Maintenance System for Cleaning Robot and Control Method Thereof

Abstract

The present disclosure provides a maintenance system for a cleaning robot, the maintenance system including a mop pick-up device and a first storage bin, the first storage bin is used for storing at least two first sheet mops arranged to be stacked, and the mop pick-up device is used for picking up one first sheet mop from the first storage bin and connecting the one first sheet mop to a mop plate, thereby avoiding dirt remaining on the mop assembly and base station of the cleaning robot during the cleaning process, and improving the user experience.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robots, and more specifically, to a maintenance system for a cleaning robot and a control method thereof.

Background Art

[0002] With the development of science and technology, robots are playing an increasingly important role in people's lives. In particular, cleaning robots are helpful in liberating people from heavy housework. Among them, cleaning robots equipped with a wiping function have a wide range of applications and are widely used by users.

[0003] A cleaning robot equipped with a wiping function usually has a mop disposed at the bottom of the mop assembly of the cleaning robot, and thus, the mop can be driven by the movement of the cleaning robot to clean the working area. Currently, in order to improve the intelligence of the cleaning robot, the base station of the cleaning robot is also equipped with an automatic cleaning function. When the cleaning robot returns to the base station after operating in the working area for a certain period of time, it can be cleaned by an automatic cleaning system disposed in the base station.

[0004] However, such a solution for automatically cleaning the cleaning robot may leave dirt on the mop assembly and the base station of the cleaning robot during the cleaning process, resulting in a decline in the user experience.

Summary of the Invention

[0005] In view of this, an embodiment of the present disclosure aims to provide a maintenance system for a cleaning robot in order to reduce the generation of dirt on the mop assembly and the base station by cleaning the cleaning robot.

[0006] In a first aspect, A base station for maintaining a cleaning robot, the base station including a first storage bin configured to store at least two first sheet-like mops arranged to be stacked. A cleaning robot maintenance system is provided, including a mop pickup device configured to pick up one first sheet-like mop from the first storage bin and connect one first sheet-like mop to a mop plate.

[0007] In one possible embodiment, the mop pickup device includes the mop plate, and the mop plate and the first storage bin are configured to be relatively movable such that the mop plate can enter the first storage bin and reach a mop butting position to join with the first sheet-like mop.

[0008] In one possible embodiment, during the joining process of the mop plate and the first sheet-like mop, the first storage bin moves passively, the mop plate moves actively toward the first storage bin, and enters the first storage bin.

[0009] In one possible embodiment, the mop plate is attached to the cleaning robot, and during the joining process of the mop plate and the first sheet-like mop, the cleaning robot moves passively, and the mop plate moves actively toward the first storage bin relative to the cleaning robot.

[0010] In one possible embodiment, during the joining process of the mop plate and the first sheet-like mop, both the first storage bin and the mop plate move actively.

[0011] In one possible embodiment, the mop pickup device further includes a moving assembly for driving the mop plate to move, the mop plate is removably connected to the cleaning robot, and the mop plate is separable from the cleaning robot such that when the cleaning robot needs to replace the mop, the separated mop plate can be driven by the moving assembly to enter the first storage bin.

[0012] In one possible embodiment, the maintenance system includes a mop plate operation position configured to separate the mop plate from the cleaning robot.

[0013] In one possible embodiment, the mop butting position or the first storage bin is higher than the mop plate operation position so as to form a space for the cleaning robot to dock.

[0014] In one possible embodiment, the mop plate is used to pick up one sheet of the first sheet-shaped mop from the first storage bin along a direction perpendicular to the wiping surface of the first sheet-shaped mop.

[0015] In one possible implementation, the lower surface of the mop plate forms an angle of less than 90 degrees with the wiping surface of the first sheet-shaped mop.

[0016] In one possible implementation, the range of the value of the angle formed by the lower surface of the mop plate and the wiping surface of the first sheet-shaped mop is 0 degrees or more and 35 degrees or less.

[0017] In one possible implementation, the first storage bin has a bottom for placing the wiping surface of the first sheet-shaped mop, and the bottom forms an angle of 0 degrees or more and 45 degrees or less with the horizontal plane.

[0018] In one possible implementation, a connection area for connecting the first sheet-shaped mop is arranged on the mop plate. The connection area includes an adhesive part, and the first sheet-shaped mop is adhered to the adhesive part, thereby realizing the connection between the mop plate and the first sheet-shaped mop.

[0019] In one possible implementation, after the first sheet-shaped mop is adhered to the mop plate, the mop pickup device includes a first moving mechanism for driving and vibrating the mop plate so that one sheet of the first sheet-shaped mop is adhered to the adhesive part of the mop plate. The vibration is a reciprocating motion along the first direction and the second direction of the mop plate. The first direction is the direction in which the mop plate takes out the first sheet-shaped mop from the first storage bin, and the second direction is opposite to the first direction.

[0020] In one possible implementation, a friction assembly is arranged in the first storage bin. After the first sheet-shaped mop is adhered to the mop plate, the friction assembly is used to generate an acting force that hinders the movement of the mop plate along the first direction so that one sheet of the first sheet-shaped mop can be adhered to the adhesive part of the mop plate. The first direction is the direction in which the mop plate takes out the first sheet-shaped mop from the first storage bin.

[0021] In one possible implementation, a partition assembly for generating a gap between two adjacent first sheet-shaped mops is further arranged in the first storage bin.

[0022] In one possible implementation, the adhesive part includes a first part in contact with the first sheet-shaped mop and / or a second part exposed outside the first sheet-shaped mop. The included angle formed by the first part and the first sheet-shaped mop is 0 degrees or more and 15 degrees or less, and the included angle formed by the second part and the first sheet-shaped mop is greater than 0 degrees and less than 90 degrees.

[0023] In one possible implementation, the mop plate has a top, a bottom, and side walls for connecting the top and the bottom. The side walls are inclined from the bottom towards the top. The bonding part includes a second part that is exposed outside the first sheet-shaped mop, and the second part of the bonding part is disposed on the inclined side walls.

[0024] In one possible implementation, the area ratio between the bonding part and the first sheet-shaped mop is within a predetermined range such that the mop plate can pick up one sheet of the first sheet-shaped mop from the combination of the first sheet-shaped mops.

[0025] In one possible implementation, the mop pickup device includes a separation mechanism for separating one sheet of the first sheet-shaped mop from at least two sheets of the first sheet-shaped mops stacked in the first storage bin in order to connect the mop plate to the separated one sheet of the first sheet-shaped mop.

[0026] In one possible implementation, the mop pickup device further includes a transfer mechanism for transferring the separated one sheet of the first sheet-shaped mop to a predetermined transfer position in order to connect the mop plate to the one sheet of the first sheet-shaped mop.

[0027] In one possible implementation, the separation mechanism includes a paper suction device for sucking the first sheet-shaped mop at a mop suction position, and the mop suction position is a position where the paper suction device can suck one sheet of the first sheet-shaped mop.

[0028] In one possible implementation, the separation mechanism includes a fluid transport device for transporting fluid to the top surface of at least two stacked first sheet-shaped mops such that the topmost first sheet-shaped mop is separated from the at least two first sheet-shaped mops.

[0029] In one possible implementation, the mop pickup device further includes a removal mechanism, the mop plate includes a removal area, and the removal mechanism cooperates with the removal area to remove the second sheet-shaped mop from the mop plate, and there is no interconnection effect between the removal area and the second sheet-shaped mop.

[0030] In one possible implementation, the removal mechanism is configured to remove the second sheet-shaped mop along a removal direction, and the removal direction forms an acute angle, a right angle, or an obtuse angle with the wiping surface of the second sheet-shaped mop or the mop plate.

[0031] In one possible implementation, the removal mechanism is configured to apply an external force to the second sheet-shaped mop to separate it from the mop plate so that the second sheet-shaped mop separated from the mop plate falls under the action of its own weight or an external force.

[0032] In one possible implementation, during the process of removing the second sheet-shaped mop from the mop plate, the cleaning robot moves passively, and the mop plate or the removal mechanism moves actively.

[0033] In one possible implementation, the maintenance system further includes a second storage bin for receiving the second sheet-shaped mop removed from the mop plate.

[0034] In one possible implementation, the second storage bin is configured to be disposed on the moving path of the second sheet-shaped mop removed from the mop plate so that the second sheet-shaped mop falls into the second storage bin.

[0035] In one possible implementation, the removal mechanism is disposed in the second storage bin.

[0036] In one possible embodiment, the removal mechanism is attached to a predetermined mop removal position, the mop removal position is outside the second storage bin, and the removal mechanism is used at the mop removal position to remove the second sheet-shaped mop from the mop plate and receive it in the second storage bin.

[0037] In one possible implementation, the maintenance system includes a mop plate operation position configured to separate the mop plate from the cleaning robot, and the mop removal position or the second storage bin is higher than the mop plate operation position so as to form a space for the cleaning robot to dock.

[0038] In one possible implementation, the removal area includes a mop separation groove in which the outer edge of the mop plate is recessed into the interior of the mop plate.

[0039] In one possible implementation, the mop plate includes at least a first state and a second state. In the first state, the mop plate is in a wiping position, and in the second state, the mop plate is in a non-wiping position. The non-wiping position is higher than the wiping position so as to provide an operation space for removing the second sheet-shaped mop or attaching the first sheet-shaped mop.

[0040] In one possible implementation, the first storage bin and the second storage bin are arranged vertically one above the other.

[0041] In a second aspect, the present disclosure further provides a control method for a maintenance system of a cleaning robot, including the steps of providing a first storage bin for storing at least two first sheet-shaped mops arranged to be stacked, and picking up one first sheet-shaped mop from the first storage bin by a mop pickup device and connecting one first sheet-shaped mop to a mop plate.

[0042] In one possible implementation, the mop picking device includes the mop plate, and the step of picking up one sheet of the first sheet-like mop from the first storage bin by the mop picking device includes controlling at least one of the mop plate and the first storage bin to move so that the mop plate enters the first storage bin and reaches the mop butting position to be joined to the first sheet-like mop.

[0043] In one possible implementation, the mop picking device includes a first moving mechanism connected to the mop plate, and the step of controlling at least one of the mop plate and the first storage bin to move includes driving the mop plate by the first moving mechanism to move toward the first storage bin and making it enter the first storage bin.

[0044] In one possible implementation, the mop plate is attached to the cleaning robot. During the joining process of the mop plate and the first sheet-like mop, the cleaning robot moves passively, and the mop plate moves actively toward the first storage bin relative to the cleaning robot.

[0045] In one possible implementation, the mop picking device includes a first moving mechanism connected to the mop plate, the system further includes a third moving mechanism connected to the first storage bin, and the step of controlling at least one of the mop plate and the first storage bin to move includes driving the mop plate to move by the first moving mechanism and driving the first storage bin to move by the third moving mechanism.

[0046] In one possible implementation, the mop pickup device further includes a first moving mechanism for driving the mop plate to move. The mop plate is removably connected to the cleaning robot, and the mop plate is separable from the cleaning robot. The method further includes, when the cleaning robot needs to replace the mop, separating the mop plate from the cleaning robot, connecting the first moving mechanism to the separated mop plate, and driving the mop plate by the first moving mechanism to enter the first storage bin.

[0047] In one possible implementation, before the step of connecting the first moving mechanism to the separated mop plate, the method further includes a step of pre-positioning the first moving mechanism and the mop plate by magnetic adsorption.

[0048] In one possible implementation, the maintenance system includes a mop plate operation position configured to separate the mop plate from the cleaning robot. The method further includes, when it is confirmed that the cleaning robot has reached the mop plate operation position, separating the mop plate from the cleaning robot.

[0049] In one possible implementation, the mop butting position or the first storage bin is higher than the mop plate operation position so as to form a space for the cleaning robot to dock.

[0050] In one possible implementation, the step of picking up one first sheet-like mop from the first storage bin by the mop pickup device includes controlling the mop plate to pick up one first sheet-like mop from the first storage bin along a direction perpendicular to the wiping surface of the first sheet-like mop.

[0051] In one possible implementation, the lower surface of the mop plate forms an angle of less than 90 degrees with the wiping surface of the first sheet-shaped mop.

[0052] In one possible implementation, a connection area for connecting the first sheet-shaped mop is arranged on the mop plate. The connection area includes an adhesive part, and the first sheet-shaped mop is adhered to the adhesive part, so that the connection between the mop plate and the first sheet-shaped mop can be realized.

[0053] In one possible embodiment, the mop pickup device includes a first moving mechanism connected to the mop plate, and the method includes: After the first sheet-shaped mop is adhered to the mop plate, further including the step of controlling the first moving mechanism to drive and vibrate the mop plate so that one sheet of the first sheet-shaped mop is adhered to the adhesive part of the mop plate. The vibration is a reciprocating motion along a first direction and a second direction of the mop plate. The first direction is the direction in which the mop plate takes out the first sheet-shaped mop from the first storage bin, and the second direction is opposite to the first direction.

[0054] In one possible implementation, a friction assembly is arranged in the first storage bin. The method further includes the step of generating a reaction force by the friction assembly when the mop plate moves along the first direction so that one sheet of the first sheet-shaped mop can be adhered to the adhesive part of the mop plate after the first sheet-shaped mop is adhered to the mop plate. The first direction is the direction in which the mop plate takes out the first sheet-shaped mop from the first storage bin.

[0055] In one possible implementation, a partition assembly for generating a gap between two adjacent first sheet-shaped mops is further arranged in the first storage bin.

[0056] In one possible implementation, the bonding portion includes a first portion that contacts the first sheet-like mop and / or a second portion that is exposed outside the first sheet-like mop. The angle formed between the first portion and the first sheet-like mop is 0 degrees or more and 10 degrees or less, and the angle formed between the second portion and the first sheet-like mop is greater than 0 degrees and less than 90 degrees.

[0057] In one possible implementation, the mop plate has a top, a bottom, and side walls for connecting the top and the bottom. The side walls are inclined from the bottom towards the top, and the bonding portion is disposed on the inclined side walls.

[0058] In one possible implementation, the area ratio between the bonding portion and the first sheet-like mop is within a predetermined range such that the mop plate can pick up one sheet of the first sheet-like mop from the combination of the first sheet-like mops.

[0059] In one possible implementation, the mop pickup device includes a separation mechanism. The method includes the step of separating one sheet of the first sheet-like mop from at least two sheets of the first sheet-like mops stacked in the first storage bin by the separation mechanism in order to connect the mop plate to the separated one sheet of the first sheet-like mop.

[0060] In one possible implementation, the mop pickup device includes a transfer mechanism. The method includes the step of transferring one sheet of the first sheet-like mop to a predetermined transfer position by the transfer mechanism in order to connect the mop plate to the one sheet of the first sheet-like mop.

[0061] In one possible implementation, the separation mechanism includes a paper suction device. The method includes the step of controlling the paper suction device to suck the first sheet-like mop at a mop suction position, and the mop suction position is a position where the paper suction device can suck one sheet of the first sheet-like mop.

[0062] In one possible implementation, the separation mechanism includes a fluid transport device, and the method includes controlling the fluid transport device to transport fluid to the first storage bin such that the topmost first sheet-like mop is separated from at least two of the first sheet-like mops.

[0063] In one possible implementation, the method further includes separating the second sheet-like mop from the mop plate when the second sheet-like mop is attached to the mop plate.

[0064] In one possible implementation, the maintenance system includes a removal mechanism, the mop plate includes a removal area, and there is no interconnection effect between the removal area and the second sheet-like mop. The step of separating the second sheet-like mop from the mop plate includes controlling at least one of the removal mechanism and the mop plate to move and removing the second sheet-like mop from the mop plate.

[0065] In one possible implementation, the step of separating the second sheet-like mop from the mop plate includes removing the second sheet-like mop along the removal direction by the removal mechanism, and the removal direction forms an acute angle, a right angle, or an obtuse angle with the wiping surface of the second sheet-like mop or the mop plate.

[0066] In one possible implementation, the step of separating the second sheet-like mop from the mop plate includes applying an external force to the second sheet-like mop to move away from the mop plate by the removal mechanism such that the second sheet-like mop separated from the mop plate falls under its own weight or the action of an external force, thereby removing the second sheet-like mop from the mop plate.

[0067] In one possible implementation, during the process of removing the second sheet-like mop from the mop plate, the cleaning robot moves passively, and the mop plate or the removal mechanism moves actively.

[0068] In one possible implementation, the system further includes a second storage bin for receiving the second sheet-like mop separated from the mop plate, and the step of separating the second sheet-like mop from the mop plate includes applying an external force to the second sheet-like mop away from the mop plate by the removal mechanism so that the second sheet-like mop separated from the mop plate falls into the second storage bin under the action of its own weight or an external force, thereby separating the second sheet-like mop from the mop plate.

[0069] In one possible embodiment, the removal mechanism is disposed in the second storage bin.

