Cleaning base station and cleaning system

Abstract

The utility model discloses a cleaning base station and a cleaning system, and belongs to the technical field of cleaning systems. The cleaning base station comprises a base station body and a driving mechanism installed on the base station body. The cloth changing mechanism is in transmission connection with the driving mechanism and can move relative to the base station body under the driving of the driving mechanism, so that the cloth changing mechanism can move among a changing position, an overturning position and a storage position; and the projections of the replacement position, the turnover position and the storage position on the bottom surface of the base station body are at least partially staggered. The cleaning equipment does not need to wait for the cleaning time of the dirty cleaning part, the overall cleaning time of the cleaning equipment can be shortened, and the user experience is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning systems, and in particular relates to a cleaning base station and a cleaning system. Background Art

[0002] With the development of science and technology and the accelerated pace of life, the use of cleaning equipment such as cleaning robots for environmental cleaning can not only improve cleaning efficiency but also achieve the purpose of freeing hands. Therefore, the cleaning equipment currently on the market is very popular among people.

[0003] Current cleaning equipment such as cleaning robots can automatically perform functions such as mopping, sweeping, and wiping, and cleaning equipment is usually equipped with a cleaning base station. The mop of the cleaning equipment can be cleaned and dried during the cleaning process, or after the cleaning equipment completes the cleaning work, it needs to return to the cleaning base station for charging and self-cleaning, for example: mop cleaning, mop drying and other operations.

[0004] If the cleaning equipment needs to clean the mop during the cleaning process, the cleaning equipment needs to return to the cleaning base station, and then execute the cleaning program to clean the mop. After the cleaning is completed, it will start again to clean the environment. However, cleaning the mop will take up the cleaning time of the cleaning equipment, resulting in an increase in the entire cleaning time. Utility Model Content

[0005] The present application aims to at least to some extent solve the technical problem of long cleaning time. To this end, the present application provides a cleaning base station and a cleaning system.

[0006] In a first aspect, an embodiment of the present application provides a cleaning base station capable of charging a cleaning device, the cleaning base station comprising:

[0007] A base station body and a driving mechanism installed on the base station body;

[0008] a cloth changing mechanism, which is in transmission connection with the driving mechanism and can move relative to the base station body under the drive of the driving mechanism, so that the cloth changing mechanism can move between a changing position, a flipping position and a storage position;

[0009] The projections of the replacement position, the flipping position and the storage position on the bottom surface of the base station body are at least partially staggered.

[0010] The cloth changing mechanism can be flipped relative to the base station body to replace the cleaning part of the cleaning device.

[0011] After the cleaning device has been cleaning for a period of time, the cleaning portion of the cleaning device becomes dirty. Continuing to clean may cause secondary contamination of the already cleaned surface. Therefore, the dirty cleaning portion needs to be cleaned, and the cleaning device returns to the cleaning base station, with the cleaning portion positioned in the placement position. The base station body can then remove the cleaning portion from the cleaning device. The drive mechanism can drive the cloth-changing mechanism to move to the placement position, secure the dirty cleaning portion, and flip the entire cloth-changing mechanism to place the clean cleaning portion in the placement position. This allows the cleaning device to obtain the clean cleaning portion, allowing the cleaning device to continue cleaning the surface without having to wait for the dirty cleaning portion to be cleaned. This can reduce the cleaning time of the cleaning device and improve the cleaning effect.

[0012] In an optional embodiment of the present application, when the cloth changing mechanism is located at the replacement position, the cloth changing mechanism can obtain the cleaning part replaced from the cleaning device from the base station body, or the cloth changing mechanism can place the cleaning part on the base station body;

[0013] When the cloth changing mechanism is located at the storage position, the cloth changing mechanism can be stored in the base station body.

[0014] In an optional embodiment of the present application, the storage position is located above the replacement position.

[0015] In an optional embodiment of the present application, the storage position and the projection of the position on the bottom surface of the base station body are at least partially offset.

[0016] In an optional embodiment of the present application, the storage position and the replacement position are respectively located on both sides of the cloth changing mechanism.

[0017] In an optional embodiment of the present application, the replacement position and the storage position are both set on the base station body.

[0018] In an optional embodiment of the present application, the cloth changing mechanism can be flipped at the flipping position to flip the cleaning part fixed to the cloth changing mechanism, so that the cleaning part can be switched between a storage state and a replacement state;

[0019] When the cleaning unit is in the storage state, the cleaning unit can be stored in the storage position;

[0020] When the cleaning unit is in the replacement state, the cleaning unit can be replaced with the cleaning device.

[0021] In an optional embodiment of the present application, the cleaning portion is located above the cloth changing mechanism in a storage state, and the cleaning portion is located below the cloth changing mechanism in a replacement state.

[0022] In an optional embodiment of the present application, the flipping position is located between the replacement position and the storage position.

[0023] In an optional embodiment of the present application, projections of the flipping position and the storage position on the bottom surface of the base station body are at least partially staggered.

[0024] In an optional embodiment of the present application, projections of the replacement position and the flipping position on the bottom surface of the base station body are at least partially staggered.

[0025] In an optional embodiment of the present application, the cloth changing mechanism includes a cloth changing drive member, a mounting portion and a plurality of fixed portions. The cloth changing drive member is transmission-connected to the mounting portion and can drive the fixed portion to rotate through the mounting portion to flip the cleaning portion fixed to the fixed portion.

[0026] In an optional embodiment of the present application, there are two fixing parts, and the two fixing parts are respectively located on two opposite sides of the mounting part.

[0027] In an optional embodiment of the present application, when one of the fixing parts is located above the other fixing part, the cleaning part of the fixing part located above is in a storage state, and the cleaning part of the fixing part located below is in a replacement state.

[0028] In an optional embodiment of the present application, the fixing portion is slidably connected to the mounting portion.

[0029] In an optional embodiment of the present application, the fixing portion can slide relative to the mounting portion, so that the fixing portion can cooperate with the cleaning portion in the base station body, or the cleaning portion in a replacement state can be placed in the base station body.

[0030] In an optional embodiment of the present application, the base station body has a cleaning slot, and the cleaning slot is configured as the replacement position.

[0031] In an optional embodiment of the present application, the base station body has a receiving slot, and the receiving slot is configured as the storage position.

[0032] In an optional embodiment of the present application, the cloth changing mechanism includes: a cloth changing drive and a fixing member, the fixing member is used to fix the cleaning part, the cloth changing drive is transmission-connected to the fixing member, and can drive the cleaning part to switch between a replacement state and a storage state through the fixing member.

[0033] In an optional embodiment of the present application, the cloth-changing driving member can drive the fixing member to rotate, so that the cleaning part can be switched between a replacement state and a storage state.

[0034] In an optional embodiment of the present application, the fixing member includes a mounting portion and a fixing portion, the fixing portion is mounted on the mounting portion, the fixing portion is used to fix the cleaning portion, and the mounting portion is transmission-connected to the cloth-changing drive member.

[0035] In an optional embodiment of the present application, the fixing portion is slidably connected to the mounting portion.

[0036] In an optional embodiment of the present application, there are multiple fixing parts, and the multiple fixing parts are respectively located on different sides of the mounting part.

[0037] In an optional embodiment of the present application, there are two fixing parts, and the two fixing parts are respectively located on two opposite sides of the mounting part.

[0038] In an optional embodiment of the present application, there are two fixing parts, and the two fixing parts are respectively located on two opposite sides of the mounting part, and both of the two fixing parts are slidably connected to the mounting part.

[0039] In an optional embodiment of the present application, the fixing member further includes a synchronization portion, and the synchronization portion can simultaneously drive the two fixing portions to slide relative to the mounting portion.

[0040] In an optional embodiment of the present application, the synchronization portion can drive the two fixed portions to move away from each other or towards each other.

[0041] In an optional embodiment of the present application, the synchronization part includes a synchronization gear and a rack, the synchronization gear is installed on the installation part, the rack is installed on the fixed part, and the synchronization gear is engaged with the gears of the two fixed parts.

[0042] In an optional embodiment of the present application, one of the fixing portion and the mounting portion is provided with a slide groove, and the other is provided with a slide rail, and the slide groove and the slide rail are slidably engaged.

[0043] In an optional embodiment of the present application, the fixing portion is provided with a locking portion that cooperates with the cleaning portion.

[0044] In an optional embodiment of the present application, the fixing portion is further provided with an overlapping portion that cooperates with the cleaning cloth.

[0045] In an optional embodiment of the present application, the driving mechanism includes a driver and a transmission arm, the driver is installed on the base station body, the transmission arm is transmission-connected to the driver, and is rotationally connected to the cloth-changing mechanism.

[0046] In an optional embodiment of the present application, the transmission arm includes a main arm and a secondary arm, the main arm transmission-connects the driver and the cloth-changing mechanism, and the secondary arm rotationally connects the base station body and the cloth-changing mechanism.

[0047] In an optional embodiment of the present application, there are two transmission arms, and the driving mechanism further includes a transmission shaft, which transmits and connects the two transmission arms and the driver.

[0048] In an optional embodiment of the present application, the cleaning base station further includes an unlocking mechanism, which is installed on the base station body and can separate or lock the cleaning part from the cleaning device and / or the cloth changing mechanism.

[0049] In an optional embodiment of the present application, the cloth changing mechanism is provided with a locking portion, the cleaning portion is provided with a stopper, and the unlocking mechanism can enable the stopper to cooperate with or separate from the locking portion.

[0050] In an optional embodiment of the present application, the unlocking mechanism includes an unlocking member and an unlocking drive member, the unlocking member is installed on the base station body, and the unlocking drive member can make the stop member cooperate with or separate from the locking part through the unlocking member.

[0051] In an optional embodiment of the present application, the unlocking drive member can drive the unlocking member to rotate relative to the base station body, so that the stop member moves relative to the mop, and then cooperates with or separates from the stop member.

[0052] In an optional embodiment of the present application, the unlocking part includes a connecting part, an unlocking part and a transmission part, the unlocking part and the transmission part are respectively located at both ends of the connecting part, the connecting part is rotatably connected to the base station body, and the transmission part is connected to the unlocking drive part.

[0053] In an optional embodiment of the present application, the unlocking mechanism further includes a reset member, which is connected between the unlocking member and the base station body. The reset member can work together with the unlocking drive member to enable the stop member to cooperate with the locking portion.

[0054] In an optional embodiment of the present application, the unlocking mechanism further includes a rotating shaft, the unlocking member is rotatably connected to the base station body via the rotating shaft, and the reset member is sleeved on the rotating shaft and abuts against the unlocking member.

[0055] In an optional embodiment of the present application, the unlocking drive member includes an unlocking drive portion and a connecting rope, and the connecting rope is wound around the unlocking drive portion and connected to the unlocking member.

[0056] In an optional embodiment of the present application, the cleaning portion includes a drag plate, a mop cloth and a stopper, and the mop cloth and the stopper are both installed on the drag plate.

[0057] In an optional embodiment of the present application, the drag plate is provided with a receiving cavity, and part of the stopper is installed in the receiving cavity.

[0058] In an optional embodiment of the present application, the stopper is movable within the accommodating cavity.

[0059] In an optional embodiment of the present application, the stop member includes a trigger portion, a stop portion and a transition portion, the trigger portion and the stop portion are both connected to the transition portion, the unlocking mechanism can act on the trigger portion, and the stop portion can cooperate with the cloth changing mechanism or cleaning equipment.

[0060] In an optional embodiment of the present application, the stopper further includes an elastic member, which is arranged between the transition portion and the drag plate and can provide elastic force for resetting the stopper.

[0061] In an optional embodiment of the present application, the driving mechanism can drive the cloth changing mechanism to reciprocate between the changing position and the storage position.

[0062] In an optional embodiment of the present application, the driving mechanism can drive the cloth changing mechanism to perform circular motion.

[0063] In a second aspect, an embodiment of the present application provides a cleaning system, comprising a cleaning device and the cleaning base station provided in the first aspect, wherein the cleaning device can be accommodated in the cleaning base station.

[0064] The beneficial effects of the cleaning system provided in the second aspect are the same as the beneficial effects of the cleaning base station provided in the first aspect, and will not be repeated here.

[0065] In an optional embodiment of the present application, the drag plate has a matching groove, and the stopper can be arranged at a notch of the matching groove to confine the locking portion within the matching groove.

[0066] In a third aspect, an embodiment of the present application provides a method for replacing a cleaning unit, which is applied to a cleaning base station, comprising:

[0067] Controlling the cloth changing mechanism to move to the changing position and pick up the dirty cleaning part, wherein the cloth changing mechanism is used to store a plurality of the cleaning parts and flip different cleaning parts, and the cleaning part is a component for processing the working surface;

[0068] Controlling the cloth changing mechanism to move to the flipping position, flipping the cloth changing mechanism so that the clean cleaning part flips downward;

[0069] The cloth changing mechanism is controlled to move to the changing position again, and the clean cleaning part is placed at the changing position.

[0070] The replacement method of the cleaning unit provided in the third aspect has the same beneficial effects as the cleaning base station provided in the first aspect, and will not be repeated here.

[0071] In an optional embodiment of the present application, before controlling the cloth changing mechanism to move to the changing position and picking up the dirty cleaning portion, the method further includes:

[0072] The cleaning portion is removed from the cleaning device.

[0073] In an optional embodiment of the present application, after the clean cleaning portion is placed in the replacement position, the method further includes:

[0074] The clean cleaning part is mounted on the cleaning device.

[0075] In an optional embodiment of the present application, the cleaning unit replacement method further includes:

[0076] The cloth changing mechanism places the clean cleaning part at the changing position and the cleaning base station triggers a control signal so that the cleaning device can return to the cleaning base station.

[0077] In an optional embodiment of the present application, after the step of the cleaning device obtaining the clean cleaning portion, the method further includes:

[0078] Controlling the cloth changing mechanism to place the dirty cleaning part into the cleaning tank;

[0079] In an optional embodiment of the present application, after the dirty cleaning portion is cleaned, the method further includes:

[0080] Controlling the cleaning base station to execute a cleaning procedure to process the dirty cleaning portion into a clean cleaning portion;

[0081] Controlling the cloth changing mechanism to move to a flipping position, and controlling the cloth changing mechanism to flip, so that the clean cleaning part is in a storage state;

[0082] The cloth changing mechanism is controlled to a storage position to store the clean cleaning part.

[0083] In a fourth aspect, an embodiment of the present application provides a cleaning unit replacement method, which is applied to a cleaning device. The cleaning unit replacement method includes:

[0084] When the cleaning part of the cleaning device reaches a replacement condition, controlling the cleaning device to return to the cleaning base station (100);

[0085] Removing the dirty cleaning part of the cleaning device, wherein the cleaning part is a component for processing the working surface;

[0086] Controlling the cleaning device to exit the cleaning base station;

[0087] In response to a control signal, controlling the cleaning device to return to the cleaning base station;

[0088] Get the clean cleaning part.

[0089] The cleaning part replacement method provided in the fourth aspect has the same beneficial effects as the cleaning part replacement method provided in the third aspect, and will not be described in detail here.

[0090] In an optional embodiment of the present application, the control signal indicates that the cleaning base station replaces the dirty cleaning part with a clean cleaning part.

[0091] In an optional embodiment of the present application, after obtaining the clean cleaning unit, the cleaning unit replacement method further includes:

[0092] The cleaning device exits the cleaning base station and performs a cleaning procedure.

[0093] In an optional embodiment of the present application, before the step of controlling the cleaning device to return to the cleaning base station, the cleaning unit replacement method further includes:

[0094] Obtaining whether the cleaning base station performs a cleaning program and / or a drying program;

[0095] If the cleaning base station does not perform the cleaning process and the drying process, the cleaning device is controlled to return to the cleaning base station.

[0096] In an optional embodiment of the present application, the cleaning unit replacement method further includes:

[0097] If the cleaning base station performs a cleaning process or a drying process, the cleaning device is controlled to wait until the cleaning process and the drying process are completed, and the cleaning device returns to the cleaning base station.

[0098] In an optional embodiment of the present application, the cleaning unit replacement method further includes:

[0099] Obtaining the working time of the cleaning equipment performing the cleaning procedure;

[0100] If the working time is greater than or equal to the preset time, it is determined that the cleaning part of the cleaning device meets the replacement condition.

[0101] In an optional embodiment of the present application, the cleaning unit replacement method further includes:

[0102] Obtaining the working record of the cleaning equipment;

[0103] If the working record of the cleaning device reaches a cleaning area, it is determined that the cleaning part of the cleaning device (300) has reached a replacement condition.

[0104] In an optional embodiment of the present application, the cleaning unit replacement method further includes:

[0105] Obtaining a degree of contamination of the cleaning equipment;

[0106] If the contamination level is greater than or equal to a set level, it is determined that the cleaning portion of the cleaning device has reached a replacement condition.

[0107] In a fifth aspect, an embodiment of the present application provides a cleaning unit replacement method, which is applied to a cleaning system, wherein the cleaning system includes a cleaning base station and a cleaning device, and the cleaning unit replacement method includes:

[0108] When the cleaning part of the cleaning device reaches a replacement condition, controlling the cleaning device to return to the cleaning base station;

[0109] Disassembling the dirty cleaning part of the cleaning device;

[0110] Controlling the cleaning device to exit the cleaning base station;

[0111] The cloth changing mechanism of the cleaning base station replaces the dirty cleaning part with a clean cleaning part and triggers a control signal;

[0112] The cleaning device returns to the cleaning base station in response to the control signal;

[0113] The cleaning device obtains the clean cleaning portion;

[0114] Control the cleaning device to exit the cleaning base station.

[0115] The cleaning part replacement method provided in the fifth aspect has the same beneficial effects as the cleaning part replacement method provided in the third aspect, and will not be repeated here.

[0116] In an optional embodiment of the present application, the control signal indicates that the cleaning base station replaces the dirty cleaning part with a clean cleaning part.

