the cleaning effect and avoid the mutual contamination of stains between different areas, and prevent damage to the surface of the working area; and when the surface of the working area is a hard ground with a certain degree of roughness such as cement, the mop can be replaced with a harder texture and a certain cleaning fiber, and the hard ground with a certain degree of roughness can be cleaned to ensure the cleaning effect. That is, in the present disclosure, the replacement type of the mop can be selected according to actual needs, and the content in the present disclosure is only exemplary and should not be limited to this. Obviously, in order to meet actual needs, two first mop bins 231 can be set, and different types of mops can be placed in the two first mop bins 231 to achieve the replacement of different types of mops on the mop plate 13 of the cleaning robot 1. Or replace the type of mop located in the first mop bin 231, and set it according to actual needs.

[0146] The arrangement of the first mop bin 231 and the second mop bin 232 in the receiving space is not specifically limited here. In the above embodiment, the first mop bin 231 and the second mop bin 232 are arranged up and down along the extension direction of the docking surface. In other embodiments, see Fig.38 , the first mop bin 231 and the second mop bin 232 are arranged up and down in a direction perpendicular to the docking surface, the first mop bin 231 is located at the bottom, and the second mop bin 232 is located at the top. After the mop plate 13 extends into the second mop bin 232 to complete the removal of the mop, the second mop bin 232 can move along the extension direction of the docking surface, and the first mop bin 231 moves along the direction perpendicular to the docking surface to the original position of the second mop bin 232, thereby completing the installation of the mop. In other embodiments, the first mop bin 231 can be located at the top, and the second mop bin 232 is located at the bottom. In another embodiment, the first mop bin and the second mop bin can also be located in the same horizontal plane and arranged side by side. The arrangement of the first mop bin 231 and the second mop bin 232 in the receiving space can be set according to actual needs.

[0147] For further information, see Figures 4 to 8 , Fig.19 The cleaning robot 1 further includes a cleaning component 14 disposed at the bottom of the body 11, a dust collecting fan housed in the body 11, and a dust box 15 for collecting dirt. The cleaning robot 1 can realize the function of sweeping in addition to the mopping function, and can select the cleaning component according to the nature of the working surface, protect the working surface, and improve the wide application of the cleaning robot 1.

[0148] The dust box 15 includes an air outlet connected to the dust collecting fan and a dust collecting port for collecting dirt on the working surface and connected to the air outlet. The control device controls the dust collecting fan to generate an airflow from the dust collecting port to the dust box 15, so that the cleaning component 14 cleans the working surface and cleans the dust, debris and other dirt on the working surface into the dust box 15.

[0149] The cleaning component 14 includes a roller brush 141 disposed in the dust collection port and a side brush 142 disposed at the edge of the body 11. Along the running direction of the cleaning robot 1, the side brush 142 is located in front of the dust collection port and / or the roller brush 141. With such a configuration, the dirt in the working area can be gathered by the side brush 142, and the dirt can be further swept to the dust collection port by the roller brush 141, and the dirt can be collected by the dust box 15 to clean up the stubborn dirt on the ground. In other embodiments, the cleaning component 14 can also be provided with only two side brushes 142, and the two side brushes 142 are symmetrically disposed in front of the dust collection port to gather the dirt in the working area at the location of the dust collection port, so as to facilitate the dust box 15 to collect the above-mentioned dirt. The cleaning component 14 can also be provided with only a roller brush 141, and the dirt can be swept to the dust collection port by the rotation of the roller brush 141.

[0150] See also Fig.19 and Fig. 20 The base station 2 further includes a recycling device 26 disposed in the body 21. The recycling device 26 maintains the dust box 15 of the cleaning robot 1, empties the dirt in the dust box 15, ensures the cleaning function of the cleaning robot 1, and avoids the storage space in the dust box 15 being too small, resulting in a reduction in the cleaning efficiency of the cleaning robot 1. When the cleaning robot 1 is parked at the parking position, the dust box 15 is connected to the recycling device 26 through the dust outlet disposed at the bottom thereof, so as to collect the dirt in the dust box 15 for recycling and cleaning.

[0151] In this embodiment, a docking port 221 is provided on the base platform 22, and the dust box 15 and the recovery device 26 are connected through the docking port 221, so that the recovery device 26 completes the recovery and cleaning of the dirt in the dust box 15 through the docking port 221. Furthermore, a first sealing component is provided on the surface of the base platform 22, and the first sealing component is arranged around the docking port 221. When the cleaning robot 1 runs to the base platform 22 and is connected with the docking port 221 through the dust outlet, the first sealing component can seal the gap between the dust outlet and the docking port 221, on the one hand, preventing the dirt in the dust box 15 from escaping during the recovery and cleaning process; on the other hand, it can effectively prevent the power loss of the recovery device 26 caused by the existence of the gap, and ensure the recovery power of the recovery device 26.

[0152] See also Figure 7 and Figure 8 The dust box 15 also includes a cover plate 151 for closing or opening the dust outlet, and an active unit for controlling the cover plate 151 to close or open the dust outlet. The active unit has an open state and a closed state that can be switched. When the active unit is in the open state, the cover plate 151 opens the dust outlet so that the dust box 15 is connected to the recovery device 26 through the dust outlet and the docking port 221 to complete the dumping of dirt. When the active unit is in the closed state, the cover plate 151 closes the dust outlet to prevent the dirt contained in the dust box 15 from leaking / falling out of the dust outlet, which facilitates the work and movement of the cleaning robot 1. The setting of the cover plate 151 allows the dust outlet of the present application to be actively opened, avoiding the use of the recovery device 26 to provide power to open the dust outlet and the power loss generated when the dust outlet is in the open state, effectively reducing the power loss of the recovery device 26, even if a relatively low-power recovery device 26 is used, the dirt in the dust box 15 can still be quickly recovered and cleaned, thereby effectively avoiding the problem of high operating noise caused by the use of a high-power recovery device 26.

