Base station and robot system

Abstract

The utility model relates to a base station and a robot system, the base station comprises a parking space for a cleaning robot to park, and the base station is configured to automatically replace a wiping piece for the cleaning robot parked in the parking space; the wiping piece is detachably installed on a wiping plate of the cleaning robot body, the base station further comprises an operation mechanism and a replacement mechanism, and the operation mechanism is configured to act on the cleaning robot located in the parking space so as to separate the wiping plate from the robot body; the replacement mechanism is configured to act on at least one of the wiping plate and the wiping piece separated from the robot body to replace the wiping piece on the wiping plate. By means of the operating mechanism of the base station, the wiping plate can be detached from the robot body before the wiping part is replaced, the wiping part of the detached wiping plate is replaced by the replacing mechanism, and the related structure and operation process for replacing the wiping part can be fully simplified. Therefore, the base station provided by the utility model not only meets the requirement for automatic maintenance of the cleaning robot, but also provides an efficient and convenient automatic maintenance base station, and the user experience is improved.

Description

[0001] This application claims priority to Chinese patent application filed on July 28, 2023 and with application number CN202310945292.5, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of robot technology, and in particular to a base station and a robot system for maintaining a cleaning robot. Background Art

[0003] With the development of science and technology, robots play an increasingly important role in people's lives, especially cleaning robots, which help people get rid of heavy housework. Among them, cleaning robots with mopping functions are widely favored by users due to their wide applicability.

[0004] For cleaning robots with mopping functions, a mop is usually provided at the bottom of the mop assembly of the cleaning robot, so that the walking of the cleaning robot can drive the mop to clean the work area. After the cleaning robot has been cleaning for a period of time, the mop becomes dirty. At this time, the user needs to manually remove the dirty mop and install a clean mop, which is easy to dirty the user's hands and the user experience is poor. Most of the cleaning robots on the market are currently equipped with a matching base station. When the cleaning robot completes the cleaning task, it can dock with the base station to replenish power. A highly intelligent base station can also automatically maintain the trash can of the cleaning robot. The automatic maintenance of the cleaning robot by the base station greatly reduces the user's participation in the cleaning process of the cleaning robot, providing convenience for the user's daily life.

[0005] It is these conveniences that have led to an increasing demand for the intelligence of base stations. Therefore, providing users with an efficient and convenient automatic maintenance base station has become a focus in the development of many floor cleaning systems. Summary of the invention

[0006] To this end, the present application provides a base station, which can be matched with a cleaning robot equipped with a wiping piece to form a robot cleaning system. Using the base station and robot system of the present application, the wiping plate on the cleaning robot can be disassembled first, and then the disassembled wiping plate can be replaced with a new wiping piece, making the operation of automatically replacing the wiping piece more convenient and efficient, and improving the user experience.

[0007] An embodiment of the present application discloses a base station, including:

[0008] A docking space for a cleaning robot to dock, wherein the cleaning robot comprises a robot body and a wiping plate mounted on the robot body, and the wiping member is detachably mounted on the wiping plate;

[0009] an operating mechanism, the operating mechanism being configured to act on the cleaning robot located in the parking space to separate the wiping plate from the robot body;

[0010] A replacement mechanism is configured to act on at least one of the wiping plate and the wiping member separated from the robot body to replace the wiping member on the wiping plate.

[0011] In one embodiment, the operating mechanism includes an operating member and a driving structure, and the driving structure is configured at least to drive the operating member to move between the avoidance position and the operating position.

[0012] In one embodiment, the operating member does not overlap with the docking space in the horizontal direction when it is in the avoidance position, and at least partially overlaps with the docking space in the horizontal direction when it is in the operating position; or, the overlapping area of ​​the operating member in the horizontal direction with the docking space when it is in the avoidance position is smaller than the overlapping area of ​​the operating member in the horizontal direction with the docking space when it is in the operating position.

[0013] In one embodiment, the operating mechanism further comprises an elastic member connected to the operating member, and when the operating member moves from the avoidance position to the operating position, the elastic member deforms to store energy for driving the operating member to return to the avoidance position.

[0014] In one embodiment, the driving structure is configured to at least drive the operating member to move in a vertical direction to drive the wiping plate to move downward, so as to separate the wiping plate from the robot body.

[0015] In one embodiment, when the operating member is in the operating position, the operating member acts on the connection structure between the wiping plate and the robot body to separate the wiping plate from the robot body.

[0016] In one embodiment, the replacement mechanism includes a lifting mechanism, a peeling structure for separating the wiper and the wiping plate, and a second storage bin for storing unused wipers, and the lifting mechanism is configured to drive the wiping plate separated from the robot body to move.

[0017] In one embodiment, when the operating member is in the avoidance position, the projection of the operating member in the horizontal direction does not overlap with the projection of the lifting mechanism.

[0018] An embodiment of the present application discloses a robot system, comprising the base station as described above, and a cleaning robot, wherein the driving structure is further configured to at least drive the operating member to move between an operating position and a disassembly position, and a height of the operating member when in the operating position is greater than a height of the operating member when in the disassembly position.

[0019] In one embodiment, the wiping plate is installed below the robot body, and there is an operating space above at least a portion of the wiping plate, and the operating space is configured to accommodate at least a portion of the operating member when it is in the avoidance position.

[0020] An embodiment of the present application discloses a base station, which is provided with a docking space for a cleaning robot, wherein the base station is configured to automatically replace a wiping member for the cleaning robot docked in the docking space;

[0021] The wiping piece is detachably mounted on the wiping plate of the cleaning robot body, and the wiping plate can be operated to be in a separated state from the robot body and in an engaged state connected to the robot body. The base station is configured to separate the wiping plate from the robot body before replacing the wiping piece so as to replace the wiping piece on the wiping plate in the separated state.

[0022] In one embodiment, the base station includes a lifting mechanism, and the lifting mechanism is configured to descend to pick up the wiping plate in the separated state, and drive the wiping plate to rise to replace the wiping member.

[0023] In one embodiment, the base station is provided with an operating mechanism for the wiping plate, and the operating mechanism is configured to rotate relative to the wiping plate in the engaged state so as to contact the wiping plate and provide a force for removing the wiping plate.

[0024] In one embodiment, the operating mechanism includes a lever and a connecting rod, and the connecting rod is configured to be displaced under the drive of the lifting mechanism, and convert the displacement into a rotation of the lever to contact the wiping plate and provide the force.

[0025] In one embodiment, the operating mechanism is configured to be displaced relative to the bottom surface of the wiping plate in the engaged state so as to contact the wiping plate and provide the force.

[0026] In one embodiment, the step of driving the wiping plate upward to replace the wiping member comprises:

[0027] The wiping plate is driven to move to a first preset position to disassemble the wiping member, and the wiping plate is driven to a second preset position to replace a new wiping member.