[0070] In one possible implementation, the system includes a second moving mechanism connected to the second storage bin, the removal mechanism is attached to a predetermined mop removal position, the mop removal position is outside the second storage bin, and the method includes driving the second storage bin by the second moving mechanism to move to the mop removal position so as to receive the second sheet-like mop separated from the mop plate.

[0071] In one possible implementation, the removal area includes a mop detachment groove in which the outer edge of the mop plate is recessed into the interior of the mop plate.

[0072] In one possible implementation, the mop plate includes at least a first state and a second state. In the first state, the mop plate is in a wiping position, and in the second state, the mop plate is in a non-wiping position. The non-wiping position is higher than the wiping position so as to provide an operating space for removing the second sheet-like mop or attaching the first sheet-like mop.

[0073] In one possible implementation, the mop removal position or the second storage bin is higher than the mop plate operation position so as to form a space for the cleaning robot to dock.

[0074] In one possible implementation, the first storage bin and the second storage bin are arranged vertically one above the other along the vertical direction.

[0075] In one possible implementation, the first storage bin is above the second storage bin.

[0076] In a third aspect, the present disclosure further provides a step of confirming that the cleaning robot has returned to the base station, and a step of controlling a mop pickup device to replace a second sheet-like mop attached to the cleaning robot with a first sheet-like mop in a first storage bin.

[0077] In one possible implementation, the step of confirming that the cleaning robot has returned to the base station includes confirming that the cleaning robot has reached the mop plate operation position and controlling the cleaning robot to remove the mop plate.

[0078] In one possible implementation, the mop pickup device includes a first moving mechanism for driving the mop plate to move, and the step of controlling the mop pickup device to replace the second sheet-shaped mop attached to the cleaning robot with the first sheet-shaped mop in the first storage bin includes: controlling the first moving mechanism to drive the mop plate to move to the mop removal position so as to remove the second sheet-shaped mop and store it in a second storage bin for collecting the second sheet-shaped mop; and controlling the first moving mechanism to drive the mop plate to move to the mop attachment position, insert it into the first storage bin, and attach the first sheet-shaped mop to the mop plate.

[0079] In the solution provided by the present disclosure, when the cleaning robot needs to maintain the mop, it can be replaced with an unused first sheet-shaped mop in the cleaning robot, achieving the purpose of cleaning the cleaning robot. The cleaning process in the conventional maintenance system of the cleaning robot is omitted, thereby avoiding dirt remaining on the mop assembly of the cleaning robot and the base station side during the cleaning process, and improving the user experience.

Brief Description of the Drawings

[0080]

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Mode for Carrying Out the Invention

[0081] Hereinafter, while referring to the drawings in the embodiments of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described. Naturally, the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments.

[0082] First, some technical terms related to the present disclosure will be briefly explained.

[0083] The pickup should be understood in a broad sense. For example, when a mop pickup device picks up a first sheet-like mop from a first storage bin, the mop pickup device may actively move towards the first storage bin to perform the pickup, or the first storage bin may actively move towards the mop pickup device to perform the pickup. Further, both the mop pickup device and the first storage bin may move to certain specific positions to perform the pickup. The mop plate and the mop may be connected by direct abutment or by a third-party mechanism arranged separately. Regarding the direction of pickup, it may be picked up from top to bottom, from bottom to top, from left to right, or from right to left. Naturally, it may also be picked up from other directions. All various pickup methods for realizing the purpose of connecting a single mop to the mop plate are intended to be included within the protection scope of the present disclosure.

[0084] Regarding active movement and passive movement, generally, the above-mentioned active movement is a movement controlled by a controller (e.g., by the driving action of a moving mechanism or a driving mechanism), and the passive movement is a movement or displacement that occurs without being controlled by the controller. For the sake of easy understanding, here, the movement of the first storage bin is taken as an example to briefly explain the passive movement. In the process of the mop plate and the first storage bin moving relative to each other to pick up the mop from the first storage bin, due to the mutual acting forces when the mop plate is connected to the first sheet-like mop in the first storage bin, the first storage bin may have movement or displacement. If this movement or displacement is not controlled by the controller itself, then in this case, the movement of the first storage bin is a passive movement.

[0085] Currently, all maintenance systems for cleaning robots with a wiping function are such that when the cleaning robot returns to the base station after operating for a certain period of time, the cleaning robot is cleaned by an automatic cleaning system arranged in the base station. However, such a solution for automatically cleaning the cleaning robot leaves dirt on both the mop assembly of the cleaning robot and the base station side during the cleaning process, resulting in a decline in the user experience.

[0086] The present disclosure provides a solution for cleaning the cleaning robot. After the cleaning robot returns to the base station, it can be exchanged with an unused first sheet-shaped mop in the cleaning robot to achieve the purpose of cleaning the cleaning robot. The cleaning process in the conventional maintenance system of the cleaning robot is omitted, thereby avoiding dirt remaining on the mop assembly of the cleaning robot and the base station side during the cleaning process, and improving the user experience.

[0087] The present disclosure provides a maintenance system for a cleaning robot. The maintenance system includes a mop pickup device and a first storage bin. The first storage bin is used to store at least two first sheet-shaped mops arranged to be stacked. The mop pickup device is used to pick up one first sheet-shaped mop from the first storage bin and connect one first sheet-shaped mop to the mop plate.

[0088] To facilitate maintenance, the first storage bin may be arranged in the base station, the mop pickup device may be arranged in the base station, may be arranged on the cleaning robot, or may be arranged separately.

[0089] It should be noted that the "stack" mentioned in this specification means that it may be partially overlapped or completely overlapped, that is, when there are at least two first sheet-shaped mops, they are at least partially overlapped when arranged.

[0090] When the first sheet-shaped mops are partially stacked, it can be understood that the mop pickup device adaptively adjusts the pickup position when picking up the mop in order to pick up the corresponding first sheet-shaped mop. That is, the first sheet-shaped mops can have different arrangement positions, the mop pickup device can have different pickup positions, and in order to take out the corresponding first sheet-shaped mop, the pickup position corresponds to the arrangement position. Preferably, the first sheet-shaped mops are completely stacked when stacked. On the one hand, the occupied space of the mops can be saved, for example, the space of the first storage bin can be reduced. On the other hand, since the mop is taken from the same position every time, the mop can be taken easily and simply every time.

[0091] Considering a method of taking out one mop from a plurality of stacked mops, in one embodiment of the present disclosure, the mop pickup device includes a mop plate. The mop plate and the first storage bin are configured to be relatively movable so that the mop plate can enter the first storage bin and be joined to the first sheet-shaped mop. For example, the mop plate enters the first storage bin and reaches the mop butting position to be connected to the first sheet-shaped mop.

[0092] The above-mentioned mop butting position may be a position where the mop plate and the first sheet-shaped mop are in contact with each other, or a position where the mop plate can be connected or joined to the first sheet-shaped mop.

[0093] When the mop butting position is the position where the mop plate and the first sheet-shaped mop are in contact with each other, it can be understood that the mop butting position can change as the mop is taken out. For example, when there is no gap between two adjacent mops, the mop butting position changes by the thickness of one mop each time the mop is taken out in order to contact the next mop. However, when there is a gap between two adjacent mops, the mop butting position changes by the sum of the thickness of one mop and the height of the gap each time the mop is taken out in order to contact the next mop. In short, the mop butting position can change by at least the thickness of one mop each time the mop is taken out.

[0094] Through the cooperation between the mop plate and the first storage bin, the mop plate enters the first storage bin to take out the first sheet-shaped mop, and the joining of the mop plate and the first sheet-shaped mop is realized. That is, the mop plate and the first storage bin are butted against each other (i.e., the mop plate enters the first storage bin to pick up the mop), and the connection between the mop plate and the first sheet-shaped mop is directly realized, simplifying the structure of the maintenance system.

[0095] It should be pointed out that the relative movement mentioned above means that at least one of the mop plate and the first storage bin can move actively or be moved actively.

[0096] Therefore, in some embodiments, during the joining process of the mop plate and the first sheet-shaped mop, the first storage bin moves passively, the mop plate moves actively toward the first storage bin, and enters the first storage bin.

[0097] That is, when picking up the mop, the mop plate moves actively toward the first sheet-shaped mop in the first storage bin.

[0098] For example, when the mop plate is separated from the cleaning robot, the mop plate actively moves towards the first storage bin, enters the first storage bin, and joins with the first sheet-shaped mop. For the sake of easy understanding, taking the case where the first storage bin is on one side of the mop plate as an example, the mop plate first moves vertically to a position higher than the first storage bin, then moves horizontally above the first storage bin, and then can enter the first storage bin and abut against the first sheet-shaped mop. It should be pointed out that in the process of the mop plate actively moving towards the first storage bin, the cleaning robot may move actively or passively, and this is not restricted in this embodiment.

[0099] Also for example, when the mop plate is attached to the cleaning robot, that is, when the mop plate is in a state of being connected to the cleaning robot, the mop plate can also actively move towards the first storage bin relative to the cleaning robot, enter the first storage bin, and connect with the first sheet-shaped mop. In the process of the mop plate actively moving towards the first storage bin, the cleaning robot moves passively. For example, the cleaning robot may remain stationary.

[0100] As described above, regardless of whether the mop plate and the cleaning robot are connected or separated, the mop plate actively moves towards the mop and abuts against it, thereby reducing the difficulty of abutment and improving the reliability and safety of mop abutment.

[0101] To realize the movement of the mop plate, in one embodiment, the mop pickup device may further include a moving assembly for driving the mop plate to move. The mop plate and the cleaning robot are removably connected. The mop plate is separable from the cleaning robot so that when the cleaning robot needs to replace the mop, the separated mop plate can be driven by the moving assembly to enter the first storage bin.

[0102] For example, the above-mentioned moving assembly may include a first moving mechanism for driving and moving the mop plate, and the first moving mechanism may include a connecting portion connected to the mop plate for driving and moving the mop plate.

[0103] In this embodiment, the mop plate can be removed from the cleaning robot. After the mop picking-up device is connected to the mop plate removed from the cleaning robot by the moving assembly, the mop plate is aligned with the first sheet-shaped mop in the first storage bin, that is, first the mop plate is removed, and then the mop is replaced. The advantages of this are as follows. By removing the mop plate from the cleaning robot, the movement space of the mop plate can be made larger. Especially when removing the mop plate in the base station, since the space of the base station is limited, after removal, the movement of the mop plate becomes easier. And the mop replacement method is simple and easy to use, the safety and reliability of mop attachment are improved, and at the same time the cleaning robot can perform other operations, thereby making the mop plate replacement and maintenance process and the intelligence level of the cleaning robot higher.

[0104] Of course, in other embodiments, the mop plate may be connected or attached to the cleaning robot and the operation of taking the mop without being removed may be performed.

[0105] It should be noted that the above replacement should be understood to include removal and attachment. For example, when there is no mop on the mop plate, the replacement of the mop is the attachment of the first sheet-shaped mop. When there is a second sheet-shaped mop on the mop plate, the replacement of the mop may include the removal of the second sheet-shaped mop and the attachment of the first sheet-shaped mop. Whether the cleaning robot needs to replace the mop can be determined by a method of detecting the degree of dirt on the mop, a method of obtaining the time the cleaning robot has operated using the mop or the cleaning area cleaned using the mop, or a method of receiving a replacement command from the user, etc. In this embodiment, a detailed description is omitted.

[0106] Considering the separation method of the mop, in some embodiments, the maintenance system includes a mop plate operation position configured to separate the mop plate from the cleaning robot.

[0107] The mop plate operation position may be arranged at the base station to facilitate the maintenance of the cleaning robot.

[0108] It should be pointed out that the mop plate operation position may further be used to attach the mop plate to the cleaning robot. Naturally, in other embodiments, another attachment position for attaching the mop plate may be provided, and this is not limited in this embodiment. Also, the mop plate operation position in this specification may be one position, or one area or space.

[0109] Since the cleaning robot usually docks on a platform for placing the cleaning robot at the lower part of the base station, furthermore, the mop butting position or the first storage bin is higher than the mop plate operation position so as to form a space for the cleaning robot to dock.

[0110] By arranging the first storage bin above the docking position of the robot or on top of the base station platform, the floor space of the maintenance system or the base station is saved.

[0111] For ease of understanding, taking the example that the first mop bin has a regular cubic shape, by setting the mop butting position and the lowest position of the first storage bin higher than the mop plate operation position, a space for the cleaning robot to dock can be formed, and the mop butting position, the first storage bin or the movement trajectory of the first storage bin is within the projection range of the space for the cleaning robot to dock.

[0112] The lowest position of the first storage bin is also related to the arrangement method of the first storage bin. For example, when the opening of the first storage bin is arranged upward, the lowest position of the first storage bin is the outer surface of the bottom of the first storage bin; when the opening of the first storage bin is arranged leftward or rightward, the lowest position of the first storage bin is the outer surface of the side wall of the first storage bin.

[0113] When the first storage bin cannot move, the projection of the first storage bin on the horizontal ground is within the projection range of the docking space of the cleaning robot; when the first storage bin can move, the projection of the movement trajectory of the first storage bin on the horizontal ground is within the projection range of the docking space of the cleaning robot.

[0114] In this embodiment, the first storage bin is above the docking position of the cleaning robot, or the base station has a position capable of accommodating the first storage bin, and the first storage bin can be arranged at this position, and this position has a certain height from the horizontal ground, thereby leaving a docking space for the cleaning robot. The above arrangement method saves the occupied area of the system and helps to realize the miniaturization of the maintenance system.

[0115] In some other embodiments, during the joining process of the mop plate and the first sheet-shaped mop, both the first storage bin and the mop plate move actively.

[0116] That is, when picking up the mop, both the first storage bin and the mop plate actively move and cooperate to realize the connection between the mop plate and the first sheet-shaped mop, simplifying the movement trajectory and the complexity of the structure of the mop plate of the maintenance system.

[0117] For example, the mop pickup device includes a moving assembly (such as a first moving mechanism) for driving the mop plate to move, and the maintenance system includes a third moving mechanism for driving the first storage bin to move.

[0118] Of course, during the butting process of the mop plate and the first storage bin, the first storage bin may actively move towards the mop plate, and the mop plate may move passively.

[0119] Considering the mop picking direction of the mop plate, in some embodiments, the mop plate is used to pick up one sheet-shaped mop from the first storage bin along the stacking direction of the first sheet-shaped mops.

[0120] The stacking direction is a direction perpendicular to the wiping surface of the first sheet-shaped mop, or a direction in which the non-wiping surface facing the wiping surface of the first sheet-shaped mop points to the wiping surface of the first sheet-shaped mop.

[0121] For example, the mop plate is used to pick up one sheet-shaped mop from the first storage bin along a direction perpendicular to the wiping surface of the first sheet-shaped mop. That is, the movement direction of the mop plate is perpendicular to the wiping surface of the mop, thereby realizing the butting and attachment of the two, and the butting process is simple, rapid and highly reliable.

[0122] It can be understood that the wiping surface of the first sheet-shaped mop is a surface that can perform wiping work or a surface that contacts the ground to be cleaned to perform cleaning work.

[0123] Considering the arrangement of the mop plate in the mop-taking direction, in order to ensure that the mop plate can be connected to the mop, in some embodiments, the lower surface of the mop plate forms an angle of less than 90 degrees with the wiping surface of the first sheet-shaped mop.

[0124] In order to improve the connection stability between the mop plate and the mop, furthermore, the range of the value of the angle formed by the lower surface of the mop plate and the wiping surface of the first sheet-shaped mop is 0 degrees or more and 45 degrees or less.

[0125] In order to facilitate the butting of the mop plate and the mop, in some embodiments, by arranging a guiding device in the first storage bin, connection positioning is performed during the butting process of the mop plate and the mop, preventing the problem that the connection is not strong or the connection fails due to excessive deviation. Optionally, the guiding device may be, for example, a guiding post, or a slide groove or a slide rail.

[0126] In order to improve the connection stability and butting accuracy between the mop plate and the mop, furthermore, the range of the value of the angle between the lower surface of the mop plate and the wiping surface of the first sheet-shaped mop is 0 degrees or more and 35 degrees or less.

[0127] Referring to FIG. 56, in the figure, a guiding device 810 is arranged in the first storage bin 210. The guiding device 810 adopts a guiding post. The angle between the lower surface of the mop plate 210 and the wiping surface of the first sheet-shaped mop is a, and the range of the value of the angle a is 0 degrees or more and 35 degrees or less.

[0128] It should be noted that the angle a formed by the lower surface of the mop plate and the wiping surface of the first sheet-shaped mop is related to the aperture of the guiding device (such as a guiding post) and the size of the positioning hole corresponding to the guiding post of the mop plate.

[0129] Considering the arrangement of the mop bin in the direction of taking the mop, in some embodiments, the first storage bin has a bottom for placing the wiping surface of the first sheet-like mop, and the bottom forms an angle of 0 degrees or more and 45 degrees or less with the horizontal plane.