[0153] The cover plate 151 in this embodiment is rotatably connected to one side edge of the dust outlet in the length direction through an elastic rotating shaft, and the cover plate 151 has a tendency to fold in the direction of the docking port 221. The movable unit is a rotating movable part arranged on one side edge of the dust outlet in the width direction. Furthermore, a guide member arranged corresponding to the movable unit is provided on the base platform 22, and the guide member can control the movable unit to switch from a closed state to an open state to open the dust outlet, thereby connecting the dust box 15 to the recovery device 26 through the dust outlet and the docking port 221. In other embodiments, the movable unit is a tension spring assembly arranged on both sides of the cover plate 151 in the length direction. In other embodiments, the cover plate 151 can also be rotatably connected to one side edge of the dust outlet in the length direction through a rotating shaft, and the movable unit is a locking member arranged on the side of the cover plate 151 away from the rotating shaft, and the locking member can switch between a closed state and an open state under the action of an external force. It should be noted that the arrangement structure of the cover plate 151 and the movable unit provided in the specification and the drawings of the specification is merely exemplary. In other embodiments, it is only necessary to ensure that the cover plate 151 actively closes or opens the dust outlet.

[0154] See also Fig.19 and Fig. 20 , the recycling device 26 includes a recycling box 261. The recycling box 26 is located on the side of the base platform 22 that is opposite to the docking surface. In this embodiment, the recycling box 26 is arranged below the base platform 22. The recycling box 261 is connected to the dust box 15 through the docking interface 221. The dust box 15 is located above the recycling box 261, so that the dirt in the dust box 15 falls into the recycling box 261 under the action of its own gravity, reducing the power consumption of the base station 2 for maintaining the cleaning robot 1. In one embodiment, the dust box 15 and the recycling box 261 at least partially overlap on the horizontal plane to improve the smoothness of the dirt in the dust box 15 falling into the recycling box 261.

[0155] In one embodiment, the recovery device 26 also includes a recovery fan 262 connected to the recovery box 261, and the recovery fan 262 generates an airflow that passes through the dust box 15 and the recovery box 261 in sequence, and recovers the dirt contained in the dust box 15 to the recovery box 261, thereby improving the recovery efficiency of the dirt in the dust box 15. The recovery box 261 has a recovery port corresponding to the dust outlet of the dust box 15 and an air supply port connected to the recovery fan 262. The recovery device 26 also includes a filter 263 arranged between the recovery box 261 and the recovery fan 262. Specifically, the filter 263 is arranged at the air supply port to prevent the dirt in the recovery box 261 from entering the recovery fan 262 along the air supply port, causing the suction force of the airflow to decrease and affecting the recovery efficiency of the recovery device 26.

[0156] The recycling box 261 is directly or indirectly connected to the dust box 15 through the recycling port, the docking port 221 and the dust outlet. The recycling port and the dust outlet are connected through a recycling channel. Specifically, when the cleaning robot 1 is docked at the docking position of the base platform 22, the dust box 15 and the recycling box 261 are connected through the recycling channel, and the airflow generated by the recycling fan 262 drives the dirt in the dust box 15 to move from the dust outlet through the recycling channel box to the recycling port of the recycling box 261 and arrive at the recycling box 261. In this embodiment, the mop bin 23 forms at least part of the recycling channel. Specifically, the second mop bin 232 forms at least part of the recycling channel. The airflow generated by the recycling fan 262 passes through the dust box 15, the second mop bin 232 and the recycling box 261 in sequence to recycle the dirt contained in the dust box 15 and the mop contained in the second mop bin 232 to the recycling box 261. This arrangement not only makes the base station 2 compact and miniaturized, but also can clean the dust box 15 and the second mop bin 232 at the same time without the need for additional maintenance operations on the second mop bin 232, thereby improving the user experience.

[0157] The second mop bin 232 also includes an outlet corresponding to the second opening 2321, the second opening 2321 is connected to the docking port 221, and the outlet is connected to the recovery port. Further, the second mop bin 232 is configured such that its second opening 2321 is docked on the inner side of the base platform 22, so that the second opening 2321 is connected to the docking port 221. Preferably, a second sealing component located on the inner surface of the base platform 22 is provided between the docking port 221 and the second opening 2321, and the second sealing component is provided around the docking port 221. When the second mop bin 232 rotates until its second opening 2321 is connected to the docking port 221, the second sealing component realizes a sealed connection between the docking port 221 and the second opening 2321, thereby preventing the airflow provided by the recovery fan 262 from leaking from the connection gap between the docking port 221 and the second opening 2321, and effectively improving the recovery effect of the recovery device 26.

[0158] The recovery channel also includes a connection channel connecting the second mop bin 232 and the recovery box 261, and the connection channel is formed in the connection pipe 264, one end of the connection pipe 264 is connected to the outlet of the second mop bin 232, and the other end is connected to the recovery port of the recovery box 261. Preferably, a third sealing component located on the connection pipe 264 is provided between the outlet and the connection pipe 264, and the third sealing component is provided around the port of the connection pipe 264. When the second mop bin 232 rotates until its outlet is connected to the port of the connection pipe 264, a sealed connection between the outlet and the connection pipe 264 is achieved, and the airflow of the recovery fan 262 is also prevented from leaking from the connection gap between the outlet and the connection, thereby further improving the recovery efficiency of the recovery device 26.

[0159] In another embodiment, the second mop bin 232 and the recycling box 261 can be directly connected, that is, the recycling port of the recycling box 261 and the outlet of the second mop bin 232 are directly connected, thereby saving space, improving space utilization, and then increasing the storage volume of the recycling box 261. Similarly, a fourth sealing component located on the recycling box 261 is provided between the recycling port and the outlet, and the fourth sealing component is provided around the recycling port. When the second mop bin 232 rotates until its outlet is connected to the recycling port, a sealed connection between the second mop bin 232 and the recycling box 261 is achieved.

[0160] When the second mop bin 232 can be driven to rotate by the driving device 234, when the cleaning robot 1 is docked on the base platform 22, the mop can be replaced first. After the mop is replaced, the second mop bin 232 is rotated to the position connecting the docking port 221 and the recycling box 261. At this time, the dust outlet of the dust box 15 is docked with the docking port 221, and the recovery fan 262 is started. The airflow flows through the dust box 15, the docking port 221, the second mop bin 232, the connecting channel and the recycling box 261 in sequence, so as to collect the dirt in the dust box 15 and the dirty mop in the second mop bin 232 into the recycling box 261, thereby simplifying the maintenance operation. Due to the presence of the first sealing component, the second sealing component and the third sealing component, the sealing performance when the dust box 15 is connected to the recycling box 261 is effectively improved, thereby achieving the effect of improving the suction force of the recycling airflow and realizing the effect of efficient collection of dirt.