[0028] In one embodiment, the base station includes a first storage bin and a second storage bin; the first storage bin receives the wiping piece disassembled at the first preset position, and the second storage bin provides the new wiping piece for the wiping plate.

[0029] In one embodiment, the first storage bin is provided with a peeling structure for the wiping piece, and the lifting mechanism drives the wiping plate to move upward at the first preset position to remove the wiping piece.

[0030] In one embodiment, at least one new wiping piece is preset in the second storage bin, and the new wiping piece is transported to the second preset position or the lifting bracket drives the wiping plate to extend into the second storage bin to replace the new wiping piece at the preset position.

[0031] The present application further protects a robot system, comprising any one of the aforementioned feasible base stations, and a cleaning robot, wherein the cleaning robot comprises a wiping piece, wherein the wiping piece is detachably mounted on a wiping plate of a robot body, and the wiping plate can be operated to be separated from the robot body and in an engaged state connected to the robot body.

[0032] The present application provides a base station and robot system solution that can disassemble the wiping plate of a cleaning robot from the main body of the robot. Therefore, the operating mechanism of the base station of the present application can disassemble the wiping plate from the robot body before replacing the wiping piece, and the replacement mechanism replaces the wiping piece with the disassembled wiping plate, which can fully simplify the relevant structures and operation procedures for implementing the replacement of the wiping piece, and at the same time simplify the structure of the cleaning robot. Therefore, the base station provided by the present application not only meets the demand for automatic maintenance of the cleaning robot, but also provides an efficient and convenient automatic maintenance base station, improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The objectives, technical solutions and beneficial effects of the present application described above can be clearly obtained through the following detailed description of specific embodiments that can implement the present application, combined with the description of the accompanying drawings.

[0034] The same reference numerals and symbols in the drawings and the description are used to designate the same or equivalent elements.

[0035] Figure 1 is a schematic diagram of the structure of a cleaning system formed by a base station and a cleaning robot according to an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of a cleaning robot in a parking space of a base station according to an embodiment;

[0037] Figure 3is a schematic diagram of a cleaning robot exiting a parking space of a base station according to an embodiment, wherein a wiping plate of the cleaning robot is separated from a robot body;

[0038] Figure 4a-4c The present invention is a set of schematic diagrams of a working process of a base station disassembling a mop plate of a cleaning robot according to an embodiment, wherein: Figure 4a The pick-up unit of the middle lifting mechanism moves to the P1 position driven by the lifting unit. Figure 4b The picking unit of the middle lifting mechanism moves to the P2 position driven by the lifting unit. Figure 4c yes Figure 4a A partial enlarged view of the

[0039] Figure 5 It is a schematic diagram of the principle of the working process of the operating mechanism for disassembling the mop plate;

[0040] Figure 6a-6c This is a set of schematic diagrams of the working process of disassembling the mop plate of the cleaning robot by the base station in another embodiment, wherein: Figure 6a This is a schematic diagram of the cleaning robot entering the station and docking in the docking space. Figure 6b This is a schematic diagram of the third mounting member on the base station and the second mounting member cooperating to disassemble the mop plate. Figure 6c This is a schematic diagram of the cleaning robot leaving the base station;

[0041] Figures 7a-7f is a set of schematic diagrams of a process in which a wiping plate in a separated state of a base station of an embodiment of the present application is replaced with a new wiping piece;

[0042] Figures 8a-8f 1 is another set of schematic diagrams of a process in which a wiping plate in a separated state of a base station of an embodiment of the present application is replaced with a new wiping piece, wherein: Figure 8a This is a schematic diagram of the cleaning robot. Figure 8b This is a schematic diagram of the connection between the mop board and the robot body. Figure 8c This is a schematic diagram of the operating lever starting to act on the locking member. Figure 8d for Figure 8c A partial structural cross-sectional view of Figure 8e This is a schematic diagram of the operating lever unlocking the locking member. Figure 8f for Figure 8e A partial structural cross-sectional view;

[0043] Fig. 9 for Figure 4a A partial enlarged view of the operating part in the avoidance position.

[0044] Base station 1, lifting mechanism 10, picking unit 101, lifting unit 102, connecting rod 110, operating member 120, lever 120', rotating shaft 121, elastic member 130, first storage bin 11, peeling structure 111, second storage bin 12, track 14, third magnetic member 15, housing 16, support frame 161;

[0045] Cleaning robot 2, robot body 2, gap 210, wiping plate 21, mop plate 21a, wiping member 22, mop 22', used mop 22a, new mop 22b, first mounting member 201, first magnetic member 201, second mounting member 211, second magnetic member 211;

[0046] The receiving groove 31 , the locking member 32 , the restoring member 33 , the operating rod 41 , the guiding portion 411 , and the power member 42 . DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present application 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 application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0048] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application 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.

[0049] 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.

[0050] 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.

[0051] Figure 1The schematic diagram of the structure of the cleaning system formed by the base station 1 and the cleaning robot 2 of the embodiment of the present application is shown. The cleaning robot 2 includes a robot body 20, a wiping plate 21 mounted on the robot body 20, and a wiping member 22, the wiping member 22 is detachably mounted on the wiping plate 21, and the wiping plate 21 can be operated to be separated from the robot body 20 ( Figure 3 ) and the connected state to the robot body 20 ( Figure 2 As shown). In this embodiment, a docking space for the cleaning robot 2 to dock is provided on the base station 1, and the base station 1 is configured to automatically replace the wiping member 22 for the cleaning robot 2 docked in the docking space. Before replacing the wiping member 22, the base station 1 separates the wiping plate 21 from the robot body 20 to replace the wiping member 22 on the wiping plate 21 in a separated state. Specifically, the base station 1 includes an operating mechanism and a replacement mechanism, and the operating mechanism is configured to act on the cleaning robot 2 located in the docking space to separate the wiping plate 21 from the robot body 20; the replacement mechanism is configured to act on at least one of the wiping plate 21 and the wiping member 22 separated from the robot body 20 to replace the wiping member 22 on the wiping plate 21. The operating mechanism of the base station 1 of the present application can remove the wiping plate 21 from the robot body 20 before replacing the wiping member 22, and the replacement mechanism replaces the wiping member 22 on the removed wiping plate 21, which can fully simplify the relevant structures and operating procedures for replacing the wiping member 22. Therefore, the base station 1 provided by the present application not only meets the demand for automatic maintenance of the cleaning robot 2, but also provides an efficient and convenient automatic maintenance base station 1, thereby improving the user experience. It should be noted that when the wiping plate 21 involved in the present application is disassembled from the robot body 20, the wiping member 22 and the wiping plate 21 are disassembled from the robot body 20 as a whole.