[0117] In an optional embodiment of the present application, the step of the cloth changing mechanism of the cleaning base station replacing the dirty cleaning part with a clean cleaning part includes:

[0118] Controlling the cloth changing mechanism to move to the changing position and picking up the dirty cleaning part; wherein the cloth changing mechanism is used to store a plurality of the cleaning parts and flip different cleaning parts, and the cleaning part is a component for processing the working surface;

[0119] Controlling the cloth changing mechanism to move to the flipping position, flipping the cloth changing mechanism so that the clean cleaning part flips to the replacement state;

[0120] The cloth changing mechanism is controlled to move to the changing position again, and the clean cleaning part is placed at the changing position.

[0121] In an optional embodiment of the present application, after controlling the cleaning device to exit the cleaning base station step, the cleaning unit replacement method further includes:

[0122] The cleaning device performs a cleaning procedure;

[0123] The cleaning base station performs a cleaning step.

[0124] In an optional embodiment of the present application, the cleaning procedure and the rinsing step are at least partially overlapped in time.

[0125] In an optional embodiment of the present application, the cleaning base station performs the cleaning step including:

[0126] Controlling the cloth changing mechanism to place the dirty cleaning part into the cleaning tank;

[0127] The cleaning base station is controlled to execute a washing process and / or a drying process to process the dirty cleaning portion into a clean cleaning portion.

[0128] In an optional embodiment of the present application, the cleaning base station performing the cleaning step further includes:

[0129] Controlling the cloth changing mechanism to move to a flipping position, and controlling the cloth changing mechanism to flip, so that the clean cleaning part is in a storage state;

[0130] The cloth changing mechanism is controlled to a storage position to store the clean cleaning part.

[0131] In an optional embodiment of the present application, the cleaning unit replacement method further includes:

[0132] Obtaining the working time of the cleaning equipment performing the cleaning procedure;

[0133] If the working time is greater than or equal to the preset time, it is determined that the cleaning part of the cleaning device meets the replacement condition.

[0134] In an optional embodiment of the present application, the cleaning unit replacement method further includes:

[0135] Obtaining the working record of the cleaning equipment;

[0136] If the working record of the cleaning device reaches a cleaning area, it is determined that the cleaning part of the cleaning device (300) has reached a replacement condition.

[0137] In an optional embodiment of the present application, the cleaning unit replacement method further includes:

[0138] Obtaining a degree of contamination of the cleaning equipment;

[0139] If the contamination level is greater than or equal to a set level, it is determined that the cleaning portion of the cleaning device has reached a replacement condition.

[0140] In an optional embodiment of the present application, before the step of controlling the cleaning device to return to the cleaning base station, the cleaning unit replacement method further includes:

[0141] Obtaining whether the cleaning base station performs a cleaning program and / or a drying program;

[0142] If the cleaning base station does not perform the cleaning process and the drying process, the cleaning device is controlled to return to the cleaning base station.

[0143] In an optional embodiment of the present application, the cleaning unit replacement method further includes:

[0144] If the cleaning base station performs a cleaning process or a drying process, the cleaning device is controlled to wait until the cleaning process and the drying process are completed, and the cleaning device returns to the cleaning base station.

[0145] In a sixth aspect, an embodiment of the present application provides a cleaning method for a cleaning unit, which is applied to a cleaning base station. The cleaning method for the cleaning unit includes:

[0146] Controlling the cloth changing mechanism to place the dirty cleaning part into the cleaning tank;

[0147] controlling the cleaning base station to execute a cleaning procedure to process the dirty cleaning portion into a clean cleaning portion;

[0148] In an optional embodiment of the present application, the cleaning method of the cleaning portion further includes:

[0149] Controlling the cloth changing mechanism to move to a flipping position, and controlling the cloth changing mechanism to flip, so that the clean cleaning part is in a storage state;

[0150] The cloth changing mechanism is controlled to a storage position to store the clean cleaning part.

[0151] The cleaning method of the cleaning part provided in the sixth aspect has the same beneficial effects as the cleaning base station provided in the first aspect, and will not be repeated here.

[0152] In the seventh aspect, the embodiments of the present application provide a computer-readable storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, it implements the methods described in the third aspect, the fourth aspect, the fifth aspect and the sixth aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0153] In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0154] Figure 1 A structural schematic diagram of a cleaning system provided in an embodiment of the present application from a first perspective is shown.

[0155] Figure 2 A schematic structural diagram of a cleaning base station provided in an embodiment of the present application is shown.

[0156] Figure 3 A structural schematic diagram of the cloth changing mechanism of the cleaning base station provided in an embodiment of the present application is shown in the storage position.

[0157] Figure 4 A structural schematic diagram of the cloth changing mechanism of the cleaning base station provided in an embodiment of the present application is shown in the changing position.

[0158] Figure 5 A cross-sectional view of a cleaning system provided by an embodiment of the present application is shown.

[0159] Figure 6 A structural schematic diagram of the cloth changing mechanism of the cleaning base station provided in an embodiment of the present application is shown in a flip position.

[0160] Figure 7 Shown Figure 6 A partial enlarged view of point B in the middle.

[0161] Figure 8 Shown Figure 3 A partial enlarged view of point A in the middle.

[0162] Figure 9 A schematic structural diagram of the fixing parts of the cloth changing mechanism of the cleaning base station provided in an embodiment of the present application is shown.

[0163] Figure 10 Shown Figure 9 A partial enlarged view of point D in the middle.

[0164] Figure 11 A cross-sectional view of a fixing component of a cloth changing mechanism of a cleaning base station provided in an embodiment of the present application is shown.

[0165] Figure 12 A schematic diagram showing a partial structure of a cleaning base station.

[0166] Figure 13 Shows a schematic structural diagram of the cleaning unit.

[0167] Figure 14 Shown Figure 9 A partial enlarged view of point C in the middle.

[0168] Figure 15 Shown Figure 13 A partial enlarged view of point F in the middle.

[0169] Figure 16 A schematic structural diagram of the stopping notch of the stopping portion of the cleaning portion is shown.

[0170] Figure 17 Shown Figure 16 A partial enlarged view of point H in the middle.

[0171] Figure 18 A schematic structural diagram of the opening of the notch of the stopper portion of the cleaning portion is shown.

[0172] Figure 19 Shown Figure 18 A partial enlarged view of point G in the middle.

[0173] Figure 20 Shown Figure 9 A partial enlargement of the middle part.

[0174] Figure 21 A schematic diagram showing a partial structure of a cleaning base station.

[0175] Figure 22 A schematic structural diagram of an unlocking component of an unlocking mechanism of a cleaning base station provided in an embodiment of the application is shown.

[0176] Figure 23 Shown Figure 21 A local enlarged view of point K in the middle.

[0177] Figure 24 A structural schematic diagram of a cleaning system provided in an embodiment of the present application from a second perspective is shown.

[0178] Figure 25 A flow chart of a cleaning unit replacement method for a cleaning base station provided in an embodiment of the present application is shown.

[0179] Figure 26 A flow chart of a cleaning method for a cleaning portion provided in an embodiment of the present application is shown.

[0180] Figure 27 A flow chart of a cleaning part replacement method for a cleaning device provided in an embodiment of the present application is shown.

[0181] Figure 28 A flowchart of steps S31a and S31b of a cleaning part replacement method for a cleaning device provided in an embodiment of the present application is shown.

[0182] Figure 29 A flowchart of steps S31c and S31d of a cleaning part replacement method for a cleaning device provided in an embodiment of the present application is shown.

[0183] Figure 30 A flowchart of steps S31e and S31f of a cleaning part replacement method for a cleaning device provided in an embodiment of the present application is shown.

[0184] Figure 31 A flow chart of a cleaning part replacement method applied to a cleaning system provided in an embodiment of the present application is shown.

[0185] Figure 32 A flowchart of steps S41a and S41b of a cleaning part replacement method applied to a cleaning system provided in an embodiment of the present application is shown.

[0186] Figure 33 A flowchart of step S41c and step S41d of the cleaning part replacement method applied to the cleaning system provided in an embodiment of the present application is shown.

[0187] Figure 34 A flowchart of steps S41e and S41f of a cleaning part replacement method applied to a cleaning system provided in an embodiment of the present application is shown.

[0188] Figure 35 A flowchart of the sub-steps of step S45 of the cleaning part replacement method applied to the cleaning system provided in an embodiment of the present application is shown.

[0189] Figure 36A flowchart of the sub-steps of step S49 of the cleaning part replacement method for a cleaning system provided in an embodiment of the present application is shown. Reference numerals: 10-cleaning system, 100-cleaning base station, 110-base station body, 112-cleaning tank, 114-accommodating tank, 120-cloth changing mechanism, 122-cloth changing drive member, 124-fixing member, 126-mounting portion, 126a-transmission hole, 126b-slide rail, 128-fixing portion, 128b-slide groove, 128c-locking portion, 128d-lap joint, 129-synchronizing portion, 129b-synchronizing gear, 129c-rack, 130-driving mechanism, 132-driver, 134-transmission arm, 134a-main arm, 134b-auxiliary arm, 134c- -Transfer arm, 136-transmission shaft, 140-unlocking mechanism, 142-unlocking member, 142a-connecting part, 142b-unlocking part, 142c-transmission part, 143-unlocking driving member, 143a-unlocking driving part, 143b-connecting rope, 145-resetting member, 146-rotating shaft, 200-cleaning part, 210-stop member, 212-trigger part, 213-stop part, 214-transition part, 230-drag plate, 231-matching groove, 232-slot, 234-accommodating chamber, 235-overlap groove, 240-mop, 240-elastic member, 300-cleaning equipment. DETAILED DESCRIPTION

[0190] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0191] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0192] In this utility model, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0193] In addition, in this utility model, the descriptions of "first" and "second" are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this utility model.

[0194] With the development of science and technology and the accelerated pace of life, the use of cleaning equipment such as cleaning robots for environmental cleaning can not only improve cleaning efficiency but also achieve the purpose of freeing hands. Therefore, the cleaning equipment currently on the market is very popular among people.

[0195] Current cleaning equipment such as cleaning robots can automatically perform functions such as mopping, sweeping, and wiping, and are usually equipped with a cleaning base station. The mop of the cleaning equipment can be cleaned and dried during the cleaning process, or after the cleaning equipment completes the cleaning work, it needs to return to the cleaning base station for charging and self-cleaning, for example: mop cleaning, mop drying and other operations.

[0196] If the cleaning device needs to clean the mop during the cleaning process, the cleaning device needs to return to the cleaning base station, then execute the cleaning program to clean the mop, and then start again to clean the environment after the cleaning is completed. However, cleaning the mop will take up the cleaning time of the cleaning device, resulting in an increase in the overall cleaning time. The cleaning base station and cleaning system provided by the embodiments of the present application can improve the above problem. The cleaning base station and cleaning system provided by the embodiments of the present application can replace the mop while the cleaning device is cleaning the environment. When the mop of the cleaning device needs to be cleaned, it can return to the cleaning base station to replace the mop. The time for replacing the mop is greatly reduced compared to the time for cleaning the mop, and there is no need to wait for the time to clean the mop, thereby improving the cleaning efficiency of the cleaning device.

[0197] The present application is described below with reference to specific embodiments and with reference to the accompanying drawings:

[0198] See also Figure 1 and Figure 2 , Figure 1 Schematic diagram of the structure of the cleaning device 300 provided in an embodiment of the present application is shown. Figure 2The structure of the cleaning base station 100 provided in an embodiment of the present application is shown. The embodiment of the present application provides a cleaning base station 100, which is applied to a cleaning system 10. The cleaning base station 100 provided in the embodiment of the present application is mainly used to accommodate a cleaning device 300 and can charge the cleaning device 300. The cleaning base station 100 provided in the embodiment of the present application can eliminate the need for the cleaning device 300 to wait for the dirty cleaning part 200 to be cleaned, thereby reducing the cleaning time of the cleaning device 300 and improving the cleaning effect.

[0199] In an embodiment of the present application, the cleaning base station 100 includes: a cloth changing mechanism 120, a base station body 110 and a driving mechanism 130 installed on the base station body 110. The cloth changing mechanism 120 is transmission-connected to the driving mechanism 130 and can move relative to the base station body 110 under the drive of the driving mechanism 130, so that the cloth changing mechanism 120 can move between a changing position, a flipping position and a storage position; wherein, the projections of the changing position, the flipping position and the storage position on the bottom surface of the base station body 110 are at least partially staggered.

[0200] The base station body 110 is the main structure of the entire cleaning base station 100 and the foundation of the entire cleaning base station 100. It can provide an installation basis for other structures of the cleaning base station 100, such as the cleaning module and drying module. The driving mechanism 130 and the cloth changing mechanism 120 are both installed in the base station body 110. The cloth changing mechanism 120 can move relative to the base station body 110 under the drive of the driving mechanism 130.

[0201] The driving mechanism 130 can drive the cloth changing mechanism 120 to move relative to the base station body 110. It can drive the cloth changing mechanism 120 to move relative to the base station body 110, or it can drive the cloth changing mechanism 120 to rotate relative to the base station body 110. It can also drive the cloth changing mechanism 120 to move during the rotation process. In addition, it can also be other modes of movement that can change the relative position between the cloth changing mechanism 120 and the base station body 110.

[0202] Among them, the replacement position, the flipping position, and the storage position are three different positions of the cloth-changing mechanism 120 relative to the base station body 110. The driving mechanism 130 can drive the cloth-changing mechanism 120 to move between the replacement position, the flipping position, and the storage position. The driving mechanism 130 can drive the cloth-changing mechanism 120 to move from the replacement position to the flipping position, or the driving mechanism 130 can drive the cloth-changing mechanism 120 to move from the replacement position to the storage position. The driving mechanism 130 can also drive the cloth-changing mechanism 120 to move from the flipping position to the storage position, or the driving mechanism 130 can drive the cloth-changing mechanism 120 from the flipping position to the replacement position. The driving mechanism 130 can also drive the cloth-changing mechanism 120 from the storage position to the flipping position, or the driving mechanism 130 can drive the cloth-changing mechanism 120 from the storage position to the replacement position.

[0203] The projections of the replacement position, flip position, and storage position on the bottom surface of the base station body 110 are at least partially offset. The projection direction can be along the height direction of the base station body 110 or at a certain angle to the height direction. In this application, the projection direction is used as the height direction for example.

[0204] The base station body 110 is arranged substantially vertically, and the height direction of the base station body 110 is substantially along the vertical direction. In the height direction of the base station body 110, the projections of the replacement position, the flip position, and the storage position on the bottom surface of the base station body 110 are partially offset, which means that at least one of the replacement position, the flip position, and the storage position is at least partially offset from the projections of the other two positions on the bottom surface of the base station body 110.

[0205] The projection of the replacement position and the storage position along the height direction on the bottom surface of the base station body 110 may be that the projection of the flipping position along the height direction on the bottom surface of the base station body 110 and the projection of the replacement position and the storage position along the height direction on the bottom surface of the base station body 110 are at least partially offset.

[0206] The projection of the replacement position and the flipping position along the height direction on the bottom surface of the base station body 110 may be arranged at least partially offset from the projection of the replacement position and the flipping position along the height direction on the bottom surface of the base station body 110.

[0207] The projection of the storage position and the flip position along the height direction on the bottom surface of the base station body 110 may be that the projection of the replacement position along the height direction on the bottom surface of the base station body 110 and the projection of the position and the flip position along the height direction on the bottom surface of the base station body 110 are at least partially offset.

[0208] Alternatively, any two of the three positions, namely, the storage position, the replacement position, and the flipping position, may be at least partially staggered in the projection of the base station body 110 in the height direction.

[0209] At least partially staggered means that the positions can be completely staggered, partially staggered, or partially overlapped. This is described by taking the projections of the replacement position and the flip position along the height direction on the bottom surface of the base station body 110 as an example where the projections are at least partially staggered.

[0210] The projections of the replacement position and the flip position along the height direction on the bottom surface of the base station body 110 at least partially overlap, which means that the projections of the replacement position and the flip position along the height direction on the bottom surface of the base station body 110 can be completely staggered, or partially overlapped and partially staggered.

[0211] Among them, along the height direction of the base station body 110, the projections of the replacement position, flip position and storage position on the bottom surface of the base station body 110 are at least partially staggered, indicating that the replacement position, flip position and storage position are three different positions of the cloth changing mechanism 120 relative to the base station body 110, so that the cloth changing mechanism 120 has a certain amount of activity space in the horizontal direction, and does not occupy the space above the replacement position as much as possible, leaving the space above the replacement position for other components, so that the structure of the entire cleaning base station 100 is more compact, and the cleaning base station 100 can be made more miniaturized. Specifically, for the convenience of description, a dirty cleaning part 200 and a clean cleaning part 200 are defined respectively, wherein the dirty cleaning part 200 is the cleaning part 200 after cleaning, and the clean cleaning part 200 is the cleaning part 200 after cleaning or unused. It should be noted that the clean cleaning part 200 and the dirty cleaning part 200 have the same structure, and the difference lies in the different levels of cleanliness.

[0212] After the cleaning device 300 has been cleaning for a period of time, the cleaning section 200 of the cleaning device 300 becomes dirty. Continuing to clean may cause secondary contamination of the already cleaned surface. Therefore, the dirty cleaning section 200 needs to be cleaned. The cleaning device 300 returns to the cleaning base station 100, and the cleaning section 200 is positioned at the placement position. The base station body 110 can remove the cleaning section 200 from the cleaning device 300. The driving mechanism 130 can drive the cloth changing mechanism 120 to move to the placement position. After fixing the dirty cleaning section 200, the entire cloth changing mechanism 120 is flipped over, thereby placing the clean cleaning section 200 at the placement position. This allows the cleaning device 300 to obtain the clean cleaning section 200, and the cleaning device 300 can continue to clean the surface without having to wait for the dirty cleaning section 200 to be cleaned. This can reduce the cleaning time of the cleaning device 300 and improve cleaning efficiency.