[0130] Referring to FIG. 57, the first storage bin 210 has a bottom 2104 for placing the wiping surface of the first sheet-like mop, and the bottom 2104 forms an angle b with the horizontal plane, and the value range of the angle b is 0 degrees or more and 45 degrees or less.

[0131] In order to facilitate taking the mop of the mop plate and improve the connection stability between the mop plate and the mop, furthermore, the angle formed by the bottom and the horizontal plane is 0 degrees or more and 30 degrees or less.

[0132] Considering the manufacturing error of the mop bin, furthermore, the angle formed by the bottom and the horizontal plane is 0 degrees or more and 15 degrees or less.

[0133] Of course, in other embodiments, the mop pickup device or the mop plate is used to enter the first storage bin at an angle of 15 degrees or less along the direction of gravity.

[0134] By the mop pickup device or the mop plate taking the first sheet-like mop from the direction of gravity or a direction close to gravity, the problem that the first sheet-like mop is arranged in other directions and becomes unstable or needs to be fixed by an additional device is avoided, or the problem that the first sheet-like mop is displaced during the moving process and the mop plate and the first sheet-like mop cannot be accurately aligned or the stability becomes low after the two are aligned is avoided. At the same time, when multiple mops are taken out when taking the mop, the extra mop is put back under the action of gravity, so that the connection with one mop is maintained.

[0135] Considering the fixing method of the mop plate and the mop, in some embodiments, a connection area for connecting the first sheet-shaped mop is arranged on the mop plate, the connection area includes an adhesive portion, the first sheet-shaped mop is adhered to the adhesive portion, and the connection between the mop plate and the first sheet-shaped mop can be realized.

[0136] That is, the mop plate and the first sheet-shaped mop are connected by an adhesive method, which is simple to install, highly reliable, and at the same time, the structure of the mop plate is simpler.

[0137] Considering the arrangement position of the pasting portion, in some embodiments, the adhesive portion includes a first portion in contact with the first sheet-shaped mop and / or a second portion exposed outside the first sheet-shaped mop. The angle formed by the first portion and the first sheet-shaped mop is 0 degrees or more and 15 degrees or less, and the angle formed by the second portion and the first sheet-shaped mop is greater than 0 degrees and less than 90 degrees.

[0138] The first portion can realize the face-to-face pasting between the mop plate and the first sheet-shaped mop. Considering the manufacturing error, the angle formed by the first portion and the first sheet-shaped mop here is 0 degrees or more and 15 degrees or less. The second portion lifts the first sheet-shaped mop by the mutual acting force between the mop plate and the first sheet-shaped mop to realize the pasting between the mop plate and the first sheet-shaped mop. If the mop plate pastes the first sheet-shaped mop by the first portion and the second portion, the connection stability between the mop plate and the first sheet-shaped mop can be improved.

[0139] In order to facilitate the replacement of the mop, in some embodiments, the mop plate has a top, a bottom, and a side wall for connecting the top and the bottom. The side wall is inclined from the bottom to the top. The adhesive portion has a second portion exposed outside the first sheet-shaped mop, and the second portion of the adhesive portion is arranged on the inclined side wall.

[0140] Considering the subsequent convenience, the included angle formed between the second part and the first sheet-shaped mop is greater than 10 degrees and less than or equal to 60 degrees.

[0141] To improve the adhesion effect, the included angle formed between the second part and the first sheet-shaped mop is greater than or equal to 20 degrees and less than 45 degrees.

[0142] Considering the ease of attachment, the firmness or stability of attachment, and the ease of detachment, preferably, the included angle formed between the second part and the first sheet-shaped mop is greater than or equal to 25 degrees and less than or equal to 35 degrees.

[0143] In this embodiment, preferably, the included angle formed between the second part and the first sheet-shaped mop is 30 degrees.

[0144] The problem of multiple mops being taken out during pasting can be avoided by at least one of the following methods.

[0145] In Method 1, after the mop plate is connected to the first sheet-shaped mop, the method of vibration is used to avoid taking out multiple first sheet-shaped mops.

[0146] For example, the mop pickup device includes a first moving mechanism for driving and vibrating the mop plate so that after the first sheet-shaped mop is adhered to the mop plate, one first sheet-shaped mop is adhered to the adhesion part of the mop plate. Vibration is the reciprocating movement of the mop plate along the first direction and the second direction. The first direction is the direction in which the mop plate takes out the first sheet-shaped mop from the first storage bin, and the second direction is opposite to the first direction.

[0147] In Method 2, after the first sheet-shaped mop is adhered to the mop plate, the method of scraping is used to avoid the mop plate taking out multiple first sheet-shaped mops.

[0148] For example, a friction assembly is arranged in the first storage bin. After the first sheet-like mop is adhered to the mop plate, the friction assembly is used to generate an acting force that hinders the movement of the mop plate along the first direction so that one first sheet-like mop can be adhered to the adhesion part of the mop plate. The first direction is the direction in which the mop plate takes out the first sheet-like mop from the first storage bin.

[0149] In Method 3, by arranging a partition assembly in the first storage bin, the blocking between the first sheet-like mops is reduced, thereby avoiding the problem that multiple first sheet-like mops are taken out during the process of abutting the mop plate against the first sheet-like mop.

[0150] For example, a partition assembly for generating a gap between two adjacent first sheet-like mops is arranged in the first storage bin.

[0151] In Method 4, by controlling the area ratio between the adhesion part and the first sheet-like mop, the adhesion force of the mop plate to the first sheet-like mop is controlled, and the problem that the mop plate can pick up multiple first sheet-like mops at one time is avoided.

[0152] For example, the area ratio between the adhesion part and the first sheet-like mop is within a predetermined range so that the mop plate can pick up one first sheet-like mop from the combination of the first sheet-like mops.

[0153] It should be understood that this predetermined range is related to factors such as the material used for the adhesion part, the material of the adhesion surface (or non-wiping surface) corresponding to the adhesion part of the first sheet-like mop, and the arrangement position of the adhesion part.

[0154] To save the material of the adhesion part, this predetermined range is set to be 5% or more and 90% or less.

[0155] Preferably, this predetermined range is set to be 5% or more and 60% or less.

[0156] Considering that the mop should be easily removable, this predetermined range is set to be 5% or more and 30% or less.

[0157] The bonding part is a magic tape (Registered Trademark) Taking as an example that the bonding part is a magic tape, the bonding surface of the mop is a fluff, and the bonding part is arranged on the side wall and bottom of the mop plate, the predetermined range is set to 10% - 20%.

[0158] Naturally, in other embodiments, the blocking between the first sheet-shaped mops can also be reduced according to the stacking position of the first sheet-shaped mops. For example, two adjacent first sheet-shaped mops can be partially stacked, or the adhesion force between two adjacent sheet-shaped mops can be reduced considering the material between the surface where the bonding part of each first sheet-shaped mop is located and the surface where the non-bonding part is located.

[0159] Regarding the problem of how to take out one mop from a plurality of mops, in another embodiment of the present disclosure, the mop pickup device may include a separation mechanism for separating one first sheet-shaped mop from at least two first sheet-shaped mops stacked in the first storage bin.

[0160] And / or, in order to connect the mop plate to one first sheet-shaped mop, it may include a transfer mechanism for transferring one first sheet-shaped mop to a predetermined transfer position.

[0161] Taking out one first sheet-shaped mop from the first storage bin by separation and / or transfer, and then connecting one first sheet-shaped mop to the mop plate. Such an indirect butting method between the mop plate and the mop can effectively reduce the probability that the mop plate takes out a plurality of mops.

[0162] For example, the connection between the mop plate and a single mop may be realized by a method of separating and then transferring, a method of transferring and then separating, or a method in which separation and transfer are performed simultaneously. The execution order of the above separation and transfer is related to factors such as the principle, structure, and positional relationship of the mop pickup device.

[0163] In some embodiments, the separation of a single first sheet-shaped mop is realized by suction separation.

[0164] For example, the separation mechanism includes a paper suction device for sucking the first sheet-shaped mop at the mop suction position, and the mop suction position is a position where the paper suction device can suck a single first sheet-shaped mop.

[0165] As can be understood, the above mop suction position also changes as the sheet-shaped mop is sucked. For example, when there is no gap between adjacent mops, the mop suction position changes by the thickness of a single mop each time a mop is sucked. However, when there is a gap between adjacent mops, the mop suction position changes by the sum of the thickness of a single mop and the height of the gap each time a mop is sucked.

[0166] Taking the example that the mop pickup device includes a separation mechanism, when both the mop plate and a single mop separated by the separation mechanism are in the butting position, the transfer mechanism is not required, that is, separation and transfer are completed simultaneously by the separation mechanism, that is, separation and transfer are performed simultaneously. When one of the mop plate and the separated single mop is in the butting position, the other may be transferred to the butting position by the transfer mechanism. When neither the mop plate nor the separated mop is in the butting position, it is necessary to transfer the mop plate and the mop to the butting position respectively. The transfer mechanism for transferring the mop plate and the mop may be one or two.

[0167] For the sake of easy understanding, the separation mechanism being a paper suction device will be briefly described as an example. The paper suction device (for example, a vacuum suction cup) utilizes the vacuum suction principle. When the paper suction device separates one mop by vacuum suction, if both the one mop and the mop plate are in the butting position, for example, when the paper suction device is arranged on the mop plate, in this case, the butting position and the separation position also coincide. When separating one mop, the transfer and butting of the mop are completed at the same time, that is, separation and transfer can be executed simultaneously. In this case, the mop pickup device does not need to include an additional transfer mechanism.

[0168] When there is a pitch between the mop plate and the paper suction device, and one mop separated by the paper suction device is in the butting position, a transfer mechanism for transferring the mop plate to the butting position is required. When the mop plate is in the butting position, a transfer mechanism for transferring the separated one mop to the butting position is required. When neither the mop plate nor the separated mop is in the butting position, it is necessary to transfer the mop plate and the mop to the butting position respectively. The transfer mechanism for transferring the mop plate and the mop may be one or two.

[0169] Naturally, in other embodiments, the separation of one first sheet-shaped mop is realized by air separation.

[0170] For example, the separation mechanism includes a fluid transport device for transporting fluid to the top surface of at least two stacked first sheet-shaped mops so that the topmost first sheet-shaped mop is separated from at least two first sheet-shaped mops.

[0171] Regarding whether transfer after separation is required and the order of separation and transfer, reference may be made to the above. To save space on the paper, the description is omitted here.

[0172] Considering the problem of removing the mop plate, in one embodiment of the present disclosure, the mop pickup device further includes a removal mechanism, the mop plate includes a removal area, and the removal mechanism cooperates with the removal area to remove the second sheet-shaped mop from the mop plate, and there is no interconnection effect between the removal area and the second sheet-shaped mop.

[0173] The above-mentioned second sheet-shaped mop may be a used, old, or dirty mop. For example, the first sheet-shaped mop on the mop plate mounted on the cleaning robot is a mop after performing a wiping operation for a predetermined time or a cleaning operation for a predetermined area. When a second sheet-shaped mop is mounted on the mop plate, when replacing the mop on the mop plate, it is necessary to first remove the second sheet-shaped mop and then connect the first sheet-shaped mop. As can be understood, the first sheet-shaped mop can be converted into a second sheet-shaped mop after being used for wiping. Of course, in other embodiments, the second sheet-shaped mop may be a mop that needs to be removed in other cases, for example, a mop for testing or a mop that needs to be removed when the user determines that the connection of the mop is not ideal. In this case, it is not required whether the second sheet-shaped mop is clean or not.

[0174] Optionally, the above-mentioned removal mechanism may be arranged on the base station.

[0175] When it is necessary to remove the second sheet-shaped mop from the mop plate, starting from the removal area, since there is no interconnection effect between the removal area and the second sheet-shaped mop, the mop can be removed from the mop plate more easily and conveniently.

[0176] Considering the mop removal direction of the removal mechanism, in some embodiments, the removal mechanism is configured to remove the second sheet-shaped mop along the removal direction, and the removal direction forms an acute angle, a right angle, or an obtuse angle with the wiping surface of the mop plate or the second sheet-shaped mop.

[0177] The removal direction may be, for example, the direction in which the removal mechanism applies an external force to the second sheet-like mop.

[0178] The removal direction forms an acute angle, a right angle, or an obtuse angle with the wiping surface of the mop plate or the second sheet-like mop. That is, the removal direction is not parallel to the wiping surface of the second sheet-like mop. As a result, the removal direction has a component direction perpendicular to the wiping surface of the second sheet-like mop, or the external force applied by the removal mechanism to the second sheet-like mop has a component force perpendicular to the wiping surface of the second sheet-like mop. Furthermore, the removal of the mop becomes simple and efficient, the residue of the mop on the mop plate decreases, it can be removed relatively cleanly, and the damage to the mop decreases.

[0179] For ease of understanding, the removal direction will be described by taking as an example that the removal mechanism 320 is two hook-shaped parts attached to the first storage bin 220. The tops of the hook-shaped parts can be connected to form a connecting line. When removing the mop, the connecting line of the two hook-shaped parts (for example, the dotted line shown in FIG. 59) is not parallel to the wiping surface of the mop plate or the second sheet-like mop. For example, referring to FIG. 41, the removal direction of the two hook-shaped parts forms a right angle with the wiping surface of the mop plate or the second sheet-like mop (of course, at least one of the removal mechanism 320 or the mop plate 110 may have an inclination due to arrangement or manufacturing errors, etc. In this case, the angle formed by the removal mechanism 320 and the mop plate 110 or the second sheet-like mop may be an acute angle or an obtuse angle. FIG. 59 shows a case where the angle c formed by the removal mechanism 320 and the mop plate 110 or the second sheet-like mop is an acute angle). The removal direction (for example, the direction of the straight-line arrow shown in FIG. 59) is the direction in which the removal mechanism applies an external force to the second sheet-like mop to separate it from the mop plate, or it may be the perpendicular bisector of the connecting line of the two hook-shaped parts. As a result, the removal direction or the external force applied to the second sheet-like mop is perpendicular to the wiping surface of the second sheet-like mop. Furthermore, the removal of the mop becomes simple and efficient, the residue of the mop on the mop plate is reduced as much as possible, the mop is removed relatively cleanly and thoroughly, and it helps to avoid damage to the mop.

[0180] In order to avoid the residue of the mop on the mop plate, in some embodiments, the removal mechanism is configured to apply an external force away from the mop plate to the second sheet-shaped mop so that the second sheet-shaped mop separated from the mop plate falls under its own weight or the action of an external force.

[0181] For example, when removing the mop, if the lower surface of the mop plate is perpendicular or substantially perpendicular to the direction of gravity, by arranging the removal mechanism in the moving path of the mop plate, when the mop plate moves from below the removal mechanism to pass through the removal mechanism with respect to the removal mechanism, under the action of the external force away from the mop plate applied by the removal mechanism to the second sheet-shaped mop on the mop plate, the second sheet-shaped mop may be removed from the mop plate, and the removed second sheet-shaped mop can fall along the direction of gravity.

[0182] When the lower surface of the mop plate is parallel or substantially parallel to the direction of gravity, by arranging the removal mechanism in the moving path of the mop plate, for example, when the mop plate moves from the left side to the right of the removal mechanism to pass through the removal mechanism (or moves from the right side to the left of the removal mechanism to pass through the removal mechanism), under the action of the external force away from the mop plate applied by the removal mechanism to the second sheet-shaped mop on the mop plate, the second sheet-shaped mop is removed from the mop plate, and the removed second sheet-shaped mop can fall along the direction of the external force.

[0183] In order to improve the convenience of mop removal, further, in the process of removing the second sheet-shaped mop from the mop plate, the sweeping robot moves passively, and the mop plate or the removal mechanism moves actively.

[0184] When removing the mop, without adjusting the position of the main body of the cleaning robot, the removal of the mop is achieved by the active movement of the mop plate and / or the removal mechanism, providing a relatively large space for the mop removal operation, thereby making the mop removal simple and easy, and improving the reliability and safety of the mop removal.

[0185] After the second sheet-shaped mop is removed, to facilitate the centralized collection of the second sheet-shaped mop and avoid soiling hands by manual handling of the dirty cleaning medium, the maintenance system further includes a second storage bin for receiving the second sheet-shaped mop removed from the mop plate. The second storage bin may be arranged at a maintenance-capable base station for the cleaning robot.

[0186] Furthermore, the removal mechanism is configured to apply an external force away from the mop plate to the second sheet-shaped mop so that the second sheet-shaped mop separated from the mop plate falls into the second storage bin under the action of its own weight or an external force.

[0187] Through the cooperation of the removal mechanism and the removal area, after removing the second sheet-shaped mop from the mop plate, the second sheet-shaped mop is dropped into the second storage bin.