[0161] The recycling box 261 is located below the base platform 22. On the one hand, it shortens the distance between the dust box 15 and the recycling box 261, reduces the length of the recycling channel between the two, and facilitates the miniaturization of the base station 2. On the other hand, it can effectively reduce the probability of collision between the recycling device 26 and the inner wall of the recycling channel when the recycling device 26 recycles the dirt in the dust box 15 and the second mop bin 232, and reduces the recycling noise of the recycling device 26 when recycling the dirt. At the same time, it reduces the power loss of the recycling fan 262, so that the recycling of dirt can be completed using a smaller power recycling fan 262, further reducing the recycling noise of the recycling device 26 when recycling the dirt.

[0162] Similarly, when the second mop bin 232 and the recycling box 261 are directly connected, the airflow flows through the dust box 15, the docking port 221, the second mop bin 232 and the recycling box 261 in sequence, so as to collect the dirt in the dust box 15 and the dirty mop in the second mop bin 232 into the recycling box 261. This arrangement further shortens the distance between the dust box 15 and the recycling box 261, and reduces the power of the recycling fan 262 on the basis of ensuring the emptying rate of the dust box 15, solves the energy problem, and reduces the noise. At the same time, the first sealing component, the second sealing component and the fourth sealing component effectively prevent the problem of insufficient recovery suction of the recovery device 26 caused by the leakage of the airflow, and effectively reduce the noise of the recovery fan 262.

[0163] It should be noted that when maintaining the cleaning robot 1, the dust box 15 can be recycled first and then the mop can be replaced. The dirty mop in the second mop bin 232 can be collected into the recycling box 261 when the cleaning robot 1 is maintained next time. The order of maintenance of the cleaning robot 1 is not specifically limited here.

[0164] The recovery fan 262 provides airflow for the recovery box 261 to recover dirt through the air duct 2621. In this embodiment, the main body 21 is also surrounded by a receiving space 213 located above the docking cavity 211, and the recovery fan 262 is located in the receiving space 213. Such a configuration can effectively improve the space utilization rate of the base station 2 on the one hand, and conveniently reduce the floor space of the base station 2 on the horizontal plane; on the other hand, it can facilitate the arrangement of the recovery box 261 and the mop bin 23 in the receiving space 212, and conveniently realize the large-volume setting of the recovery box 261, the first mop bin 231 and the second mop bin 232, increase the working life of the base station 2, and improve the user experience.

[0165] Furthermore, when the cleaning robot 1 is docked on the base platform 22, the dust box 15 and the second mop bin 232 are arranged opposite each other, which facilitates the large-size setting of the dust outlet of the dust box 15, further improving the dirt recovery efficiency of the base station 2. At the same time, the short-type setting of the recovery air duct and the arrangement of the cleaning robot 1 when it is docked on the base platform 22 realize the small-size design of the base station 2, effectively improving the use performance and user-friendliness of the base station 2.

[0166] When the mop of the cleaning robot 1 needs to be replaced or the dust box 15 is full and needs to be cleaned, the cleaning robot 1 can search for the positioning signal sent by the positioning structure on the base station 2, and then climb onto the base platform 22 with the assistance of the traction device 25. The movable unit is in the open state, the cover plate 151 opens the dust outlet, so that the dust box 15 is connected to the recycling box 261 through the connecting port and the second mop bin 232, and the recycling fan 262 provides airflow, so that the dirt in the dust box 15 and the mop in the second mop bin 232 enter the recycling box 261 with the airflow.

[0167] Since the dust box 15 is located above the recycling box 261, when the dust box 15 is opened to clean the dirt, the dirt in the dust box 15 is also affected by gravity, so the dirt can be cleaned more conveniently and quickly, and the dirt recovery and cleaning can be completed without using a high-power recovery fan 262, thereby effectively reducing the working noise during the dirt recovery and cleaning.

[0168] See also Fig. 22In another embodiment, in order to reasonably utilize the space in the base station 2, the recycling device 26 may not be provided with a recycling box 261, and at least part of the mop bin 23 forms the recycling box 261. Specifically, the second mop bin 232 for placing the disassembled mop forms the recycling box 261, and the recycling fan 262 is connected to the outlet of the second mop bin 232 through the air duct 2621. On the one hand, this setting can increase the large volume setting of the second mop bin 232, reduce the maintenance frequency of the base station 2, and enhance the user experience. On the other hand, it further shortens the length of the recycling channel from the dust box 15 to the recycling box 261, reduces the recycling noise when the recycling device 26 recycles the dirt, and further reduces the working power of the recycling fan 262.

[0169] The recovery fan 262 can be arranged in the receiving space 212 and located below the mop bin 23, which shortens the air duct 2621, reduces the resistance of the air flow, and increases the utilization efficiency of the recovery fan 262. At the same time, the receiving space 212 is fully utilized, and the height dimension of the base station 2 can be reduced, or the dimension of the water tank can be increased, thereby improving the water storage capacity of the base station 2.

[0170] In this embodiment, the filter element 263 is disposed at the outlet of the second mop bin 232 to prevent dirt in the second mop bin 232 from entering the recovery fan 262 along the outlet, causing the suction force of the airflow to decrease and affecting the recovery efficiency of the recovery device 26.

[0171] See also Fig.21 and Fig.23 , the recycling box 261 or the second mop bin 232 forming the recycling box 261 is detachably arranged in the base station 2. Specifically, the base station 2 is also provided with a take-out structure, and the recycling box 261 is detachably accommodated in the base station 2 through the take-out structure. The take-out structure realizes the disassembly and installation of the recycling box 261, which is convenient for the recycling box 261 to dump the recycled dirt or replace the dust bag. In the present embodiment, the take-out structure is a folding door formed on the base station 2, and the folding door is arranged on the side wall of the main body 21. The folding direction of the take-out structure can be either horizontal or vertical. That is, the setting position and setting form of the take-out structure in the present embodiment can be selected according to actual needs, and the structures in the present disclosure and the drawings are only exemplary and should not be limited to this.

[0172] See also Fig.23 When the second mop bin 232 forms the recycling box 261, the take-out structure can also be formed on the base platform 22, and the docking port 221 is set on the folding door. Further, the folding door is a folding structure that can be folded up and down in the vertical direction to avoid the folding door from interfering with other positions of the body 21 during the folding process, thereby affecting the normal removal of the recycling box 261.

[0173] See also Figure 27 to Figure 29, is a cleaning system in another embodiment. In this embodiment, the cleaning system has a structure substantially the same as that of the aforementioned embodiment, and the only difference lies in the structure of the mop bin 23 and its docking with the cleaning robot 1. Therefore, the following description will only describe the differences between the two embodiments, and the similar / identical parts will not be repeated here.