[0213] See also Figure 3 and Figure 4 , Figure 3 1 shows a schematic structural diagram of the cloth changing mechanism 120 of the cleaning base station 100 provided in an embodiment of the present application in the storage position. Figure 4 Schematic diagram showing the structure of the cloth changing mechanism 120 of the cleaning base station 100 provided in an embodiment of the present application in the changing position. In some embodiments, the driving mechanism 130 can drive the cloth changing mechanism 120 to move between the changing position and the storage position.

[0214] When the cloth changing mechanism 120 is in the replacement position, the cloth changing mechanism 120 can obtain the cleaning part 200 replaced from the cleaning equipment 300 from the base station body 110 or place the cleaning part 200 on the base station body 110; when the cloth changing mechanism 120 is in the storage position, the cloth changing mechanism 120 can be stored in the base station body 110.

[0215] The replacement position and the storage position refer to the position of the cloth changing mechanism 120 relative to the base station body 110. The replacement position and the storage position are two different positions of the cloth changing mechanism 120 relative to the base station body 110. When the cleaning section 200 is not replaced or cleaned, the cloth changing mechanism 120 is basically located in the storage position, that is, the storage position is the normal position of the cloth changing mechanism 120. When the cleaning section 200 of the cleaning device 300 needs to be replaced, the cloth changing mechanism 120 moves to the replacement position, removes the dirty cleaning section 200, and places the clean cleaning section 200 in the replacement position, so that the cleaning device 300 can use the clean cleaning section 200.

[0216] In some embodiments, the storage position is located above the replacement position.

[0217] In the related art, the cleaning section 200 of the cleaning device 300 is roughly located below the cleaning device 300, so that the cleaning device 300 can easily clean the floor. Therefore, in order to facilitate the cleaning of the cleaning section 200, the replacement position in the base station body 110 is roughly located below the base station body 110. Since the bottom of the base station body 110 is relatively thin and other cleaning equipment needs to be installed, there is basically no space below to place the cloth changing mechanism 120. Therefore, the cloth changing mechanism 120 can be set above the replacement position. When the cloth changing mechanism 120 is set directly above the replacement position and the distance is relatively close, interference is likely to occur during the process of the cleaning device 300 returning to the cleaning base station 100. Therefore, during the process of the cleaning device 300 returning to the cleaning base station 100, the driving mechanism 130 can drive the cloth changing mechanism 120 to move to other positions, so that the cleaning device 300 can smoothly return to the cleaning base station 100.

[0218] That is to say, the entire cloth changing mechanism 120 is placed above the replacement position and can move between the storage position and the replacement position. The storage position is set above the replacement position, so that the entire cloth changing mechanism 120 can be located above the base station body 110 under normal circumstances, and can avoid the cleaning equipment 300, and try to avoid interference between the cloth changing mechanism 120 and the cleaning equipment 300 during the process of the cleaning equipment 300 returning to the cleaning base station 100.

[0219] In some embodiments, projections of the storage position and the replacement position on the bottom surface of the base station body 110 are at least partially offset.

[0220] The base station body 110 is generally vertically arranged. Along the height of the base station body 110, which is generally along the vertical direction, the projections of the storage position and the replacement position on the base station bottom surface are at least partially offset. That is, horizontally, the replacement position and the storage position are offset, allowing the cloth changing mechanism 120 sufficient horizontal space to move, minimizing the space above the replacement position, leaving it available for other components.

[0221] In addition, the projections of the storage position and the replacement position on the bottom surface of the base station body 110 are at least partially staggered. The projections of the storage position and the replacement position may be completely staggered, partially staggered, or partially overlapped.

[0222] From the perspective of the direction in which the cleaning device 300 moves out of the base station body 110 , the storage position is located in front of the replacement position, that is, the replacement position may be located at the rear lower part of the base station body 110 , and the storage position may be located at the front upper part of the base station body 110 .

[0223] In some embodiments, the replacement position and the storage position are both set on the base station body 110, which means that the replacement position and the storage position are two fixed positions. Under the drive of the driving mechanism 130, the cloth changing mechanism 120 can move from the replacement position to the storage position, and can move from the storage position to the replacement position.

[0224] Since the replacement position and the storage position are two fixed positions, the driving mechanism 130 can control the movement of the driving mechanism 130 according to the distance between the replacement position and the storage position during the process of driving the cloth changing mechanism 120 to move, so that the driving mechanism 130 can accurately control the movement of the cloth changing mechanism 120 and improve the stability of the cloth changing mechanism 120 during the movement.

[0225] Specifically, if the drive mechanism 130 drives the cloth-changing mechanism 120 to rotate, allowing the cloth-changing mechanism 120 to move between the changing position and the storage position, since the changing position and the storage position are relatively fixed, that is, the distance between the changing position and the storage position is constant, the travel of the drive mechanism 130 can be set according to the distance between the changing position and the storage position. When the drive mechanism 130 moves through the preset travel distance, it can be determined that the cloth-changing mechanism 120 has moved from the storage position to the changing position, or from the changing position to the storage position.

[0226] Of course, in addition to this, a detection switch can also be set at the replacement position and the storage position. When the detection switch detects the arrival signal of the cloth changing mechanism 120, it can be determined that the cloth changing mechanism 120 moves to the replacement position or the storage position.

[0227] See also Figure 5 , Figure 5 A cross-sectional view of a cleaning system 10 provided in an embodiment of the present application is shown. In some embodiments, a base station body 110 has a cleaning tank 112 , and the cleaning tank 112 is configured to change positions.

[0228] Among them, the cleaning tank 112 is mainly used to clean the cleaning part 200 of the cleaning device 300, that is, the cleaning tank 112 is provided in the base station body 110. The cleaning tank 112 is configured as a replacement position. After the cleaning device 300 returns to the inside of the cleaning base station 100, the cleaning part 200 is roughly located above or inside the cleaning tank 112. When the cleaning part 200 is removed from the cleaning device 300, the cleaning device 300 moves out of the base station body 110, and the cloth changing mechanism 120 can move to the cleaning tank 11 (i.e., the replacement position), fix the cleaning part 200, and then remove the cleaning part 200 removed from the cleaning device 300.

[0229] The cleaning tank 112 is configured as a replacement position, and the existing structure can be used as the replacement position. When the cleaning part 200 is removed from the cleaning equipment 300, there is no need to move the cleaning part 200 to another position. The cloth changing mechanism 120 can be moved directly to the cleaning tank 112 (i.e., the replacement position). After fixing the cleaning part 200, the cleaning part 200 removed from the cleaning equipment 300 is removed. The operation is simple and quick.

[0230] Since the existing cleaning tank 112 is used, no other structure is required as a replacement position, which can reduce the number of components in the base station body 110 and make the structure of the entire cleaning base station 100 more compact, minimizing the increase in the volume of the cleaning base station 100.

[0231] In some embodiments, the base station body 110 has a receiving slot 114 , which is configured as a storage position.

[0232] The receiving groove 114 is disposed above the cleaning body, with the opening of the receiving groove 114 facing downward, so that the cloth changing mechanism 120 can be accommodated in the receiving groove 114. When the cloth changing mechanism 120 is in the accommodation position, in most cases the cleaning portion 200 on the cloth changing mechanism 120 is a clean cleaning portion 200. Placing the entire cloth changing mechanism 120 in the receiving groove 114 can also provide a certain degree of protection for the clean cleaning portion 200, thereby minimizing contamination of the clean cleaning portion 200 by other impurities, thereby improving the cleaning effect of the cleaning device 300.

[0233] The opening of the accommodating groove 114 is set downward, and the opening of the cleaning groove 112 is set upward. It can be considered that in the vertical direction, the accommodating groove 114 and the cleaning groove 112 are relatively arranged, so that the cloth changing mechanism 120 does not need to cross the changing position and move to the bottom of the changing position when moving to the changing position, and does not need to cross the storage position and move to the top of the storage position when moving to the storage position. The cloth changing mechanism 120 only needs to move between the storage position and the changing position, so that the driving mechanism 130 drives the cloth changing mechanism 120 to maintain a motion trajectory, which can reduce the driving difficulty of the driving mechanism 130.

[0234] In some embodiments, the storage position and the replacement position are located on both sides of the cloth changing mechanism 120 respectively.

[0235] The cloth changing mechanism 120 is arranged between the storage position and the replacement position, so that the cloth changing mechanism 120 can move between the storage position and the replacement position under the drive of the driving mechanism 130. The storage position and the replacement position are respectively located on both sides of the cloth changing mechanism 120, so that the cloth changing mechanism 120 can move back and forth between the storage position and the replacement position, that is, the trajectory of the cloth changing mechanism 120 moving from the storage position to the replacement position and the trajectory from the replacement position to the storage position are roughly the same, so that the driving mechanism 130 can drive the cloth changing mechanism 120 to perform the replacement or storage action in the same driving mode.

[0236] The above introduces the replacement position and storage position of the cloth changing mechanism 120. The following will introduce how the cloth changing mechanism 120 replaces the cleaning part 200, that is, how to replace the dirty cleaning part 200 with a clean cleaning part 200, in combination with the specific structure and flipping position of the cloth changing mechanism 120.

[0237] See also Figure 6 , Figure 6A structural schematic diagram of the cloth changing mechanism 120 of the cleaning base station 100 provided in an embodiment of the present application is shown in the flipping position. In some embodiments, the cloth changing mechanism 120 can be flipped in the flipping position to flip the cleaning section 200 fixed to the cloth changing mechanism 120, so that the cleaning section 200 can switch between a storage state and a replacement state; when the cleaning section 200 is in the storage state, the cleaning section 200 can be stored in the storage position; when the cleaning section 200 is in the replacement state, the cleaning section 200 can be replaced with the cleaning device 300.

[0238] The cloth-changing mechanism 120 can fix the cleaning unit 200. The cleaning unit 200 is located on the cloth-changing mechanism 120 and has a replacement state and a storage state. When the cleaning unit 200 is in the replacement state, the cloth-changing mechanism 120 can place the cleaning unit 200 in the replacement position. When the cleaning unit 200 is in the storage state, the cleaning unit 200 can be stored in the base station body 110.

[0239] It should be noted that, in some embodiments, the replacement state of the cleaning unit 200 refers to the position of the cleaning unit 200 on the cloth changing mechanism 120, and the replacement position refers to the position of the cloth changing mechanism 120 on the base station body 110. When the cleaning unit 200 is in the replacement state on the cloth changing mechanism 120, the cloth changing mechanism 120 can be driven by the driving mechanism 130 to place the cloth changing mechanism 120 at the replacement position on the base station body 110.

[0240] Similarly, in some embodiments, the storage state of the cleaning unit 200 refers to the position of the cleaning unit 200 on the cloth changing mechanism 120, and the storage position refers to the position of the cloth changing mechanism 120 on the base station body 110. When the cleaning unit 200 is in the storage state on the cloth changing mechanism 120, the cloth changing mechanism 120 can be driven by the driving mechanism 130 to place the cloth changing mechanism 120 in the storage position on the base station body 110.

[0241] The cloth changing mechanism 120 can be flipped relative to the base station body 110. Flipping means that the cloth changing mechanism 120 can rotate relative to the base station body 110, so that the cleaning section 200 can be flipped from the replacement state to the storage state, or from the storage state to the replacement state, and then the cleaning section 200 removed from the cleaning device 300 can be replaced, and the clean cleaning section 200 can be replaced on the cleaning device 300.

[0242] The cloth changing mechanism 120 has two motion states. One is that the driving mechanism 130 drives the cloth changing mechanism 120 to move relative to the base station body 110, and can move from the replacement position to the storage position, or can move from the storage position to the replacement position, that is, can move between the storage position and the replacement position. The driving mechanism 120 drives the cloth changing mechanism 120 to move relative to the base station body 110, so that the position of the cloth changing mechanism 120 relative to the base station body 110 changes. For ease of understanding, it can be considered that the movement of the cloth changing mechanism 120 driven by the driving mechanism 130 relative to the base station body 110 is understood as the revolution of the cloth changing mechanism 120, that is, the revolution refers to the change in the position of the cloth changing mechanism 120 relative to the base station body 110.

[0243] In addition, the cloth-changing mechanism 120 itself can rotate, i.e., flip. This flipping of the cloth-changing mechanism 120 refers to the cloth-changing mechanism 120 flipping itself from a fixed position. This means the cloth-changing mechanism 120 can flip at the changing position, the storage position, or any of the two positions. In other words, when the cloth-changing mechanism 120 flips, the position of the cloth-changing mechanism 120 relative to the base station body 110 remains essentially unchanged. The flipping is simply the rotation of the cloth-changing mechanism 120 itself, meaning that flipping can be understood as the self-rotation of the cloth-changing mechanism 120.

[0244] That is, the cloth changing mechanism 120 can both revolve relative to the base station body 110 (the driving mechanism 130 drives the cloth changing mechanism 120 to move), and can also rotate (flip) relative to the base station body 110 .

[0245] The cleaning unit 200 being in the storage state means that the cleaning unit 200 can be stored in the storage position. Since the storage position is above the replacement position, when the cleaning unit 200 is in the storage state, the cleaning unit 200 is located above the cloth changing mechanism 120. The cleaning unit 200 being in the replacement state means that the cloth changing mechanism 120 can place the cleaning unit 200 in the replacement position. Since the replacement position is located below, when the cleaning unit 200 is in the replacement position, the cleaning unit 200 is also located below the cloth changing mechanism 120.

[0246] When the cloth changing mechanism 120 needs to replace the cleaning section 200, a clean cleaning section 200 can be fixed on the cloth changing mechanism 120 first. After the cloth changing mechanism 120 obtains the dirty cleaning section 200 replaced from the cleaning device 300, the clean cleaning section 200 and the dirty cleaning section 200 can be swapped by flipping. That is, the clean cleaning section 200 can be placed in a replacement state (located below the cloth changing mechanism 120), and then the clean cleaning section 200 can be placed in the replacement position, so that the cleaning device 300 can obtain the clean cleaning section 200 and continue cleaning.

[0247] In some embodiments, the flip position is located between the replacement position and the storage position.

[0248] When the cleaning section 200 needs to be replaced, the cloth changing mechanism 120 first moves to the replacement position, first obtains the dirty cleaning section 200 replaced from the cleaning device 300, then moves to the flipping position, flips the entire cloth changing mechanism 120, so that the clean cleaning section 200 and the dirty cleaning section 200 are swapped, and the cloth changing mechanism 120 moves to the replacement position again, placing the clean cleaning section 200 in the replacement position so that the cleaning device 300 can obtain the clean cleaning section 200. Setting the flipping position between the replacement position and the storage position can reduce the travel of the cloth changing mechanism 120 during the replacement of the cleaning section 200, thereby reducing the replacement time of the cloth changing mechanism 120.

[0249] It should be noted that the flip position is any position between the replacement position and the storage position, that is, the flip position may be a fixed position or may not be a fixed position.

[0250] The fixed flipping position means that the cloth changing mechanism 120 always flips at a specified position. Because the changing position and the storage position are offset both vertically and horizontally, the movement trajectory of the cloth changing mechanism 120 when the drive mechanism 130 drives the cloth changing mechanism 120 between the changing position and the storage position is roughly a circular arc. The fixed flipping position means that the cloth changing mechanism 120 always flips at a specified angle.

[0251] The flipping position may not be a fixed position and may be adjusted according to the replacement situation or the state of the cleaning unit 200 .

[0252] For example, the cleaning unit 200 may absorb some water stains during the cleaning process, thereby increasing the weight of the cleaning unit 200. Due to the different weights of the cleaning unit 200, the flipping force caused by gravity when the cleaning unit 200 flips at the same position is different, which may cause different torques during the flipping process. If the torque is too large, the cloth changing mechanism 120 and the driving mechanism 130 may become loose. Different flipping heights can be set according to different weights to minimize damage to the cloth changing mechanism 120.

[0253] In some embodiments, the drive mechanism 130 can drive the cloth changing mechanism 120 to perform circular motion. That is, the motion trajectory of the cloth changing mechanism is roughly arc-shaped, so that there is a certain distance between any two positions of the cloth changing mechanism 120 on the arc in both the vertical and horizontal directions. As a result, the motion trajectory of the cloth changing mechanism is basically no longer directly above the changing position, and the space above the changing position is minimized, leaving the space above the changing position for other components.

[0254] In some embodiments, the drive mechanism 130 can drive the cloth changing mechanism 120 to reciprocate between the changing position and the storage position. The cloth changing mechanism 120 only needs to move between the storage position and the changing position, so that the drive mechanism 130 can drive the cloth changing mechanism 120 to maintain a single motion trajectory, which can reduce the difficulty of driving the drive mechanism 130.

[0255] In some embodiments, projections of the flipping position and the storage position on the bottom surface of the base station body 110 are at least partially staggered.

[0256] The base station body 110 is generally vertically arranged. The projections of the flipping position and the storage position on the bottom surface of the base station body 110 are at least partially offset along the height direction of the base station body 110, which is generally along the vertical direction. That is, the storage position and the flipping position are offset horizontally, allowing the cloth changing mechanism 120 to have a certain amount of horizontal movement space. At least one of the flipping position and the storage position of the cloth changing mechanism 120 is not directly above the cloth changing position, minimizing the space above the cloth changing position, leaving the space above the cloth changing position for other components.

[0257] In some embodiments, projections of the replacement position and the flipping position on the bottom surface of the base station body 110 are at least partially staggered.

[0258] The base station body 110 is generally vertically arranged. The projections of the flipping position and the replacement position on the bottom surface of the base station body 110 are at least partially offset along the height direction of the base station body 110, which is generally along the vertical direction. That is, the replacement position and the flipping position are offset horizontally, allowing the cloth changing mechanism 120 sufficient horizontal space to move, minimizing the space above the replacement position, leaving the space above the replacement position for other components.