[0188] That is, the removed second sheet-shaped mop falls into the second storage bin while remaining removed from the mop plate, improving the recovery efficiency of the mop. For example, when the removal mechanism is arranged outside the second storage bin, the second storage bin may be arranged on the moving path of the separated second sheet-shaped mop so that the second sheet-shaped mop enters the second storage bin. For example, the removal mechanism is attached to a predetermined mop removal position, the mop removal position is outside the second storage bin, and the removal mechanism is used to remove the second sheet-shaped mop from the mop plate at the mop removal position and let it be received by the second storage bin. The second storage bin is arranged on the falling path of the second sheet-shaped mop.

[0189] To facilitate removal of the mop plate, in some embodiments, the maintenance system includes a mop plate operating position configured to separate the mop plate from the cleaning robot.

[0190] Furthermore, the mop removal position or the second storage bin is higher than the mop plate operating position so as to form a space for the cleaning robot to dock.

[0191] When the cleaning robot returns to the base station for maintenance, it usually docks on the lower platform of the base station, and by arranging the second storage bin above the space where the cleaning robot docks or in the upper region of the base station, the site space of the base station is saved.

[0192] Considering the positional relationship between the first storage bin and the second storage bin, in some embodiments, the first storage bin and the second storage bin are arranged vertically one above the other.

[0193] For example, both the first storage bin and the second storage bin are arranged in the upper region of the base station and are arranged vertically one above the other. It should be noted that considering that the first storage bin and / or the second storage bin are movable, the above vertical arrangement should be understood in a broad sense, that is, the heights of the first storage bin and the second storage bin are not the same. For example, the initial positions of the first storage bin and the second storage bin may or may not be on the same straight line, and the present disclosure does not limit this.

[0194] Considering the space required for removing and attaching the mop, from the perspective of reducing the occupied space of the base station, furthermore, the height of the first storage bin is higher than that of the second storage bin, or the first storage bin is above the second storage bin.

[0195] Considering that the operation space for mop removal is relatively large, within the base station, by arranging the second mop bin below the first mop bin, the space of the first mop bin can also become the operation space for mop removal, which helps to reduce the volume of the base station.

[0196] Naturally, in other embodiments, the removal mechanism may be directly arranged in the second storage bin.

[0197] Regarding the structure of the removal area, in some embodiments, the removal area includes a mop detachment groove in which the outer edge of the mop plate is recessed into the interior of the mop plate.

[0198] The above mop detachment grooves may be one or more. In order to improve the detachment efficiency of the mop and reduce the damage to the second sheet-like mop, a plurality of mop detachment grooves are arranged, and the plurality of mop detachment grooves may be arranged at intervals.

[0199] Considering the space problem of the mop replacement operation, in some embodiments, the mop plate includes at least a first state and a second state. In the first state, the mop plate is in the wiping position, and in the second state, the mop plate is in the non-wiping position.

[0200] It should be noted that the first state may be a wiping state, the second state may be a non-wiping state, and the first state and the second state can be switched between each other. That the mop plate is in the wiping position means that the mop plate is in a position where it can perform a wiping operation or in a position where the mop plate contacts the ground (for example, the mop plate is removed from the cleaning robot), and that the mop plate is in the non-wiping position means that the mop plate is in a position away from the operation, for example, a position lifted by a cleaning request or a switch of the operation mode or user control, or a position where maintenance (for example, mop replacement or cleaning) can be performed. For the sake of easy understanding, in the following, taking the case where a mop is attached to the mop plate as an example, the wiping position and the non-wiping position will be briefly described. When the mop plate is in the wiping position, the mop is in close contact with the working surface, and when the mop plate is in the non-wiping position, the mop is away from the working surface.

[0201] The non-wiping position is higher than the wiping position so as to provide an operation space for the removal of the second sheet-like mop or the attachment of the first sheet-like mop.

[0202] The mop plate can change between the wiping position and the non-wiping position to provide an operation space for replacing the mop. For example, when the mop plate is removed from the cleaning robot, by lifting the mop plate from the wiping position to the non-wiping position, an operation space is provided for the removal and / or attachment of the mop plate.

[0203] Of course, in other embodiments, the mop plate may remain attached or connected to the cleaning robot without being removed, and by operating only on the mop plate, the mop plate can be switched between a first state and a second state. For example, when the mop plate needs to replace or attach a first sheet-like mop, the mop plate is switched from a first state where the mop plate (when a mop is attached to the mop plate, here it refers to the mop) is in close contact with the working surface to a second state where the mop plate (when a mop is attached to the mop plate, it may also refer to the mop here) is separated from the working surface, and further, the alignment between the mop plate and the first sheet-like mop in the first storage bin is realized, making the mop replacement of the mop plate faster.

[0204] It should be noted that during the process of the mop plate switching between the first state and the second state, the cleaning robot itself moves passively, and only the position of the mop plate relative to the cleaning robot (main body) changes. The difference is that the position of the mop plate is different in the first state and the second state. Of course, during the process of the mop plate switching between the first state and the second state, the cleaning robot may move actively. For example, corresponding operations can be performed. To facilitate understanding, taking the example where a cleaning assembly (such as at least one of a brush, a side brush, or a dust suction port) is arranged on the cleaning robot, the cleaning robot can perform cleaning operations during the mop replacement period.

[0205] To facilitate understanding, first, a maintenance system of a cleaning robot applicable to the embodiments of the present disclosure will be described in association with FIG. 1. As shown in FIG. 1, the system includes a cleaning robot 100 and a base station 200.

[0206] The cleaning robot 100 cleans the working area. The cleaning robot 100 may be, for example, a cleaning robot having a wiping function, may be, for example, a mop robot, or may be, for example, a robot that combines sweeping and wiping, or may be, for example, a glass wiping robot. Accordingly, the working area may be, for example, an area such as a floor or a window.

[0207] The base station 200 can communicate with the cleaning robot 100 and is used to maintain the cleaning robot 100. In some embodiments, the base station 200 may further have a function of charging the cleaning robot 100. In another embodiment, the base station 200 may further have a function of replacing the mop of the cleaning robot.

[0208] Hereinafter, based on the base station 200 shown in FIG. 1, the structure of the base station according to the embodiments of the present disclosure will be described in detail. The base station 200 includes a first storage bin 210 and a mop pickup device 300.

[0209] The first storage bin 210 is used to store unused first sheet-shaped mops. In some embodiments, the first sheet-shaped mops can be stored in the first storage bin 210 so as to be stacked.

[0210] The unused first sheet-shaped mop may be a new sheet-shaped mop or a clean sheet-shaped mop. The sheet-shaped mop may be understood as a mop sheet that can be used directly after cutting.

[0211] In some embodiments, since the first sheet-shaped mop may be a paper disposable mop paper, the first storage bin may be called a "clean paper storage box".

[0212] Regarding the mop pickup device 300, when the cleaning robot 100 returns to the base station 200 (see FIG. 2), the mop pickup device 300 is used to replace the second sheet-like mop attached to the cleaning robot 100 with the first sheet-like mop in the first storage bin 210. The second sheet-like mop may be a used sheet-like mop or a dirty sheet-like mop.

[0213] After the mop pickup device 300 replaces the cleaning robot 100 with the first sheet-like mop, the removed second sheet-like mop can be stored in the second storage bin 220. As a result, the user can periodically replace the second sheet-like mop in the second storage bin 220 all at once, improving the user experience. Of course, the user can also manually remove the second sheet-like mop each time after replacing the cleaning robot 100 with the first sheet-like mop. Accordingly, the second storage bin 220 may not be arranged in the base station 200.

[0214] As described above, the second sheet-like mop may be a used sheet-like mop or a dirty sheet-like mop. Also, in some embodiments, the second sheet-like mop may be a disposable mop paper made of paper. Therefore, the second storage bin 220 may be referred to as a "dirty paper storage box".

[0215] To save the floor area of the base station, the first storage bin 210 and the second storage bin 220 may be arranged vertically one above the other along the vertical direction. For example, the first storage bin 210 may be above the second storage bin 220, or the second storage bin 220 may be above the first storage bin 210. Of course, the first storage bin 210 and the second storage bin 220 may also be arranged horizontally side by side along the horizontal direction.

[0216] To facilitate the user in putting the first sheet-like mop into the first storage bin 210 and / or cleaning the second sheet-like mop stored in the second storage bin 220, the first storage bin 210 and the second storage bin 220 are arranged along the vertical direction and can be close to the housing of the base station 200. For example, they can be close to the housing on the front surface of the base station 200 or close to the housing on the top surface of the base station 200.

[0217] Accordingly, when the user opens the first storage bin 210 and / or the second storage bin 220, the user can open it manually by pulling it open. Also, when the user opens the first storage bin 210 and / or the second storage bin 220, by pressing a button, the first storage bin 210 and / or the second storage bin 220 can be automatically popped up.

[0218] To simplify the replacement process of the sheet-like mop, when the mop pickup device 300 replaces the sheet-like mop of the cleaning robot 100, the mop plate 110 on the cleaning robot 100 may first be separated from the cleaning robot 100. In this way, in the process of replacing the sheet-like mop, operations can be performed only on the mop plate 110. Of course, the wiping assembly with a water tank can also be separated together, and this is not limited in the embodiments of the present disclosure.

[0219] As described above, the cleaning robot 100 includes a mop plate 110 separable from the cleaning robot 100. The mop pickup device 300 includes a first moving mechanism 310 and a connection part 311 having the mop plate 110. After the mop plate 110 is separated from the cleaning robot 100, the first moving mechanism 310 is connected to the mop plate 110 by the connection part 311 and drives the mop plate 110 to first move to the mop removal position, thereby removing the second sheet-like mop and accommodating it in the second storage bin 220. Further, the mop plate 110 is driven to move to the mop attachment position, thereby attaching the first sheet-like mop in the first storage bin 210 to the mop plate 110.

[0220] The first moving mechanism 310 can drive the mop plate 110 in a sliding manner to move within the base station. For example, by disposing a slide rail in the base station 200, the first moving mechanism 310 can drive the mop plate 110 to the mop detaching position and / or the mop attaching position. Of course, the first moving mechanism 310 can be a manipulator, and the mop plate 110 is driven and moved by the movement of the manipulator 310. The embodiments of the present disclosure do not limit the specific form of the first moving mechanism 310.

[0221] While the first moving mechanism 310 drives and moves the mop plate 110, the first and second storage bins 210 and 220 can remain stationary, and thus the first moving mechanism 310 alone drives and moves the mop plate 110 to the corresponding positions of the first and second storage bins 210 and 220 to complete the mop change. Of course, to simplify the complexity of the first moving mechanism 310 driving and moving the mop plate 110, the first and / or second storage bins 210 and 220 can also cooperate with the movement of the first moving mechanism 310. The following description will be made in conjunction with Figures 5 and 6. For the sake of brevity, a detailed description will be omitted.

[0222] It should be noted that in other embodiments, the mop plate 110 may also be stationary, and the first storage bin 210 and the second storage bin 220 may move toward the mop plate 110 to achieve mop replacement. The mop attachment position and / or mop detachment position may be a specific position on the movement path of the first moving mechanism 310, or may be a positional area on the movement path. In some embodiments, the position of the mop plate 110 may be sensed by a sensor attached to the base station 200.

[0223] The above connection part 311 and the mop plate 110 may be connected by gripping. Referring to FIG. 3, the connection part 311 may include a mechanical claw. After the mop plate 110 is separated from the cleaning robot 100, the mechanical claw is connected to the mop plate 110 by gripping. Of course, the connection part 311 and the mop plate 110 may be connected by a mechanical hook, and the embodiments of the present disclosure do not limit this.

[0224] To facilitate the connection between the connection part 311 and the mop plate 110, a magnetic adsorption positioning part may be arranged in the first moving mechanism 310. In this way, before the connection part 311 is connected to the mop plate 110, the first moving mechanism 310 can perform magnetic adsorption positioning on the mop plate 110 by the magnetic adsorption positioning part.

[0225] After the mop plate 110 is separated from the cleaning robot 100, in order to avoid disconnecting the connection between the first moving mechanism 310 and the mop plate 110, the cleaning robot 100 may exit the base station 200 or partially exit as shown in FIG. 4.

[0226] Optionally, the above mop pickup device 300 is in the mop removal position and further includes a removal mechanism 320 for removing the second sheet-shaped mop from the mop plate 110.

[0227] There are multiple specific structures of the above removal mechanism 320. For example, the removal mechanism 320 may include a manipulator. Further, for example, the removal mechanism 320 may further include a rod with a hook-shaped part, and the second sheet-shaped mop is removed from the mop plate 110 by the hook-shaped part. The following will be specifically described in association with FIGS. 7 to 8. For the sake of brevity, the description is omitted here.

[0228] If the removal mechanism is placed on a dirty mop bin (i.e., the second storage bin), the dirty mop bin needs to be removed as a whole, tilted, and cleaned, which may cause mechanical damage and problems such as the removal mechanism being prone to rust during cleaning. Therefore, in some embodiments, referring to Figures 11 and 17, the removal mechanism 320 may be placed outside the second storage bin 220, and the installation position of the removal mechanism is adapted to the position of the second storage bin, for example, the installation height of the removal mechanism is adapted to the height of the second storage bin, and the spacing between the two sets of rods 321 rotating around a fixed axis included in the removal mechanism is adapted to the size of the opening of the second storage bin, thereby avoiding possible mechanical damage caused by the dirty mop bin and problems such as the removal mechanism being prone to rust during cleaning.

[0229] Of course, in other embodiments, referring to FIG. 53, the removal mechanism 320 may be located in the second storage bin 220 to reduce the complexity of the mop removal structure and save installation space.

[0230] As described above, the second storage bin 220 is used to collect the second sheet mop separated by the detaching mechanism 320. The separated second sheet mop is directly collected in the second storage bin 220, which avoids the need to manually handle the second sheet mop and get hands dirty. To enable the soiled second sheet mop to be collected directly in the second storage bin 220, the second storage bin 220 is disposed in the path of movement of the separated second sheet mop, allowing the second sheet mop to fall into the second storage bin 220.

[0231] The removal mechanism 320 applies an external force away from the mop plate 110 to the second sheet-shaped mop covering the removal area to remove the second sheet-shaped mop, and the separated second sheet-shaped mop falls into the second storage bin 220 due to its own weight. Optionally, the second storage bin 220 may be disposed below the separated second sheet-shaped mop. In this way, the separated second sheet-shaped mop can fall directly into the second storage bin 220 due to its own weight, and the recovery of the second sheet-shaped mop can be realized without the need for additional structure.

[0232] Alternatively, the removal mechanism 320 applies an external force away from the mop plate 110 to the second sheet-shaped mop covering the removal area to remove the second sheet-shaped mop, and the external force draws the second sheet-shaped mop into the second storage bin 220. By using the external force of the removal mechanism 320 to remove the second sheet-shaped mop to draw the second sheet-shaped mop into the second storage bin 220, the recovery of the second sheet-shaped mop can also be realized without the need for additional structure.

[0233] Furthermore, the removal mechanism 320 includes a hook-shaped portion. The hook-shaped portion corresponds to the removal area and hooks the second sheet-shaped mop covering the removal area, applies an external force away from the mop plate 110 to the second sheet-shaped mop, and separates the second sheet-shaped mop from the mop plate 110. The hook-shaped portion may be disposed on the base station or on the second storage bin 220. In this embodiment, the hook-shaped portion is at least partially within the second storage bin 220. The second storage bin 220 opens towards one side, and the hook-shaped portions are distributed on both sides of the opening. Specifically, two rotating shafts are disposed in the second storage bin 220, respectively disposed on both sides of the opening of the second storage bin 220, and the hook-shaped portion is disposed on the rotating shaft 203. The number of hook-shaped portions disposed on each rotating shaft is plural, and in order to improve the removal efficiency of the dirty second sheet-shaped mop, the plural hook-shaped portions are uniformly arranged.

[0234] In one embodiment, an opening is disposed on one side of the second storage bin 220, and the hook-shaped portion is disposed outside the opening with respect to the second storage bin 220. Further, referring to FIG. 53, the second storage bin 220 opens upward, and the hook-shaped portion is disposed above the opening with respect to the second storage bin 220. The specific form in which the hook-shaped portion is disposed outside the opening with respect to the second storage bin 220 is not limited. For example, both the second storage bin 220 and the hook-shaped portion may be connected to a base disposed inside the base station. When separating the second sheet-like mop, the second storage bin 220 and the hook-shaped portion may not be displaced with respect to the base. The hook-shaped portion may be directly connected to the outside of the second storage bin 220. When separating the second sheet-like mop, the second storage bin 220 may not be displaced with respect to the hook-shaped portion.

[0235] It should be noted that the back surface of the hook-shaped portion, that is, the surface facing the opening, is a smooth transition surface, and saw teeth are disposed on the front surface, that is, the surface opposite to the opening. In this way, the smooth back surface of the hook-shaped portion helps the mop plate 110 to enter, avoiding preventing or interfering with the mop plate 110 from entering the second storage bin 220. The front surface where the saw teeth are disposed hooks the second sheet-like mop, and a preferable removal effect can be realized.

