Replacement method and apparatus for cleaning components of cleaning device, base station, and storage medium
Patent Information
- Application Number
- PCT/CN2025/095116
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2024-05-16
- Filing Date
- 2025-05-15
- Publication Date
- 2026-09-03
Smart Images
Figure CN2025095116_03092026_PF_FP_ABST
Abstract
Description
Methods, devices, base stations, and storage media for replacing cleaning components in cleaning equipment
[0001] Cross-reference of related applications
[0002] This application claims priority to Chinese Patent Application No. 202410612552.1, filed on May 16, 2024, the contents of which are incorporated herein by reference in their entirety as part of this disclosure. Technical Field
[0003] This disclosure relates to the field of self-propelled equipment technology, and more specifically, to a method, apparatus, base station, and storage medium for replacing cleaning components of a cleaning device. Background Technology
[0004] In recent years, with the popularization of automatic cleaning equipment, the functions of automatic cleaning equipment have become more and more numerous, especially the application of automatic cleaning equipment that integrates multiple functions such as sweeping, vacuuming, mopping, dust removal, and mop cleaning.
[0005] In existing technologies, automatic dust collection and mop cleaning are performed on automatic cleaning equipment via base stations. When the mop gets dirty, it needs to be cleaned at the base station before the cleaning task can continue. The cleaning process is lengthy and affects cleaning efficiency. Summary of the Invention
[0006] The purpose of this disclosure is to provide a method, apparatus, base station, and storage medium for replacing cleaning components in a cleaning device, which can solve the problem of cleaning efficiency being affected by washing mops. Specifically:
[0007] This disclosure provides a method for replacing a cleaning component in a cleaning device, wherein the cleaning component includes a first cleaning component and a second cleaning component, and the method includes:
[0008] In response to the cleaning device reaching the first position, the lifting assembly disassembles the second cleaning assembly from the cleaning device;
[0009] In response to the cleaning device leaving the first position, the lifting assembly moves the second cleaning assembly to the second position;
[0010] The lifting assembly moves the first cleaning component to the first position, and in response to the cleaning device reaching the first position again, the lifting assembly assembles the first cleaning component onto the cleaning device.
[0011] In some embodiments, after the lifting assembly moves the second cleaning assembly to the second position, the method further includes:
[0012] In response to the rotation of the rotating component, the second cleaning component moves from the second position to the third position, while the first cleaning component moves from the third position to the second position.
[0013] In some embodiments, the method further includes:
[0014] In response to the rotation of the rotating component, the second cleaning component moves from the third position to the second position.
[0015] In some embodiments, the method further includes:
[0016] When the cleaning device leaves the first position again, the lifting assembly moves the second cleaning assembly from the second position to the first position;
[0017] In response to the second cleaning component reaching the first position, the washing cloth component initiates the cleaning of the second cleaning component.
[0018] In some embodiments, the method further includes:
[0019] In response to the completion of cleaning by the second cleaning component, the lifting component moves the second cleaning component from the first position to the second position.
[0020] In some embodiments, the method further includes:
[0021] In response to the second cleaning component reaching the second position, the rotating component moves the second cleaning component from the second position to the third position; and / or
[0022] The lifting component moves from the second position to the first position.
[0023] In some embodiments, the second position and the third position are approximately on the same horizontal plane, and the height of the first position is lower in the vertical direction than the height of the second position and / or the height of the third position.
[0024] In some embodiments, when the cleaning device reaches the first position, the second position and the third position are located above the cleaning device, and the first position is located below the cleaning device.
[0025] In some embodiments, the method further includes:
[0026] In response to the completion of cleaning by the second cleaning component, the lifting component moves the second cleaning component from the first position to the third position; and / or
[0027] The lifting assembly moves from the third position to the first position.
[0028] In some embodiments, the second position, the first position, and the third position are arranged sequentially from top to bottom in the vertical direction.
[0029] In some embodiments, when the cleaning device reaches the first position, the second position is located above the cleaning device, and the first position and the third position are located below the cleaning device.