[0052] In the prior art, a disassembly structure is installed on the robot body of the cleaning robot to disassemble the wiping plate. Compared with the prior art, the present application sets the operating mechanism for disassembling the wiping plate 21 at the base station 1, and the cleaning robot 2 does not need to add a disassembly structure, so that the cleaning robot 2 has a simple structure and convenient structural layout. In addition, the structure for disassembling the wiping plate 21 is provided with the base station 1, and it is necessary to solve the problem of the operating mechanism interfering with the cleaning robot 2 entering the station, how the operating mechanism acts on the wiping plate 21 to disassemble it and the robot body 20, and the reasonable layout of the base station 1.

[0053] In one implementation, the cleaning robot 2 retracts the wiping plate 21 to leave the ground before docking with the base station 1. As known to those skilled in the art, the wiping plate 21 can be retracted by lifting it to a certain height or storing it in a specific position to avoid interference with the movement of the cleaning robot 2 caused by the wiping plate 21 always contacting the ground. Such interference may include resistance from the ground during movement, or scraping, rubbing, collision, etc. caused by contact between the cleaning robot 2 and objects with ups and downs on the path of travel during movement. Figure 1 Taking the base station 1 shown in the figure as an example, the cleaning robot 2 needs to climb the slope at the entrance of the storage compartment when entering the storage compartment of the base station 1. Before climbing the slope, the wiping plate 21 is raised to a certain height, which helps the cleaning robot 2 to smoothly reach the docking space and achieve stable docking with the base station 1. It should be noted that the docking space can be a chamber with an opening at one end formed by the enclosure of the shell, or it can be a docking surface formed by the shell. The docking space is not specifically limited here, and it only needs to be able to accommodate the cleaning robot 2.

[0054] It should be understood that whether the cleaning robot has a configuration for folding the wiping plate, whether the base station is constructed with a cabin-type structure space for the cleaning robot to dock, and whether a slope is provided on the base station do not constitute limitations on the base station of the present application. In order for the cleaning robot to smoothly move to the docking space of the base station, and to be able to satisfy the configuration of forming the necessary spacing space between the wiping plate and the robot body after the wiping plate is separated from the robot body, all of these may be covered by the embodiments of the present application. In addition, in the embodiments of the present application, the cleaning robot only has a mopping function, such as being provided with a mop assembly and a wiping plate assembly for wiping the floor, and may also be provided with a vacuum cleaner assembly or other auxiliary cleaning components. Figure 2 As shown, in order to better illustrate the specific content of the present application, the cleaning robot with a mop assembly is used as an example for explanation. It can be understood that the mop plate 21a in the mop assembly is a kind of aforementioned wiping plate 21, and the mop 22' on the mop plate 21a is a kind of aforementioned wiping member 22. That is, in the description and drawings of the present application, the mop plate 21a and the wiping plate 21 are arranged in the same manner at the same position on the cleaning robot 2 and have exactly the same functions, and the installation position, installation method and function of the mop 22' and the wiping member 22 are also exactly the same. Regarding the specific structure of the wiping plate 21 and the wiping member 22, no specific limitation is made here. The wiping plate 21 can also be other structures that can be installed with the wiping member 22, such as a mounting frame, etc., and the wiping member 22 can also be a sponge or other structure that can wipe the ground.

[0055] The base station 1 of the present application automatically replaces the wiping member 22 for the cleaning robot 2 parked in the parking space, please refer to Figure 2 and Figure 3 , providing a cleaning system including a base station 1 and a cleaning robot 2, Figure 2The cleaning robot 2 is docked in the docking space of the base station 1, and the operating mechanism is configured to act on the wiping plate 21 to separate the wiping plate 21 from the robot body 20. If the operating mechanism acts on the robot body 20, in order to separate the robot body 20 from the wiping plate 21, the operating mechanism needs to act on the wiping plate 21 at the same time to prevent the wiping plate 21 from moving synchronously with the robot body 20, so as to achieve the separation of the two. This operation will cause a complex structure. However, the operating mechanism of the present application acts on the wiping plate 21 to separate it from the robot body 20. This operation is simple, labor-saving, and simplifies the structure.

[0056] Please refer to Figure 2 , Figures 4a to 4c , Fig. 9 The operating mechanism includes an operating member 120 and a driving structure, the driving structure is configured to at least drive the operating member 120 to the avoidance position (such as Fig. 9 as shown) and operating position (as Figure 4c The operating member 120 does not overlap with the docking space in the horizontal direction when it is in the avoidance position, and at least partially overlaps with the docking space in the horizontal direction when it is in the operating position; or, the overlapping area of ​​the operating member 120 in the horizontal direction with the docking space when it is in the avoidance position is smaller than the overlapping area of ​​the operating member in the horizontal direction with the docking space when it is in the operating position. That is, when the operating member 120 is in the avoidance position, the cleaning robot 2 can move and dock to the docking space, and the operating member 120 will not interfere with the cleaning robot 2 entering the docking space. When the operating member 120 is in the operating position, the operating member 120 can act on the cleaning robot 2, such as on the wiping plate 21, or on the connecting structure between the wiping plate 21 and the robot body 20, to separate the wiping plate 21 from the robot body. When the cleaning robot 2 needs to enter the station, the operating member 120 is in the avoidance position. After the cleaning robot 2 stops in the parking space, the driving structure drives the operating member 120 to move to the operating position to perform the subsequent wiping plate 21 disassembly operation.

[0057] The driving structure is also configured to at least drive the operating member 120 to move between the operating position and the disassembly position, and the height of the operating member 120 when it is in the operating position is greater than the height of the operating member 120 when it is in the disassembly position. That is, the operating position is located below the disassembly position. In this embodiment, the wiping plate 21 is installed below the robot body 20, and the driving structure is configured to at least drive the operating member 120 to move in the vertical direction to drive the wiping plate 21 to move downward, that is, the operating member 120 moves from the operating position to the disassembly position to separate the wiping plate 21 from the robot body 20. In this separation method, the cleaning robot 2 only needs to move and dock in the docking space, without other operations and the addition of other structures. The operating mechanism of the base station 1 can drive the wiping plate 21 to move downward, realize the separation of the wiping plate 21 and the robot body 20, and simplify the structure of the cleaning robot 2.

[0058] See also Figures 4a to 4c and Figure 5 In one embodiment of the present application, the operating mechanism is configured to rotate relative to the wiping plate 21 in the engaged state to contact the wiping plate 21 and provide a force for removing the wiping plate 21. Figure 4a-4c , illustrating the process of the operating mechanism on the base station 1 separating the wiping plate 21 from the robot body 20. In this example, the mop plate 21a serves as the wiping plate 21 of the cleaning robot 2, and the mop 22' attached to the mop plate 21a is the wiping member 22 that needs to be replaced.

[0059] Specifically, the operating member 120 is configured to move between the operating position and the disassembly position at least in the vertical direction to drive the wiping plate 21 to move downward, so as to separate the wiping plate 21 from the robot body 20. In this embodiment, the operating member 120 rotates around an axis, so that one end of the operating member 120 moves to drive the wiping plate 21 to move downward, that is, the operating member 120 rotates relative to the wiping plate 21 in the engaged state to contact the wiping plate 21 and provide a force to disassemble the wiping plate 21. In other embodiments, the operating member 120 may also move downward in the vertical direction to drive the wiping plate 21 to move downward, and the specific implementation method is not repeated here.