[0174] In this embodiment, the driving device is connected to the body of the cleaning robot 1, and the driving device is configured to drive the body of the cleaning robot 1 to move on the base platform 22. The driving device may be a walking module of the cleaning robot 1, and the walking module drives the body to move on the base platform 22. In this embodiment, the driving device is the above-mentioned traction device 25, and the traction device 25 drives the body of the cleaning robot 1 to move on the base platform 22.

[0175] The first mop bin 231 and the second mop bin 232 are fixedly arranged on the side of the base platform 22 facing away from the docking surface, and are arranged up and down along the extension direction of the base platform 22. That is, the first mop bin 231 and the second mop bin 232 are fixedly arranged in the base station 2 and along the extension direction of the base platform 22, one is located at the top and the other is located at the bottom.

[0176] The base platform 22 is provided with mounting holes and disassembly holes arranged up and down along the extension direction of the base platform 22, and the mounting holes and disassembly holes communicate with the docking surface and the back-to-back surface arranged back to back with the docking surface, so that the docking position is communicated with the first mop bin 231 and the second mop bin 232. One of the first mop bin 231 and the second mop bin 232 at least partially overlaps with the projection of one of the mounting holes and the disassembly holes on the surface where the docking surface is located, and the other of the first mop bin 231 and the second mop bin 232 at least partially overlaps with the projection of the other of the mounting holes and the disassembly holes on the surface where the docking surface is located.

[0177] Preferably, since the second mop bin 232 for placing the detached mop has a larger volume requirement, the first mop bin 231 for placing the clean mop has a smaller volume requirement. The mop bin located above the extension direction of the base platform 22 is the second mop bin 232 for placing the detached mop, and the mop bin located below the extension direction of the base platform 22 is the first mop bin 231 for placing the unused mop. Therefore, the second mop bin 232 located above can be set in more receiving space 212, and it can be set to a larger volume, reducing the maintenance frequency of the second mop bin 232 and improving the user experience.

[0178] At this time, the disassembly hole is located above the extension direction of the seat platform 22, and the installation hole is located below the extension direction of the seat platform 22. The disassembly hole and the second opening of the second mop bin 232 are correspondingly arranged to enable the mop plate 13 to pass through the disassembly hole and extend into the second mop bin 232. The installation hole and the first opening of the first mop bin 231 are correspondingly arranged to enable the mop plate 13 to pass through the installation hole and extend into the first mop bin 231.

[0179] It should be noted that the first mop bin 231 can also be fixed above the extension direction of the base platform 22, and the second mop bin 232 can be fixed below the extension direction of the base platform 22. This is not specifically limited here, and can be set according to actual needs. This embodiment is described by taking the first mop bin 231 being set above the extension direction of the base platform 22 and the second mop bin 232 being set below the extension direction of the base platform 22 as an example.

[0180] When the cleaning robot 1 is equipped with one mop plate 13, the number of the mounting hole, the disassembly hole, the first mop bin 231 and the second mop bin 232 is one. When the cleaning robot 1 is equipped with two mop plates 13, the number of the mounting holes, the disassembly holes, the first mop bin 231 and the second mop bin 232 is two.

[0181] When the body of the cleaning robot 1 moves to the point where the mop plate 13 is located above the mounting hole and the first mop bin 231, the cleaning robot 1 is located at the parking position. When the mop plate 13 is located above the disassembly hole and the second mop bin 232, the cleaning robot 1 is located at the mid-slope position.

[0182] When the cleaning robot 1 needs to replace the mop, the traction device 25 first pulls it to the mid-slope position, and the installation operating part drives the mop plate 13 to extend into the second mop bin 232 through the disassembly hole. The mop is removed under the action of the separation operating part 233, and then the traction device 25 pulls the cleaning robot 1 to the parking position to complete the installation of the clean mop.

[0183] The following describes the automatic mop changing process of the cleaning robot 1 at the base station 2 in one embodiment with reference to the accompanying drawings.

[0184] Step S10, see Fig.11 When the cleaning robot 1 needs to change the mop, the cleaning robot 1 moves toward the base station 2. The cleaning robot 1 and the base station 2 can be accurately positioned by a positioning device, such as an infrared positioning device and an infrared receiving device.

[0185] Step S20, see Fig. 27 The cleaning robot 1 cooperates with the traction device 25. Under the action of the traction device 25, the cleaning robot 1 climbs onto the base platform 22 and moves and stops at a half-slope position. At this time, the mop plate 13 is aligned with the disassembly hole and the second mop bin 132.

[0186] Step S30, see Fig.28 The control device of the cleaning robot 1 controls the motor of the position adjustment device 16 to work, and the installation operating member drives the mop plate 13 to move, first moving in the direction toward the second mop bin 232, passing through the separation operating member 233, and then moving in the opposite direction to reset, and the separation operating member 233 set on the second mop bin 232 is used to separate the dirty mop on the mop plate 13.

[0187] Step S40, see Fig.17 The cleaning robot 1 cooperates with the traction device 25. Under the action of the traction device 25, the cleaning robot 1 moves and stops at the parking position. The mop plate 13 is aligned with the mounting hole and the first mop bin 231. The mounting operating member drives the mop plate 13 to move, and extends into the first mop bin 231 where a plurality of unused mops are stacked, and is pressed onto the top mop, so that a single mop is adhered through the adhesive surface below the mop plate 13, thereby achieving the installation of the clean mop in the first mop bin 231 onto the mop plate 13.

[0188] Step S50, the installation operating member drives the mop board to move in the opposite direction and reset, and the mop board 13 completes the replacement of the mop. The cleaning robot 1 can continue to perform maintenance work such as charging or replenishing water, or choose to stay in the base station 2 and wait for the next work as needed, or exit the base station 2 to continue to perform cleaning work.

[0189] Because the first mop bin 231 and the second mop bin 232 in the present embodiment are fixedly arranged in the base station 2, when the second mop bin 232 forms at least a part of the recycling channel, in order to form a sealed recycling channel from the dust box 15 to the recycling box 261, a sealing door for opening or sealing the disassembly hole is provided on the base platform 22, and the sealing door is movably arranged on the base platform 22.