[0030] In some embodiments, the lifting assembly includes a lifting motor, a first lifting module, a second lifting module, and a rope. The rope connects the lifting motor, the first lifting module, and the second lifting module in series. When the lifting motor rotates in a first direction, the first lifting module and the second lifting module rise simultaneously via the rope. When the lifting motor rotates in a second direction, the first lifting module and the second lifting module descend simultaneously via the rope.
[0031] In some embodiments, the rope, in series with the lifting motor, the first lifting module, and the second lifting module, forms a roughly figure-eight structure.
[0032] In some embodiments, the first lifting module and / or the second lifting module have a disassembly structure configured to remove the cleaning component from the cleaning device or to assemble the cleaning component into the cleaning device.
[0033] In some embodiments, the cleaning component has an unlocking structure configured to allow the cleaning component to be assembled into the cleaning device under the action of the disassembly structure, or configured to allow the cleaning component to be detached from the cleaning device under the action of the disassembly structure.
[0034] This disclosure provides a cleaning component replacement device for a cleaning device, wherein the cleaning component includes a first cleaning component and a second cleaning component, and the replacement device includes:
[0035] A first control unit is configured to control a lifting assembly to detach the second cleaning assembly from the cleaning equipment in response to the cleaning equipment reaching a first position;
[0036] The second control unit is configured to control the lifting assembly to move the second cleaning assembly to the second position in response to the cleaning device leaving the first position;
[0037] The third control unit is configured to control the lifting assembly to move the first cleaning assembly to the first position, and in response to the cleaning device reaching the first position again, to control the lifting assembly to assemble the first cleaning assembly onto the cleaning device.
[0038] This disclosure provides a base station in some embodiments, including a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, it implements the steps of the method described in any of the above embodiments.
[0039] Some embodiments of this disclosure provide a non-transitory computer-readable storage medium storing computer program instructions that, when invoked and executed by a processor, implement the steps of the method described in any of the above embodiments.
[0040] The above-described solutions in this disclosure can have the following beneficial effects:
[0041] The cleaning component replacement method for cleaning equipment provided in this embodiment can automatically replace the cleaning components of the cleaning equipment. After the cleaning components are replaced, the cleaning equipment can continue to perform the cleaning task without waiting for the cleaning components to be cleaned before it can continue cleaning, which greatly improves the cleaning efficiency of the cleaning equipment. Attached Figure Description
[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:
[0043] Figure 1 is a flowchart of a cleaning component replacement method provided in some embodiments of this disclosure;
[0044] Figure 2 is a structural schematic diagram of a cleaning component replacement method provided in some embodiments of this disclosure;
[0045] Figure 3 is another structural schematic diagram of a cleaning component replacement method provided in some embodiments of this disclosure;
[0046] Figure 4 is a flowchart of a cleaning component replacement method provided in some other embodiments of this disclosure;
[0047] Figure 5 is a flowchart of a cleaning component replacement method provided in some other embodiments of this disclosure;
[0048] Figure 6 is a flowchart of a cleaning component replacement method provided in some other embodiments of this disclosure;
[0049] Figure 7 is a flowchart of a cleaning component replacement method provided in some other embodiments of this disclosure;
[0050] Figure 8 is a schematic diagram of the lifting assembly in the rising state structure provided in some embodiments of this disclosure;
[0051] Figure 9 is a schematic diagram of the lifting assembly in a descending state according to some embodiments of this disclosure;
[0052] Figure 10 is a flowchart of a cleaning component replacement method provided in some embodiments of the present disclosure;
[0053] Figure 11(a) is a schematic diagram of the state of the cleaning equipment before returning to the base station according to some embodiments of the present disclosure;
[0054] Figure 11(b) is a schematic diagram of the state of the cleaning equipment after it returns to the base station according to some embodiments of the present disclosure;
[0055] Figure 11(c) is a schematic diagram of the state of the cleaning equipment after it leaves the base station, according to some embodiments of the present disclosure;
[0056] Figure 11(d) is a schematic diagram of the second cleaning component in a raised state provided in some embodiments of this disclosure;
[0057] Figure 11(e) is a schematic diagram of the first cleaning component in an ascending state provided in some embodiments of the present disclosure;
[0058] Figure 11(f) is a schematic diagram showing the cleaning equipment returning to the base station state according to some embodiments of the present disclosure;
[0059] Figure 11(g) is a schematic diagram of the cleaning equipment leaving the base station again according to some embodiments of the present disclosure;
[0060] Figure 11(h) is a schematic diagram of the cleaning state of the second cleaning component provided in some embodiments of this disclosure;
[0061] Figure 11(i) is a schematic diagram of the state of the second cleaning component after cleaning in some embodiments of this disclosure;
[0062] Figure 12 is a flowchart of a cleaning component replacement method provided in some embodiments of the present disclosure;
[0063] Figure 13 is a schematic diagram of the replacement device structure provided in some embodiments of this disclosure;
[0064] Figure 14 is a schematic diagram of the electronic structure of a base station provided in an embodiment of this disclosure.