[0060] It should be noted that the avoidance position and the operating position can be exactly the same position. When the wiping plate 21 is installed on the robot body 20, there is an operating space above at least part of the wiping plate 21, and the operating space is configured to accommodate at least part of the operating member 120 in the operating position. When the cleaning robot 2 is docked in the docking space, at least part of the operating member 120 is located in the operating space, that is, when there is an operating space above the wiping plate 21, when the operating member 120 is in the operating position, the cleaning robot 2 can also move and dock in the docking space, and the operating member 120 will not affect the movement of the cleaning robot 2.

[0061] The operating member 120 in the operating space moves at least in the vertical direction to drive the wiping plate 21 to move downward, so as to separate the wiping plate 21 from the robot body 20. When the cleaning robot 2 enters the station, the position of the operating member 120 just corresponds to the operating space. When the cleaning robot 2 is docked, at least part of the operating member 120 is located in the operating space, and the operating member 120 will not affect the entry of the cleaning robot 2. At the same time, it is located above the wiping plate 21, which is convenient for the subsequent disassembly operation of the wiping plate 21. In addition, the operating member 120 can also be moved from the avoidance position to the operating space after the cleaning robot 2 is docked in the docking space for subsequent disassembly operations.

[0062] At least one side of the wiping plate 21 protrudes from the robot body 20 along the width direction of the robot body 20 (the extension direction of the wiping plate 21), so that an operating space is formed above at least one side of the wiping plate 21, and the operating member 120 can be moved to the top of the wiping plate 21, thereby driving the wiping plate 21 from top to bottom. The operating space can also be a gap 210 formed between the wiping plate 21 and the robot body 20, as described above, the wiping plate 21 can be lifted to a certain height relative to the robot body 20 to facilitate the transfer or return of the cleaning robot 2 to the base station 1, and when the cleaning robot 2 needs to clean, the wiping plate 21 can move downward to contact the working surface. In order to achieve the lifting or lowering of the wiping plate 21 relative to the robot body 20, the cleaning robot 2 is provided with a lifting structure (not shown) connected to the wiping plate 21, and the lifting structure drives the wiping plate 21 to move in the vertical direction (height direction) relative to the robot body 21. The specific structure of the lifting structure, its installation method and the connection method with the wiping plate 21 are existing structures and are not repeated here. The gap 210 between the wiping plate 21 and the robot body 20 can be obtained by driving the wiping plate 21 to move downward by the lifting mechanism, or, after the wiping plate 21 is lifted to the above-mentioned certain height relative to the robot body 2, there is still a gap 210 between the wiping plate 21 and the robot body 20 that can accommodate the operating member 120. The specific formation of the gap 210 between the wiping plate 21 and the robot body 20 can be set according to actual needs. In other embodiments, a groove is set on at least one of the wiping plate 21 and the robot body 20 to form a gap 210 between the two. When the wiping plate 21 is lifted to the highest height relative to the robot body 20, there is still a gap 210 between the wiping plate 21 and the robot body 20. The formation of the operating space is not specifically limited here, and it can be set according to actual needs.

[0063] When the operating member 120 is in the operating position, its height is within the height range of the gap 210 between the wiping plate 21 and the robot body 20. When the cleaning robot 2 enters the station, the operating member 120 will not interfere with the cleaning robot 2. When the cleaning robot 2 moves to the docking space, part of the structure of the operating member 120 moves into the gap 210, that is, above the top of the wiping plate 21, thereby facilitating the operation of the operating member 120 to disassemble the wiping plate 21.

[0064] The driving structure includes a rotating shaft 121 and a connecting rod 110 for driving the operating member 120 to move. The operating member 120 is connected to the rotating shaft 121. The connecting rod 110 is arranged at one end of the operating member 120 away from the gap 210. The connecting rod 110 is configured to drive the operating member 120 to rotate relative to the axis of the rotating shaft 121, so as to at least enable the operating member 120 to move between the avoidance position, the operating position and the disassembly position. Specifically, a support frame 161 is arranged on the shell 16 forming the docking space of the base station 1, and the rotating shaft 121 is arranged on the supporting frame 161. The operating member 120 can be fixedly connected to the rotating shaft 121 or integrally formed. The rotating shaft 121 is rotatably arranged on the supporting frame 161, so that the operating member 120 can rotate around the axis of the rotating shaft 121. In another embodiment, the rotating shaft 121 can be fixedly arranged on the supporting frame 161, and the operating member 120 is movably sleeved on the rotating shaft 121, so as to also realize the rotation of the operating member 120.

[0065] The operating member 120 is a Z-shaped structure, one end of which faces the gap 210 of the cleaning robot 2, and the other end extends out of the support frame 161. The bottom end of the connecting rod 110 is an L-shaped structure, which includes a bending portion, and the bending portion is located below the operating member 120. When the connecting rod 110 moves upward, it drives the operating member 120 to move upward at one end close to the connecting rod 110, so that the operating member 120 rotates, and the end of the operating member 120 facing the gap 210 moves toward the gap 210 or moves downward. The operating member 120 and the connecting rod 110 are separately arranged to reduce the preparation cost and difficulty of both. In other embodiments, the operating member 120 can also be integrally formed with the operating member 120, which is not specifically limited here.

[0066] The driving structure also includes a lifting mechanism 10 disposed on the station 1, and the lifting mechanism 10 is configured to drive the connecting rod 110 to move, so as to drive the operating member 120 to rotate, so as to realize the fully automatic disassembly of the wiping plate 21 of the base station 1. Figure 4a , Figure 4b and Figure 5As shown, the lifting mechanism 10 includes a lifting unit 102 realized by a synchronous belt transmission structure and a picking unit 101 driven by the lifting unit 102, and the lifting unit 102 drives the picking unit 101 to move upward or downward. When the cleaning robot 2 is in the docking space, the picking unit 101 is above the cleaning robot 2. When the lifting unit 102 drives the picking unit 101 to move upward, the picking unit 101 drives the connecting rod 110 to move upward, thereby realizing the rotation of the above-mentioned operating member 120. When the wiping plate 22 is disassembled, the lifting unit 102 drives the picking unit 101 to move downward, and the picking unit 101 releases the driving effect on the connecting rod 110. The connecting rod 110 moves downward under the action of its own gravity, thereby realizing the release of the operating member 120.