[0190] The docking port for docking with the dust box 15 is formed on the sealing door. When the cleaning robot 1 changes the mop, the sealing door is opened and the disassembly hole is exposed to complete the relative movement of the mop plate 13 and the second mop bin 232. When the dust box 15 of the cleaning robot 1 is cleaned, the sealing door seals the disassembly hole, and the dust box 15 and the second mop bin 232 are connected through the docking port to ensure the sealing of the passage from the dust box 15 to the recycling box 261 and reduce the working noise of the recycling fan 262.

[0191] The second mop bin 232 is fixedly arranged in the base station 2, further improving the connection sealing performance between the second opening 2321 of the second mop bin 232 and the docking port 221, and also improving the connection sealing performance between the outlet of the second mop bin 232 and the connecting pipe 264 or the recovery port of the recovery box 261, further improving the sealing performance of the recovery channel from the dust box 15 to the recovery box 261, further reducing the noise generated by the recovery, and effectively improving the practicality and user-friendliness of the base station 2. In this embodiment, there is no need to set the second sealing component, the third sealing component or the fourth sealing component, saving the cost of the base station 2.

[0192] In the above embodiment, the mop can be replaced without disassembling the mop plate 13 of the cleaning robot 1, which has a simple structure and is easy to operate. Figure 30 to Figure 36 In another embodiment, the cleaning robot 1 moves to the docking surface and removes the mop plate 13 to the docking surface to complete the replacement of the mop. The operating member is arranged on the base station 2, and the operating member and the docking surface are located on the same side of the base platform 22, that is, the operating member is located above the base platform 22, so as to realize the automatic replacement of the mop of the cleaning robot 1. The function of the operating member is the same as that of the above-mentioned operating member, but the two have different structures. In order to distinguish them, they are re-labeled as operating member 27.

[0193] The operating member 27 is located above the end of the base platform 22 away from the opening for the cleaning robot 1 to enter, so that the layout of the base station 2 is reasonable and the space is fully utilized. The cleaning robot 1 enters the base station 2 backwards, and the mop plate 13 is away from the opening, which is convenient for docking with the operating member 27.

[0194] The operating member 27 is installed as a lifting assembly 272 disposed on the base platform 22, and a clamping assembly 273 disposed on the lifting assembly 272. The lifting assembly 272 is used to drive the clamping assembly 273 to move in a height direction (such as Fig.30 The clamping assembly 273 is used to pick up the mop plate 13 and drive the mop plate 13 to move in the height direction. The separation operating member is a disassembly structure for separating the mop plate 13 and the mop installed thereon.

[0195] In addition, the base station 2 is also provided with a tray 271 rotatably arranged on the body 21, and a first storage bin 274 and a second storage bin 275 located above the base platform 22. The disassembly structure is arranged at the opening of the second storage bin 275, so that the disassembled mop enters the second storage bin 275.

[0196] The first storage bin 274 is used to store at least one unused clean mop for installation on the mop plate 13 after the dirty mop is removed. The second storage bin 275 is used to store the dirty mop removed from the cleaning robot 1. The first storage bin 274 is arranged above the second storage bin 275. The first storage bin 274 and the second storage bin 275 have different heights, which are not specifically limited here. The first storage bin 274 can also be arranged below the second storage bin, or the first storage bin 274 and the second storage bin 275 can also be located at the same height, as long as they do not interfere with each other.

[0197] The tray 271 is connected to the body 21 via the rotating shaft 253, and has an inclined position and a horizontal position. When the tray 271 is in the inclined position, the surface of the tray 271 and the base platform 22 are located on the same inclined plane, so that the cleaning robot 1 can easily remove the mop board 13 to the tray 271. After the mop board 13 is removed from the cleaning robot 1 and placed on the tray 271, the tray 271 rotates from the inclined position to the horizontal position, so that the clamping assembly 273 can easily pick up the mop board 13.

[0198] After the cleaning robot 1 enters the base station 2 backwards and docks at the docking position of the base platform 22, the mop plate 13 is located obliquely above the tray 271 in the inclined position. The mop plate 13 is ejected by the ejection device provided on the cleaning robot 1 and detached from the cleaning robot 1 and enters onto the tray 271.

[0199] The lifting assembly 272 includes a lifting drive 2721, a synchronous belt 2722 and a guide rail 2723. The lifting drive 2721 drives the synchronous belt 2722 to lift in the height direction, and the guide rail 2723 extends in the height direction. The lifting assembly 272 can also be other structures, such as a screw nut mechanism, as long as it can drive the clamping assembly 273 to lift.

[0200] The clamping assembly 273 can be movably matched with the guide rail 2723 in the height direction, and the clamping assembly 273 is connected to the synchronous belt 2722 of the lifting assembly 272, and the clamping assembly 273 will be driven to rise and fall during the lifting and lowering process of the synchronous belt 2722. The guide rail 2723 mainly plays a guiding role here to ensure the stability of lifting. Specifically, the clamping assembly 273 may include a picking portion, and the picking portion may be a clamping claw, through which the mop plate 13 can be picked up. It can be understood that the picking portion can also be a magnetic suction structure, and the picking portion can absorb the mop plate 13 by means of magnetic force. The picking portion only needs to be able to pick up or release the mop plate 13.

[0201] The base station 2 also includes a first slide rail and a second slide rail. The first storage compartment 274 is disposed on the first slide rail and can be moved along a second direction (such as Fig.30The base station 272 is provided with a second slide rail and can move along a second direction perpendicular to the height direction on the second slide rail to approach or move away from the clamping assembly 273 on the lifting assembly 272. The second storage bin 275 is provided on the second slide rail and can move along a second direction perpendicular to the height direction on the second slide rail to approach or move away from the clamping assembly 273 on the lifting assembly 272. The movement of the first storage bin 274 on the first slide rail and the movement of the second storage bin 275 on the second slide rail can be driven by a power part such as a motor or a cylinder, or further realized by the cooperation of a gear and a rack. It can be understood that the base station 2 may not be provided with a second slide rail, and the second storage bin 275 is fixedly provided in the base station 2, and the mop can be removed from the mop plate 13 and placed in the first storage bin 274 by other structures such as a manipulator.

[0202] In one embodiment, the base station 2 further includes a detection device (not shown), which is used to detect the position of the clamping assembly 273 in the height direction, so as to control the displacement of the clamping assembly 273 in the height direction according to the detected position. Specifically, the detection device can detect the distance between the clamping assembly 273 and the base platform 22 of the base station 2 to control the position where the clamping assembly 273 stays. Specifically, the detection device can be a code disk, and the position of the clamping assembly 273 relative to the base platform 22 can be obtained according to the rotation angle of the code disk.