[0259] See also Figure 7 , Figure 7 Shown Figure 6 A partial enlarged view of point B in the middle, as for the structure of the driving mechanism 130, in some embodiments, the driving mechanism 130 may include a driver 132 and a transmission arm 134, the driver 132 is installed on the base station body 110, the transmission arm 134 is transmission-connected to the driver 132, and is rotationally connected to the cloth changing mechanism 120.

[0260] The driver 132 is mounted within the base station body 110 and drives the cloth-changing mechanism 120 to swing between the changing position and the storage position via a transmission arm 134. Specifically, the transmission arm 134 acts as a swing arm that enables the entire cloth-changing mechanism 120 to move. When the cloth-changing mechanism 120 is in the changing position, the transmission arm 134 is generally vertical. When the cloth-changing mechanism 120 is in the storage position, the transmission arm 134 is generally horizontal. The vertical and horizontal distance between the changing position and the storage position is the length of the connecting arm.

[0261] That is, the positional relationship between the storage position, the flipping position, and the storage position is described using the angle between the transmission arm 134 and the horizontal direction. When the cloth-changing mechanism 120 is in the storage position and the transmission arm 134 is approximately horizontal, the angle of the transmission arm 134 can be considered to be 0 degrees, that is, the angle of the cloth-changing mechanism 120 can be considered to be 0 degrees. When the cloth-changing mechanism 120 is in the changing position and the transmission arm 134 is approximately vertical, the angle of the transmission arm 134 can be considered to be 90 degrees, that is, the angle of the cloth-changing mechanism 120 can be considered to be 90 degrees. When the cloth-changing mechanism 120 is in the flipping position and the transmission arm 134 is set at an angle with the horizontal direction, the angle of the transmission arm 134 can be considered to be an angle between 0 and 90 degrees, that is, the angle of the cloth-changing mechanism 120 can be considered to be between 0 and 90 degrees.

[0262] Specifically, in some embodiments, the angle of the cloth changing mechanism 120 may be 30 degrees, 40 degrees, 45 degrees, 60 degrees, 75 degrees, etc., and the specific angle may not be limited.

[0263] In some embodiments, the transmission arm 134 includes a main arm 134a and a secondary arm 134b. The main arm 134a is transmission-connected to the driver 132 and the cloth-changing mechanism 120 , and the secondary arm 134b is rotationally connected to the base station body 110 and the cloth-changing mechanism 120 .

[0264] Driven by the transmission arm 134, the motion trajectory of the entire cloth changing mechanism 120 is roughly arc-shaped, and the cloth changing mechanism 120 is roughly horizontal no matter it is in the changing position, the storage position or any position between the changing position and the storage position. Through the cooperation of the main arm 134a and the auxiliary arm 134b, the cloth changing mechanism 120 can be in a roughly horizontal state at any position, thereby reducing the interference between the cloth changing mechanism 120 and other structures.

[0265] In addition, a transfer arm 134c can be provided between the auxiliary arm 134b and the cloth changing mechanism 120, and the transfer arm 134c is rotatably connected to the auxiliary arm 134b and the cloth changing mechanism 120, so that the cloth changing mechanism 120 can remain horizontal in all situations except flipping.

[0266] In some embodiments, there are two transmission arms 134 , and the driving mechanism 130 further includes a transmission shaft 136 , which transmits and connects the two transmission arms 134 and the driver 132 .

[0267] Since the cleaning part 200 is roughly plate-shaped, the cloth changing mechanism 120 is also roughly plate-shaped while being able to fix the cleaning part 200 and minimizing the increase in volume, that is, the cloth changing mechanism 120 is roughly longer, and the two transmission arms 134 are respectively arranged on both sides of the cloth changing mechanism 120, which can improve the stability of the cloth changing mechanism 120 during movement.

[0268] When the cloth changing mechanism 120 needs to move from the replacement position to the storage position, the driver 132 can rotate forward to drive the transmission arm 134 to rotate, thereby causing the cloth changing mechanism 120 to move from the replacement position to the storage position. Conversely, when the cloth changing mechanism 120 needs to move from the storage position to the replacement position, the driver 132 can reverse to drive the transmission arm 134 to reverse, thereby causing the cloth changing mechanism 120 to move from the storage position to the replacement position.

[0269] If the cloth-changing mechanism 120 needs to stay at the flipping position, the driver 132 can be controlled to stop at the corresponding position, or blocked so that the cloth-changing mechanism 120 can stay at the flipping position.

[0270] The above describes the movement and switching between the flipping position, the storage position and the replacement position. The specific structure of the cloth changing mechanism 120 will be described in detail below.

[0271] See also Figure 8 , Figure 8 Shown Figure 3 A partial enlarged view of point A in the middle, in some embodiments, the cloth changing mechanism 120 includes: a cloth changing drive member 122 and a fixing member 124, the fixing member 124 is used to fix the cleaning part 200, the cloth changing drive member 122 is transmission-connected with the fixing member 124, and can drive the cleaning part 200 to switch between the replacement state and the storage state through the fixing member 124.

[0272] The cloth changing drive member 122 is in transmission connection with the fixing member 124, and can drive the fixing member 124 to move, so that the cleaning part 200 can be switched between the replacement state and the storage state, that is, it can be switched from the storage state to the replacement state, and from the replacement state to the storage state.

[0273] As for the movement mode of the cloth-changing driving member 122 driving the fixing member 124, the cloth-changing driving member 122 may drive the fixing member 124 to slide, thereby enabling the cleaning unit 200 to switch between the replacement state and the storage state. Alternatively, the cloth-changing driving member 122 may drive the fixing member 124 to rotate, thereby enabling the cleaning unit 200 to switch between the replacement state and the storage state. Alternatively, the cloth-changing driving member 122 may drive the fixing member 124 to reciprocate, thereby enabling the cleaning unit 200 to switch between the replacement state and the storage state.

[0274] In some embodiments, the cloth-changing driving member 122 is in transmission connection with the fixing member 124 , and can drive the cleaning portion 200 to flip through the fixing member 124 .

[0275] The cleaning unit 200 is fixed to the fixing member 124. The cloth-changing drive member 122 can drive the fixing member 124 to flip, so that the cleaning unit 200 can flip along with the fixing member 124, thereby allowing the cleaning unit 200 to be replaced. The cloth-changing drive member 122 and the fixing member 124 can move as a whole between the replacement position and the storage position under the drive mechanism 130. When the cloth-changing mechanism 120 moves to the flip position, the cloth-changing drive member 122 drives the fixing member 124 to flip.

[0276] For example, two cleaning sections 200 are fixed on the fixing member 124, one of the cleaning sections 200 is in a replacement state, and the other cleaning section 200 is in a storage state. The cloth-changing drive member 122 can drive the fixing member to flip, so that the cleaning section 200 in the replacement state is switched to the storage state, and the cleaning section 200 in the storage state is switched to the replacement state.

[0277] In some embodiments, the cloth-changing driving member 122 may be installed on the transmission arm 134 , that is, the entire cloth-changing mechanism 120 may be a cloth-changing driving member 122 rotatably connected to the transmission arm 134 .

[0278] See also Figure 9 , Figure 9 A structural schematic diagram of the fixing part 124 of the cloth changing mechanism 120 of the cleaning base station 100 provided in an embodiment of the present application is shown. In some embodiments, the fixing part 124 includes a mounting portion 126 and a fixing portion 128. The fixing portion 128 is mounted on the mounting portion 126. The fixing portion 128 is used to fix the cleaning part 200. The mounting portion 126 is transmission-connected to the cloth changing drive member 122.

[0279] The fixing portion 128 is mainly used to fix the cleaning portion 200, and the mounting portion 126 is transmission-connected to the cloth-changing drive member 122. A transmission hole 126a can be set on the mounting portion 126, and the driving shaft of the cloth-changing drive member 122 is inserted into the transmission hole 126a, so that the cloth-changing drive member 122 drives the entire fixing portion 124 to flip.

[0280] In some embodiments, there are multiple fixing portions 128 , and the multiple fixing portions 128 are respectively located on different sides of the mounting portion 126 .

[0281] A fixing portion 128 can fix a cleaning portion 200, and the cloth changing mechanism 120 includes multiple fixing portions 128, so that the cloth changing mechanism 120 can fix multiple cleaning portions 200 at the same time, that is, after obtaining the dirty cleaning portion 200 from the replacement position, the clean cleaning portion 200 can be directly placed at the replacement position without returning to the storage position to take out the cleaning portion 200 and then placing it at the replacement position. This can reduce the time for the entire cloth changing mechanism 120 to replace the cleaning portion 200, thereby reducing the time for the cleaning equipment 300 to replace the cleaning portion 200, and further reducing the ineffective time of the cleaning equipment 200 during the cleaning process, thereby reducing the total time of the cleaning equipment.

[0282] Among them, the total time of the cleaning device 300 includes the sum of effective time and invalid time. The effective time refers to the time when the cleaning device 300 cleans the surface during the execution of the cleaning program, and the invalid time refers to the time when the cleaning device 300 does not clean the surface during the execution of the cleaning program, for example: the cleaning time of the cleaning part 200, the dust collection time of the cleaning device 200, etc.

[0283] The fixing parts 128 may be provided with two, three, or four. The number of fixing parts 128 may be determined based on the specific structure of the cloth changing mechanism 120 and the space provided in the base station body 110, and is not specifically limited in this embodiment of the present application. The following uses the example of two fixing parts 128 to explain how the cloth changing mechanism 120 replaces the cleaning part 200.

[0284] In some embodiments, there are two fixing portions 128, and the two fixing portions 128 are respectively located on opposite sides of the mounting portion 126. During the process of replacing the cleaning portion 200, one of the fixing portions 128 can fix the clean cleaning portion 200, and the other fixing portion 128 can be vacant. The vacant fixing portion 128 is set downward, and the driving mechanism 130 drives the entire cloth changing mechanism 120 to move to the replacement position. The vacant fixing portion 128 fixes the cleaning portion 200 removed from the cleaning device 300. The driving mechanism 130 drives the entire cloth changing mechanism 120 to move to the flipping position. The cloth changing drive member 122 drives the mounting portion 126 and the fixing portion 128 to flip as a whole, so that the clean cleaning portion 200 and the dirty cleaning portion 200 are swapped, that is, the clean cleaning portion 200 faces downward (replacement state) and the dirty cleaning portion 200 faces upward (storage state). The driving mechanism 130 then drives the entire cloth changing mechanism 120 to move to the replacement position and place the clean cleaning portion 200 in the replacement position.

[0285] That is to say, when there are two fixing parts 128, one of the fixing parts 128 is located above the other fixing part 128, that is, one fixing part 128 is set upward and the other fixing part 128 is set downward, the cleaning part 200 of the fixing part 128 located above is in a storage state, and the cleaning part 200 of the fixing part 128 located below is in a replacement state.

[0286] See also Figure 10 , Figure 10 Shown Figure 9 In the partial enlarged view at point D, in some embodiments, the fixing portion 128 is slidably connected to the mounting portion 126, so that the fixing portion 128 can cooperate with the cleaning portion 200 in the base station body 110, or the cleaning portion 200 in a replacement state can be placed in the base station body 110.

[0287] As for the specific sliding method, one of the fixed portion 128 and the mounting portion 126 is provided with a slide rail 126b, and the other is provided with a slide groove 128b. The slide groove 128b slides with the slide rail 126b. The slide rail 126b can be provided on the fixed portion 128, and the slide groove 128b can be provided on the mounting portion 126. Alternatively, the slide groove 128b can be provided on the fixed portion 128, and the slide rail 126b can be provided on the mounting portion 126.

[0288] In order to improve the stability of the sliding fit between the fixing portion 128 and the mounting portion 126 , the number of the sliding rails 126 b and the sliding grooves 128 b can be set to be multiple.

[0289] The fixing portion 128 is slidably connected to the mounting portion 126 so that there is a relative position between the fixing portion 128 and the mounting portion 126, that is, the fixing portion 128 can move relative to the mounting portion 126, so that the fixing portion 128 is misaligned relative to the mounting portion 126, thereby facilitating the fixing of the cleaning portion 200.

[0290] The cleaning section 200 is located below the cleaning device 300, and the position where the cleaning section 200 cooperates with the fixing section 128 is below the cleaning section 200. The fixing section 128 is slidably connected to the mounting section 126, so that the fixing section 128 slides into the bottom of the cleaning section 200 and can be fixedly cooperated with the cleaning section 200, thereby moving the cleaning section 200 out of the replacement position.

[0291] On the contrary, when the cloth changing mechanism 120 places the clean cleaning part 200 at the replacement position, the fixing part 128 slides away from the cleaning part 200, so that the fixing part 128 can be separated from the cleaning part 200, so that the clean cleaning part 200 can be placed at the replacement position.

[0292] When there are two fixing portions 128, since each fixing portion 128 may cooperate with the cleaning portion 200 located at the replacement position, the two fixing portions 128 are slidably connected to the mounting portion 126. Each fixing portion 128 can extend below the cleaning portion 200 and can cooperate with the cleaning portion 200.

[0293] That is to say, when there are two fixing parts 128, the two fixing parts 128 are respectively located on both sides of the mounting part 126, and the two fixing parts 128 can move relative to the mounting part 126. Since there is only one cleaning part 200 located at the replacement position, when fixing the cleaning part 200 at the replacement position, only one fixing part 128 needs to move relative to the mounting part 126.

[0294] It is understandable that both fixing portions 128 are capable of moving relative to the mounting portion 126 , but the two fixing portions 128 may move at different times or at the same time, and there is no limitation on this.

[0295] See also Figure 11 , Figure 11 A cross-sectional view of the fixing member 124 is shown. In some embodiments, the fixing member 124 further includes a synchronization portion 129 . The synchronization portion 129 can simultaneously drive the two fixing portions 128 to slide relative to the mounting portion 126 .

[0296] The synchronization part 129 is installed on the mounting part 126, and can simultaneously drive the two fixing parts 128 to slide relative to the mounting part 126, that is, the two fixing parts 128 move synchronously, so that the two fixing parts 128 can be synchronously stored on the mounting part, thereby making the structure of the entire cloth changing mechanism 120 more compact.

[0297] In some embodiments, the synchronization portion 129 can drive the two fixing portions 128 to move away from each other or towards each other.

[0298] The movement away from each other refers to the two fixing portions 128 moving in directions away from each other, and the movement towards each other refers to the two fixing portions 128 moving in directions close to each other.

[0299] In some embodiments, the synchronization portion 129 includes a synchronization gear 129b and a rack 129c. The synchronization gear 129b is mounted on the mounting portion 126, and the rack 129c is mounted on the fixed portion 128. The synchronization gear 129b meshes with the racks 129c of the two fixed portions 128. The synchronization gear 129b meshes with the racks 129c of the two fixed portions 128 at the same time, so that the synchronization gear 129b can simultaneously drive the racks 129c of the two fixed portions 128 during rotation, so that the two fixed portions 128 can move synchronously. In addition, the fixed portions 128 can be stored on the mounting portion 126 and not extend outside the mounting portion 126 as much as possible, thereby minimizing the volume occupied by the cloth changing mechanism 120.

[0300] The synchronization part 129 may further include a synchronization driving part, which is in transmission connection with the synchronization gear 129b.

[0301] Under normal circumstances, the cloth-changing mechanism 120 is stored in the storage position, and the upper fixing portion 128 is provided with a clean cleaning portion 200. When the cleaning device 300 returns to the base station body 110 and removes the dirty cleaning portion 200, the cleaning device 300 exits the base station body 110. The driving mechanism 130 drives the entire cloth-changing mechanism 120 to the replacement position, and the fixing portion 128 located below slides relative to the mounting portion 126 until it is fixed to the dirty cleaning portion 200. The driving mechanism 130 then drives the cloth-changing mechanism 120 away from the replacement position and moves to the flipping position. The cloth-changing drive member 122 drives the mounting portion 126 and the fixing portion 128 to flip as a whole, causing the clean cleaning portion 200 (in the storage position) to flip to the bottom of the mounting portion 126 (in the replacement position), and the dirty cleaning portion 200 (in the replacement position) to flip to the top of the mounting portion 126 (in the storage position). After the clean cleaning unit 200 is flipped to the replacement position, the drive mechanism 130 drives the entire cloth-changing mechanism 120 to the replacement position. The fixing portion 128 slides relative to the mounting portion 126, thereby placing the clean cleaning unit 200 in the replacement position. The drive mechanism 130 then drives the cloth-changing mechanism 120 out of the replacement position. The cleaning device 300 returns to the base station body 110, thus acquiring the clean cleaning unit 200.

[0302] During the cleaning process of the cleaning device 300, the cleaning part 200 is easily contaminated. Replacing the cleaning part 200 takes less time than cleaning the cleaning part 200, which can reduce the ineffective time of the cleaning device 300 during the cleaning process, thereby reducing the total cleaning time of the cleaning device 300.

[0303] The above details the specific structure of the cloth changing mechanism 120 and how to change the cloth by flipping. The following details how the cleaning part 200 cooperates with the cleaning device 300 and the cloth changing mechanism 120 and how to unlock.

[0304] See also Figure 12 , Figure 12 A schematic diagram shows a partial structure of the cleaning base station 100. In some embodiments, the cleaning base station 100 further includes an unlocking mechanism 140, which is installed on the base station body 110 and can separate or lock the cleaning part 200 from the cleaning equipment 300 and / or the cloth changing mechanism 120.

[0305] The unlocking mechanism 140 is mounted on the base station body 110 and can lock or separate the cleaning unit 200 from the cleaning device 300, or lock or separate the cleaning unit 200 from the cloth changing mechanism 120. In other words, the unlocking mechanism 140 can remove the cleaning unit 200 from the cleaning device 300 or install it on the cleaning device 300. Similarly, the unlocking mechanism 140 can install the cleaning unit 200 on the cloth changing mechanism 120 or remove it from the cloth changing mechanism.