[0236] Furthermore, in order to solve the above-mentioned problems of mechanical damage caused by the removal of the second storage bin as a whole and the problem that the removal mechanism is prone to rust during cleaning, in some embodiments, the second storage bin may be divided into a second inner bin 2201 and a second outer bin 2202. The second inner bin is separable from the second outer bin, and a removal mechanism 320 is disposed on the second outer bin. For example, the second inner bin is attached so as to be embedded in the second outer bin, and the second inner bin can be removed alone. By disposing the removal mechanism on the outer bin, the above-mentioned problems of mechanical damage and the problem that the removal mechanism is prone to rust during cleaning are avoided, and the removal structure of the mop becomes simpler.

[0237] As described above, in order to reduce the complexity of movement of the first movement mechanism 310, the first storage bin 210 and the second storage bin 220 may cooperate with the movement of the first movement mechanism 310. That is, the base station further includes a second movement mechanism 410 and / or a third movement mechanism 420.

[0238] The second movement mechanism 410 is connected to the second storage bin 220 and is used to control the second storage bin 220 to move below the removal mechanism 320 to receive the second sheet-like mop that has fallen from the mop plate 110.

[0239] In some embodiments, the second movement mechanism 410 may be a slide mechanism. Accordingly, the second storage bin 220 can move below the removal mechanism 320 in a sliding manner. Of course, the second movement mechanism 410 may also be a manipulator, and the embodiments of the present disclosure do not limit this.

[0240] The third movement mechanism 420 is connected to the first storage bin 210 and is used to control the first storage bin 210 to move below the mop plate 110 so that the mop plate 110 enters the first storage bin 210 and joins with the first sheet-like mop in the first storage bin 210.

[0241] In some embodiments, the third movement mechanism 420 may be a slide mechanism. Accordingly, the first storage bin 210 can move below the mop plate 110 in a sliding manner. Of course, the third movement mechanism 420 may also be a manipulator, and the embodiments of the present disclosure do not limit this.

[0242] In an embodiment of the present disclosure, there are multiple implementation forms of the first moving mechanism 310, the second moving mechanism 410, and the third moving mechanism 420. In order to simplify the movement complexity of each moving mechanism, the mop plate 110 may be driven to move up and down along a vertical path by arranging the first moving mechanism 310. The second moving mechanism 410 and the third moving mechanism 420 are on one or both sides of the vertical path, and respectively drive the second storage bin 220 and the first storage bin 210 to move along a horizontal path.

[0243] Of course, by arranging the first moving mechanism 310, the mop plate 110 can be driven to first move along the vertical direction, move to a height corresponding to the first storage bin 210 and / or the second storage bin 220, and then the mop plate 110 can be driven to move along the horizontal direction to the same vertical plane as the first storage bin 210 or the second storage bin 220, so that the mop plate 110 can be aligned with the first storage bin 210 or the second storage bin 220.

[0244] Hereinafter, in association with FIGS. 5 to 6, taking the example that the first moving mechanism 310 moves along the vertical direction and the second moving mechanism 410 moves along the horizontal direction, the process of removing the second sheet-shaped mop from the mop plate 110 will be described. Further, in association with FIG. 12, taking the example that the first moving mechanism 310 moves along the vertical direction and the third moving mechanism 420 moves along the horizontal direction, the process of attaching the first sheet-shaped mop to the mop plate 110 will be described.

[0245] Referring to FIG. 5, after the first moving mechanism 310 drives the mop plate 110 to move to the mop removal position, during the process of the removal mechanism 320 removing the second sheet-shaped mop, the second storage bin 220 and the removal mechanism 320 need to cooperate with each other so that the removed second sheet-shaped mop can fall into the second storage bin 220. That is, before the removal mechanism 320 completes the removal of the second sheet-shaped mop (for example, before removing the second sheet-shaped mop or during the process of removing the sheet-shaped mop), the second storage bin 220 needs to move below the removal mechanism 320, that is, to the position shown in FIG. 6.

[0246] The above-described collaborative relationship can be controlled by the controller in the base station 200 collaborating with the position sensor. However, in order to simplify the complexity of the control, in the process of the second moving mechanism 410 driving and moving the second storage bin 220, the removing mechanism 320 may be pushed to move to the mop removing position.

[0247] For example, referring to FIG. 5, the removing mechanism 320 includes two sets of rods 321 that rotate around a fixed axis. For the sake of easy distinction, hereinafter, the two sets of rods 321 are referred to as 3211 and rod 3212. The rods 3211 and 3212 may be respectively on both sides of the vertical movement locus of the first moving device 310. Correspondingly, a first pushing portion 221 and a second pushing portion 222 are respectively arranged on the side surface and the back surface of the second storage bin 220. In the process of the second storage bin 220 moving, the first pushing portion 221 can push the rod 3211 to rotate in the direction of the mop plate 110, and the second pushing portion 222 can push the rod 3212 to rotate in the direction of the mop plate 110, that is, the rods 3211 and 3212 rotate oppositely.

[0248] In order to improve the efficiency of removing the second sheet-shaped mop of the removing mechanism 320, the end of the removing mechanism 320 may be made into a hook-shaped portion. That is, the end of the rod 321 is made into a hook-shaped portion. In the process of the second moving mechanism 410 driving and moving the second storage bin 220, the hook-shaped portion passes through the position of the second sheet-shaped mop and moves from above the second sheet-shaped mop to below the second sheet-shaped mop to remove the second sheet-shaped mop from the mop plate 110.

[0249] Alternatively, referring to FIGS. 7 to 8, the second sheet-shaped mop moves relative to the hook-shaped portion under the drive of the first moving mechanism 310. Due to such relative movement, the hook-shaped portion passes through the position of the second sheet-shaped mop and moves from above the second sheet-shaped mop to below the second sheet-shaped mop to remove the second sheet-shaped mop from the mop plate 110.

[0250] To facilitate the removal mechanism 320 to remove the second sheet-like mop from the mop plate 110, embodiments of the present disclosure further provide a mop plate 110, that is, by setting the shape of the mop plate 110, the second sheet-like mop attached to the mop plate 110 has a portion not covered by the mop plate, and the removal mechanism 320 applies a force to the portion of the second sheet-like mop not covered by the mop plate to remove the second sheet-like mop from the mop plate 110.

[0251] Referring to FIG. 9, the mop plate 110 has one or more mop detachment grooves 111, and the portion of the second sheet-like mop not covered by the mop plate 110 is located in the mop detachment groove 111. Naturally, the more the number of mop detachment grooves 111, the easier it is to remove the second sheet-like mop from the mop plate 110, that is, the larger the area of the portion of the second sheet-like mop not covered by the mop plate 110, the easier it is to remove the second sheet-like mop from the mop plate 110.

[0252] In another embodiment, the mop plate 110 includes two opposite sides, one or more mop detachment grooves 111 are arranged on each side, and the mop detachment grooves 111 on the two sides may be arranged symmetrically, thereby improving the efficiency of the removal mechanism 320 to remove the sheet-like mop from the mop plate 110.

[0253] To simplify the connection method between the mop plate 110 and the sheet-like mop (including the first sheet-like mop and the second sheet-like mop), the mop plate 110 and the sheet-like mop may be connected by adhesion, that is, the mop plate 110 has an adhesive portion 112, and the mop plate 110 adheres the first sheet-like mop to the mop plate 110 by the adhesive portion 112. The adhesive portion 112 may be, for example, Velcro (Registered Trademark) or the like.

[0254] To facilitate the removal mechanism 320 to remove the sheet-like mop from the mop plate 110, referring to FIG. 10, two side edges (i.e., the two side edges where a plurality of mop detachment grooves 112 are located) arranged opposite to the mop plate 110 can be set as the hypotenuse 113, and the adhesive part 112 can also be arranged on the hypotenuse. Of course, in the embodiments of the present disclosure, the adhesive part 112 may be arranged in the middle of the mop plate 110, and the embodiments of the present disclosure do not limit this.

[0255] Referring to FIG. 55, the present disclosure further provides another mop plate. The difference from the mop plates shown in FIGS. 9 and 10 is that the mop plate 110 includes two mop plate bodies 115. The two mop plate bodies are removably connected, and the two mop plate bodies can perform an opening and closing movement, for example, a fan-shaped opening and closing movement, thereby increasing the cleaning area, improving the cleaning effect, and making the cleaning robot adaptable to more cleaning scenes. Of course, in other embodiments, the two mop plate bodies may be integrally formed, and the description of the present disclosure in this regard is omitted.

[0256] The mop plate 110 includes two long ends 1111 and 1112 arranged opposite to each other, and the adhesive part 112 and / or the mop detachment groove 111 are arranged at least partially on the long ends 1111 and 1112 arranged opposite to each other.

[0257] The adhesive part 112 is arranged at the opposite long ends 1111 and 1112. Since the adhesive part 112 is arranged at the opposite long ends 1111 and 1112, the span of the connection area of the mop plate can be made longer, thereby making the adhesion of the first sheet-like mop stronger. The adhesive part 112 may be, for example, magic tape (Registered Trademark) or the like.

[0258] Furthermore, the mop detachment grooves 111 are arranged on the opposing long sides 1111, 1112. For example, by arranging a plurality of mop detachment grooves 111 on each of the long sides 1111, 1112 respectively, the span of the removal area can be made longer, and when removing the second sheet-shaped mop, the removal force applied to the second sheet-shaped mop can be more evenly distributed, making it easier to remove the second sheet-shaped mop, reducing the possibility of the second sheet-shaped mop being torn, avoiding the residue of the second sheet-shaped mop, and also making the mop detachment grooves closer to the adhesive part, further saving labor in the removal process and avoiding the breakage of the cleaning medium.

[0259] It should be noted that in order to improve the bonding force between the mop plate 110 and the first sheet-shaped mop during cleaning by the cleaning robot and prevent slipping, the surface 116 of the mop plate 110 that contacts the sheet-shaped mop may be made rough. For example, a soft rubber surface is arranged on the surface 116, and a plurality of protrusions or stripes are arranged on the soft rubber to increase the frictional force and prevent slipping.

[0260] Also, in order to facilitate the removal mechanism 320 to remove the sheet-shaped mop from the mop plate 110, the two long sides arranged opposite to the mop plate 110 may be made into the hypotenuse 113, and both the adhesive part 112 and the mop detachment groove 111 are arranged on the hypotenuse, and the adhesive part 112 and the mop detachment groove 111 may be arranged adjacent to each other. Since the adhesive part 112 and the mop detachment groove 111 are arranged adjacent to each other on the hypotenuse 113, it not only helps with the removal and attachment of the sheet-shaped mop, but also does not affect the wiping cleaning width.

[0261] In some embodiments, after the second sheet-like mop is removed from the mop plate 110, the second moving mechanism 410 drives the second storage bin 220 back to the initial position (for example, a position close to the housing of the base station described above), so as to secure a space for attaching the first sheet-like mop to the mop plate 110 as shown in FIG. 11. Accordingly, in order to avoid preventing the movement of the second storage bin 220, the first moving mechanism 310 can control the mop plate to move upward.

[0262] The first storage bin has a bottom, an opening, and side walls. The bottom and the side walls enclose a space for accommodating the first sheet-like mop. The first sheet-like mop is arranged on the bottom surface so as to be stacked to form a combination of the first sheet-like mops. The mop pickup device picks up one first sheet-like mop from the combination of the first sheet-like mops along the stacking direction of the first sheet-like mops and is used to connect the first sheet-like mop to the mop plate. For ease of understanding, the stacking direction will be briefly described below. When the first sheet-like mops are stacked vertically from the bottom to the opening direction of the first storage bin, the stacking direction is the vertical direction or the up-and-down direction. When the first sheet-like mops are stacked horizontally from the bottom to the opening direction, the stacking direction is the horizontal direction or the left-and-right direction.

[0263] In some embodiments, the first storage bin is horizontally arranged, the opening is upward, and the mop pickup device enters the first storage bin along the direction from the opening to the bottom and picks up one first sheet-like mop from at least two stacked first sheet-like mops.

[0264] Hereinafter, the process of attaching the first sheet-like mop to the mop plate 110 will be described in association with FIGS. 12 to 14.

[0265] As shown in FIG. 12, the first moving mechanism 310 can move along the vertical direction (for example, the up-and-down direction). When the first moving mechanism 310 moves along the vertical direction and the third moving mechanism 420 moves along the horizontal direction, after the first moving mechanism 310 drives the mop plate 110 to move to the mop attachment position, the first storage bin 210 moves below the mop plate 110 by the drive of the third moving mechanism 420. In this case, the first moving mechanism 310 may drive the mop plate 110 to move downward to enter the first storage bin 210, and apply a downward force to the first sheet-shaped mop to adhere the first sheet-shaped mop. Such a solution for attaching the first sheet-shaped mop reduces the difficulty of attaching the first sheet-shaped mop to the mop plate 110 and is relatively simple.

[0266] In the process of the mop plate 110 entering the first storage bin 210 to adhere the first sheet-shaped mop, the mop plate 110 may take out a plurality of first sheet-shaped mops at one time. Therefore, in order to control the number of first sheet-shaped mops adhered each time, after the first moving mechanism 310 adheres the first sheet-shaped mop to the mop plate 110, the first moving mechanism 310 can control the mop plate 110 to vibrate to shake off the extra first sheet-shaped mops. For example, the first moving mechanism is used to drive and vibrate the mop plate so that after the first sheet-shaped mop is adhered to the mop plate, one first sheet-shaped mop is adhered to the adhesion part of the mop plate. The vibration is a reciprocating motion along the first direction and the second direction of the mop plate. The first direction is the direction in which the mop plate takes out the first sheet-shaped mop from the first storage bin, and the second direction is opposite to the first direction. As can be understood, the direction in which the mop plate 110 takes out the mop here is the vertical direction or the up-and-down direction.

[0267] Since the first moving mechanism 310 moves in the vertical direction, here the mop plate 110 can be controlled to vibrate up and down at a predetermined frequency along the direction of gravity.

[0268] Of course, in order to avoid the mop plate taking out a plurality of first sheet-like mops, in addition to the vibration method, in some other embodiments, a scraping method may be adopted. Referring to FIG. 54, a friction assembly is disposed in the first storage bin 210. After the first sheet-like mop is adhered to the mop plate, the friction assembly is used to generate a frictional force during the butting process between the first storage bin and the mop plate so that one first sheet-like mop is adhered to the adhesion portion of the mop plate. For example, the friction assembly is used to generate an acting force that prevents the mop plate from moving along the first direction so that one of the first sheet-like mops can be adhered to the adhesion portion of the mop plate. The first direction is the direction in which the mop plate takes out the first sheet-like mop from the first storage bin or the direction from the bottom to the opening. Further, the friction assembly includes a first friction assembly 2102 disposed on the inner surface of the side wall of the first storage bin and / or a second friction assembly 2103 disposed at the opening. The first friction assembly may be different from the second friction assembly. For example, the first friction assembly is a plurality of shaving brushes arranged at equal intervals, and the second friction assembly is a rubber block. It should be noted that the first friction assembly and the second friction assembly may be disposed on one side of the first storage bin or on both sides, and this embodiment does not limit this.

[0269] It should be pointed out that in other embodiments, the first storage bin may be horizontally disposed, and the opening facing the bottom may be leftward or rightward. The mop pickup device is used to enter the first storage bin along the direction from the opening to the bottom and pick up one of the first sheet-like mops from at least two stacked first sheet-like mops.

[0270] Specifically, the first moving mechanism 310 may move along the horizontal direction (e.g., the left - right direction). For example, when the first moving mechanism 310 moves rightward (or leftward) along the horizontal direction and the third moving mechanism 420 moves leftward (or rightward) along the horizontal direction, after the first moving mechanism 310 drives the mop plate 110 to move to the mop attachment position, when the first storage bin 210 moves to the right side (left side) of the mop plate 110 by the drive of the third moving mechanism 420 and the opening of the first storage bin is separated from the mop plate by a predetermined distance, the first moving mechanism 310 drives the mop plate 110 to continue moving rightward (or leftward), makes it enter into the first storage bin 210, and applies a rightward (or leftward) force to the first sheet - like mop to adhere the first sheet - like mop. It should be pointed out that when the opening of the first storage bin faces the left side (or right side), the first sheet - like mops are stacked and supported at the bottom of the first storage bin in an upright state (perpendicular to the side wall of the first storage bin).

[0271] In order to avoid the mop plate taking out a plurality of first sheet-shaped mops, in some embodiments, the first storage bin includes a bottom, an opening, and side walls, and the bottom and the side walls surround to form a space for accommodating the first sheet-shaped mop. The first sheet-shaped mop can be arranged on the bottom surface so as to be stacked to form a combination of the first sheet-shaped mops. A friction assembly is arranged in the first storage bin 210. After the first sheet-shaped mop is adhered to the mop plate, the friction assembly is used to generate an acting force that prevents the mop plate from moving along a first direction so that one of the first sheet-shaped mops can be adhered to the adhesion part of the mop plate. The first direction is the direction in which the mop plate takes out the first sheet-shaped mop from the first storage bin, or the direction from the bottom to the opening. Further, the friction assembly includes a first friction assembly arranged on the inner surface of the side wall of the first storage bin and / or a second friction assembly arranged at the opening. The first friction assembly may be different from the second friction assembly. For example, the first friction assembly is a plurality of shaving brushes arranged at equal intervals, and the second friction assembly is a rubber block. It should be noted that the first friction assembly and the second friction assembly may be arranged on one side of the first storage bin or on both sides, and this embodiment does not limit this.