[0067] The operating mechanism also includes an elastic member 130 connected to the operating member 120. When the operating member 120 moves from the avoidance position to the operating position, the elastic member 130 is deformed to drive the operating member 120 to move to the avoidance position and store energy. At the same time, when the operating member 120 moves from the operating position to the disassembly position, the elastic member 130 is also deformed to drive the operating member 120 to move to the avoidance position and store energy. After the connecting rod 110 releases the operating member 120, the elastic member 130 drives the operating member 120 to move to the avoidance position. That is, when the wiping plate 21 is not disassembled, the elastic member 130 always keeps the operating member 120 in the avoidance position, so that the cleaning robot 2 can smoothly dock to the docking space. At the same time, after the mop plate 21a is disassembled from the robot body 20, the operating member 120 moves to the avoidance position, which will not cause the subsequent replacement mechanism to interfere with the operation of the mop plate 21a, which will be described in detail later. The elastic member 120 may be a torsion spring sleeved on the rotating shaft 121, or a spring disposed between the operating member 120 and the housing 16 of the base station 1, etc., which is not specifically limited here. The present application takes the torsion spring 130 as an example for explanation.

[0068] It should be noted that two operating mechanisms can be provided, and along the front and rear directions of the cleaning robot 2, the two operating mechanisms are relatively arranged on both sides of the docking space, and the operating members 120 of the two operating mechanisms act on the wiping plate 120 at the same time under the action of the lifting unit 102, thereby improving the efficiency of disassembling the wiping plate 120.

[0069] Specifically, in one embodiment, the operating member 120 may be a lever 120', and the connecting rod 110 is configured to move under the drive of the lifting mechanism 10, and convert the displacement into the rotation of the lever 120' to contact the wiping plate 21 and provide a force for removing the mop plate 21a. Figure 4a When the cleaning robot 2 is docked in the docking space, the lifting mechanism of the embodiment of the present application performs the following actions to separate the mopping plate 21a from the robot body 20. First, the lifting unit 102 controls the picking unit 101 to move upward to Figure 4bThe P2 position shown, at the P2 position, the lifting unit 102 overlaps the upper end of the connecting rod 110 and drives the connecting rod 110 to move upward. The lower end of the connecting rod 110 is located at the bottom of the base station 1 and is connected to the lever 120'. When the connecting rod 110 is driven and produces an upward displacement, the torsion spring 130 located at the lower end of the connecting rod 110 is deformed and drives the lever 120' to rotate toward the mop plate 21a of the cleaning robot 2 to touch the mop plate 21a. By controlling the height of the upward movement of the lifting unit 102, the rotation stroke of the lever 120' can be adjusted to provide a force sufficient to peel the mop plate 21a from the robot body 20. In one embodiment, a position detection unit can be further provided to detect whether the picking unit 101 moves to a set height to determine whether to stop the action of removing the mop plate 21a. It can be understood that those skilled in the art can complete the position detection by known technical means, for example, by using an infrared sensing sensor or a distance detection sensor to achieve the position detection, which will not be described in detail in this application.

[0070] To explain the above more clearly Figure 4a-4b The process of removing the mop plate 21a shown in FIG. Figure 5 The schematic diagram shown in the figure is used to illustrate its operating principle. Figure 4a The viewing angle in the direction indicated by the arrow f shown in FIG. Figure 5 The positional relationship of the related structures on the base station 1. The base station 1 of the embodiment of the present application is provided with a lifting mechanism to realize the lifting along the Figure 5 The upward / downward movement is shown by the arrow in the figure. By constructing a linkage relationship between the pick-up unit 101 and the connecting rod 110, the upward movement of the pick-up unit 101 is converted into the rotation of the lever 120' at the bottom of the connecting rod 110 to remove the mop plate 21a. It can be understood that by setting the matching structure of the torsion spring 130 at the bottom of the connecting rod 110 and the lever 120', it is possible to avoid the space occupied by the cleaning robot 2 in the initial state, that is, it does not affect the movement of the cleaning robot 2 to the docking space; at the same time, by controlling the movement stroke of the pick-up unit 101 and the shape of the lever 120', it is possible to realize that the lever 120' rotates from the operating position to contact and push the mop plate 21a to separate from the robot body 20. Under the action of the driving force of the lever 120' and the gravity, the mop plate 21a falls to the placement slot below, and the action of removing the mop plate 21a is completed.

[0071] The operating mechanism of the embodiment of the present application is not limited to the above-mentioned implementation method. Those skilled in the art can realize the above-mentioned action of separating the mop plate from the robot body by the lifting mechanism, connecting rod and lever through other linkage structures. These contents should not be excluded from the contents disclosed in the embodiments of the present application. In addition, the form and position of the lifting mechanism, connecting rod and lever in the base station illustrated in the accompanying drawings should not be regarded as limiting the scope of protection of the present application, and other structures and forms made by those skilled in the art without creative labor should not be excluded from the contents disclosed in the embodiments of the present application.

[0072] The wiping plate on the cleaning robot of the embodiment of the present application is a detachable structure from the robot body. To facilitate disassembly, the detachable structure may be realized by magnetic attraction, or by a snap-on structure, or by a combination of the two methods. The present application does not constitute a limitation on the specific implementation method, and those skilled in the art may select the most suitable implementation method as needed.

[0073] Figure 6a-6c Another embodiment of the base station 1 disassembling the mop plate 21a of the cleaning robot 2 is shown. In this embodiment, a first mounting member 201 is provided on the robot body 20, and a second mounting member 211 is provided on the wiping plate 21. The first mounting member 201 and the second mounting member 211 are used to mount the wiping plate 21 on the robot body 20 through magnetic attraction. The operating mechanism includes a third mounting member 15. The magnetic attraction between the second mounting member 211 and the third mounting member 15 is greater than the magnetic attraction between the second mounting member 211 and the first mounting member 201, so as to separate the wiping plate 21 from the robot body 20. The first mounting member 201 and the second mounting member 211 can be magnetic members that cooperate with each other, or can be a magnetic member and an iron block that cooperate with each other through magnetic attraction. The third mounting member 15 can be an ferromagnet or an electromagnet.

[0074] In this example, the mop board 21a of the cleaning robot 2 is attracted to the robot body 20 through the first magnetic part 201 and the second magnetic part 211. After the cleaning robot 2 docks in the docking space of the base station 1, it controls its own mop board 21a adjustment structure (the above-mentioned lifting structure) to push the mop board 21a toward the placement slot of the base station 1. During this process, the base station 1 can be controlled to start the third magnetic part 15. By reasonably setting the magnetic force of the third magnetic part 15, the magnetic attraction force between the second magnetic part 211 on the mop board 21a and the third magnetic part 15 overcomes the magnetic attraction force between the first magnetic part 201 and the second magnetic part 211, thereby separating the mop board 21a from the mop board 21a adjustment structure and completing the disassembly of the mop board 21a. When the base station 1 completes the disassembly process of the mop board 21a through the third magnetic part 15, the robot body 20 will preferentially restore its own mop board 21a adjustment structure to the preset position (refer to Figure 6b), and then exit the base station 1. Thus, the picking unit 101 (see Figure 4a-4b The base station 1 may be provided with an electromagnetic structure as the third magnetic member 15, thereby flexibly controlling the working time and strength of the geomagnetic force, and completing the disassembly process of the mop board 21a in an efficient manner.