[0306] See also Figure 13 and Figure 14 , Figure 13 Schematic diagram of the structure of the cleaning unit 200 is shown. Figure 14 Shown Figure 9 A partial enlarged view of point C in the middle, in some embodiments, the cloth changing mechanism 120 is provided with a locking portion 128c, the cleaning portion 200 is provided with a stopper 210, and the unlocking mechanism 140 can enable the stopper 210 to cooperate with or separate from the locking portion 128c.

[0307] The locking portion 128 c is disposed on the fixing portion 128 , and the unlocking mechanism 140 can act on the stopper 210 , so that the stopper 210 can be engaged with or separated from the locking portion 128 c.

[0308] Specifically, the cleaning unit 200 may include a carriage 230, a mop cloth 240, and a stopper 210. Both the mop cloth 240 and the stopper 210 are mounted on the carriage 230. The mop cloth 240 is a cleaning component of the entire cleaning unit 200 and a mounting component of the entire cleaning unit 200. The stopper 210 is capable of engaging with the locking portion 128c. The stopper 210 is capable of moving relative to the carriage 230 under the action of the unlocking mechanism 140. Adjusting the position of the stopper 210 on the carriage 230, i.e., adjusting the relative position between the stopper 210 and the locking portion 128c, allows the stopper 210 to engage or disengage with the locking portion 128c.

[0309] See also Figure 15 、 Figure 16 and Figure 17 , Figure 15 Shown Figure 13 A partial enlarged view of point F in the middle. Figure 16 Schematic diagram showing the structure of the stopping portion 213 of the cleaning portion 200 stopping the notch 232, Figure 17 Shown Figure 16A partial enlarged view of point H in the middle. In some embodiments, the stopper 210 and the locking portion 128c can be snap-fitted. The stopper 210 can include a trigger portion 212, a stop portion 213, and a transition portion 214. The trigger portion 212 and the stop portion 213 are both connected to the transition portion 214. The unlocking mechanism 140 can act on the trigger portion 212, and the stop portion 213 can cooperate with the cloth changing mechanism 120 or the cleaning device 300.

[0310] The carriage 230 may be provided with a mating groove 231, and the stopper 213 may engage with the locking portion 128c within the mating groove 231. The stopper 213 may be disposed on a notch 232 of the mating groove 231, confining the locking portion 128c within the mating groove 231, thereby achieving engagement between the stopper 213 and the locking portion 128c. Specifically, the unlocking mechanism 140 may act on the trigger portion 212, which, via the transition portion 214, drives the stopper 213 to move relative to the carriage 230, allowing the stopper 213 to move relative to the mating groove 231, thereby opening the notch 232 of the mating groove 231 and allowing the locking portion 128c to enter or disengage from the mating groove 231.

[0311] That is, when the unlocking mechanism 140 acts on the stopper 210, the unlocking mechanism 140 can enable the stopper 213 to open the slot 232 of the matching slot 231, so that the locking portion 128c can enter or disengage from the matching slot 231. If it is necessary to fix the cleaning portion 200 and the cloth changing mechanism 120, the locking portion 128c can be made to enter the matching slot 231 from the slot 232, and the unlocking mechanism 140 then cancels the force applied to the trigger portion 212, and the entire stopper 210 is reset, that is, the stopper 213 can extend into the slot 232 of the matching slot 231, thereby stopping the locking portion 128c at the slot 232 of the matching slot 231, so that the stopper 213 can cooperate with the locking portion 128c, thereby fixing the cleaning portion 200 and the cloth changing mechanism 120.

[0312] See also Figure 18 and Figure 19 , Figure 18 Schematic diagram showing the structure of the stopper 213 of the cleaning portion 200 opening the notch 232, Figure 19 Shown Figure 18 Conversely, if the cleaning unit 200 needs to be removed from the cloth-changing mechanism 120, the unlocking mechanism 140 applies a force to the triggering portion 212, causing the stopper 213 to open the notch 232 of the mating slot 231, allowing the locking portion 128c to disengage from the mating slot 231. This further disconnects the locking portion 128c from the mating slot 231, allowing the cleaning unit 200 to be removed from the cloth-changing mechanism 120.

[0313] In some embodiments, the stopper 210 further includes an elastic member 240 . The elastic member 240 is disposed between the transition portion 214 and the drag plate 230 and can provide elastic force for restoring the stopper 210 .

[0314] The elastic member 240 can cooperate with the unlocking mechanism 140 to enable the stopper 210 to move within the mating groove 231. When the unlocking mechanism 140 applies a force to the trigger portion 212, the trigger portion 212 drives the stopper 213 to move via the transition portion 214. Simultaneously, the transition portion 214 can compress the elastic member 240, which accumulates force and exerts a certain restoring force. After the unlocking mechanism 140 removes the force applied to the trigger portion 212, the restoring force of the elastic member 240 drives the stopper 213 to move in the opposite direction via the transition portion 214, thereby allowing the stopper 213 to return to its original position and stop the notch 232 of the mating groove 231.

[0315] That is, when the unlocking mechanism 140 applies a force to the trigger portion 212, the stop portion 213 can open the notch 232 of the matching slot 231, allowing the locking portion 128c to enter or exit the matching slot 231. When the force of the unlocking mechanism 140 is removed, the stop portion 213 can stop the notch 232 of the matching slot 231 under the action of the restoring force of the elastic member 240, thereby stopping the locking portion 128c.

[0316] In some embodiments, the elastic member 240 may be a spring.

[0317] In some embodiments, the carriage 230 is provided with a receiving cavity 234 , and a portion of the stopper 210 is installed in the receiving cavity 234 . The stopper 210 is movable in the receiving cavity 234 .

[0318] The elastic member 240, the transition portion 214, and the trigger portion 212 are partially disposed within the accommodating cavity 234. The stopper 213 is partially disposed within the accommodating cavity 234 and partially disposed within the mating groove 231. The accommodating cavity 234 protects a portion of the stopper 210, minimizing damage to the stopper 210 from water or other impurities during operation of the cleaning unit 200.

[0319] The stopper 210 can move within the accommodating cavity 234 , which means that the internal space of the accommodating cavity 234 is larger than the external size of the stopper 210 , so that the stopper 210 has movable space within the accommodating cavity 234 , which can facilitate the movement of the entire stopper 210 .

[0320] It should be noted that the above description only describes how the cleaning unit 200 and the cloth changing mechanism 120 engage and disengage. The method for engaging and disengaging the cleaning unit 200 with the cleaning device 300 is identical to that for engaging and disengaging the cleaning unit 200 with the cloth changing mechanism 120. Specifically, the cleaning device 300 is also provided with a locking portion 128c, and the locking portion 128c cooperates with the stopper 210 to achieve engagement and disengagement of the cleaning unit 200 and the cleaning device 300. The engagement and disengagement of the cleaning unit 200 and the cleaning device 300 can be referenced to the engagement and disengagement of the cleaning unit 200 and the cloth changing mechanism 120, and will not be further described.

[0321] See also Figure 18 、 Figure 19 and Figure 20 , Figure 20 Shown Figure 9 In the partially enlarged view at the middle, in some embodiments, the fixing portion 128 is further provided with an overlapping portion 128d that cooperates with the cleaning portion 200. The cleaning portion 200 is provided with an overlapping groove 235, and the overlapping portion 128d can be inserted into the overlapping groove 235. When the cleaning portion 200 is in the downward position, the overlapping groove 235 and the overlapping portion 128d cooperate to prevent the cleaning portion 200 from falling.

[0322] Since the cleaning section 200 has two states on the cloth changing mechanism 120, namely, replacement and storage, when in the replacement state, the cleaning section 200 is located below the cloth changing mechanism 120. If there is no fixed structure, when the cleaning section 200 is located in the cloth changing mechanism 120 (replacement state), the cleaning section 200 is likely to fall down under the action of its own gravity. The overlapping portion 128d is inserted into the overlapping groove 235, and the cleaning section 200 can be limited from above and below the cleaning section 200, so that when the cleaning section 200 is set downward (replacement state), the cooperation between the overlapping groove 235 and the overlapping portion 128d can prevent the cleaning section 200 from falling.

[0323] See also Figure 21 , Figure 21 A schematic diagram of a portion of the structure of the cleaning base station 100 is shown. In some embodiments, the unlocking mechanism 140 includes an unlocking member 142 and an unlocking driver 143. The unlocking member 142 is mounted on the base station body 110. The unlocking driver 143 can engage or disengage the stopper 210 with the locking portion 128c through the unlocking member 142.

[0324] The unlocking driver 143 is used to drive the unlocking member 142 to move relative to the cleaning portion 200, thereby applying a force to the stopper 210 of the cleaning portion 200, allowing the stopper 210 to engage with or disengage from the locking portion 128c. The structure and operation of the unlocking member 142 will be described in detail below.

[0325] In some embodiments, the unlocking driver 143 can drive the unlocking member 142 to rotate relative to the base station body 110, causing the stopper 210 to move relative to the carriage 230, thereby engaging or disengaging with the locking portion 128c. Applying force to the stopper 210 through rotation allows the unlocking member 142 to move within a smaller space, reducing the space for the unlocking member 142 to move and making the internal structure of the entire cleaning base station 100 more compact.

[0326] Of course, in addition to this, the unlocking driver 143 can also drive the unlocking member 142 to move relative to the base station body 110 in other ways, thereby acting on the stopper 210. Specifically, the unlocking member can be driven to move relative to the base station body 110, thereby applying a force to the stopper 210, or can be driven to slide relative to the base station body 110.

[0327] See also Figure 22 , Figure 22 FIG2 shows a schematic diagram of the structure of the unlocking member 142. In some embodiments, the unlocking member 142 includes a connecting portion 142a, an unlocking portion 142b, and a transmission portion 142c. The unlocking portion 142b and the transmission portion 142c are respectively located at two ends of the connecting portion 142a. The connecting portion 142a is rotatably connected to the base station body 110, and the transmission portion 142c is connected to the unlocking driver 143.

[0328] The connecting portion 142a is rotatably connected to the base station body 110, so that the entire unlocking member 142 can have a rotating fulcrum, and the unlocking driving member 143 drives the transmission portion 142c to move in a direction away from the cleaning portion 200, so that the unlocking portion 142b can move in a direction close to the cleaning portion 200, and then the unlocking portion 142b can contact the triggering portion 212 of the stopper 210, and the entire stopper 210 can move relative to the drag plate 230, so that the stopper 213 can open the notch 232 of the mating groove 231, so that the locking portion 128c can enter or disengage from the mating groove 231.

[0329] In order to improve the stability of the fit between the unlocking part 142b and the triggering part 212, a groove can be provided in one of the triggering part 212 and the unlocking part 142b, and a protrusion can be provided in the other one, so that the unlocking part 142b and the triggering part 212 can be stably fit together by means of the groove and the protrusion.

[0330] Specifically, a groove may be provided on the trigger portion 212 and a protrusion may be provided on the unlocking portion 142b. Alternatively, a groove may be provided on the unlocking portion 142b and a protrusion may be provided on the trigger portion 212.

[0331] In some embodiments, the unlocking mechanism 140 further includes a reset member 145 , which is connected between the unlocking member 142 and the base station body 110 . The reset member 145 can work together with the unlocking drive member 143 to enable the stop member 210 to cooperate with the locking portion 128 c .

[0332] When the unlocking driving member 143 stops driving the unlocking member 142 , the reset member 145 can provide a restoring force to the unlocking member 142 , so that the unlocking member 142 can be reset and thus be ready for the next operation.

[0333] Specifically, the unlocking mechanism 140 further includes a rotating shaft 146 , the unlocking member 142 is rotatably connected to the base station body 110 via the rotating shaft 146 , and the reset member 145 is sleeved on the rotating shaft 146 and abuts against the unlocking member 142 .

[0334] The reset member 145 may be a torsion spring, which is mounted on the rotating shaft 146. When the unlocking driver 143 rotates the entire unlocking member 142, the reset member 145 accumulates force. After the unlocking driver 143 stops driving, the reset member 145, under the action of its own torsional force, drives the entire unlocking member 142 to rotate in the opposite direction, thereby resetting the unlocking member 142.

[0335] Of course, in addition to this, the reset member 145 can also be a spring. If the reset member 145 is a spring, the elastic member 240 can be connected between the unlocking member 142 and the base station body 110. In the process of the unlocking drive member 143 driving the entire unlocking member 142 to rotate, the reset member 145 is compressed or stretched. After the unlocking drive member 143 stops driving, the reset member 145 drives the entire unlocking member 142 to rotate in the opposite direction under the action of its own restoring force, so that the unlocking member 142 can be reset.

[0336] See also Figure 23 , Figure 23 Shown Figure 21A partial enlarged view at point K in the middle shows that in some embodiments, the unlocking actuator 143 includes an unlocking actuator 143a and a connecting rope 143b. The connecting rope 143b is wound around the unlocking actuator 143a and connected to the unlocking member 142. One end of the connecting rope 143b is connected to the transmission portion 142c, and the other end can be wound around the unlocking actuator 143a. When the unlocking actuator 143a is activated, the connecting rope 143b is wound around the unlocking actuator 143a, shortening the connecting rope 143b, thereby pulling the transmission portion 142c to move the unlocking portion 142b in the opposite direction from the transmission portion 142c, i.e., toward the cleaning portion 200. This allows the unlocking portion 142b to contact the trigger portion 212, allowing the entire stopper 210 to move relative to the carriage 230, so that the stopper 213 can open the notch 232 of the mating slot 231, allowing the locking portion 128c to enter or exit the mating slot 231.

[0337] That is to say, when the unlocking mechanism 140 acts on the cleaning section 200, the unlocking driving section 143a rotates, causing the connecting rope 143b to be wound around the unlocking driving section 143a, and the length of the connecting rope 143b becomes shorter, pulling the transmission section 142c to move, so that the unlocking section 142b can move in the opposite direction of the transmission section 142c, that is, move in the direction closer to the cleaning section 200, so that the unlocking section 142b can contact the triggering section 212, and the entire stopper 210 can move relative to the drag plate 230, so that the stopper 213 can open the notch 232 of the mating groove 231, so that the locking section 128c can enter or escape from the mating groove 231.

[0338] When the locking portion 128c enters the matching groove 231 or escapes from the matching groove 231, the unlocking driving portion 143a reverses or stops working, and the reset member 145 drives the entire unlocking member 142 to rotate in the opposite direction under the action of its own restoring force, so that the unlocking member 142 can be reset, and the unlocking portion 142b cancels the force applied to the trigger portion 212. Under the action of the restoring force of the elastic member 240, the stopping portion 213 can stop the notch 232 of the matching groove 231, and then can stop the locking portion 128c.

[0339] The above details the specific structures of the unlocking mechanism 140, the cloth changing mechanism 120, and the cleaning unit 200. The working principle of the entire cleaning base station 100 will be described in detail below:

[0340] 1. Disassembly process of the cleaning unit 200 from the cleaning device 300: After the cleaning device 300 has been working for a period of time, the cleaning unit 200 of the cleaning device 300 becomes dirty. If the cleaning is continued, the surface that has been cleaned may be contaminated again. Therefore, the dirty cleaning unit 200 needs to be cleaned. The cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing the position). The unlocking drive unit 143a is activated, so that the connecting rope 143b is wound around the unlocking drive unit 143a, and the length of the connecting rope 143b becomes shorter, thereby pulling the transmission unit 142 c moves, so that the unlocking portion 142b can move in the opposite direction of the transmission portion 142c, that is, move toward the direction close to the cleaning portion 200, so that the unlocking portion 142b can contact the trigger portion 212, and the entire stopper 210 can move relative to the drag plate 230, so that the stopper 213 can open the notch 232 of the matching groove 231, so that the locking portion 128c of the cleaning device 300 is disengaged from the matching groove 231, and the cleaning device 300 can be moved out of the base station body 110, and the removal process of the dirty cleaning portion 200 from the cleaning device 300 is completed.

[0341] II. Cloth Changing Process of the Cloth Changing Mechanism 120: The driving mechanism 130 drives the entire cloth changing mechanism 120 from the storage position to the changing position. The synchronizing portion 129 drives the fixing portion 128 to slide into engagement with the mounting portion 126, allowing the fixing portion 128 to slide beneath the cleaning portion 200, thereby allowing the locking portion 128c of the cloth changing mechanism 120 to enter the mating groove 231. After the locking portion 128c of the cloth changing mechanism 120 enters the mating groove 231, the unlocking driving portion 143a stops operating. The restoring force of the reset member 145 drives the entire unlocking member 142 to rotate in the opposite direction, thereby restoring the unlocking member 142. The unlocking portion 142b removes the force applied to the triggering portion 212. Under the restoring force of the elastic member 240, the stopper 213 stops the notch 232 of the mating groove 231, thereby stopping the locking portion 128c.

[0342] The driving mechanism 130 drives the entire cloth changing mechanism 120 to move to the flipping position, the cloth changing mechanism 120 flips, and the flipping driving component drives the positioning part and the fixing part 128 to flip as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are swapped, that is, the clean cleaning part 200 faces downward (replacement state), and the dirty cleaning part 200 faces upward (storage state).

[0343] The driving mechanism 130 then drives the entire cloth changing mechanism 120 to move to the changing position. At this time, the clean cleaning part 200 is set downward. At this time, the clean cleaning part 200 moves to the unlocking mechanism 140, and the unlocking driving part 143a works, so that the connecting rope 143b is wound around the unlocking driving part 143a. The length of the connecting rope 143b is shortened, pulling the transmission part 142c to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, move in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212, and the entire stopper 210 can move relative to the drag plate 230, so that the stopper 213 opens the notch 232 of the matching groove 231, and the synchronizing part 129 can drive the fixing part 128 to slide with the mounting part 126, so that the locking part 128c of the cloth changing mechanism 120 can be disengaged from the matching groove 231.