[0065] Explanation of reference numerals in the attached drawings: Base station 100, lifting assembly 110, lifting motor 111, first lifting module 112, second lifting module 113, rope 114, multiple fixed pulleys 115, cleaning equipment 200, second cleaning assembly 210, first cleaning assembly 220, rotating assembly 300, first position (400, 400'), second position (500, 500'), and the third position (600, 600'). Detailed Implementation
[0066] To make the technical solutions and effects of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.
[0067] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The singular forms “a,” “the,” and “the” as used in the embodiments of this disclosure and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.
[0068] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.
[0069] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the article or device that includes said element.
[0070] During or after a cleaning task, the cleaning equipment needs to be cleaned at the base station when the mop gets dirty. Cleaning often takes time, and the cleaning task can only be performed again after cleaning is completed. Therefore, the mop cleaning process reduces the cleaning efficiency of the cleaning equipment.
[0071] This disclosure provides a method for replacing a cleaning component of a cleaning device, the cleaning component including a first cleaning component and a second cleaning component, the method comprising: in response to the cleaning device reaching a first position, a lifting component disassembling the second cleaning component from the cleaning device; in response to the cleaning device leaving the first position, the lifting component moving the second cleaning component to a second position; the lifting component moving the first cleaning component to the first position; and in response to the cleaning device reaching the first position again, the lifting component assembling the first cleaning component into the cleaning device.
[0072] The cleaning component replacement method for cleaning equipment provided in this embodiment can automatically replace the cleaning components of the cleaning equipment. When the cleaning components are dirty, there is no need to clean them immediately. The cleaning equipment can be replaced after the cleaning components are replaced, which greatly improves the cleaning efficiency of the cleaning equipment.
[0073] The optional embodiments of this disclosure are described in detail below with reference to the accompanying drawings.
[0074] As shown in Figure 1, some embodiments of this disclosure provide a method for replacing a cleaning component in a cleaning device. The cleaning component includes a first cleaning component and a second cleaning component. The method includes the following steps:
[0075] Step S102: In response to the cleaning device reaching the first position, the lifting assembly disassembles the second cleaning assembly from the cleaning device;
[0076] Step S104: In response to the cleaning device leaving the first position, the lifting assembly moves the second cleaning assembly to the second position;
[0077] Step S106: The lifting assembly moves the first cleaning assembly to the first position. In response to the cleaning device reaching the first position again, the lifting assembly assembles the first cleaning assembly onto the cleaning device.
[0078] The cleaning device described in this disclosure can be a mopping robot, a sweeping and mopping robot, etc., and the cleaning device includes at least a moving platform and a cleaning module disposed at the bottom of the moving platform. The moving platform can be configured to automatically move along a target direction on the operating surface. The operating surface can be the surface to be cleaned by the cleaning device. In some embodiments, the cleaning device can be a mopping robot, in which case the automatic cleaning device works on the ground, and the ground is the operating surface; the cleaning device can also be a window cleaning robot, in which case the cleaning device works on the outer surface of the glass of a building, and the glass is the operating surface; the cleaning device can also be a pipe cleaning robot, in which case the cleaning device works on the inner surface of the pipe, and the inner surface of the pipe is the operating surface. The following description in this disclosure uses a mopping robot as an example.