[0075] When the third magnetic member 15 is an electromagnet, when the mop plate 21a falls into the placement slot, the electromagnet is powered off and loses its force on the mop plate 21a, which also facilitates subsequent operation of the mop plate 21a to replace a new mop.

[0076] It is understandable that the placement slots in the above embodiments do not constitute a specific limitation on the structure of the base station. In this embodiment, the structures for receiving the mop board 21a removed from the cleaning robot 2 at the docking space of the base station are all feasible implementations. For example, in some embodiments of the base station, it is configured to directly carry the removed mop board 21a through the ground. In other embodiments of the docking station, the base station 1 is configured to carry the removed mop board 21a through a part of its bottom plane.

[0077] See also Figures 8a to 8f , another embodiment of the present application in which the base station 1 disassembles the mop plate 21a of the cleaning robot 2. In this embodiment, the mop plate 21a is detachably mounted on the robot body 20 through a mechanical buckle structure. Specifically, a locking assembly is provided between the mop plate 21a and the robot body 20. The locking assembly includes a receiving groove 31 provided on the mop plate 21a and a locking member 32 provided on the robot body 20. The locking member 32 cooperates with the receiving groove 31 to lock the mop plate 21a and the robot body 20. The locking member 32 is rotatably provided on the robot body 20, and a return member 33 is provided on the locking member 32 and the robot body 20. Under the action of the return member 33, the locking member 32 maintains a locked state in cooperation with the receiving groove 31 to ensure the locking stability between the mop plate 21a and the robot body 20, improve the working stability of the cleaning robot 2, and reduce the probability of the mop plate 21a hitting an obstacle and falling off. The return member 33 can be a torsion spring or other structure. The specific structure and locking principle of the locking assembly are prior art and will not be repeated here.

[0078] When an external force is applied to the end of the locking member 32 away from the receiving groove 31, so that the locking member 32 rotates, the locking member 32 and the receiving groove 31 are disengaged, the mop plate 21a falls under its own gravity, and the mop plate 21a is separated from the robot body 20. In the present application, the number of locking components provided is two groups, and the two groups of locking components are relatively arranged on both sides of the mop 21a to improve the connection stability between the mop plate 21a and the robot body 20.

[0079] The structure of the cleaning robot in this embodiment is basically the same as that in the first embodiment of the present application, except that the mop plate 21a is installed on the robot body 20. Similarly, there is an operating space above the mop plate 21a for the operation of the operating mechanism. In this embodiment, the operating space is formed to expose one end of the locking member 32 away from the receiving groove 31, so as to facilitate the operating mechanism to apply force on the locking member 32 to rotate the locking member 32, thereby unlocking the locking member 32 and the receiving groove 31, and separating the mop plate 21a from the robot body 20. Similarly, the operating space can be a gap 210 formed between the mop plate 21a and the robot body 20. The details are not repeated here. In this embodiment, the lifting mechanism drives the mop plate 21a to move downward to form the gap 210.

[0080] The operating mechanism includes an operating rod 41 and a power member 42 that drives the operating rod 41 to move. The power member 42 is a structure that provides power to a motor or a cylinder. The power member 42 drives the operating rod 41 to move along the front-rear direction of the robot body 20 to move between the operating position and the avoidance position. When the operating rod 41 is in the avoidance position, the cleaning robot 2 enters the station. When the power member 42 drives the operating rod 41 to move toward the operating position, the operating rod 41 acts on the locking member 32 to separate the wiping plate 21 from the robot body 20.

[0081] The end of the operating rod 41 away from the power member 42 is provided with a guide portion 411, which is an inclined surface, and the inclined surface is in the same direction as the inclined surface of the end of the locking member 32 away from the receiving groove 31, and the inclined surface and the inclined surface angle are also substantially the same as the inclined surface angle of the end of the locking member 32 away from the receiving groove 31. The setting of the guide portion 411 improves the smoothness of the rotation of the locking member 32 driven by the operating rod 41. The number of operating mechanisms provided can be the same as the number of locking assemblies, and one operating mechanism acts on the locking member 32 of one locking assembly to apply force to the locking member 32 to rotate and unlock it.

[0082] When the cleaning robot 2 needs to change the mop cloth, the cleaning robot 2 moves to the base station 1 and stops at the stop space. The power member 42 drives the operating rod 41 to move toward the cleaning robot 1, and the guide portion 411 of the power member 42 abuts against the locking member 32 (such as Figure 8c and 8dAs shown in the figure, the power member 42 continues to drive the operating rod 41 to move, and the main body of the operating rod 41 presses the locking member 32 to make the locking member 32 rotate, thereby unlocking the locking member 32 and the receiving groove 31, and the mop plate 21a is separated from the robot body 20 under the action of its own gravity. When the mop plate 21a is removed from the robot body 20, the power member 42 drives the operating rod 41 to retract and reset, which facilitates the subsequent replacement mechanism to replace the mop on the mop plate 21a, avoiding interference with the replacement mechanism, and also facilitates the subsequent operation of the cleaning robot 2 entering the station again to replace the mop, and also avoids interference with the cleaning robot 2 entering the station.

[0083] The base station of the above-mentioned embodiment provides a force to separate the wiping plate 21 from the robot body through the operating mechanism, thereby separating the wiping plate 21 from the robot body. In another embodiment, the operating mechanism may also be configured to be displaced relative to the bottom surface of the wiping plate 21 in the engaged state to contact the wiping plate 21 and provide a force to remove the wiping plate 21. For example, a retractable disassembly unit is provided in the bottom structure of the base station, and the disassembly unit has an extended state and a retracted state. In the extended state, the disassembly unit is displaced toward the bottom surface of the wiping plate 21 in the engaged state to contact the wiping plate 21, and is connected to the wiping plate 21 through the magnetic attraction or hook structure between the wiping plate 21, and the wiping plate 21 is pulled down from the robot body to the placement slot by retraction, and restored to a state separated from the wiping plate 21, thereby completing the action of removing the wiping plate 21.

[0084] In other embodiments, a negative pressure device may be provided on the base station, and when the cleaning robot is docked in the docking space, the negative pressure nozzle of the negative pressure device cooperates with the bottom of the wiping plate, and the wiping plate and the robot body are separated under the action of negative pressure. The negative pressure nozzle is provided in the placement groove, and the wiping plate moves downward under the action of the lifting mechanism to dock with the negative pressure nozzle, or the negative pressure nozzle can move up and down, and when the cleaning robot is docked in the docking space, the negative pressure nozzle moves upward to dock with the wiping plate, absorbs the wiping plate from the robot body, and then drives the wiping plate to move downward and reset, and then performs the subsequent replacement of the wiping member operation.