[0344] 3. The process of the cleaning device 300 taking the cloth: the driving mechanism 130 drives the entire cloth changing mechanism 120 to move to the storage position. At this time, the cleaning device 300 returns to the cleaning base station 100, and the locking portion 128c of the cleaning setting extends into the matching groove 231. The unlocking driving portion 143a stops working. The reset member 145 drives the entire unlocking member 142 to rotate in the opposite direction under the action of its own restoring force, so that the unlocking member 142 can be reset. The unlocking portion 142b cancels the force applied to the triggering portion 212. Under the action of the restoring force of the elastic member 240, the stopping portion 213 can stop the notch 232 of the matching groove 231, and then stop the locking portion 128c, so that the clean cleaning portion 200 can be locked on the cleaning device 300, and the cleaning device 300 moves out of the cleaning base station 100 to work.

[0345] Thus, the replacement of the cleaning part 200 of the cleaning device 300 is completed. If the cleaning part 200 of the cleaning device 300 needs to be replaced again, the above process can be repeated.

[0346] 4. Cleaning process of the cleaning section 200: After replacing the cleaning section 200, the dirty cleaning section 200 is placed on the cloth changing mechanism 120 and is currently in the storage state. The driving mechanism 130 can drive the cloth changing mechanism 120 to move to the flipping position again, and the cloth changing mechanism 120 flips over. The flipping driving member drives the positioning section and the fixing section 128 to flip as a whole, so that the clean cleaning section 200 and the dirty cleaning section 200 are flipped from the storage state to the replacement state.

[0347] The drive mechanism 130 then drives the cloth changing mechanism 120 to move to the replacement position (cleaning tank 112) to clean the dirty cleaning section 200. After cleaning is completed, the drive mechanism 130 can drive the cloth changing mechanism 120 to move to the flip position again. The cloth changing mechanism 120 flips so that the cleaning cloth is in the storage position and finally moves to the storage position. As for drying the cleaning section 200, it can be dried in the cleaning tank 112 or in the storage position.

[0348] See also Figure 24 , Figure 24 A second perspective structural diagram of the cleaning system 10 provided in an embodiment of the present application is shown. Based on the same utility model concept, an embodiment of the present application provides a cleaning system 10, which includes a cleaning device 300 and the aforementioned cleaning base station 100. The cleaning device 300 can be accommodated in the cleaning base station 100.

[0349] Based on the same utility model concept, the embodiment of the present application further provides a method for replacing the cleaning unit 200, which is applied to the above-mentioned cleaning base station 100. The specific structure of the cleaning base station 100 has been described in detail above, and the specific structure of the cleaning base station 100 will not be described in detail here. For the specific structure of the cleaning base station 100, reference can be made to the above description. The specific steps of the method for replacing the cleaning unit 200 are as follows:

[0350] See also Figure 25 , step S10, remove the cleaning part 200 from the cleaning device 300.

[0351] The cleaning unit 200 is a component that processes the working surface. After the cleaning device 300 returns to the cleaning base station 100, the unlocking mechanism 140 of the cleaning base station 100 removes the dirty cleaning unit 200. The specific disassembly process is as follows:

[0352] The cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive part 143a works, so that the connecting rope 143b is wrapped around the unlocking drive part 143a. The length of the connecting rope 143b becomes shorter, thereby pulling the transmission part 142c to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, move towards the direction of the cleaning part 200. In this way, the unlocking part 142b can contact the trigger part 212, and the entire stopper 210 can move relative to the drag plate 230, so that the stopper 213 can open the notch 232 of the matching groove 231, so that the locking part 128c of the cleaning device 300 is disengaged from the matching groove 231, and the cleaning device 300 can be moved out of the base station body 110. The disassembly process of the dirty cleaning part 200 from the cleaning device 300 is completed.

[0353] Step S11 , controlling the cloth changing mechanism 120 to move to a changing position to pick up the dirty cleaning portion 200 .

[0354] When the cleaning device 300 places the cleaning unit 200 in the base station body 110 of the cleaning base station 100 , the cleaning device 300 may return to the cleaning base station 100 after the cleaning device 300 has cleaned for a preset time. Specifically, the cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive part 143a works, so that the connecting rope 143b is wrapped around the unlocking drive part 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, move in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212, and the entire stopper 210 can move relative to the drag plate 230 so that the stopper 213 can open the notch 232 of the matching groove 231, so that the locking part 128c of the cleaning device 300 is disengaged from the matching groove 231, and the cleaning device 300 can be moved out of the base station body 110. The disassembly process of the dirty cleaning part 200 from the cleaning device 300 is completed.

[0355] The driving mechanism 130 drives the entire cloth-changing mechanism 120 to move from the storage position to the replacement position. The synchronizing portion 129 drives the fixing portion 128 to slide into engagement with the mounting portion 126, allowing the fixing portion 128 to slide under the cleaning portion 200, thereby allowing the locking portion 128c of the cloth-changing mechanism 120 to enter the mating groove 231. After the locking portion 128c of the cloth-changing mechanism 120 enters the mating groove 231, the unlocking driving portion 143a stops operating. The restoring force of the reset member 145 drives the entire unlocking member 142 to rotate in the opposite direction, thereby resetting the unlocking member 142. The unlocking portion 142b cancels the force applied to the trigger portion 212. Under the restoring force of the elastic member 240, the stopper 213 stops the notch 232 of the mating groove 231, thereby stopping the locking portion 128c.

[0356] In step S12, the cloth changing mechanism 120 is controlled to move to the flipping position, and the cloth changing mechanism 120 is flipped over so that the clean cleaning part 200 is flipped to the replacement state.

[0357] After the cleaning equipment 300 exits the cleaning base station 100, the driving mechanism 130 is controlled to operate, and the driving mechanism 130 drives the entire cloth changing mechanism 120 to move to the flipping position, the cloth changing mechanism 120 flips, and the flipping driving member drives the positioning part and the fixing part 128 to flip as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are swapped, that is, the clean cleaning part 200 faces downward (replacement state), and the dirty cleaning part 200 faces upward (storage state).

[0358] In step S13 , the cloth changing mechanism 120 is controlled to move to the changing position again, and the clean cleaning part 200 is placed at the changing position.

[0359] The driving mechanism 130 then drives the entire cloth changing mechanism 120 to move to the changing position. At this time, the clean cleaning part 200 is set downward. At this time, the clean cleaning part 200 moves to the unlocking mechanism 140, and the unlocking driving part 143a works, so that the connecting rope 143b is wound around the unlocking driving part 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, move in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212, and the entire stopper 210 can move relative to the drag plate 230, so that the stopper 213 can open the notch 232 of the matching groove 231, and the synchronizing part 129 can drive the fixing part 128 to slide with the mounting part 126, so that the locking part 128c of the cloth changing mechanism 120 can be disengaged from the matching groove 231.

[0360] In step S14 , the cloth changing mechanism 120 places the clean cleaning part 200 at the replacement position of the cleaning base station 100 to trigger a control signal so that the cleaning device 300 can return to the cleaning base station 100 .

[0361] After the cloth changing mechanism 120 places the clean cleaning part 200 in the replacement position, the cleaning base station 100 can trigger the control signal, so that after the cleaning 300 obtains the control signal, the cleaning device 300 returns to the cleaning base station 100, and the locking part 128c of the cleaning device 300 extends into the matching groove 231, the unlocking drive part 143a stops working, and the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction under the action of its own restoring force, so that the unlocking part 142 can be reset, and the unlocking part 142b cancels the force applied to the trigger part 212. Under the action of the restoring force of the elastic part 240, the stop part 213 can stop the notch 232 of the matching groove 231, and then can stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300, and the cleaning device 300 is moved out of the cleaning base station 100 to work.

[0362] When the cloth changing mechanism 120 places the clean cleaning part 200 at the replacement position, it means that the current cleaning base station 100 has replaced the dirty cleaning part 200 with the clean cleaning part 200 , and the cleaning device 300 can obtain the clean cleaning part 200 from the cleaning base station 100 .

[0363] The cloth changing mechanism 120 triggers a control signal when it places the clean cleaning unit 200 in the replacement position. The control signal can be sent directly to the cleaning device 300 via the cleaning base station 100, or after the cleaning base station 100 triggers the control signal, the server receives the control signal and then sends the control signal to the cleaning device 300.

[0364] Step S15 , installing the clean cleaning unit 200 onto the cleaning device 300 .

[0365] The unlocking mechanism 140 fixes the clean cleaning part 200 to the cleaning device 300. The specific process is as follows:

[0366] The driving mechanism 130 then drives the entire cloth changing mechanism 120 to move to the storage position. At this time, the cleaning device 300 returns to the cleaning base station 100, and the locking part 128c of the cleaning setting extends into the matching groove 231. The unlocking driving part 143a stops working, and the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction under the action of its own restoring force, so that the unlocking part 142 can be reset, and the unlocking part 142b cancels the force applied to the trigger part 212. Under the action of the restoring force of the elastic part 240, the stop part 213 can stop the notch 232 of the matching groove 231, and then stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300, and the cleaning device 300 moves out of the cleaning base station 100 to work.

[0367] In step S16 , the cloth changing mechanism 120 is controlled to place the dirty cleaning portion 200 into the cleaning tank 112 .

[0368] After the cleaning device 300 obtains the clean cleaning section 200, the cleaning device 200 will be moved out of the cleaning base station 100 and continue to clean the surface. The cleaning section 200 replaced from the cleaning device 300 is left on the cloth changing mechanism 120. Since the cleaning section 200 will become dirty again in the process of cleaning the surface, it needs to be replaced. Since the replaced cleaning section 200 needs to be cleaned, preparations are made for the next replacement of the cleaning device 200.

[0369] After replacing the cleaning part 200, the dirty cleaning part 200 is placed on the cloth changing mechanism 120 and is currently in the storage state. The driving mechanism 130 can drive the cloth changing mechanism 120 to move to the flipping position again, and the cloth changing mechanism 120 flips over. The flipping drive component drives the positioning part and the fixing part 128 to flip over as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are flipped from the storage state to the replacement state.

[0370] The driving mechanism 130 then drives the cloth changing mechanism 120 to move to the changing position (cleaning tank 112 ) to clean the dirty cleaning portion 200 .

[0371] In step S17 , the cleaning base station 100 is controlled to execute a cleaning process and / or a drying process to convert the dirty cleaning portion 200 into a clean cleaning portion 200 .

[0372] The cleaning base station 100 is controlled to execute a cleaning process and / or a drying process, so as to clean and / or dry the cleaning unit 200 .

[0373] The cleaning base station 100 is controlled to execute the cleaning program and / or the drying program. The cleaning base station 100 may execute the cleaning program, the drying program, or the cleaning base station 100 may execute the cleaning program first and then the drying program.

[0374] In step S18 , the cloth changing mechanism 120 is controlled to move to the flipping position, and the cloth changing mechanism 120 is controlled to flip so that the clean cleaning portion 200 is in the storage state.

[0375] After cleaning is completed, the dirty cleaning part 200 becomes a clean cleaning part 200, and the driving mechanism 130 can drive the cloth changing mechanism 120 to move to the flipping position again, and the cloth changing mechanism 120 flips to make the cleaning part 200 in the storage position.

[0376] In step S19 , the cloth changing mechanism 120 is controlled to move to the storage position to store the clean cleaning portion 200 .

[0377] Since the cleaning time of the cleaning unit 200 may be shorter than the working time of the cleaning device 300 requiring replacement of the cleaning unit 200, that is, after the cleaning unit 200 is cleaned, the cleaning unit 200 currently used by the cleaning device 300 is not in a state where replacement is required, the cleaned cleaning unit 200 can be finally moved to the storage position. As for drying the cleaning unit 200, it can be dried in the cleaning tank 112 or in the storage position.

[0378] Based on the same utility model concept, the embodiment of the present application further provides a cleaning method of the cleaning unit 200, which is applied to cleaning the base station 100. The specific steps of the cleaning method of the cleaning unit 200 are as follows:

[0379] See also Figure 26 In step S21 , the cloth changing mechanism 120 is controlled to place the dirty cleaning portion 200 into the cleaning tank 112 .

[0380] When the cleaning device 300 is working outside, if a dirty cleaning section 200 is fixed to the cloth changing mechanism 120, the dirty cleaning section 200 can be cleaned. The driving mechanism 130 can drive the cloth changing mechanism 120 to move to the flipping position. The cloth changing mechanism 120 flips, and the flipping drive element drives the positioning section and the fixing section 128 to flip as a whole, so that the clean cleaning section 200 and the dirty cleaning section 200 are flipped from the storage state to the replacement state.

[0381] The driving mechanism 130 then drives the cloth changing mechanism 120 to move to the changing position (cleaning tank 112 ) to clean the dirty cleaning portion 200 .

[0382] In step S22 , the cleaning base station 100 is controlled to perform a cleaning process to convert the dirty cleaning portion 200 into a clean cleaning portion 200 .

[0383] The cleaning unit 200 can be cleaned by controlling the cleaning degree of the cleaning base station 100 .

[0384] In step S23 , the cloth changing mechanism 120 is controlled to move to the flipping position, and the cloth changing mechanism 120 is controlled to flip so that the clean cleaning portion 200 is in the storage state.

[0385] After the cleaning is completed, the dirty cleaning part 200 becomes a clean cleaning part 200, and the driving mechanism 130 can drive the cloth changing mechanism 120 to move to the flipping position again, and the cloth changing mechanism 120 flips to make the cleaning part 200 in the storage position.

[0386] In step S24 , the cloth changing mechanism 120 is controlled to move to the storage position to store the clean cleaning portion 200 .

[0387] Since the cleaning time of the cleaning unit 200 may be shorter than the working time of the cleaning device 300 requiring replacement of the cleaning unit 200, that is, after the cleaning unit 200 is cleaned, the cleaning unit 200 currently used by the cleaning device 300 is not in a state where replacement is required, the cleaned cleaning unit 200 can be finally moved to the storage position. As for drying the cleaning unit 200, it can be dried in the cleaning tank 112 or in the storage position.

[0388] It should be noted that the execution process of steps S15-S18 and steps S21-S24 is the same, but the triggering conditions are different. Steps S15-S18 are executed immediately after the cleaning unit 200 is replaced, and steps S21-S24 can be executed according to the cleaning instruction or other triggering conditions.

[0389] Based on the same utility model concept, the embodiment of the present application further provides a cleaning unit replacement method, which is applied to the cleaning device 300. The cleaning unit 200 replacement method includes:

[0390] See also Figure 27 , step S31, determining whether the cleaning part 200 of the cleaning device 300 has reached the replacement condition.

[0391] The determination of whether the cleaning unit 200 of the cleaning device 300 has reached the replacement condition may be made during the cleaning process of the cleaning device 300, before the cleaning device 300 performs the cleaning process, or after the cleaning device 300 has completed the cleaning process.

[0392] The replacement condition means that the cleaning unit 200 of the cleaning device 300 is currently quite dirty. If the cleaning unit 200 is used directly to clean the surface, it may re-contaminate the cleaned surface. Therefore, it is necessary to clean the dirty cleaning unit 200. In other words, whether the cleaning unit 200 of the cleaning device 300 has reached the replacement condition can be determined before or during the cleaning process.

[0393] There are multiple ways to determine whether the cleaning unit 200 of the cleaning device 300 has reached the replacement condition. If any of the conditions are met, it is considered that the cleaning unit 200 of the cleaning device 300 has reached the replacement condition. Specifically, three determination methods can be provided: the first step S31a and step S31b, the second step S31c and step S31d, and the third step S31e and step S31f.

[0394] See also Figure 28 , step S31a, obtaining the working time of the cleaning device 300 performing the cleaning program.

[0395] Among them, the working time refers to the working time of the cleaning part 200 of the cleaning device 300, not the cleaning time of the entire cleaning device 300. During the cleaning process, the cleaning device 300 will replace the cleaning part 200. The working time is reset every time the cleaning part 200 is replaced, that is, the timing starts after the cleaning device 300 replaces the cleaning part 200, or starts after the cleaning device 300 replaces the cleaning part 200 and exits the cleaning base station 100.

[0396] In step S31b, if the working time is greater than or equal to the preset time, it is determined that the cleaning part 200 of the cleaning device 300 has reached the replacement condition.

[0397] The preset time may be set by the user or factory-set by the cleaning device 300. The preset time means that the cleaning unit 200 may become dirty after working for the preset time, which may cause secondary contamination of the cleaned surface.

[0398] If the working time is greater than or equal to the preset time, it means that if the current cleaning unit 200 continues to clean, it may cause secondary pollution to the cleaned surface, and it can be determined that the cleaning unit 200 of the cleaning device 300 has reached the replacement condition.

[0399] See also Figure 28 , step S31c, obtaining the working record of the cleaning equipment 300.

[0400] During the cleaning process of the cleaning device 300 , a work record of the cleaning device 300 is obtained. The work record refers to the cleaning area of ​​the cleaning device 300 during the cleaning process, or an area specified in a cleaning map.

[0401] In step S31d, if the operation record of the cleaning device 300 reaches a cleaning area, it is determined that the cleaning unit 200 of the cleaning device 300 has reached a replacement condition.

[0402] The cleaning area may be set by the user or by the factory setting of the cleaning device 300.

[0403] The cleaning map can include areas such as the living room, dining room, kitchen, bedroom A, and bedroom B. The cleaning area can be any of these areas or a user-defined area. For example, if the cleaning device 300 is currently cleaning the kitchen, if the kitchen is cleaned, it means that the work record has reached a cleaning area. The cleaning device 300 has cleaned an area, and if the cleaning unit 200 is dirty, it can be determined that the cleaning unit 200 has reached the replacement condition.

[0404] See also Figure 30 , step S31e, obtaining the degree of contamination of the cleaning device 300.

[0405] The degree of contamination also refers to the degree of contamination of the cleaning portion 200 of the cleaning device 300 . The cleaning portion 200 is mainly used to absorb water during the cleaning process. The humidity of the cleaning device 300 can be detected by a humidity sensor to determine the degree of contamination of the cleaning device 300 .

[0406] In addition, during the cleaning process, some impurities will be absorbed on the cleaning part 200 , and the degree of contamination of the cleaning part 200 can be determined by obtaining the weight of the cleaning part 200 .