[0079] In some embodiments, the base station described in this disclosure is a device that can provide cleaning equipment with functions such as replacing cleaning components, washing mops, charging, and dust collection. The base station typically has a base that protrudes from the base station body. The base station typically includes components such as a dust collection chamber, a clean water tank, and a wastewater tank.
[0080] To more clearly describe the behavior of the base station and cleaning equipment, the following directions are defined with reference to the base station: horizontal axis Y, front-back axis X, and central vertical axis Z. The direction opposite to the arrow on the front-back axis X, i.e., the direction in which the cleaning equipment enters the base station, is labeled "backward," and the direction in which the cleaning equipment leaves the base station, i.e., the direction in which the arrow on the front-back axis X, is labeled "forward." The horizontal axis Y is essentially along the width of the base station body; the direction opposite to the arrow on the horizontal axis Y is labeled "rightward," and the direction in which the arrow on the horizontal axis Y, i.e., is labeled "leftward." The vertical axis Z extends vertically along the base station; the direction opposite to the arrow on the vertical axis Z is labeled "downward," and the direction in which the arrow on the vertical axis Z, i.e., is labeled "upward."
[0081] In some embodiments, the cleaning component of this disclosure includes a cleaning base plate and a cleaning mop disposed on the cleaning base plate. The cleaning base plate is detachably disposed on the side of the cleaning device facing the surface to be cleaned, and the cleaning mop is disposed on the side of the cleaning base plate facing the surface to be cleaned. The cleaning base plate has an unlocking structure, which allows the cleaning component to be assembled into the cleaning device or removed from the cleaning device under external force. The specific structure of the unlocking structure is not limited, but may include springs, locking structures, etc.
[0082] The cleaning components described in this embodiment include a first cleaning component and a second cleaning component. The first and second cleaning components have substantially the same structure. The first cleaning component is defined as a clean or unused cleaning component, located in a base station or other replacement device in a ready-to-use state, used to replace the cleaning component already in use on the cleaning device. The first cleaning component can be one, two, or more, for example, any number from one to six. Multiple first cleaning components are arranged in the base station or other replacement device according to certain rules, awaiting the execution of a replacement instruction. The second cleaning component is defined as the cleaning component currently installed on the cleaning device. It can be performing a cleaning task or not yet performing a cleaning task. Typically, the second cleaning component is in a state of being assembled into the cleaning device and awaiting use or already in use. As an example, the lifecycle of the second cleaning component begins from its assembly into the cleaning device until it performs a cleaning task, is disassembled for cleaning, and returns to a ready-to-use state after cleaning.
[0083] In some embodiments, as shown in Figures 2-3, the cleaning device 200 carries the second cleaning component 210 back to the base station 100 to replace the cleaning component. The base station 100 will check whether the cleaning device 200 has returned to the predetermined position through sensors or other positioning devices. When the second cleaning component 210 reaches the first position 400, where the first position 400 can be the cleaning tank where the base station cleans the cleaning component or a position equivalent to the cleaning tank, the base station 100 controls the lifting component 110 to work through the control center. As described in step S102, in response to the cleaning device 200 reaching the first position 400, the control center of the base station 100 removes the second cleaning component 210 from the cleaning device 200.
[0084] In some embodiments, the cleaning component has an unlocking structure configured to assemble the cleaning component onto the cleaning device or remove the cleaning component from the cleaning device under the action of the lifting component 110. As an example, the unlocking structure has elastic elements, locking elements, etc., which elastically open or close the locking mechanism under the action of the lifting component 110 to realize the separation and assembly of the cleaning component and the cleaning device.
[0085] In some embodiments, when the cleaning device 200 reaches the first position 400, the second position 500 and the third position 600 are located above the cleaning device 200, and the first position 400 is located below the cleaning device 200.