[0085] Through the above embodiments, the base station 1 of the embodiment of the present application is provided with a docking space for the cleaning robot 2, and the base station 1 is configured to automatically replace the wiping member 22 for the cleaning robot 2 docked in the docking space; the wiping member 22 is detachably mounted on the wiping plate 21 of the cleaning robot body 20, and the wiping plate 21 can be operated to be in a separated state from the robot body 20 and in an engaged state connected to the robot body 20. The base station 1 can separate the wiping plate 21 from the robot body 20 before replacing the wiping member 22, so as to replace the wiping member 22 on the wiping plate 21 in the separated state.

[0086] The wiping plate 21 of the cleaning robot 2 is separated from the robot body 20 and falls into the placement slot below. The replacement mechanism of the base station 1 replaces the wiping piece 22 with the wiping plate 21 in the separated state, and the replacement mechanism transfers the wiping plate 21 to the upper side to replace the new wiping piece 22. This setting reduces the footprint of the base station and improves the user experience.

[0087] Specifically, the lifting mechanism 10 is further configured to descend to pick up the wiping plate 21 in the separated state, and to drive the wiping plate 21 to ascend to replace the wiping member 22. That is, the lifting mechanism 10 realizes the function of driving the wiping plate 21 to move as a replacement mechanism. In order to enable the lifting mechanism 10 to pick up the wiping plate 21 in the placement slot after its picking unit 101 descends, after the wiping plate 21 is separated from the robot body 20, the robot body 20 exits the base station 1 to Figure 3 The position shown in the figure is shown, and the operating member 120 moves to the avoidance position. When the operating member 120 is in the avoidance position, the projection of the lifting mechanism 10 in the horizontal direction does not overlap, so as to avoid the robot body 20 and the operating member 120 from interfering with the picking unit 101 descending to pick up the wiping plate 21. The replacement mechanism and the operating mechanism of the present application share the same power output structure, that is, the lifting mechanism 10, which simplifies the structure of the base station 1, facilitates the layout of the base station 1, and reduces the size of the base station 2.

[0088] For example, the lifting unit 102 includes a lifting drive, a synchronous belt and a guide rail, the lifting drive drives the synchronous belt to lift in the height direction, and the guide rail extends in the height direction. It can be understood by those skilled in the art that the lifting unit is not limited to being implemented in a synchronous belt transmission structure, and the lifting unit 102 can also be other structures, such as a screw nut mechanism, as long as it can drive the pickup unit 102 to lift.

[0089] The pick-up unit 102 can be moved along the height direction to cooperate with the guide rail, and the pick-up unit 102 is connected to the synchronous belt, and the pick-up unit 102 will be driven to rise and fall during the lifting and lowering of the synchronous belt. The guide rail mainly plays a guiding role here to ensure the stability of lifting and lowering. Specifically, the pick-up unit 102 may include a pick-up part, and the pick-up part may be a clamping claw, through which the wiping plate 21 can be picked up. It can be understood that the pick-up part can also be a magnetic suction structure, and the pick-up part can absorb the wiping plate 21 by means of magnetic force. The pick-up part only needs to be able to pick up or release the wiping plate 21.

[0090] When the cleaning robot 2 is in the parking space, the picking unit 101 is above the cleaning robot 2. When the mop plate 21a is separated from the robot body 20 and the robot body 20 exits the base station 1, the lifting unit 102 can drive the picking unit 101 to continue to move downward to pick up the mop plate 21a in the placement slot. In the embodiment of the present application, after picking up the mop plate 21a, the picking unit 101 moves the mop plate 21a upward and continues to complete the action of replacing the new wiping member 22.

[0091] The following is the implementation content of replacing the wiping plate 21 in the separated state with a new wiping piece 22 in the base station of the embodiment of the present application. It should be noted that the new wiping piece 22 can be a reusable wiping piece 22 that meets the conditions or a brand new wiping piece 22.

[0092] In the embodiment of the present application, the lifting mechanism 10 is configured to descend to pick up the wiping plate 21 in a separated state, and drive the wiping plate 21 to rise to replace the wiping member 22. Driving the wiping plate 21 to rise to replace the wiping member 22 may include: driving the wiping plate 21 to move to a first preset position to remove the wiping member 22, and driving the wiping plate 21 to a second preset position to replace a new wiping member 22. In this embodiment, an attachment structure is provided between the mop plate 21a and the mop 22'.

[0093] For details, please refer to Figures 7a-7f A set of schematic diagrams showing a base station in an embodiment of the present application in which a wiping plate 21 in a separated state is replaced with a new wiping member 22 .

[0094] like Figure 7a-7e As shown, after the robot body 20 exits the base station 1, the picking unit 101 descends and moves to a position where it can be combined with the mop board 21a in the placement slot. After the mop board 21a is combined, the mop board 21a is brought to the first preset position to remove the used wiping member 22. Specifically, the replacement mechanism includes a peeling structure 111 provided inside the base station 1 for separating the wiping member 22 from the mop board 21a and a second storage bin 12 for storing unused wiping members. After the picking unit 101 brings the mop board 21a to the first preset position shown in the figure, the peeling structure 111 of the base station 1 moves to a position below the mop board 21a along the preset track 14. Thus, the picking unit 101 drives the mop board 21a to move relative to the peeling structure 111. During the movement, the used mop 22a attached to the mop board 21a contacts the peeling structure 111, and the used mop 22a is removed from the mop board 21a. The replacement mechanism may further include a first storage bin 11. After the used mop cloth 22a is removed, it can fall into the first storage bin 11 under the action of gravity for storage.

[0095] After the step of removing the used mop 22a is completed, the picking unit 101 drives the mop plate 21a to continue to rise to the second preset position under the drive of the lifting unit 102. Figure 7d As shown in , to replace the new mop cloth 22b.

[0096] Specifically, when the mop plate 21a moves to the second preset position, the second storage bin 12 of the base station 1 moves along the preset track 14 to the second preset position. Figure 7eThe second storage bin 12 stores a preset new mop cloth 22b. The mop plate 21a at the second preset position is driven by the pickup unit 101 to extend into the second storage bin 12 to contact and fit with the new mop cloth 22b, as shown in FIG. Figure 7f as shown in .

[0097] In other embodiments, it is also possible to transport the new wiping members 22 stored in the second storage bin 12 to the second preset position one by one, so that the mop plate 21a can directly fit with the new mop 22b at the second preset position.

[0098] When a new mop 22b is attached to the mop board 21a, the pick-up unit 101 drives the mop board 21a to rise to a height higher than the second storage bin 12, which may be the same height / position as the second preset position. At this time, the second storage bin 12 is controlled to move along the preset track 14 to Figure 7d The initial position shown in .

[0099] After the above process is completed, the picking unit 101 drives the mop board 21a to descend to release the mop board 21a, and the released mop board 21a has a new mop 22b and is re-placed in the placement slot. Therefore, the cleaning robot can enter the base station 1 again and dock in the docking space of the base station 1, and complete the installation of the mop board 21a.