[0272] Of course, in addition to the above scraping method, in some other embodiments, a vibration method may be adopted. For example, in the process of the mop plate 110 entering the first storage bin 210 to adhere to the first sheet-shaped mop, the mop plate 110 may take out a plurality of first sheet-shaped mops at one time. Therefore, in order to control the number of first sheet-shaped mops adhered each time, after the first moving mechanism 310 adheres the first sheet-shaped mop to the mop plate 110, the first moving mechanism 310 controls the mop plate 110 to vibrate, for example, to reciprocate several times at a predetermined distance along the direction in which the mop plate takes out / removes the mop (that is, the stacking direction of the mops, here is the horizontal direction or the left-right direction), so as to shake off the extra first sheet-shaped mops.

[0273] Of course, in order to avoid the mop plate taking out a plurality of first sheet-shaped mops, in other embodiments, at least one of the following methods may be adopted. A. Control the adhesive force by controlling the area ratio between the adhesive part and the sheet-shaped mop, so that one sheet-shaped mop can be adhered to the mop plate. For example, by controlling the area ratio between the adhesive part and the first sheet-shaped mop within a predetermined range, the mop plate can be enabled to pick up one first sheet-shaped mop from the combination of the first sheet-shaped mops. The predetermined range is obtained by testing. B. Arrange a partition assembly in the first storage bin for generating a gap between two adjacent first sheet-shaped mops. For example, place partition paper between adjacent first sheet-shaped mops, and the partition paper can be smooth paper to reduce the friction with the sheet-shaped mop, and the size of the partition paper can be a numerical value from 1 / 3 to 4 / 3 of the mop size. In order to avoid affecting the adhesive part arranged on the hypotenuse, it is preferable that the partition paper is arranged at a position closer to the middle of the mop and avoids the adhesive part as much as possible, or arrange a stepped partition on the inner surface of the side wall of the first storage bin, and the interval of the step is equal to or slightly larger than the thickness of the sheet-shaped mop itself. When the adhesive part is arranged on the long side of the mop plate, in order to avoid affecting the adhesion of the adhesive part arranged on the hypotenuse, the step is arranged on the side wall corresponding to the short side of the mop plate. C. In order to reduce the adhesiveness between two adjacent first sheet-shaped mops, at least partially make the materials of the two surfaces of the first sheet-shaped mop different.

[0274] In some embodiments, after the first sheet-shaped mop is attached to the mop plate 110, the third moving mechanism 420 can drive the first storage bin 210 back to the initial position (for example, a position close to the housing of the base station described above), so that, as shown in FIG. 13, a space for attaching the mop plate 110 to the cleaning robot 100 can be secured. Accordingly, in order to avoid preventing the movement of the first storage bin 210, the first moving mechanism 310 can first control the mop plate 110 to move upward.

[0275] To improve the bonding force between the mop plate 110 and the first sheet-shaped mop, the bonding portion 112 may be disposed on the flexible contact portion 114 of the mop plate 110. Referring to FIG. 14, after the first sheet-shaped mop is adhered to the mop plate 110 via the flexible contact portion 114, the first moving mechanism 310 drives the mop plate 110 to contact the bottom surface of the base station 200, and due to the deformation of the flexible contact portion 114, the bonding force between the mop plate 110 and the first sheet-shaped mop can be improved.

[0276]

[0275] In other embodiments, in order to improve the bonding force between the mop plate 110 and the first sheet-shaped mop, an elastic pad may be disposed in the first mop bin, and a plurality of first sheet-shaped mops are stacked on the elastic pad. Both sides of the elastic pad are stepped, conforming to the structure of the mop plate and closely adhering the two. Referring to FIG. 52 (FIGS. 52(a) - 52(c)), when the mop plate 110 enters the first storage bin 210 under the drive of the first moving mechanism 310 and continuously moves downward to pick up the mop, when contacting the mop, a downward acting force (pressure) is applied to the mop, and the first sheet-shaped mop, under the downward pushing acting force of the mop plate 110, due to the reaction force of the elastic pad 2101, the bonding force between the mop plate 110 and the first sheet-shaped mop is improved.

[0277] After the first sheet-shaped mop is attached to the mop plate 110, the first moving mechanism 310 can be separated from the mop plate 110. Also, in order to ensure a space for the connection between the mop plate 110 and the cleaning robot 100, the first moving mechanism 310 may move upward. In some embodiments, referring to FIG. 15, in order to simplify the complexity of control, the first moving mechanism 310 may directly move upward to the top.

[0278] After the first moving mechanism 310 moves upward, the cleaning robot 100 enters the base station 200. Referring to FIG. 16, in this case, the mop plate 110 with the first sheet-like mop attached is reconnected to the cleaning robot 100. For the specific connection method, reference may be made to the above description.

[0279] As described above, when the first storage bin 210 and the second storage bin 220 may be arranged along the horizontal direction, the embodiments of the present disclosure further provide a relatively simple moving method of arranging the first storage bin 210 and the second storage bin 220 on both sides of the vertical path. In this case, the first moving mechanism 310 first drives the mop plate 110 to move along the vertical path so as to reach above the first storage bin 210 and the second storage bin 220, and further, the mop plate 110 can be moved along the horizontal path so as to reach above the first storage bin 210 and the second storage bin 220.

[0280] After the removing mechanism 320 removes the second sheet-like mop, the second sheet-like mop remains on the removing mechanism 320, which may affect the removal of the second sheet-like mop next time. Therefore, in the above embodiments provided by the present disclosure, a mechanism for specifically removing the residual mop, for example, a manipulator, can be arranged. However, adding a mechanism for specifically removing the residual mop may complicate the structure of the base station.

[0281] To avoid the above problems, the embodiments of the present disclosure further provide a base station 500. Hereinafter, it will be described in association with the structural schematic diagram of the base station 500 shown in FIG. 16. It should be noted that the mechanisms with the same or similar functions in the base station 500 and the base station 200 use the same numbers. For the specific structure and function, reference may be made to the above content. For the sake of brevity, hereinafter, the differences between the base station 200 and the base station 500 will be mainly described.

[0282] As shown in FIG. 17, in the base station 500, the first storage bin 210 and the second storage bin 220 are arranged along the vertical direction, and the first storage bin 210 is above the second storage bin 220. The removing mechanism 320 may be between the first storage bin 210 and the second storage bin 220.

[0283] A scraping part 510 is arranged below the first storage bin 210, and the first storage bin 210 can move downward, so that the second sheet-shaped mop remaining in the removing mechanism 320 can be removed by using the scraping part 510. Of course, in other embodiments, the first storage bin 210 includes an external bin and an internal bin arranged in the external bin. For example, the internal bin is arranged in the external bin in a fitting manner, and there is a gap between the internal bin and the external bin. Thereby, the internal bin is movable relative to the external bin. For example, the internal bin can move up and down to a certain extent relative to the external bin. In some embodiments, an elastic device is arranged between the internal bin and the external bin, a scraping part is arranged at the bottom end of the internal bin, the scraping part is aligned with the removing mechanism arranged on the second storage bin, and the internal bin drives the scraping part to move downward under the downward pressure of taking the paper of the mop plate, so that the scraping part can scrape the removing mechanism arranged in the storage box (i.e., the second storage bin) of the dirty paper, thereby removing the paper remaining in the removing mechanism.

[0284] That is, in the process of the first storage bin 210 moving downward through the removing mechanism 320, the scraping part 510 of the first storage bin 210 can scrape off the second sheet-shaped mop remaining on the removing mechanism 320.

[0285] In some embodiments, in order to simplify the mechanism of the scraping part 510, the scraping part 510 may be convex. Of course, the embodiments of the present disclosure do not limit the specific structure of the scraping part 510. For example, it may be hook-shaped.

[0286] In some embodiments, a vertical guide rail may be disposed on the base station 500, and in this way, the first storage bin 210 can move downward in a sliding manner. Of course, the first storage bin 210 may further move by the drive of the manipulator, and the embodiments of the present disclosure do not specifically limit the moving manner of the first storage bin.

[0287] To simplify the moving path of each moving mechanism in the base station 500, the moving path of the first storage bin 210 along the vertical direction may be the same as the moving path of the first moving mechanism 310 along the vertical direction. For example, referring to FIG. 17, the first moving mechanism 310 and the first storage bin 210 can move sharing one vertical slide rail.

[0288] The structure of the device according to the embodiments of the present disclosure has been described above in association with FIGS. 1 to 17. To facilitate the understanding of the present disclosure, hereinafter, taking the base station 500 as an example, the flow of replacing the sheet mop of the cleaning robot 100 in the embodiments of the present disclosure will be described in association with FIGS. 18 to 28.

[0289] Referring to FIG. 18, the cleaning robot 100 enters the base station 500. Referring to FIG. 19, the cleaning robot 100 separates the mop plate 110, drops the mop plate 110 into a predetermined area in the base station 500, and then the main body of the cleaning robot exits the base station 500.

[0290] The predetermined area may be interpreted as an area where the first moving mechanism 310 can be connected to the mop plate 110. Referring to FIG. 20, the first moving mechanism 310 moves downward along a vertical rail and connects to the mop plate 110. Referring to FIG. 21, the first moving mechanism 310 drives the mop plate 110 to move upward to the mop removal position, while simultaneously securing space for the movement of the second storage bin 220. Referring to FIG. 22, the second moving mechanism 410 drives the second storage bin 220 to move horizontally from its initial position to below the removal mechanism 320. As the second storage bin 220 moves, it pushes and rotates the removal mechanism 320 toward the mop plate 110, thereby allowing the hook-shaped portion of the removal mechanism 320 to align with the second sheet mop in the mop release groove 111 of the mop plate 110.

[0291] Next, the first moving mechanism 310 drives the mop plate 110 to move upward, passing through the position of the hook-shaped portion, whereby the hook-shaped portion moves from above the second sheet mop to below the second sheet mop, and removes the second sheet mop from the mop plate 110.

[0292] Referring to FIG. 23, the removal operation is completed, and the first moving mechanism 310 drives the mop plate 110 to move upward, and the second moving mechanism 410 drives the second storage bin 220 to move horizontally back to the initial position.

[0293] 24, the third moving mechanism 420 drives the first storage bin 210 to move horizontally from the initial position to below the mop plate 110, and the first moving mechanism 310 drives the mop plate 110 to enter the first storage bin 210 and adhere the first sheet mop. Referring to FIG. 25, after the adhering operation is completed, the first moving mechanism 310 drives the mop plate 110 to move upward, and the third moving mechanism 420 drives the first storage bin 210 to move horizontally back to the initial position.

[0294] Referring to FIG. 26, the first moving mechanism 310 drives the mop plate 110 to move downward to a predetermined area, and presses the mop plate 110 toward the bottom of the base station 500. Due to the deformation of the flexible contact portion 114, the bonding force between the mop plate 110 and the first sheet-like mop is improved.

[0295] Referring to FIG. 27, the first moving mechanism 310 is separated from the mop plate 110, leaving the mop plate 110 in a predetermined area. The first moving mechanism 310 moves upward to secure a space for connecting the mop plate 110 to the cleaning robot 100.

[0296] Referring to FIG. 28, the cleaning robot 100 enters the base station 500 and connects the mop plate 110 to the cleaning robot 100 in a predetermined area.

[0297] In the above, the cleaning robot, the base station, and the maintenance system of the cleaning robot according to the embodiments of the present disclosure have been described in association with FIGS. 1 to 28. Hereinafter, the control method according to the embodiments of the present disclosure will be described in association with FIG. 29. It should be noted that the method provided in the embodiments of the present disclosure can be used in combination with any one of the maintenance systems of the cleaning robot described above.

[0298] FIG. 29 is a flowchart of a control method according to an embodiment of the present disclosure. The method shown in FIG. 29 includes steps S2910 to S2920.

[0299] It should be understood that the control method shown in FIG. 29 can be executed by a controller in the base station or by one or more devices having other control functions, and the embodiments of the present disclosure do not limit this. Further, it should be understood that the controller or the device having control functions can execute one or more of the control functions mentioned above.

[0300] In step S2910, the controller confirms that the cleaning robot 100 has returned to the base station 500.

[0301] In step S2920, the controller controls the mop pickup device 300 to replace the second sheet-shaped mop attached to the cleaning robot 100 with the first sheet-shaped mop in the first storage bin 210.

[0302] Optionally, as one embodiment, the method further includes the step that the controller controls the mop pickup device 300 to remove the second sheet-shaped mop from the cleaning robot 100 and store it in the second storage bin 220.

[0303] Optionally, as one embodiment, the cleaning robot 100 includes a mop plate 110 separable from the cleaning robot 100.

[0304] Optionally, as one embodiment, the step of the controller confirming that the cleaning robot 100 has returned to the base station 500 includes the following.

[0305] Confirm that the cleaning robot 100 has reached the mop plate operation position, and control the cleaning robot 100 to remove the mop plate 110.

[0306] Optionally, as one embodiment, the mop pickup device 300 includes a first moving mechanism 310 having a connection part with the mop plate 110. After the mop plate 110 is separated from the cleaning robot 100, the first moving mechanism 310 is connected to the mop plate 110 through the connection part. The method further includes the step that the controller controls the first moving mechanism 310 to drive the mop plate 110 to first move to the mop removal position, remove the second sheet-shaped mop and store it in the second storage bin 220, and further drive the mop plate 110 to move to the mop attachment position to attach the first sheet-shaped mop in the first storage bin 210 to the mop plate 110.

[0307] For example, the controller communicates and interacts with the cleaning robot, controls the protruding mechanism of the cleaning robot to protrude the mop plate 110, thereby separating the mop plate from the cleaning robot.

[0308] Optionally, as one embodiment, the second moving mechanism 410 is connected to the second storage bin 220, the third moving mechanism 420 is connected to the first storage bin 210, and the method further includes driving the second storage bin 220 to move it below the removing mechanism 320, and controlling the second moving mechanism 410 by the controller to receive the second sheet-shaped mop that has fallen from the mop plate 110, and / or driving the first storage bin 210 to move it below the mop plate 110, putting the mop plate 110 into the first storage bin 210, and controlling the third moving mechanism 420 by the controller to join it with the first sheet-shaped mop in the first storage bin 210.

[0309] Optionally, as one embodiment, the second moving mechanism 410 and the third moving mechanism 420 are on one or both sides of the vertical path, and the method further includes controlling the first moving mechanism 310 by the controller to drive the mop plate 110 to move up and down along the vertical path, and controlling the second moving mechanism 410 and the third moving mechanism 420 by the controller to drive the second storage bin 220 and the first storage bin 210 to move along the horizontal path respectively.

[0310] Optionally, as one embodiment, the first storage bin 210 and the second storage bin 220 are arranged vertically one above the other.

[0311] Optionally, as one embodiment, in the process of controlling the second moving mechanism 410 by the controller to drive the second storage bin 220 to move, the method further includes driving the second storage bin 220 to push the removing mechanism 320 to move to the mop removing position.

[0312] Optionally, as one example, after the first sheet-shaped mop is adhered to the mop plate 110, the method further includes a step of controlling the first moving mechanism 310 by a controller to drive the mop plate 110 to move up and vibrate.

[0313] Optionally, as one example, the adhesive part 112 is disposed on the flexible contact part 114 of the mop plate 110. After the first sheet-shaped mop is adhered to the mop plate 110 via the flexible contact part 114, the method further includes a step of controlling the first moving mechanism 310 by a controller to drive the mop plate 110 to contact the bottom surface of the base station 500, so that the contact force between the mop plate 110 and the first sheet-shaped mop is improved by the deformation of the flexible contact part 114.

[0314] In the above, embodiments of the control method of the present disclosure have been described in detail in association with FIG. 29. Hereinafter, embodiments of the apparatus for executing the control method of the present disclosure will be described in association with FIGS. 30 to 31. It should be understood that since the description of the method embodiments corresponds to the description of the apparatus embodiments, the above method embodiments may be referred to for parts that are not described in detail.

[0315] FIG. 30 is a schematic diagram of a control device according to an embodiment of the present disclosure. The control device 3000 shown in FIG. 30 includes a confirmation module 3010 and a control module 3020. The confirmation module 3010 is used to confirm that the cleaning robot 100 has returned to the base station 500, and the control module 3020 is used to control the mop pickup device 300 to replace the second sheet-shaped mop attached to the cleaning robot 100 with the first sheet-shaped mop in the first storage bin 210.