[0086] In step S104, the control center of the base station 100 responds to the cleaning device 200 leaving the first position 400. At this time, the cleaning device 200 is not equipped with the cleaning component. The lifting component 110 moves the second cleaning component 210 to the second position 500. The lifting component 110 can move up and down in the vertical direction. After the cleaning device leaves the base station, the second cleaning component 210 can move freely in the vertical direction. At this time, the lifting component 110 locks the two ends of the second cleaning component 210 and moves upward under the drive of the motor, so that the second cleaning component 210 moves to the second position 500.
[0087] In some embodiments, the height of the first position 400 is lower in the vertical direction than the height of the second position 500. The base station 100 has a rotating component 300, which is disposed directly above the first position 400. The rotating component 300 can rotate freely in a horizontal plane under the drive of a motor. The rotating component 300 has 2-8 latching positions, which are evenly distributed throughout the rotating component 300. For example, the rotating component 300 has 2, 3, or 4 latching positions, and each latching position can latch the cleaning component. The following description uses a rotating component 300 with 2 latching positions as an example.
[0088] In some embodiments, the second position 500 is located directly above the first position 400. The second position 500 is idle before the lifting assembly 110 moves the second cleaning assembly 210 from the first position 400. After the lifting assembly 110 moves the second cleaning assembly 210 vertically upward from the first position 400 to the second position 500, the second cleaning assembly 210 engages with the second position 500 of the rotating assembly 300. After that, the lifting assembly 110 separates from the second cleaning assembly 210, and the second cleaning assembly 210 is controlled by the rotating assembly 300.
[0089] In some embodiments, as shown in FIG4, in response to the cleaning device leaving the first position, the lifting assembly moves the second cleaning assembly to the second position, followed by the following steps:
[0090] Step S105: In response to the rotation of the rotating component, the second cleaning component moves from the second position to the third position, while the first cleaning component moves from the third position to the second position.
[0091] In step S105, the control center of the base station 100 controls the rotating component 300 to rotate, the second cleaning component 210 moves from the second position 500 to the third position 600, and at the same time, the first cleaning component 220 moves from the third position 600 to the second position 500. The second position 500 and the third position 600 are approximately on the same horizontal plane, both located on the lower surface of the rotating component 300. There can be 1-7 third positions 600, evenly distributed on the lower surface of the rotating component 300. For example, the rotating component 300 may have 1, 2, or 3 third positions 600. When the rotating component 300 has 1 third position 600, the third position 600 and the second position 500 can be symmetrical, as shown in Figures 2-3. In this case, after the rotating component 300 rotates 180 degrees, the third position 600 and the second position 500 interchange. When the rotating component 300 has 2 third positions 600, after the rotating component 300 rotates 120 degrees, one of the third positions 600 reaches the second position 500. When the rotating component 300 has 3 third positions 600, after the rotating component 300 rotates 90 degrees, one of the third positions 600 reaches the second position 500, and so on. This application uses a single third position 600 as an example for illustration. After the control center of base station 100 controls the rotating component 300 to rotate, the second cleaning component 210 moves from the second position 500 to the third position 600. At this time, since the third position 600 has the first cleaning component 220, after rotation, the first cleaning component 220 moves to the second position 500.
[0092] In step S106, the lifting assembly moves the first cleaning assembly to the first position, and in response to the cleaning device reaching the first position again, the lifting assembly assembles the first cleaning assembly onto the cleaning device.
[0093] By rotating the rotating component 300, the clean first cleaning component 220 moves from the third position 600 to the second position 500. At this time, the lifting component 110 engages both ends of the clean first cleaning component 220, and simultaneously, the first cleaning component 220 disengages from the rotating component 300. As the lifting component 110 descends, it moves the first cleaning component 220 to the first position 400. Afterward, the cleaning device 200 receives a control command from the base station 100, and the cleaning device 200 returns to the first position 400. The lifting component 110 then assembles the first cleaning component 220 onto the cleaning device 200. At this point, the cleaning device 200 has completed the cleaning component replacement and can leave the base station to continue cleaning the surface to be cleaned. Therefore, this embodiment of the present disclosure can automatically replace the cleaning components of the cleaning device. After replacing the cleaning components, the cleaning device can continue performing the cleaning task immediately, without waiting for the cleaning components to finish cleaning, greatly improving the cleaning efficiency of the cleaning device.