[0407] In step S31f, if the contamination level is greater than or equal to the set level, it is determined that the cleaning unit 200 of the cleaning device 300 has reached a replacement condition.

[0408] If the degree of contamination is greater than or equal to the set degree, it means that the current cleaning unit 200 is already contaminated, and further cleaning will cause secondary pollution to the already cleaned area. The cleaning unit 200 is seriously contaminated and needs to be replaced, so it is determined that the cleaning unit 200 meets the replacement conditions.

[0409] See also Figure 27 In step S32a, when the cleaning part 200 of the cleaning device 300 reaches the replacement condition, it is obtained whether the cleaning base station 100 performs the cleaning process and / or the drying process.

[0410] When the cleaning base station 100 is performing a cleaning process and / or a drying process, the cleaning section 200 being cleaned is located in the cleaning tank 112 (exchange position). If the cleaning device 300 directly enters the cleaning base station 100, it will interfere with the cleaning section 200 located in the exchange position, causing damage or malfunction to the cleaning device 300 and the cleaning base station 100.

[0411] In step S32b , if the cleaning base station 100 has not executed the cleaning process and the drying process, the cleaning device 300 is controlled to return to the cleaning base station 100 .

[0412] If the cleaning base station 100 does not perform the cleaning process and the drying process, it means that no cleaning unit 200 is located in the cleaning tank 112 (changed position), and there is no obstruction above the cleaning tank 112 , and the cleaning device 300 can return to the cleaning base station 100 .

[0413] In step S32c, if the cleaning base station 100 performs a cleaning process or a drying process, the cleaning device 300 is controlled to wait until the cleaning process and the drying process are completed.

[0414] When the cleaning base station 100 is performing a cleaning and / or drying process, the cleaning unit 200 currently being cleaned is located in the cleaning tank 112 (the replacement position). If the cleaning device 300 directly enters the cleaning base station 100, interference with the cleaning unit 200 located in the replacement position may occur, causing damage or malfunction to the cleaning device 300 and the cleaning base station 100. Therefore, the cleaning device 300 is first placed in a waiting position, either near the cleaning base station 100 or at its last cleaning position.

[0415] When the cleaning part 200 of the cleaning device 300 reaches the replacement condition, the cleaning device 300 can be returned to the cleaning base station 100 to replace the dirty cleaning part 200, so that the cleaning part 200 of the cleaning device 300 is always in a relatively clean state during the cleaning process, thereby improving the cleaning effect of the cleaning device 300.

[0416] Step S34 , disassembling the dirty cleaning part 200 of the cleaning device 300 .

[0417] After the cleaning device 300 returns to the cleaning base station 100, the unlocking mechanism 140 of the cleaning base station 100 removes the dirty cleaning unit 200. The specific disassembly process is as follows:

[0418] The cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive part 143a works, so that the connecting rope 143b is wrapped around the unlocking drive part 143a. The length of the connecting rope 143b becomes shorter, thereby pulling the transmission part 142c to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, move towards the direction of the cleaning part 200. In this way, the unlocking part 142b can contact the trigger part 212, and the entire stopper 210 can move relative to the drag plate 230, so that the stopper 213 can open the notch 232 of the matching groove 231, so that the locking part 128c of the cleaning device 300 is disengaged from the matching groove 231, and the cleaning device 300 can be moved out of the base station body 110. The disassembly process of the dirty cleaning part 200 from the cleaning device 300 is completed.

[0419] Step S35 : Control the cleaning device 300 to exit the cleaning base station 100 .

[0420] After the dirty cleaning unit 200 is removed, the cloth changing mechanism 120 needs to take the dirty cleaning unit 200 and place the clean cleaning unit 200 in the cleaning tank 112 (changing positions). The cleaning device 300 needs to exit the cleaning base station 100 first to avoid interference between the cleaning base station 100 and the cloth changing mechanism 120. After the dirty cleaning unit 200 is removed, the cleaning device 300 exits the cleaning base station 100.

[0421] In step S36 , the cleaning device 300 responds to the control signal and returns to the cleaning base station 100 , wherein the control signal indicates that the cleaning base station 100 replaces the dirty cleaning unit 200 with a clean cleaning unit 200 .

[0422] After the cleaning device 300 exits the cleaning base station 100 , the cloth changing mechanism 120 of the cleaning base station 100 starts to replace the cleaning part 200 , and triggers a control signal after the replacement is completed. The cleaning device 300 responds to the control signal and returns to the cleaning base station 100 .

[0423] Step S37 , obtaining a clean cleaning portion 200 .

[0424] After the cleaning device 300 enters the cleaning base station 100, the unlocking mechanism 140 fixes the clean cleaning unit 200 to the cleaning device 300. The specific process is as follows:

[0425] The driving mechanism 130 then drives the entire cloth changing mechanism 120 to move to the storage position. At this time, the cleaning device 300 returns to the cleaning base station 100, and the locking part 128c of the cleaning setting extends into the matching groove 231. The unlocking driving part 143a stops working, and the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction under the action of its own restoring force, so that the unlocking part 142 can be reset, and the unlocking part 142b cancels the force applied to the trigger part 212. Under the action of the restoring force of the elastic part 240, the stop part 213 can stop the notch 232 of the matching groove 231, and then stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300, and the cleaning device 300 moves out of the cleaning base station 100 to work.

[0426] In step S38 , the cleaning device 300 exits the cleaning base station 100 and performs a cleaning procedure.

[0427] After obtaining the clean cleaning unit 200, the cleaning device 300 exits the cleaning base station 100 and starts or continues to perform the cleaning procedure, and repeats steps S31 to S38.

[0428] Based on the same utility model concept, an embodiment of the present application provides a method for replacing a cleaning unit 200, which is applied to a cleaning system 10. The cleaning system 10 includes a cleaning base station 100 and a cleaning device 300. The method for replacing the cleaning unit 200 includes:

[0429] See also Figure 31 In step S41 , it is determined whether the cleaning unit 200 of the cleaning device 300 meets the replacement condition.

[0430] The determination of whether the cleaning unit 200 of the cleaning device 300 has reached the replacement condition may be made during the cleaning process of the cleaning device 300, before the cleaning device 300 performs the cleaning process, or after the cleaning device 300 has completed the cleaning process.

[0431] The replacement condition means that the cleaning unit 200 of the cleaning device 300 is currently quite dirty. If the cleaning unit 200 is used directly to clean the surface, it may re-contaminate the cleaned surface. Therefore, it is necessary to clean the dirty cleaning unit 200. In other words, whether the cleaning unit 200 of the cleaning device 300 has reached the replacement condition can be determined before or during the cleaning process.

[0432] There are multiple ways to determine whether the cleaning unit 200 of the cleaning device 300 has reached the replacement condition. If any of the conditions are met, it is considered that the cleaning unit 200 of the cleaning device 300 has reached the replacement condition. Specifically, three determination methods can be provided: the first step S41a and step S41b, the second step S41c and step S41d, and the third step S41e and step S41f.

[0433] See also Figure 32 , step S41a, obtaining the working time of the cleaning device 300 performing the cleaning program.

[0434] Among them, the working time refers to the working time of the cleaning part 200 of the cleaning device 300, not the cleaning time of the entire cleaning device 300. During the cleaning process, the cleaning device 300 will replace the cleaning part 200. The working time is reset every time the cleaning part 200 is replaced, that is, the timing starts after the cleaning device 300 replaces the cleaning part 200, or starts after the cleaning device 300 replaces the cleaning part 200 and exits the cleaning base station 100.

[0435] In step S41b, if the working time is greater than or equal to the preset time, it is determined that the cleaning part 200 of the cleaning device 300 has reached the replacement condition.

[0436] The preset time may be set by the user or factory-set by the cleaning device 300. The preset time means that the cleaning unit 200 may become dirty after working for the preset time, which may cause secondary contamination of the cleaned surface.

[0437] If the working time is greater than or equal to the preset time, it means that if the current cleaning unit 200 continues to clean, it may cause secondary pollution to the cleaned surface, and it can be determined that the cleaning unit 200 of the cleaning device 300 has reached the replacement condition.

[0438] See also Figure 33 , step S41c, obtaining the working record of the cleaning equipment 300.

[0439] During the cleaning process of the cleaning device 300 , a work record of the cleaning device 300 is obtained. The work record refers to the cleaning area of ​​the cleaning device 300 during the cleaning process, or an area specified in a cleaning map.

[0440] In step S41d, if the operation record of the cleaning device 300 reaches a cleaning area, it is determined that the cleaning unit 200 of the cleaning device 300 has reached a replacement condition.

[0441] The cleaning area may be set by the user or by the factory setting of the cleaning device 300.

[0442] The cleaning map can include areas such as the living room, dining room, kitchen, bedroom A, and bedroom B. The cleaning area can be any of these areas or a user-defined area. For example, if the cleaning device 300 is currently cleaning the kitchen, if the kitchen is cleaned, it means that the work record has reached a cleaning area. The cleaning device 300 has cleaned an area, and if the cleaning unit 200 is dirty, it can be determined that the cleaning unit 200 has reached the replacement condition.

[0443] See also Figure 34 , step S41e, obtaining the degree of contamination of the cleaning device 300.

[0444] The degree of contamination also refers to the degree of contamination of the cleaning portion 200 of the cleaning device 300 . The cleaning portion 200 is mainly used to absorb water during the cleaning process. The humidity of the cleaning device 300 can be detected by a humidity sensor to determine the degree of contamination of the cleaning device 300 .

[0445] In addition, during the cleaning process, some impurities will be absorbed on the cleaning part 200 , and the degree of contamination of the cleaning part 200 can be determined by obtaining the weight of the cleaning part 200 .

[0446] In step S41f, if the contamination level is greater than or equal to the set level, it is determined that the cleaning unit 200 of the cleaning device 300 has reached the replacement condition.

[0447] If the degree of contamination is greater than or equal to the set degree, it means that the current cleaning unit 200 is already contaminated, and further cleaning will cause secondary pollution to the already cleaned area. The cleaning unit 200 is seriously contaminated and needs to be replaced, so it is determined that the cleaning unit 200 meets the replacement conditions.

[0448] See also Figure 31 In step S42a, when the cleaning part 200 of the cleaning device 300 reaches the replacement condition, it is obtained whether the cleaning base station 100 performs the cleaning process and / or the drying process.

[0449] When the cleaning base station 100 is performing a cleaning process and / or a drying process, the cleaning section 200 being cleaned is located in the cleaning tank 112 (exchange position). If the cleaning device 300 directly enters the cleaning base station 100, it will interfere with the cleaning section 200 located in the exchange position, causing damage or malfunction to the cleaning device 300 and the cleaning base station 100.

[0450] In step S42 b , if the cleaning base station 100 has not executed the cleaning process and the drying process, the cleaning device 300 is controlled to return to the cleaning base station 100 .

[0451] If the cleaning base station 100 does not perform the cleaning process and the drying process, it means that no cleaning unit 200 is located in the cleaning tank 112 (changed position), and there is no obstruction above the cleaning tank. The cleaning device 300 can return to the cleaning base station 100.

[0452] In step S42c, if the cleaning base station 100 is performing a cleaning process or a drying process, the cleaning device 300 is controlled to wait until the cleaning process and the drying process are completed.

[0453] When the cleaning base station 100 is performing a cleaning and / or drying process, the cleaning unit 200 currently being cleaned is located in the cleaning tank 112 (the replacement position). If the cleaning device 300 directly enters the cleaning base station 100, interference with the cleaning unit 200 located in the replacement position may occur, causing damage or malfunction to the cleaning device 300 and the cleaning base station 100. Therefore, the cleaning device 300 is first placed in a waiting position, either near the cleaning base station 100 or at its last cleaning position.

[0454] When the cleaning part 200 of the cleaning device 300 reaches the replacement condition, the cleaning device 300 can be returned to the cleaning base station 100 to replace the dirty cleaning part 200, so that the cleaning part 200 of the cleaning device 300 is always in a relatively clean state during the cleaning process, thereby improving the cleaning effect of the cleaning device 300.

[0455] Step S43 , dismantling the dirty cleaning part 200 of the cleaning device 300 .

[0456] After the cleaning device 300 returns to the cleaning base station 100, the unlocking mechanism 140 of the cleaning base station 100 removes the dirty cleaning unit 200. The specific disassembly process is as follows:

[0457] The cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive part 143a works, so that the connecting rope 143b is wrapped around the unlocking drive part 143a. The length of the connecting rope 143b becomes shorter, thereby pulling the transmission part 142c to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, move towards the direction of the cleaning part 200. In this way, the unlocking part 142b can contact the trigger part 212, and the entire stopper 210 can move relative to the drag plate 230, so that the stopper 213 can open the notch 232 of the matching groove 231, so that the locking part 128c of the cleaning device 300 is disengaged from the matching groove 231, and the cleaning device 300 can be moved out of the base station body 110. The disassembly process of the dirty cleaning part 200 from the cleaning device 300 is completed.

[0458] Step S44 : Control the cleaning device 300 to exit the cleaning base station 100 .

[0459] After the dirty cleaning unit 200 is removed, the cloth changing mechanism 120 needs to take the dirty cleaning unit 200 and place the clean cleaning unit 200 in the cleaning tank 112 (changing positions). The cleaning device 300 needs to exit the cleaning base station 100 first to avoid interference between the cleaning base station 100 and the cloth changing mechanism 120. After the dirty cleaning unit 200 is removed, the cleaning device 300 exits the cleaning base station 100.

[0460] In step S45 , the cloth changing mechanism 120 of the cleaning base station 100 replaces the dirty cleaning part 200 with a clean cleaning part 200 and triggers a control signal.

[0461] See also Figure 35 , wherein step S45 may include step S45a, step S45b, step S45c and step S45d.

[0462] Step S45 a , controlling the cloth changing mechanism 120 to move to the changing position, and obtaining the dirty cleaning part 200 removed from the cleaning device 300 .

[0463] When the cleaning device 300 places the cleaning unit 200 in the base station body 110 of the cleaning base station 100 , the cleaning device 300 may return to the cleaning base station 100 after the cleaning device 300 has cleaned for a preset time. Specifically, the cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive part 143a works, so that the connecting rope 143b is wrapped around the unlocking drive part 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, move in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212, and the entire stopper 210 can move relative to the drag plate 230 so that the stopper 213 can open the notch 232 of the matching groove 231, so that the locking part 128c of the cleaning device 300 is disengaged from the matching groove 231, and the cleaning device 300 can be moved out of the base station body 110. The disassembly process of the dirty cleaning part 200 from the cleaning device 300 is completed.

[0464] The driving mechanism 130 drives the entire cloth-changing mechanism 120 to move from the storage position to the replacement position. The synchronizing portion 129 drives the fixing portion 128 to slide into engagement with the mounting portion 126, allowing the fixing portion 128 to slide under the cleaning portion 200, thereby allowing the locking portion 128c of the cloth-changing mechanism 120 to enter the mating groove 231. After the locking portion 128c of the cloth-changing mechanism 120 enters the mating groove 231, the unlocking driving portion 143a stops operating. The restoring force of the reset member 145 drives the entire unlocking member 142 to rotate in the opposite direction, thereby resetting the unlocking member 142. The unlocking portion 142b cancels the force applied to the trigger portion 212. Under the restoring force of the elastic member 240, the stopper 213 stops the notch 232 of the mating groove 231, thereby stopping the locking portion 128c.

[0465] Step S45b: Control the cloth changing mechanism 120 to move to the flipping position, flip the cloth changing mechanism 120, and flip the clean cleaning part 200 to the replacement state.

[0466] After the cleaning equipment 300 exits the cleaning base station 100, the driving mechanism 130 is controlled to operate, and the driving mechanism 130 drives the entire cloth changing mechanism 120 to move to the flipping position, the cloth changing mechanism 120 flips, and the flipping driving member drives the positioning part and the fixing part 128 to flip as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are swapped, that is, the clean cleaning part 200 faces downward (replacement state), and the dirty cleaning part 200 faces upward (storage state).

[0467] In step S45c, the cloth changing mechanism 120 is controlled to move to the changing position again, and the clean cleaning part 200 is placed at the changing position.

[0468] The driving mechanism 130 then drives the entire cloth changing mechanism 120 to move to the changing position. At this time, the clean cleaning part 200 is set downward. At this time, the clean cleaning part 200 moves to the unlocking mechanism 140, and the unlocking driving part 143a works, so that the connecting rope 143b is wound around the unlocking driving part 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, move in the direction close to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212, and the entire stopper 210 can move relative to the drag plate 230, so that the stopper 213 can open the notch 232 of the matching groove 231, and the synchronizing part 129 can drive the fixing part 128 to slide with the mounting part 126, so that the locking part 128c of the cloth changing mechanism 120 can be disengaged from the matching groove 231.

[0469] In step S45d , the cloth changing mechanism 120 places the clean cleaning part 200 at the replacement position of the cleaning base station 100 to trigger a control signal so that the cleaning device 300 can return to the cleaning base station 100 .

[0470] After the cloth changing mechanism 120 places the clean cleaning part 200 in the replacement position, the cleaning base station 100 can trigger the control signal, so that after the cleaning 300 obtains the control signal, the cleaning device 300 returns to the cleaning base station 100, and the locking part 128c of the cleaning device 300 extends into the matching groove 231, the unlocking drive part 143a stops working, and the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction under the action of its own restoring force, so that the unlocking part 142 can be reset, and the unlocking part 142b cancels the force applied to the trigger part 212. Under the action of the restoring force of the elastic part 240, the stop part 213 can stop the notch 232 of the matching groove 231, and then can stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300, and the cleaning device 300 is moved out of the cleaning base station 100 to work.

[0471] When the cloth changing mechanism 120 places the clean cleaning part 200 at the replacement position, it means that the current cleaning base station 100 has replaced the dirty cleaning part 200 with the clean cleaning part 200 , and the cleaning device 300 can obtain the clean cleaning part 200 from the cleaning base station 100 .