[0100] In one embodiment, the adjusting structure of the cleaning robot 2 moves downward to contact the mop board 21a, and the mop board 21a with the new mop 22b is connected to the main body, completing the installation of the mop board 21a.

[0101] In other embodiments, an installation unit may be further provided at the bottom of the base station 1, and the installation unit may be displaced relative to the robot body 20 to connect the mop board 21a with a new mop 22b in the placement groove to the robot, thereby completing the installation of the mop board 21a.

[0102] Some implementation structures and operation logics involved in the process of replacing the wiping member 22 of the mop plate 21a in the separated state, which are not described in detail, can obtain necessary information from the aforementioned embodiments, and will not be further described in this embodiment.

[0103] It can be understood that the first preset position and the second preset position enable the mop board 21a to be adapted in height to the first storage bin 11 and the second storage bin 12, so that the aforementioned action of the picking unit 101 driving the mop board 21a to remove the used mop 22a can be completed. Those skilled in the art can select a suitable position based on the spatial structure of the base station 1.

[0104] In some other embodiments, the first preset position may be set to be the same as the second preset position. In one embodiment, the base station 1 may further include a detection device, the detection device is used to detect the position of the pickup unit 101 in the height direction, so as to control the displacement of the pickup unit 101 in the height direction according to the detected position. Specifically, the detection device may detect the distance between the clamping pickup unit 101 and the placement slot to control the position where the pickup unit 101 stays. The detection device may be a code disk, and the position of the pickup unit 101 relative to the placement slot may be obtained according to the rotation angle of the code disk.

[0105] The control unit of the base station is electrically connected to the detection device and receives the signal sent by the detection device to confirm the position of the pick-up unit 101. The control unit first controls the pick-up unit 101 to move to the first preset position. When the detection device detects that the pick-up unit 101 moves to the first preset position, it sends a corresponding signal to the control unit, and then controls the first storage bin 11 to move below the pick-up unit 101. At this time, the mop plate 21a is located above the first storage bin 11. The control unit controls the pick-up unit 101 to move downward, and the mop plate 21a extends into the first storage bin 11 and moves to the bottom of the stripping structure 111. The pick-up unit 101 is driven to move upward, and the separation hook of the stripping structure 111 pierces the mop on the mop plate 21a. The control unit controls the pick-up unit 101 to continue to rise, and the separation hook hooks the mop, so that the mop is separated from the mop plate 21a, and then the mop is torn off from the mop plate 21a, and the removed mop enters the first storage bin 11. The installation of the new mop cloth 22b is similar to the removal of the used mop cloth, and will not be described in detail here.

[0106] In the embodiment of the present application, at least one new wiping piece 22 is preset in the second storage bin 12. These new wiping pieces 22 can be stacked in the second storage bin 12. The mop plate 21a located at the second preset position is configured to automatically adjust the degree of extension into the second storage bin 12 to adapt to the stacking height of these new wiping pieces 22 under the drive of the picking unit 101, so as to maintain a stable attachment effect.

[0107] In order to achieve timely replacement of the wiping member 22 and avoid waste of resources caused by too high replacement frequency, the cleaning robot 2 also includes a replacement detection module for detecting the degree of use of the mop installed on the mop plate 21a. The control unit of the cleaning robot 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 2 to return to the base station 1 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 unit can also control the cleaning robot 2 to return to the base station 1 to replace the mop based on the identified use 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.

[0108] In one embodiment, the cleaning robot 2 includes a timing module, and the control unit 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 2 returns to the base station 1 to replace the mop. In another embodiment, the cleaning robot 2 may include a working area recording module, and the control unit 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 2 returns to the base station 1 to replace the mop. In another embodiment, the cleaning robot 2 may include a dirt sensor, and the control unit 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 unit controls the cleaning robot 2 to return to the base station 1 to replace the mop; when the detected cleanliness of the mop is greater than or equal to the preset threshold, the control unit controls the cleaning robot 2 to continue mopping. The dirt sensor can be installed below the robot body 20 or on the mop plate 21a, 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.

[0109] In this application, for ease of understanding, Figure 5 As shown, the top of the drawing is defined as the top, and the bottom of the drawing is defined as the bottom. The outward direction of the drawing is defined as the left side, and the inward direction of the drawing is defined as the right side. The above definitions are for illustration only and cannot be understood as limitations on this application.

[0110] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

[0111] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A base station, characterized in that: include: A docking space for a cleaning robot to dock, wherein the cleaning robot comprises a robot body and a wiping plate mounted on the robot body, and a wiping member is detachably mounted on the wiping plate; an operating mechanism, the operating mechanism being configured to act on the cleaning robot located in the parking space to separate the wiping plate from the robot body; A replacement mechanism is configured to act on at least one of the wiping plate and the wiping member separated from the robot body to replace the wiping member on the wiping plate.

2. The base station according to claim 1, characterized in that The operating mechanism includes an operating member and a driving structure, and the driving structure is configured to at least drive the operating member to move between an avoidance position and an operating position.

3. The base station according to claim 2, characterized in that When the operating member is in the avoidance position, it does not overlap with the docking space in the horizontal direction, and when the operating member is in the operating position, it at least partially overlaps with the docking space in the horizontal direction; or, when the operating member is in the avoidance position, the overlapping area with the docking space in the horizontal direction is smaller than the overlapping area with the docking space in the horizontal direction when the operating member is in the operating position.

4. The base station according to claim 2, characterized in that The operating mechanism further comprises an elastic member connected to the operating member. When the operating member moves from the avoidance position to the operating position, the elastic member is deformed to store energy for driving the operating member to return to the avoidance position.

5. The base station according to claim 2, characterized in that The driving structure is configured to at least drive the operating member to move in a vertical direction to drive the wiping plate to move downward, so as to separate the wiping plate from the robot body.

6. The base station according to claim 2, characterized in that When the operating member is in the operating position, the operating member acts on the connection structure between the wiping plate and the robot body to separate the wiping plate from the robot body.

7. The base station according to claim 2, characterized in that The replacement mechanism includes a lifting mechanism, a peeling structure for separating the wiping piece and the wiping plate, and a second storage bin for storing unused wiping pieces. The lifting mechanism is configured to drive the wiping plate separated from the robot body to move.

8. The base station according to claim 7, characterized in that: When the operating member is in the avoidance position, the projection of the operating member in the horizontal direction does not overlap with the projection of the lifting mechanism.

9. A robot system, characterized in that: It comprises a base station as described in any one of claims 2 to 8, and a cleaning robot, wherein the driving structure is also configured to at least drive the operating member to move between an operating position and a disassembly position, and a height of the operating member when in the operating position is greater than a height of the operating member when in the disassembly position.

10. The robot system according to claim 9, characterized in that: The wiping plate is installed below the robot body, and an operating space is provided above at least a portion of the wiping plate, and the operating space is configured to accommodate at least a portion of the operating member when the operating member is in the avoidance position.

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