[0203] The controller 24 is electrically connected to the detection device and receives the signal sent by the detection device to confirm the position of the clamping assembly 273. The controller 24 first controls the clamping assembly 273 to move to the separation position. When the detection device detects that the clamping assembly 273 moves to the separation position, it sends a corresponding signal to the controller 24, and then controls the second storage bin 275 to move to the bottom of the clamping assembly 273. At this time, the mop plate 13 is located above the second storage bin 275. The controller 24 controls the clamping assembly 273 to move downward, and the mop plate 13 extends into the second storage bin 275 and moves to the bottom of the disassembly structure. The clamping assembly 273 is driven to move upward, and the separation hook 2331 of the disassembly structure pierces the mop on the mop plate 13. The controller 24 controls the clamping assembly 273 to continue to rise, and the separation hook 2331 hooks the mop, so that the mop is separated from the mop plate 13, and then the mop is torn off from the mop plate 13, and the disassembled mop enters the second storage bin 275.

[0204] The second storage bin 275 moves away from the clamping assembly 273, and the controller 24 controls the clamping assembly 273 to continue to move upward to the installation position. When the detection device detects that the clamping assembly 273 moves to the installation position, it sends a corresponding signal to the controller 24, and then controls the first storage bin 274 to move below the clamping assembly 273. At this time, the mop plate 13 is located above the first storage bin 274. The controller 24 controls the clamping assembly 273 to move downward, and the mop plate 13 of the mop plate 13 extends into the first storage bin 274 and docks with the clean mop located in the first storage bin 274, and then the clamping assembly 273 moves upward to leave the first storage bin 274. The first storage bin 274 moves away from the clamping assembly 273, and the controller 24 controls the clamping assembly 273 to move downward to the initial position, and releases the mop plate 13 onto the tray 271. It should be noted that the timing of resetting the first storage bin 274 and the second storage bin 275 is not specifically limited here, as long as it does not affect the movement of the clamping assembly 273.

[0205] In this embodiment, the method for automatically changing the mop cloth of the cleaning robot 1 at the base station 2 includes:

[0206] Step 1: When the cleaning robot 1 needs to change the mop, the cleaning robot 1 moves toward the base station 2.

[0207] Step 2: The controller 24 controls the tray 271 to be in an inclined position. Under the action of the driving device 234, the cleaning robot moves to the parking position, the cleaning robot 1 pushes the mop plate 13 out into the tray 271, and the cleaning robot 1 leaves the station.

[0208] Step 3: The controller 24 controls the tray 271 to rotate to a horizontal position, and the clamping assembly 273 , driven by the lifting assembly 272 , picks up the mop board 13 in the tray 271 .

[0209] Step 4: Under the action of the lifting assembly 272 of the clamping assembly 273, the mop plate 13 first moves in the direction toward the second mop bin 232, passes through the separation operating member 233, and then moves in the opposite direction to reset. The separation operating member 233 provided on the second mop bin 232 realizes the separation of the dirty mop on the mop plate 13.

[0210] Step 5. Under the action of the lifting assembly 272 of the clamping assembly 273, the mop board 13 extends into the first mop bin 231 where a number of unused mops are stacked, and is pressed onto the top mop, so that a single mop is adhered through the adhesive surface below the mop board 13, thereby achieving the installation of the clean mop in the first mop bin 231 onto the mop board 13.

[0211] Step 5: The clamping assembly 273 releases the cloth-holding plate 131 onto the tray 271, and the controller 24 controls the tray 271 to rotate to an inclined position. The cleaning robot 1 enters the base station 2 backwards to pick up the mop plate 13 with a clean mop, thereby completing the automatic replacement of the mop.

[0212] The following describes a mop changing process of the cleaning robot 1 in one embodiment with reference to the accompanying drawings.

[0213] Step S100, see Fig.30 When the cleaning robot 1 needs to change the mop, the controller 24 controls the tray 271 to be in an inclined position, the cleaning robot 1 enters the base station 2 backwards, and moves to the parking position under the action of the traction device 25. The cleaning robot 1 pushes the mop plate 13 out into the tray 271, and the cleaning robot 1 leaves the station.

[0214] Step S200, see Fig.31 The controller 24 controls the tray 271 to rotate to a horizontal position, and the clamping assembly 273 is driven by the lifting assembly 272 to descend and pick up the mop board 13 located in the tray 271 .

[0215] Step S300, see Fig.32 The clamping assembly 273 drives the mop plate 13 to rise and move to the separation position under the drive of the lifting assembly 272, and the second accommodating bin 275 moves to the bottom of the clamping assembly 273. The clamping assembly 273 drives the mop plate 13 to descend and extend into the second accommodating bin 275, and descend to the bottom of the disassembly structure.

[0216] Step S400, the clamping assembly 273 drives the mop plate 13 to rise, and the separation hook 2331 of the disassembly structure hooks the mop so that the mop cannot continue to rise, thereby separating the mop from the mop plate 13, and the clamping assembly 273 drives the mop plate 13 to continue to rise, and the torn mop falls into the second accommodating bin 275, and the second accommodating bin 275 returns to its original position.

[0217] Step S500, the clamping assembly 273 drives the mop board 13 to rise to the installation position, the second accommodating bin 275 moves on the second slide rail to the bottom of the clamping assembly 273, the clamping assembly 273 drives the mop board 13 down to the second accommodating bin 275, so that the bottom of the mop board 13 contacts the clean mop, thereby adhering the clean mop to the mop board 13, the clamping assembly 273 drives the clean mop board 13 to rise to above the first accommodating bin 274, and the first accommodating bin 274 returns to its original position.

[0218] Step S600, see Fig.33, the clamping assembly 273 descends to the bottom of the lifting assembly 272, and the picking-up part of the clamping assembly 273 releases the mop board 13, so that the mop board 13 returns to the tray 271. When releasing the mop board 13, the picking-up part can be released with the help of the auxiliary part, and its specific structure is not described in detail here. Of course, when the picking-up part is an electromagnet, the mop board 13 can be released by turning off the power, and the auxiliary part can be omitted.

[0219] Step S700, see Fig.34 , raise the clamping assembly 273 to leave space for the subsequent cleaning robot 1 to enter the station, avoiding interference between the cleaning robot 1 and the clamping assembly 273.