[0316] In an alternative embodiment, the confirmation module 3010 and the control module 3020 may be a processor 3120, and the controller may further include an input / output interface 3130 and a memory 3110, specifically as shown in FIG. 31.

[0317] FIG. 31 is a schematic block diagram of a controller according to another embodiment of the present disclosure. The controller 3100 shown in FIG. 31 may include a memory 3110, a processor 3120, and an input / output interface 3130. The memory 3110, the processor 3120, and the input / output interface 3130 are connected by an internal connection path. The memory 3110 is used to store instructions, and the processor 3120 executes the instructions stored in the memory 3120 to control the input / output interface 3130 to receive input data and information and output control instructions.

[0318] In an embodiment of the present disclosure, the processor 3120 may employ a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.

[0319] The memory 3110 may include a read-only memory and a random access memory, and provides instructions and data to the processor 3120. A part of the processor 3120 may further include a non-volatile random access memory. For example, the processor 3120 may further store device type information.

[0320] In the implementation process, each step of the above method may be completed by the integrated logic circuit of the hardware in the processor 3120 or the instructions in the form of software. The method for requesting uplink transmission resources disclosed in combination with the embodiments of the present disclosure can be directly embodied to be executed and completed by a hardware processor, or executed and completed by a combination of the hardware and software modules in the processor. The software module may be in a storage medium well-known in this field, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium may be located in the memory 3110, and the processor 3120 reads the information in the memory 3110 and combines it with its hardware to complete the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0321] The maintenance system of the sweeping robot provided in the embodiments of the present disclosure has been described above in association with FIGS. 1 to 28. Hereinafter, another maintenance system of the sweeping robot provided will be described in association with FIGS. 32 to 55.

[0322] Referring to FIG. 32, the sweeping robot 100 enters the base station 500.

[0323] In some embodiments, when the sweeping robot 100 needs to replace the mop, for example, when it enters different areas (enters from one area to another area), or when the dirt level of the mop reaches a predetermined level, the sweeping robot 100 returns and enters the base station 500.

[0324] Referring to FIGS. 33 and 34, the sweeping robot 100 pushes away the mop plate 110, drops the mop plate 110 into a predetermined area in the base station 500, and then the main body of the sweeping robot exits the base station 500.

[0325] In one embodiment, the cleaning robot 100 enters a predetermined position of the base station. For example, when the charging electrode of the cleaning robot 100 contacts the charging electrode plate of the base station 500, it can be considered that the cleaning robot 100 has entered the predetermined position of the base station. In this case, the cleaning robot 100 can push away or project the mop plate 110 to drop the mop plate 110 into a predetermined area within the base station 500. When the cleaning robot reaches the predetermined position, dropping the mop plate into a predetermined area within the base station can be realized.

[0326] Referring to FIGS. 35 and 37, the first moving mechanism 310 moves downward along the vertical rail and is connected to the mop plate 110.

[0327] The vertical rail includes a conveyor belt 314. The first moving mechanism 310 moves downward by driving the conveyor belt. In order to reduce the alignment error generated during the process of the first moving mechanism moving downward, the vertical rail further includes a guiding mechanism 315. In one embodiment, the above conveyor belt may be, for example, a synchronous belt, and the guiding mechanism may be, for example, a guiding post.

[0328] In order to facilitate the connection between the connecting portion 311 and the mop plate 110, a magnetic adsorption positioning portion may be further arranged on the first moving mechanism 310. In this way, before the connecting portion 311 is connected to the mop plate 110, the first moving mechanism 310 can perform magnetic adsorption positioning on the mop plate 110 by the magnetic adsorption positioning portion.

[0329] Referring to FIG. 36, a first magnet 3111 is arranged at the bottom of the connecting portion 311. Correspondingly, a second magnet 1101 is arranged at the top of the mop plate 110. Due to the mutual attraction between the two magnets on the connecting portion 311 and the mop plate 110, the first moving mechanism 310 is aligned with the mop plate 110. For example, the magnets may be arranged at the central positions of the bottom of the first moving mechanism 310 and the top of the mop plate 110 respectively.

[0330] Furthermore, in order to prevent the mop plate from falling off during the moving process, the connection part 311 and the mop plate 110 may be further connected in a gripping manner. For example, the connection part 311 and the mop plate 110 may be connected by a mechanical hook. Specifically, a locking member 3112 is further arranged on the connection part 311, and correspondingly, a locking part 1102 is arranged on the mop plate 110. The mop plate and the first moving mechanism are fixed by the cooperation of the locking member and the locking part.

[0331] Naturally, the connection part 311 may include a mechanical claw. After the mop plate 110 is separated from the cleaning robot 100, the mechanical claw is connected to the mop plate 110 in a gripping manner. The embodiments of the present disclosure do not limit this.

[0332] Referring to FIG. 38, the first moving mechanism 310 drives the mop plate 110 to move upward to a position higher than the second storage bin or above the mop removal position, and at the same time secures a space for moving the second storage bin 220.

[0333] Referring to FIG. 39, the second moving mechanism 410 drives the second storage bin 220 to move horizontally from the initial position to the mop removal position.

[0334] Referring to FIG. 40, the first moving mechanism 310 drives the mop plate 110 to move downward, passes through the position of the removal mechanism 320, and moves the second sheet-shaped mop from above the removal mechanism 320 to below the removal mechanism 320, facilitating subsequent removal of the second sheet-shaped mop from the mop plate 110.

[0335] Since the sheet-shaped mop can be deformed by force and the mop detachment groove 111 is arranged on the mop plate 110, in the process of driving the mop plate 110 by the first moving mechanism 310 to move downward to the mop removal position, the second sheet-shaped mop of the mop plate can pass smoothly without being caught by the hook-shaped part of the removal mechanism 320. In this case, the hook-shaped part of the removal mechanism 320 can be aligned with the second sheet-shaped mop in the mop detachment groove 111 of the mop plate 110.

[0336] Referring to FIG. 41, the first moving mechanism 310 drives the mop plate 110 to rise, and the removal mechanism 320 removes the second sheet-shaped mop from the mop plate 110.

[0337] In the process of driving the mop plate 110 to rise by the first moving mechanism 310, since it passes through the position of the hook-shaped part of the removal mechanism 320, the hook-shaped part catches the second sheet-shaped mop, removes the second sheet-shaped mop from the mop plate 110, and the second sheet-shaped mop drops off.

[0338] Referring to FIG. 42, the first moving mechanism drives the mop plate 110, continues to rise, moves upward to the mop adhesion position, and at the same time secures a space for moving the first storage bin.

[0339] The mop adhesion position may be a position higher than the height of the first mop bin. For example, the mop adhesion position may be the upper limit position of the stroke of the first moving mechanism. In this way, a relatively large pressure can be provided in the process of moving downward, which helps to improve the connection stability with the mop (for example, improve the adhesion effect). It should be pointed out that by controlling the mop adhesion position or the adhesion force, the mop plate can be made to pick up only one first sheet-shaped mop. As can be understood, the mop adhesion position can be confirmed by testing.

[0340] In the process of driving and continuously raising the mop plate 110 by the first moving mechanism, the second sheet-shaped mop falls into the second storage bin 220, realizing the recovery of the second sheet-shaped mop.

[0341] Referring to FIG. 43, the third moving mechanism 420 drives the first storage bin 210 to horizontally move from the initial position to the mop adhesion position.

[0342] Referring to FIG. 44, the first moving mechanism 310 drives the mop plate 110 to enter the first storage bin 210 and pick up the first sheet-shaped mop.

[0343] An elastic pad 2101 for improving the adhesion effect between the mop plate and the mop is arranged on the inner surface of the bottom of the first storage bin. Both sides of the elastic pad are stepped, conforming to the structure of the mop plate, facilitating the adhesion of the two. A plurality of first sheet-shaped mops are stacked on the elastic pad. Under the acting force of pressing the first sheet-shaped mop downward by the mop plate and the reaction force of the elastic pad, the adhesion between the mop plate and the first sheet-shaped mop is improved.

[0344] It should be noted that referring to FIG. 56, a guide device 810 may be further arranged in the first storage bin, thereby performing connection positioning during the butting process of the mop plate and the mop, preventing the problem that the connection is not strong or the connection fails due to excessive deviation. Optionally, the guide device 810 may be, for example, a guide post, or a slide groove or a slide rail.

[0345] Referring to FIG. 45, after the adhesion operation is completed, the first moving mechanism 310 drives the mop plate 110 to move upward to ensure a space for resetting the first storage bin. Thereby, the third moving mechanism 420 drives the first storage bin 210 to horizontally move back to the initial position.

[0346] Referring to FIG. 46, the third moving mechanism 420 drives the first storage bin 210 to move horizontally and return to the initial position.

[0347] It should be understood that if the second storage bin is not reset, it is similarly necessary to perform the reset operation of the second storage bin.

[0348] It should be pointed out that in the process of resetting the first storage bin, the reset of the second storage bin can be performed simultaneously. After the reset of the first storage bin is completed, the reset of the second storage bin can also be performed. Of course, the reset of the second storage bin can also be performed after the recovery of the second sheet-shaped mop is completed. The present disclosure does not limit this.

[0349] Referring to FIGS. 47, 48, and 49, the first moving mechanism 310 drives the mop plate 110 to move downward to the mop plate release position, releases the mop plate 110, drops the mop plate 110 into a predetermined area at the bottom of the base station 500, and allows the cleaning robot 100 to pick it up.

[0350] In the process of releasing the mop plate 110, the magnet can be separated by the release mechanism 600. As can be understood, when the mop plate and the first moving mechanism are locked by the locking member and the locking portion, first, the locking of the locking portion by the locking member is released, and then the magnet is separated.

[0351] Referring to FIG. 50, after the first moving mechanism 310 is separated from the mop plate 110 and the mop plate 110 is left in a predetermined area, the first moving mechanism 310 moves upward. For example, the first moving mechanism moves upward and returns to the initial position (reset), to secure a space for the cleaning robot 100 to connect to the mop plate 110.

[0352] Referring to FIG. 51, the cleaning robot 100 enters the base station 500, picks up the mop plate 110 in a predetermined area, and connects the mop plate 110 with the first sheet-shaped mop to the cleaning robot 100. Subsequently, the cleaning robot 100 exits the base station 500 and can continue to execute the work task. For example, the cleaning robot can return to the previous end position and continue cleaning.

[0353] In the present disclosure, the first storage bin is located above, the second storage bin is located below, which improves the operation space for mop replacement, especially for mop removal, and since the upper movement space required for the storage bin for the dirty mop is large, the problem of the increase in the height of the base station can be avoided, which helps to reduce the volume of the base station.

[0354] In the two mop replacement embodiments described in FIGS. 18 to 28 and FIGS. 32 to 51 above, in each case, the replacement of the mop is realized by removing the mop plate from the cleaning robot.

[0355] Of course, in other embodiments, the replacement of the mop may be realized while the mop plate remains arranged on the cleaning robot without being removed.

[0356] Also, in the embodiments of automatically taking the mop described above, in each case, the mop plate picks up the first sheet-shaped mop so as to abut against the first storage bin, and realizes the connection between the mop plate and the one first sheet-shaped mop. In other words, the connection between the first sheet-shaped mop and the mop plate is realized by abutting the mop plate against the first storage bin.

[0357] In other embodiments, the connection between the mop plate and one mop may also be realized by a method of separating another mop, or a method of transferring one mop, or a method combining separation and transfer.

[0358] For example, a separation and transfer device is arranged to transfer one first sheet-shaped mop from a first storage bin to a predetermined transfer position, and subsequently, the mop plate can be connected to one first sheet-shaped mop at the predetermined transfer position. That is, the mop pickup device includes a separation and transfer device for transferring one first sheet-shaped mop separated from at least two first sheet-shaped mops stacked in the first storage bin to a predetermined transfer position and connecting the mop plate to one first sheet-shaped mop.

[0359] Optionally, the separation and transfer device includes a separation mechanism for separating one first sheet-shaped mop from at least two stacked first sheet-shaped mops. Further, the separated one first sheet-shaped mop is transferred to a predetermined transfer position by a transfer mechanism and connected to the mop plate.

[0360] The transfer mechanism is used to transfer one first sheet-shaped mop picked up from the first storage bin by the mop pickup device to a predetermined transfer position and connect it to the mop plate. In some embodiments, the transfer mechanism may be arranged between the first storage bin and the mop plate. For example, it may be arranged at a position close to the first storage bin or at a position in the first storage bin where it is easy to separate the sheet-shaped mop.

[0361] It should be understood that the functions of separation and transfer may be realized by one device (for example, the separation and transfer device).

[0362] Of course, the functions of separation and transfer may also be realized by the two separate functional mechanisms described above. For example, the mop pickup device includes a separation mechanism for separating one first sheet-shaped mop from at least two first sheet-shaped mops stacked in the first storage bin and connecting the mop plate to the separated one first sheet-shaped mop, and / or a transfer mechanism for transferring the separated one first sheet-shaped mop to a predetermined transfer position and connecting the mop plate to the separated one first sheet-shaped mop.

[0363] It should be noted that the above separation and transfer may be carried out simultaneously or sequentially. For example, it may be separated first and then transferred (for example, separated first by means of vacuum suction and then transferred), or it may be transferred first and then separated (for example, the final separation is realized during the transfer process).

[0364] The predetermined transfer position mentioned in this specification is for facilitating the adhesion of the mop plate. For example, it may be the position where the first sheet-shaped mop is separated, or it may be transferred to the position of the mop plate. Further, in order to provide a larger operating space for the connection between the mop plate and the first sheet-shaped mop and to help avoid damage to the first storage bin, it may be transferred to a position outside the first storage bin. Of course, it may also be transferred to other positions within the first storage bin, and this embodiment does not limit this.

[0365] Different from the above-described method in which the mop plate enters the first mop bin and abuts against the mop, in this embodiment, after separating and transferring one first sheet-shaped mop from the first storage bin, the connection between the mop plate and one first sheet-shaped mop is further realized. That is, between the mop plate and the first storage bin, the connection between the mop plate and the first sheet-shaped mop may be realized by the separation and transfer functional mechanisms, reducing the probability of picking up multiple sheets and simplifying the complexity of the structure for realizing the pick-up operation of one mop or the pick-up of one mop.

[0366] In some embodiments, the separation mechanism includes a paper suction device for sucking the first sheet-shaped mop at the mop suction position, and the mop suction position is the position where the paper suction device can suck one first sheet-shaped mop.

[0367] Furthermore, the paper suction device is a vacuum suction cup assembly, and the vacuum suction cup assembly includes a vacuum suction cup.

[0368] Of course, in addition to the method of realizing mop separation by suction described above, in other embodiments, the applicant discovered that based on the porosity of the sheet-like mop, the mop may be separated one by one in the "blowing" method. For example, the separation mechanism includes a fluid transport device for transporting fluid to the top surface of at least two stacked first sheet-like mops so that the topmost first sheet-like mop is separated from the combination of the first sheet-like mops. Also, the mop may be separated by friction. For example, the separation mechanism may further employ a friction paper feeding mechanism. According to the friction principle, one end (paper feeding end) of the first sheet-like mop is lifted, and then the first sheet-like mop at the paper feeding end is blocked by a gasket having a friction coefficient. The topmost one first sheet-like mop is taken out to a predetermined transfer position by a rubber wheel. The lifting height may be set as the difference between the depth (or height) of the first storage bin and the thickness of the first sheet-like mop.

[0369] Also, the above transfer mechanism is for transferring the separated first sheet-like mop and is different from the moving assembly that drives the entire above-mentioned first mop bin to move.

[0370] The present disclosure further provides a control method for use in combination with any one of the above-mentioned maintenance systems of the cleaning robot. Referring to FIG. 58, the cleaning robot control method includes the following.

[0371] In step S5810, a first storage bin is provided and at least two first sheet-like mops arranged to be stacked are stored therein.

[0372] In step S5820, a first sheet-like mop is picked up from the first storage bin by a mop pickup device and one first sheet-like mop is connected to the mop plate.

[0373] Optionally, step S5820 can be realized by one of the following two methods.

[0374] In Method 1, the mop pickup device includes a mop plate.

[0375] By controlling the movement of at least one of the mop plate and the first storage bin, the mop plate can enter the first storage bin and reach the mop butting position to join the first sheet-shaped mop.

[0376] Optionally, as one implementation form, the mop pickup device includes a first moving mechanism connected to the mop plate.

[0377] Controlling the movement of at least one of the mop plate and the first storage bin can be achieved by the first moving mechanism driving the mop plate to move towards the first storage bin.

[0378] Optionally, as one embodiment, the mop plate is attached to the cleaning robot. During the joining process of the mop plate and the first sheet-shaped mop, the cleaning robot moves passively, and the mop plate moves actively towards the first storage bin relative to the cleaning robot.

[0379] Optionally, as one embodiment, the mop pickup device further includes a first moving mechanism for driving the mop plate to move. The mop plate is removably connected to the cleaning robot and can be separated from the cleaning robot. The method further includes the following.