[0472] The cloth changing mechanism 120 triggers a control signal when it places the clean cleaning unit 200 in the replacement position. The control signal can be sent directly to the cleaning device 300 via the cleaning base station 100, or after the cleaning base station 100 triggers the control signal, the server receives the control signal and then sends the control signal to the cleaning device 300.

[0473] In step S46 , the cleaning device 300 responds to the control signal and returns to the cleaning base station 100 .

[0474] After the cleaning device 300 exits the cleaning base station 100 , the cloth changing mechanism 120 of the cleaning base station 100 starts to replace the cleaning part 200 , and triggers a control signal after the replacement is completed. The cleaning device 300 responds to the control signal and returns to the cleaning base station 100 .

[0475] In step S47 , the cleaning device 300 obtains the clean cleaning portion 20 .

[0476] After the cleaning device 300 enters the cleaning base station 100, the unlocking mechanism 140 fixes the clean cleaning unit 200 to the cleaning device 300. The specific process is as follows:

[0477] The driving mechanism 130 then drives the entire cloth changing mechanism 120 to move to the storage position. At this time, the cleaning device 300 returns to the cleaning base station 100, and the locking part 128c of the cleaning setting extends into the matching groove 231. The unlocking driving part 143a stops working, and the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction under the action of its own restoring force, so that the unlocking part 142 can be reset, and the unlocking part 142b cancels the force applied to the trigger part 212. Under the action of the restoring force of the elastic part 240, the stop part 213 can stop the notch 232 of the matching groove 231, and then stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300, and the cleaning device 300 moves out of the cleaning base station 100 to work.

[0478] Step S48 : Control the cleaning device 300 to exit the cleaning base station 100 , and the cleaning device 300 executes a cleaning procedure.

[0479] After acquiring the clean cleaning portion 200 , the cleaning device 300 exits the cleaning base station 100 and starts executing the cleaning procedure or continues executing the cleaning procedure.

[0480] In step S49 , the cleaning base station 100 performs a cleaning step.

[0481] See also Figure 36 , wherein step S49 may include step S49a, step S49b, step S49c and step S49d.

[0482] In step S49 a , the cloth changing mechanism 120 is controlled to place the dirty cleaning portion 200 into the cleaning tank 112 .

[0483] After the cleaning device 300 obtains the clean cleaning section 200, the cleaning device 200 will be moved out of the cleaning base station 100 and continue to clean the surface. The cleaning section 200 replaced from the cleaning device 300 is left on the cloth changing mechanism 120. Since the cleaning section 200 will become dirty again in the process of cleaning the surface, it needs to be replaced. Since the replaced cleaning section 200 needs to be cleaned, preparations are made for the next replacement of the cleaning device 200.

[0484] After replacing the cleaning part 200, the dirty cleaning part 200 is placed on the cloth changing mechanism 120 and is currently in the storage state. The driving mechanism 130 can drive the cloth changing mechanism 120 to move to the flipping position again, and the cloth changing mechanism 120 flips over. The flipping drive component drives the positioning part and the fixing part 128 to flip over as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are flipped from the storage state to the replacement state.

[0485] The driving mechanism 130 then drives the cloth changing mechanism 120 to move to the changing position (cleaning tank 112 ) to clean the dirty cleaning portion 200 .

[0486] In step S49 b , the cleaning base station 100 is controlled to execute a cleaning process and / or a drying process to convert the dirty cleaning portion 200 into a clean cleaning portion 200 .

[0487] The cleaning base station 100 is controlled to execute a cleaning process and / or a drying process, so as to clean and / or dry the cleaning unit 200 .

[0488] The cleaning base station 100 is controlled to execute the cleaning program and / or the drying program. The cleaning base station 100 may execute the cleaning program, the drying program, or the cleaning base station 100 may execute the cleaning program first and then the drying program.

[0489] Step S49c: Control the cloth changing mechanism 120 to move to the flipping position, and control the cloth changing mechanism 120 to flip, so that the clean cleaning part 200 is in the storage state.

[0490] After cleaning is completed, the dirty cleaning part 200 becomes a clean cleaning part 200, and the driving mechanism 130 can drive the cloth changing mechanism 120 to move to the flipping position again, and the cloth changing mechanism 120 flips to make the cleaning part 200 in the storage position.

[0491] In step S49d, the cloth changing mechanism 120 is controlled to move to the storage position to store the clean cleaning portion 200 .

[0492] Since the cleaning time of the cleaning unit 200 may be shorter than the working time of the cleaning device 300 requiring replacement of the cleaning unit 200, that is, after the cleaning unit 200 is cleaned, the cleaning unit 200 currently used by the cleaning device 300 is not in a state where replacement is required, the cleaned cleaning unit 200 can be finally moved to the storage position. As for drying the cleaning unit 200, it can be dried in the cleaning tank 112 or in the storage position.

[0493] It should be noted that the times of the cleaning program and the washing step at least partially overlap. Since the execution time of the cleaning program and the execution time of the washing step may be different, the execution time of the cleaning program may be longer than the execution time of the washing step, or it may be shorter than the execution time of the washing step. The at least partial overlap of the cleaning program and the washing step means that at least a period of time of the cleaning program overlaps with a period of time of the washing step.

[0494] That is, while the cleaning device 300 is executing the cleaning procedure, the cleaning base station 100 is simultaneously executing the cleaning step. That is, the cleaning device 300 executes the cleaning procedure to clean the surface, and the cleaning base station 100 cleans the cleaning section 200, converting the dirty cleaning section 200 into a clean cleaning section 200, in preparation for the next replacement of the cleaning device 300. The cleaning time of the cleaning section 200 does not delay the cleaning time of the cleaning device 300, which can reduce the ineffective time of the cleaning device 300 during operation, thereby reducing the total working time of the cleaning device 300. It should be noted that while the cleaning device 300 is executing the cleaning procedure, it is continuously determined whether the cleaning section 200 has met the replacement conditions, that is, steps S41 to S49 are repeatedly executed after step S48.

[0495] Based on the same utility model concept, an embodiment of the present application further provides a computer storage medium storing a computer program, which is executed by a processor to implement the above-mentioned cleaning part replacement method and cleaning part cleaning method.

[0496] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0497] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0498] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A cleaning base station capable of charging a cleaning device (300), characterized in that: The cleaning base station (100) comprises: A base station body (110) and a driving mechanism (130) installed on the base station body (110); a cloth changing mechanism (120) in transmission connection with the driving mechanism (130) and capable of moving relative to the base station body (110) under the drive of the driving mechanism (130), so that the cloth changing mechanism (120) can move between a changing position, a flipping position and a storage position; The projections of the replacement position, the flipping position and the storage position on the bottom surface of the base station body are at least partially staggered.

2. The cleaning base station according to claim 1, characterized in that When the cloth changing mechanism (120) is located at the replacement position, the cloth changing mechanism (120) can obtain the cleaning part (200) replaced from the cleaning device (300) from the base station body (110), or the cloth changing mechanism (120) can place the cleaning part (200) on the base station body (110); When the cloth changing mechanism (120) is located at the storage position, the cloth changing mechanism (120) can be stored in the base station body (110).

3. The cleaning base station according to claim 1, characterized in that The storage position is located above the replacement position.

4. The cleaning base station according to claim 1, characterized in that Projections of the storage position and the replacement position on the bottom surface of the base station body (110) are at least partially offset.

5. The cleaning base station according to claim 1, characterized in that The storage position and the replacement position are respectively located on both sides of the cloth changing mechanism (120).

6. The cleaning base station according to claim 1, characterized in that The replacement position and the storage position are both arranged in the base station body (110).

7. The cleaning base station according to claim 1, characterized in that: The cloth changing mechanism (120) can be turned over at the turning position to turn over the cleaning portion (200) fixed to the cloth changing mechanism (120), so that the cleaning portion can be switched between a storage state and a changing state; When the cleaning portion (200) is in the storage state, the cleaning portion (200) can be stored in the storage position; When the cleaning portion (200) is in the replacement state, the cleaning portion (200) can be replaced with the cleaning device (300).

8. The cleaning base station according to claim 7, characterized in that: The cleaning portion (200) is located above the cloth changing mechanism (120) in the storage state, and the cleaning portion (200) is located below the cloth changing mechanism (120) in the replacement state.

9. The cleaning base station according to claim 1, characterized in that: The flipping position is located between the replacing position and the storing position.

10. The cleaning base station according to claim 1, characterized in that: Projections of the flipping position and the storage position on the bottom surface of the base station body are at least partially staggered.

11. The cleaning base station according to claim 1, characterized in that: Projections of the replacement position and the flipping position on the bottom surface of the base station body are at least partially staggered.

12. The cleaning base station according to claim 1, characterized in that: The cloth-changing mechanism (120) comprises a cloth-changing driving member (122), a mounting portion (126), and a plurality of fixing portions (128). The cloth-changing driving member (122) is in transmission connection with the mounting portion (126) and can drive the fixing portion (128) to rotate via the mounting portion (126) so as to flip the cleaning portion (200) fixed to the fixing portion (128).

13. The cleaning base station according to claim 12, characterized in that: There are two fixing portions (128), and the two fixing portions (128) are respectively located on two opposite sides of the mounting portion (126).

14. The cleaning base station according to claim 13, characterized in that: When one of the fixing parts (128) is located above the other fixing part (128), the cleaning part (200) of the fixing part (128) located above is in a storage state, and the cleaning part (200) of the fixing part (128) located below is in a replacement state.

15. The cleaning base station according to claim 14, characterized in that: The fixing portion (128) is slidably connected to the mounting portion (126).

16. The cleaning base station according to claim 15, characterized in that: The fixing portion (128) can slide relative to the mounting portion (126), so that the fixing portion (128) can cooperate with the cleaning portion (200) in the base station body (110), or the cleaning portion (200) in a replacement state can be placed in the base station body (110).

17. The cleaning base station according to claim 1, characterized in that: The base station body (110) has a cleaning tank (112), and the cleaning tank (112) is configured as the replacement position.

18. The cleaning base station according to claim 1, characterized in that: The base station body (110) has a receiving groove (114), and the receiving cavity (234) is configured as the receiving position.

19. The cleaning base station according to any one of claims 1 to 18, characterized in that: The cloth changing mechanism (120) comprises: a cloth changing driving member (122) and a fixing member (124); the fixing member (124) is used to fix the cleaning portion (200); the cloth changing driving member (122) is in transmission connection with the fixing member (124); and the cleaning portion (200) can be driven by the fixing member (124) to switch between a changing state and a storage state.

20. The cleaning base station according to claim 19, characterized in that: The cloth-changing driving member (122) can drive the fixing member (124) to rotate, so that the cleaning portion (200) can be switched between a replacement state and a storage state.

21. The cleaning base station according to claim 19, characterized in that The fixing member (124) comprises a mounting portion (126) and a fixing portion (128), wherein the fixing portion (128) is mounted on the mounting portion (126), the fixing portion (128) is used to fix the cleaning portion (200), and the mounting portion (126) is in transmission connection with the cloth-changing driving member (122).

22. The cleaning base station according to claim 21, characterized in that The fixing portion (128) is slidably connected to the mounting portion (126).

23. The cleaning base station according to claim 21, characterized in that There are multiple fixing portions (128), and the multiple fixing portions (128) are respectively located on different sides of the mounting portion (126).

24. The cleaning base station according to claim 21, characterized in that There are two fixing portions (128), and the two fixing portions (128) are respectively located on two opposite sides of the mounting portion (126).

25. The cleaning base station according to claim 21, characterized in that There are two fixing parts (128), and the two fixing parts (128) are respectively located on two opposite sides of the mounting part (126), and the two fixing parts (128) are both slidably connected to the mounting part (126).

26. The cleaning base station according to claim 25, characterized in that The fixing member (124) further includes a synchronization portion (129), and the synchronization portion (129) can simultaneously drive the two fixing portions (128) to slide relative to the mounting portion (126).

27. The cleaning base station according to claim 26, characterized in that The synchronization part (129) can drive the two fixing parts (128) to move away from each other or towards each other.

28. The cleaning base station according to claim 26, characterized in that The synchronization part (129) includes a synchronization gear (129b) and a rack (129c), the synchronization gear (129b) is installed on the installation part (126), the rack (129c) is installed on the fixed part (128), and the synchronization gear (129b) is engaged with the gears of the two fixed parts (128).

29. The cleaning base station according to claim 25, characterized in that One of the fixing portion (128) and the mounting portion (126) is provided with a sliding groove (128b), and the other is provided with a sliding rail (126b), and the sliding groove (128b) is slidably matched with the sliding rail (126b).

30. The cleaning base station according to claim 21, characterized in that The fixing portion (128) is provided with a locking portion (128c) that cooperates with the cleaning portion (200).

31. The cleaning base station according to claim 21, characterized in that The fixing portion (128) is further provided with an overlapping portion (128d) that cooperates with the cleaning cloth.

32. The cleaning base station according to any one of claims 1-18, 20-31, characterized in that: The driving mechanism (130) comprises a driver (132) and a transmission arm (134); the driver (132) is mounted on the base station body (110); the transmission arm (134) is transmission-connected to the driver (132) and rotationally connected to the cloth-changing mechanism (120).

33. The cleaning base station according to claim 32, characterized in that The transmission arm (134) includes a main arm (134a) and a secondary arm (134b); the main arm (134a) is transmission-connected to the driver (132) and the cloth-changing mechanism (120); and the secondary arm (134b) is rotationally connected to the base station body (110) and the cloth-changing mechanism (120).

34. The cleaning base station according to claim 32, characterized in that There are two transmission arms (134), and the driving mechanism (130) further includes a transmission shaft (136). The transmission shaft (136) transmits and connects the two transmission arms (134) and the driver (132).

35. The cleaning base station according to any one of claims 1-18, 20-31, 33-34, characterized in that: The cleaning base station (100) further comprises an unlocking mechanism (140), which is mounted on the base station body (110) and is capable of separating or locking the cleaning portion (200) from the cleaning device (300) and / or the cloth changing mechanism (120).

36. The cleaning base station according to claim 35, characterized in that The cloth changing mechanism (120) is provided with a locking portion (128c), the cleaning portion (200) is provided with a stopper (210), and the unlocking mechanism (140) is capable of enabling the stopper (210) to cooperate with or separate from the locking portion (128c).

37. The cleaning base station according to claim 36, characterized in that The unlocking mechanism (140) includes an unlocking member (142) and an unlocking driving member (143). The unlocking member (142) is mounted on the base station body (110). The unlocking driving member (143) can enable the stop member (210) to engage with or separate from the locking portion (128c) through the unlocking member (142).

38. The cleaning base station according to claim 37, characterized in that The unlocking drive member (143) can drive the unlocking member (142) to rotate relative to the base station body (110), so that the stop member (210) moves relative to the mop (240), and then cooperates with or separates from the stop member (210).

39. The cleaning base station according to claim 38, characterized in that The unlocking member (142) includes a connecting portion (142a), an unlocking portion (142b) and a transmission portion (142c), wherein the unlocking portion (142b) and the transmission portion (142c) are respectively located at two ends of the connecting portion (142a), the connecting portion (142a) is rotatably connected to the base station body (110), and the transmission portion (142c) is connected to the unlocking drive member (143).

40. The cleaning base station according to claim 38, characterized in that The unlocking mechanism (140) further includes a reset member (145), which is connected between the unlocking member (142) and the base station body (110). The reset member (145) can cooperate with the unlocking drive member (143) to enable the stop member (210) to cooperate with the locking portion (128c).

41. The cleaning base station according to claim 40, characterized in that The unlocking mechanism (140) further includes a rotating shaft (146), the unlocking member (142) is rotatably connected to the base station body (110) via the rotating shaft (146), and the reset member (145) is sleeved on the rotating shaft (146) and abuts against the unlocking member (142).

42. The cleaning base station according to claim 37, characterized in that The unlocking drive member (143) comprises an unlocking drive portion (143a) and a connecting rope (143b); the connecting rope (143b) is wound around the unlocking drive portion (143a) and connected to the unlocking member (142).

43. The cleaning base station according to claim 7, characterized in that The cleaning portion (200) comprises a drag plate (230), a mop cloth (240) and a stopper (210), wherein the mop cloth (240) and the stopper (210) are both mounted on the drag plate (230).

44. The cleaning base station according to claim 43, characterized in that The drag plate (230) is provided with a receiving cavity (234), and a portion of the stopper (210) is installed in the receiving cavity (234).

45. The cleaning base station according to claim 44, characterized in that The stopper (210) is movable within the accommodating cavity (234).

46. ​​The cleaning base station according to claim 43, characterized in that The stopper (210) comprises a trigger portion (212), a stop portion (213) and a transition portion (214); the trigger portion (212) and the stop portion (213) are both connected to the transition portion (214); the unlocking mechanism (140) can act on the trigger portion (212); and the stop portion (213) can cooperate with the cloth changing mechanism (120) or the cleaning device (300).

47. The cleaning base station according to claim 46, characterized in that The stopper (210) further includes an elastic member (240), which is arranged between the transition portion (214) and the drag plate (230) and can provide elastic force for resetting the stopper (210).

48. The cleaning base station according to claim 43, characterized in that The drag plate (230) has a matching groove (231), and the stopper (210) can be arranged in a notch (232) of the matching groove (231) to confine the locking portion (128c) in the matching groove (231).

49. The cleaning base station according to any one of claims 1-18, 20-31, 33-34, 36-48, characterized in that: The driving mechanism can drive the cloth changing mechanism to reciprocate between the cloth changing position and the storage position.

50. The cleaning base station according to any one of claims 1-18, 20-31, 33-34, 36-48, characterized in that: The driving mechanism can drive the cloth changing mechanism to perform circular motion.

51. A cleaning system, characterized in that The cleaning base station (100) comprises a cleaning device (300) and the cleaning base station (100) according to any one of claims 1 to 50, wherein the cleaning device (300) can be accommodated in the cleaning base station (100).

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