[0220] Step S800, see Fig.35 , the controller 24 controls the tray 271 to rotate to the inclined position, and the cleaning robot 1 enters the base station 2 backwards to pick up the mop plate 13 with a clean mop, thereby completing the automatic replacement of the mop.

[0221] Step S900, see Fig.36 , the cleaning robot 1 drives out of the base station 2.

[0222] The cleaning robot 1 also includes a replacement detection module for detecting the degree of use of the mop installed on the mop plate 13. The control device is configured to compare the degree of use with the usage threshold based on the mop usage information detected by the replacement detection module to determine whether to control the cleaning robot 1 to return to the base station 2 to replace the mop. The replacement detection module includes at least one of a timing module, a working area recording module, a dirt sensor, and a damage sensor. That is, the control device can also control the cleaning robot 1 to return to the base station 2 to replace the mop based on the identified usage time of the mop, the mopping area of ​​the mop, the stains on the mop, or the damage of the mop, thereby improving the utilization rate of the mop without causing secondary contamination of the mop and / or the working area.

[0223] In one embodiment, the cleaning robot 1 includes a timing module, and the control device records the working time of the mop through the timing module, and compares the working time with a preset time threshold. If it is greater than or equal to the time threshold, the cleaning robot 1 returns to the base station 2 to replace the mop. In another embodiment, the cleaning robot 1 may include a working area recording module, and the control device records the working area of ​​the mop through the working area recording module, and compares the working area with a preset area threshold. If it is greater than or equal to the area threshold, the cleaning robot 1 returns to the base station 2 to replace the mop. In another embodiment, the cleaning robot 1 may include a dirt sensor, and the control device detects the cleanliness of the mop through the dirt sensor, and compares the cleanliness with the preset cleaning threshold. When the detected cleanliness is lower than the preset cleaning threshold, the control device controls the cleaning robot 1 to return to the base station 2 to replace the mop; when the detected cleanliness of the mop is greater than or equal to the preset threshold, the control device controls the cleaning robot 1 to continue mopping. The dirt sensor can be installed below the fuselage 11 or on the mop board 13, and the dirt sensor can specifically include but is not limited to at least one of the following: a capacitive sensor, a current sensor, a radar sensor, and a light sensor.

[0224] When the cleaning robot 1 cleans the working surface, it uses the cleaning component 14 to clean the dirt on the working surface, but foreign objects such as hair on the working surface are easily entangled on the roller brush 141 of the cleaning component 14. If the foreign objects entangled on the roller brush 141 are not cleaned in time, the cleaning ability of the cleaning robot 1 for dirt will be affected, and the output power of the motor driving the roller brush 141 to rotate will be affected, thereby affecting the service life of the cleaning robot 1.

[0225] To do this, see Fig.37 The base station 2 is also provided with a hair cutting device 28. When the cleaning robot 1 is parked on the base platform 22, the hair cutting device 28 is used to cut the entanglement on the roller brush 141. The scissors of the hair cutting device 28 reciprocate in the direction of the roller brush 141 to cut the entanglement on the roller brush 141. It is an existing structure and will not be described in detail here.

[0226] The hair cutting device 28 is located on the side of the base platform 22 facing away from the docking surface. That is, the hair cutting device 28 is located below the base platform 22, specifically, located in the receiving space 212. The cleaning robot 1 enters the base station 2 and arrives at the designated position, and the roller brush 141 docks with the hair cutting device 28 to complete the cutting of the entangled object.

[0227] The base station 2 is also provided with a recovery device 26, which is provided in the receiving space 212 below the base platform 22. When the cleaning robot 1 is located at a designated position, the dust box 15 is docked with the recovery device 26, and the dust box 15 is cleaned under the action of the recovery fan 262. At the same time, the cut windings flow through the dust box 15 into the recovery device 26 under the action of the airflow, thereby improving the maintenance efficiency of the cleaning robot 1 by the base station 2.

[0228] In this embodiment, the relevant devices for realizing automatic replacement of the mop are arranged above the base platform 22, and the hair cutting device 28 and the recovery device 26 are arranged below the base platform 22. The layout is reasonable and the structure is compact. The base station 2 occupies a small area on the horizontal plane, which improves the user experience. In addition, along the extension direction of the base platform 22, the hair cutting device 28 is arranged below the upper end of the base platform 22, and the docking port 221 docking with the recovery device 26 is arranged below the lower end of the base platform 22. After the cleaning robot 1 enters the base station 2 and reaches the designated position, the roller brush 141 is aligned with the hair cutting device 28, and the dust outlet of the dust box 15 is aligned with the docking port 221. In other embodiments, the hair cutting device 28 may also be located below the lower end of the base platform 22, which is not specifically limited here.

[0229] It should be noted that, in other embodiments, the docking port 221 is connected to the second opening of the second mop bin through a connecting pipe, the outlet of the second mop bin is connected to the recycling box, and the recycling box is connected to the recycling fan. Under the action of the recycling fan, the dirt in the dust box 15 and the mop in the second mop bin are recycled into the recycling box. Only the recycling box needs to be maintained, which simplifies the maintenance operation of the user.

[0230] In another embodiment, the recycling box may not be provided, and the second mop bin may be used as the recycling box, thereby simplifying the structure and occupying less space. At the same time, the distance between the dust box 15 and the recycling box for storing the dirt in the dust box 15 is shortened, and the power of the recovery fan is reduced while ensuring the emptying rate of the dust box, thereby saving energy and reducing noise.

[0231] In addition, the mop bin, the recovery device 26 and the hair cutting device 28 for cooperating with the operating member to realize automatic mop changing can be arranged below the base platform 22, and the base station 2 is provided with one or more of the mop bin, the recovery device 26 and the hair cutting device 28 according to actual needs.

[0232] For example, if the cleaning robot 1 has only the mopping function, the corresponding base station 2 only needs to be provided with a mop cloth bin that cooperates with the operating member to realize automatic mop cloth replacement. When the cleaning robot 1 has only the sweeping function, the base station 2 is provided with a recycling device 26, or a recycling device 26 and a hair cutting device 28 are provided at the same time. When the cleaning robot 1 has both the mopping function and the sweeping function, the base station 2 can be provided with a recycling device 26 and a structure for realizing automatic mop cloth replacement, or a structure for realizing automatic mop cloth replacement, a recycling device 26 and a hair cutting device 28 are provided at the same time.