[0380] When the cleaning robot needs to replace the mop, separate the mop plate from the cleaning robot, connect the first moving mechanism to the separated mop plate, and thereby drive the mop plate by the first moving mechanism to enter the first storage bin.

[0381] Optionally, as one implementation form, the maintenance system includes a mop plate operation position configured to separate the mop plate from the cleaning robot, and the method further includes the step of separating the mop plate from the cleaning robot when it is confirmed that the cleaning robot has reached the mop plate operation position.

[0382] Optionally, as one implementation form, the mop butting position or the first storage bin is higher than the mop plate operation position so as to form a space for the cleaning robot to dock.

[0383] Optionally, as one implementation form, before the step of connecting the first moving mechanism to the separated mop plate, the method further includes the step of pre-positioning the first moving mechanism and the mop plate in a magnetic adsorption manner.

[0384] Optionally, as one implementation form, the mop pickup device includes a first moving mechanism connected to the mop plate, and the maintenance system further includes a third moving mechanism connected to the first storage bin.

[0385] The step of controlling the movement of at least one of the mop plate and the first storage bin includes the step of driving the mop plate to move by the first moving mechanism and driving the first storage bin to move by the third moving mechanism.

[0386] In Mode 2, the mop pickup device includes a separation mechanism and / or a transfer mechanism, separating one first sheet-shaped mop from at least two first sheet-shaped mops stacked in the first storage bin by the separation mechanism, and / or transferring one first sheet-shaped mop to a predetermined transfer position by the transfer mechanism and connecting the mop plate to one first sheet-shaped mop.

[0387] Optionally, as one embodiment, the separation mechanism includes a paper suction device, and the method includes Controlling a paper suction device to suck a first sheet-like mop at a mop suction position, where the mop suction position is a position where the paper suction device can suck one first sheet-like mop.

[0388] Optionally, as one embodiment, the separation mechanism includes a fluid transport device, and the method includes: Controlling the fluid transport device to transport fluid to a first storage bin so that the topmost first sheet-like mop is separated from at least two of the first sheet-like mops.

[0389] Optionally, as one embodiment, step S5820 may be executed in the following steps. Controlling the mop plate to pick up one first sheet-like mop from the first storage bin along a direction perpendicular to the wiping surface of the first sheet-like mop.

[0390] Optionally, as one embodiment, the lower surface of the mop plate forms an angle with the wiping surface of the first sheet-like mop, and the angle is less than 90 degrees.

[0391] Optionally, as one embodiment, a connection area for connecting the first sheet-like mop is arranged on the mop plate. The connection area includes an adhesive part, and the first sheet-like mop can be adhered to the adhesive part, thereby realizing the connection between the mop plate and the first sheet-like mop.

[0392] Optionally, as one embodiment, the mop pickup device includes a first moving mechanism connected to the mop plate, and the method includes: After the first sheet-like mop is adhered to the mop plate, controlling the first moving mechanism to drive the mop plate to vibrate so as to adhere one first sheet-like mop to the adhesive part of the mop plate. Vibration means that the mop plate makes a reciprocating motion along a first direction and a second direction. The first direction is the direction in which the mop plate takes out the first sheet-like mop from the first storage bin, and the second direction is opposite to the first direction.

[0393] Optionally, as one embodiment, a friction assembly is disposed in the first storage bin, and the method includes: After the first sheet-like mop is adhered to the mop plate, when the mop plate moves along the first direction, a reaction force is generated by the friction assembly so that one sheet of the first sheet-like mop can be adhered to the adhesion portion of the mop plate. The first direction is the direction in which the mop plate takes out the first sheet-like mop from the first storage bin.

[0394] Optionally, as one embodiment, a partition assembly for creating a gap between two adjacent first sheet-like mops is further disposed in the first storage bin.

[0395] Optionally, as one embodiment, the adhesion portion includes a first portion in contact with the first sheet-like mop and / or a second portion exposed outside the first sheet-like mop. The included angle between the first portion and the first sheet-like mop is 0 degrees or more and 15 degrees or less, and the included angle between the second portion and the first sheet-like mop is greater than 0 degrees and less than 90 degrees.

[0396] Optionally, as one embodiment, the mop plate has a top, a bottom, and side walls for connecting the top and the bottom. The side walls are inclined from the bottom towards the top, and the adhesion portion is disposed on the inclined side walls.

[0397] Optionally, as one embodiment, the area ratio between the adhesion portion and the first sheet-like mop is within a predetermined range so that the mop plate can pick up one sheet of the first sheet-like mop from the combination of the first sheet-like mops.

[0398] Optionally, as one embodiment, the method includes: When a second sheet-like mop is attached to the mop plate, further including the step of separating the second sheet-like mop from the mop plate.

[0399] Optionally, as one embodiment, the maintenance system includes a removal mechanism, the mop plate includes a removal area, and there is no interconnection action between the removal area and the second sheet-shaped mop.

[0400] The step of separating the second sheet-shaped mop from the mop plate includes the step of controlling the movement of at least one of the removal mechanism and the mop plate to move and removing the second sheet-shaped mop from the mop plate.

[0401] Optionally, as one embodiment, the step of separating the second sheet-shaped mop from the mop plate includes the step of removing the second sheet-shaped mop along the removal direction by the removal mechanism, and the removal direction is not parallel to the wiping surface of the second sheet-shaped mop or the mop plate.

[0402] Optionally, as one embodiment, the step of separating the second sheet-shaped mop from the mop plate includes the step of applying an external force to the second sheet-shaped mop to separate it from the mop plate by the removal mechanism, and dropping the second sheet-shaped mop separated from the mop plate under the action of its own weight or the external force, thereby removing the second sheet-shaped mop from the mop plate.

[0403] Optionally, as one embodiment, during the process of removing the second sheet-shaped mop from the mop plate, the sweeping robot moves passively, and the mop plate or the removal mechanism moves actively.

[0404] Optionally, as one embodiment, the maintenance system further includes a second storage bin for receiving the second sheet-shaped mop separated from the mop plate.

[0405] The step of separating the second sheet-shaped mop from the mop plate Including the step of applying an external force that separates from the mop plate to the second sheet-like mop by a removal mechanism, separating the second sheet-like mop from the mop plate, and dropping the second sheet-like mop separated from the mop plate into the second storage bin under the action of its own weight or an external force.

[0406] Optionally, as one embodiment, the removal mechanism is disposed on the second storage bin.

[0407] Optionally, as one embodiment, the maintenance system includes a second moving mechanism connected to the second storage bin, the removal mechanism is attached to a predetermined mop removal position, the mop removal position is outside the second storage bin, and the method includes: Driving the second storage bin by the second moving mechanism to move to the mop removal position, and receiving the second sheet-like mop separated from the mop plate.

[0408] Optionally, as one embodiment, the removal area includes a mop detachment groove, and the outer edge of the mop plate is recessed inside the mop plate to form the mop detachment groove.

[0409] Optionally, as one embodiment, the mop plate includes at least a first state and a second state. In the first state, the mop plate is in a wiping position, and in the second state, the mop plate is in a non-wiping position.

[0410] The non-wiping position is higher than the wiping position so as to provide an operating space for the removal of the second sheet-like mop or the attachment of the first sheet-like mop.

[0411] Optionally, as one embodiment, the mop removal position or the second storage bin is higher than the mop plate operation position so as to form a space for the cleaning robot to dock.

[0412] Optionally, as one embodiment, the first storage bin and the second storage bin are arranged vertically one above the other.

[0413] Optionally, as one embodiment, the first storage bin is above the second storage bin.

[0414] It should be noted that, to save space on the paper, for parts of the above control method that are not described in detail, reference can be made to the system, and the description is omitted here.

[0415] In each embodiment of the present disclosure, it should be understood that mechanisms or assemblies with similar functions and similar structures use the same numbers.

[0416] The term "and / or" in this specification is only used to describe the relationship of relevant objects, indicating that three relationships are possible. For example, A and / or B may indicate three cases: A exists alone, A and B exist simultaneously, and B exists alone. It should also be understood that the " / " in the reference signs in this specification generally means that the relevant objects before and after are in an "or" relationship.

[0417] In various embodiments of the present disclosure, the sequential numbers of the above processes do not represent the sequence of execution. Instead, the execution sequence of each process depends on its function and internal logic, and should not be construed as any limitation on the implementation process according to the embodiments of the present disclosure.

[0418] In some embodiments provided by the present disclosure, it should be understood that the disclosed systems, devices, and methods can be implemented in other forms. For example, the above-described device embodiments are merely illustrative. For example, the division of the above units is only a division of logical functions, and when actually implemented, it may be divided in another form. For example, a plurality of units or assemblies may be combined, integrated into another system, or some features may be omitted or not executed. Also, the coupling, direct coupling, or communication connection between the illustrated or described ones may be an indirect coupling or communication connection through some interfaces, devices, or units, and may be in an electrical, mechanical, or other form.

[0419] Furthermore, each functional unit in each embodiment of the present disclosure may be integrated into a single processing unit, may exist physically independently, or may be integrated into two or more units into a single unit.

[0420] The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, they may be implemented in whole or in part as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the flows or functions described in the embodiments of the present disclosure occur in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored on a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optics, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, radio, microwave, etc.). The computer-readable storage medium may be any available medium accessible by a computer, or a data storage device such as a server or data center integrated with one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disk (Digital Video Disc, DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)).

[0421] The above are only specific embodiments of the present disclosure, and the protection scope of the present disclosure is not limited thereto. Any changes or replacements that can be easily conceived by those skilled in the art within the technical scope described in the present disclosure are all included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A base station for maintaining a cleaning robot, the base station including a first storage bin configured to store at least two first sheet-like mops arranged to be stacked, a mop pickup device configured to pick up one first sheet-like mop from the first storage bin and connect one first sheet-like mop to a mop plate, wherein the mop pickup device is configured to insert the mop plate into the first storage bin to connect the first sheet-like mop to the mop plate, a friction assembly is arranged in the first storage bin, and the friction assembly includes a first friction assembly arranged on the inner surface of the side wall of the first storage bin, wherein the first friction assembly generates a reaction force by the first friction assembly arranged on the inner surface of the side wall of the first storage bin when the mop plate picks up the first sheet-like mop from the first storage bin, and one first sheet-like mop is configured to be connected to the mop plate, a maintenance system for a cleaning robot.

2. The mop pickup device includes the mop plate, and the mop plate and the first storage bin are configured to be relatively movable such that the mop plate can enter the first storage bin and reach a mop butting position to be joined to the first sheet-like mop. The maintenance system according to claim 1.

3. The maintenance system according to claim 1, wherein a guide device is arranged in the first storage bin to perform connection positioning during the butting process of the mop plate and the first sheet-like mop.

4. Further, the first storage bin is moved below or to the left / right side of the mop plate to control the mop plate to enter the first storage bin and adhere to the first sheet-like mop in the first storage bin, including a third moving mechanism. The maintenance system according to claim 1.

5. The mopping pickup device further includes a moving assembly for driving and moving the mop plate, the mop plate is removably connected to the cleaning robot, and when the cleaning robot needs to replace the mop, the separated mop plate can be driven by the moving assembly to enter the first storage bin, and the mop plate is separable from the cleaning robot. The maintenance system according to claim 2 or 4, characterized in that.

6. Including a mop plate operation position configured to separate the mop plate from the cleaning robot, The mop butting position or the first storage bin is higher than the mop plate operation position so as to form a space for the cleaning robot to dock. The maintenance system according to claim 5, characterized in that.

7. The mop plate is used to pick up one first sheet-shaped mop from the first storage bin along a direction perpendicular to the wiping surface of the first sheet-shaped mop. The maintenance system according to claim 2, characterized in that.

8. A connection area for connecting the first sheet-shaped mop is arranged on the mop plate, the connection area includes an adhesive part, the first sheet-shaped mop is adhered to the adhesive part, and the connection between the mop plate and the first sheet-shaped mop can be realized. The maintenance system according to claim 2, characterized in that.

9. After the first sheet-shaped mop is adhered to the mop plate, the friction assembly is used to generate an acting force that prevents the movement of the mop plate along the first direction so that one first sheet-shaped mop can be adhered to the adhesive part of the mop plate. The first direction is the direction in which the mop plate takes out the first sheet-shaped mop from the first storage bin. The maintenance system according to claim 8, characterized in that.

10. The bonding part includes a first part that contacts the first sheet-like mop and / or a second part that is exposed outside the first sheet-like mop. The included angle formed by the first part and the first sheet-like mop is 0 degrees or more and 15 degrees or less, and the included angle formed by the second part and the first sheet-like mop is greater than 0 degrees and less than 90 degrees. The maintenance system according to claim 8 is characterized in that.

11. The mop pickup device further includes a removal mechanism. The mop plate includes a removal area. The removal mechanism cooperates with the removal area to remove the second sheet-like mop from the mop plate. The removal mechanism is configured to apply an external force to the second sheet-like mop to separate it from the mop plate so that the second sheet-like mop separated from the mop plate falls under the action of its own weight or an external force. The maintenance system according to claim 1 is characterized in that.

12. The maintenance system further includes a second storage bin for receiving the second sheet-like mop removed from the mop plate. The second storage bin is configured to be arranged in the moving path of the second sheet-like mop removed from the mop plate so that the second sheet-like mop falls into the second storage bin. The maintenance system according to claim 11 is characterized in that.

13. The removal mechanism is arranged in the second storage bin. The maintenance system according to claim 12 is characterized in that.

14. The first storage bin and the second storage bin are arranged vertically one above the other. The first storage bin is located above the second storage bin. The maintenance system according to claim 12 is characterized in that.

15. Providing a first storage bin for storing at least two first sheet-like mops arranged to be stacked; Inserting the mop plate into the first storage bin by a mop pickup device to pick up one first sheet-like mop from the first storage bin and connecting one first sheet-like mop to the mop plate. When the mop plate picks up the first sheet-like mop from the first storage bin, a reaction force is generated by a first friction assembly disposed on the inner surface of the side wall of the first storage bin, and one sheet of the first sheet-like mop is connected to the mop plate. A control method for a maintenance system of a cleaning robot, characterized in that.

16. The mop pickup device includes the mop plate, The step of picking up one sheet of the first sheet-like mop from the first storage bin by the mop pickup device includes the mop plate entering the first storage bin and reaching the mop butting position so as to be joined to the first sheet-like mop. The method according to claim 15, characterized in that it includes a step of controlling and moving at least one of the mop plate and the first storage bin.

17. The mop pickup device includes a first moving mechanism connected to the mop plate, and the step of controlling and moving at least one of the mop plate and the first storage bin includes The method according to claim 16, characterized in that it includes a step of driving the mop plate by the first moving mechanism to move toward the first storage bin and entering the first storage bin.

18. The mop pickup device includes a first moving mechanism connected to the mop plate, the maintenance system further includes a third moving mechanism connected to the first storage bin, and the step of controlling and moving at least one of the mop plate and the first storage bin includes The method according to claim 16, characterized in that it includes a step of driving the mop plate to move by the first moving mechanism and driving the first storage bin to move by the third moving mechanism.

19. The mop pickup device further includes a first moving mechanism for driving the mop plate to move, the mop plate is removably connected to the cleaning robot, the mop plate is separable from the cleaning robot, The method includes When the cleaning robot needs to replace the mop, the method according to claim 16 further includes the steps of separating the mop plate from the cleaning robot, connecting the first moving mechanism to the separated mop plate, and driving the mop plate by the first moving mechanism to enter the first storage bin.

20. The step of picking up one first sheet-shaped mop from the first storage bin by the mop pickup device includes the step of controlling the mop plate to pick up one first sheet-shaped mop from the first storage bin along a direction perpendicular to the wiping surface of the first sheet-shaped mop, the method according to claim 15.

21. The steps of confirming that the cleaning robot has returned to the base station and controlling the mop pickup device to replace the second sheet-shaped mop attached to the cleaning robot with the first sheet-shaped mop in the first storage bin, wherein the step of confirming that the cleaning robot has returned to the base station includes the step of confirming that the cleaning robot has reached the mop plate operation position and controlling the cleaning robot to remove the mop plate, wherein the mop pickup device includes a first moving mechanism for driving and moving the mop plate, and the step of controlling the mop pickup device to replace the second sheet-shaped mop attached to the cleaning robot with the first sheet-shaped mop in the first storage bin includes the step of controlling the first moving mechanism to drive the mop plate to move to the mop removal position to remove the second sheet-shaped mop and store it in a second storage bin for collecting the second sheet-shaped mop, and the step of controlling the first moving mechanism to drive the mop plate to move to the mop attachment position and enter the first storage bin to attach the first sheet-shaped mop to the mop plate. When the mop plate picks up the first sheet-shaped mop from the first storage bin, a reaction force is generated by a first friction assembly disposed on the inner surface of the side wall of the first storage bin, and one first sheet-shaped mop is connected to the mop plate, a method for replacing the mop of a cleaning robot. ​ ​

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