[0233] See also Fig. 9 In addition to the structures illustrated in the above specification, in one embodiment, a charging component and / or a water-adding component is also provided in the base station 2. The charging component includes a charging interface 291 connected to the cleaning robot 1 for charging. The water-adding component includes a water-adding interface 292 connected to the cleaning robot 1 for water-adding, and the charging interface 2921 and the water-adding interface 292 are located above the base platform 22. The installation planes of the charging interface 291 and the water-adding interface 292 are arranged perpendicular to the base platform 22, and the charging interface 291 and the water-adding interface 292 are located in the docking cavity 211. With such an arrangement, when the cleaning robot 1 moves along the base platform 22 and docks on the base platform 22, the charging socket and the water-adding socket arranged on the outer peripheral wall of the main body of the cleaning robot 1 can be used to complete the replenishment of electric energy and / or water, making the use of the cleaning system of the present application more convenient and quick. Since the charging component and the water-adding component are mature accessories, they will not be described in detail in this specification. The water adding assembly further includes a water tank 293 for storing clean water. In this embodiment, the water tank 293 is disposed in the accommodating space 213 .

[0234] In summary, the docking surface of the base station disclosed in the present invention for the cleaning robot to dock is inclined or vertically arranged, which effectively reduces the footprint of the base station on the horizontal plane while ensuring that the cleaning robot can dock. The operating parts of the cleaning system can automatically replace the mop for the cleaning robot, thereby avoiding dirt on the cleaning robot and the base station during the mop cleaning process, thereby improving the user experience.

Claims

1. A cleaning system, comprising a cleaning robot and a base station for maintaining the cleaning robot, characterized in that: The cleaning robot comprises a mop plate for mounting a mop; The base station comprises a base platform, the base platform is provided with a docking surface for the cleaning robot to dock, the docking surface has a docking position for the cleaning robot to dock to change the mop, and the docking surface is inclined or vertically arranged; The cleaning system further includes an operating member, which is disposed on at least one of the base station and the cleaning robot, and is configured to operate the mop plate and / or the mop so as to replace the mop for the cleaning robot.

2. The cleaning system according to claim 1, characterized in that The docking surface is an inclined surface, and the angle between the docking surface and the horizontal plane is 30°-60°.

3. The cleaning system according to claim 1, characterized in that The cleaning system comprises a limiting structure arranged on the base station or the cleaning robot, and the limiting structure is used to limit the cleaning robot to the parking position.

4. The cleaning system according to any one of claims 1 to 3, characterized in that: The operating member includes a separation operating member and an installation operating member, the separation operating member is configured to operate the mop board and / or the mop installed on the mop board to separate the mop board and the mop; the installation operating member is configured to operate the mop board and / or an unused mop to install the unused mop on the mop board.

5. The cleaning system according to claim 4, characterized in that The cleaning system further comprises a first mop bin for storing unused mops and a second mop bin for storing mops separated from the mop board.

6. The cleaning system according to claim 5, characterized in that The first mop bin and the second mop bin are arranged on a side of the base platform facing away from the docking surface. An operation hole is arranged on the base platform, and the operation hole connects the docking surface and the back-to-back surface arranged away from the docking surface, so that the docking position is connected with the first mop bin and the second mop bin.

7. The cleaning system according to claim 5, characterized in that The separation operating member is configured to apply a force to the mop board and / or the mop installed on the mop board to separate the mop board and the mop, so as to separate the mop board and the mop installed on the mop board; the installation operating member is configured to apply a force to the mop board and / or the first mop bin to make the mop board and the first mop bin move relative to each other, so as to install the unused mop on the mop board.

8. The cleaning system according to claim 7, characterized in that The second mop bin is configured to be disposed on a moving path of the mop separated from the mop plate, so that the separated mop enters the second mop bin.

9. The cleaning system according to claim 8, characterized in that The installation operating member is arranged on the body of the cleaning robot, and the installation operating member applies a force to the mop board, so that the mop board moves relative to the first mop bin or the second mop bin.

10. The cleaning system according to claim 9, characterized in that The separation operating member is arranged on a path where the mop board moves toward the second mop bin. When the mop board moves toward the direction where the second mop bin is located, the separation operating member passes through the separation operating member. When the mop board moves toward a direction away from the second mop bin, the separation operating member separates the mop board and the mop installed on the mop board.

11. The cleaning system according to claim 10, characterized in that The mop board is provided with an avoidance hole, and the avoidance hole and the separation operating member are arranged correspondingly so that the mop board passes through the separation operating member.

12. The cleaning system according to claim 8, characterized in that The cleaning system also includes a driving device, which is configured to drive the cleaning robot to move relative to at least one of the first mop bin and the second mop bin, so that the projections of the mop plate and the first opening of the first mop bin on the surface where the docking surface is located at least partially overlap, or the projections of the mop plate and the second opening of the second mop bin on the surface where the docking surface is located at least partially overlap.

13. The cleaning system according to claim 12, characterized in that The driving device is arranged on the base station, and the driving device is connected to the first mop bin and the second mop bin, the first mop bin and the second mop bin are arranged on the side of the base platform opposite to the docking surface, and an operating hole is arranged on the base platform, the operating hole connects the docking surface and the back-to-back surface arranged opposite to the docking surface, so that the docking position is connected with the first mop bin and the second mop bin, and the driving device is configured to drive the first mop bin and the second mop bin to move, so that the first opening of the first mop bin or the second opening of the second mop bin at least partially overlaps with the projection of the operating hole on the surface where the docking surface is located.

14. The cleaning system according to claim 12, characterized in that The driving device is connected to the body of the cleaning robot, and the driving device is configured to drive the body of the cleaning robot to move on the base platform.

15. The cleaning system according to claim 14, characterized in that The first mop bin and the second mop bin are fixedly arranged on a side of the base platform facing away from the docking surface, and are arranged up and down along the extension direction of the base platform. The base platform is provided with mounting holes and disassembly holes arranged up and down along the extension direction of the base platform, and the mounting holes and the disassembly holes communicate with the docking surface and the back-to-back surface arranged away from the docking surface, so that the docking position is connected with the first mop bin and the second mop bin; One of the first mop bin and the second mop bin at least partially overlaps with a projection of one of the mounting hole and the disassembly hole on the surface where the docking surface is located, and the other of the first mop bin and the second mop bin at least partially overlaps with a projection of the other of the mounting hole and the disassembly hole on the surface where the docking surface is located.

Images