[0094] In some embodiments, as shown in FIG5, the method further includes the following steps:
[0095] Step S108: In response to the rotation of the rotating component, the second cleaning component moves from the third position to the second position.
[0096] In step S108, after the cleaning equipment 200 replaces the cleaning component, the base station 100 control center controls the rotating component 300 to rotate, causing the dirty second cleaning component 210 to rotate from the third position 600 to the second position 500 after a certain angle, ready for cleaning. It can be understood that this step S108 can be performed immediately after the lifting component 110 removes the first cleaning component 220 from the rotating component 300, without waiting for the first cleaning component 220 to be assembled back into the cleaning equipment 200, thus improving cleaning efficiency.
[0097] In some embodiments, as shown in FIG6, the method further includes the following steps:
[0098] Step S110: The cleaning device leaves the first position again, and the lifting assembly moves the second cleaning assembly from the second position to the first position;
[0099] Step S112: In response to the second cleaning component reaching the first position, the washing cloth component starts cleaning the second cleaning component.
[0100] Through steps S110 and S112, it can be understood that after the cleaning device 200 leaves the base station 100, the base station control center controls the lifting assembly 110 to move the second cleaning assembly 210 from the second position 500 to the first position 400; and controls the washing cloth assembly to start cleaning the second cleaning assembly 210.
[0101] In some embodiments, as shown in FIG7, the method further includes the following steps:
[0102] Step S114: In response to the completion of cleaning by the second cleaning component, the lifting component moves the second cleaning component from the first position to the second position.
[0103] In some embodiments, the method further includes the following steps:
[0104] Step S116: In response to the second cleaning component reaching the second position, the rotating component moves the second cleaning component from the second position to the third position; and / or, the lifting component moves from the second position to the first position.
[0105] In steps S114 and S116, after the second cleaning component 210 has finished cleaning, the lifting component 110 abuts against both ends of the second cleaning component 210, moving the second cleaning component 210 from the first position 400 to the second position 500. Then, the base station control center controls the rotating component 300 to rotate, and the rotating component 300 moves the second cleaning component 210 from the second position 500 to the third position 600; at this time, the second cleaning component 210 is clean and ready for use, while the second position 500 is in an empty, ready-to-receive state. Optionally, the lifting component 110 returns from the second position 500 to the first position 400. This completes a cycle of disassembly, replacement, cleaning, and return of a cleaning component, awaiting the execution of the next cycle.
[0106] Steps S108-S116 above are steps for cleaning the second cleaning component 210. These steps are not necessarily present during the replacement of the cleaning component. For example, when the rotating component 300 has multiple clean first cleaning components 220, it is not necessary to perform the cleaning action every time the cleaning component is replaced, or the cleaning action can be performed sequentially after multiple replacements. For example, when the rotating component 300 has three third positions 600 and one second position 500, each time a dirty second cleaning component 210 is received, it is stored in one third position 600. When the third position 600 is full of second cleaning components 210, the lifting component 110 sequentially moves the second cleaning components 210 to the first position 400 for cleaning, and after cleaning, moves them to the third position 600 for later use.
[0107] In some embodiments, as shown in Figures 8-9, the lifting assembly 110 includes a lifting motor 111, a first lifting module 112, a second lifting module 113, a rope 114, and a plurality of fixed pulleys 115. The rope 114 connects the lifting motor 111, the first lifting module 112, and the second lifting module 113 in series via the plurality of fixed pulleys 115. Optionally, the rope connecting the lifting motor, the first lifting module, and the second lifting module in series forms an approximate figure-eight structure. When the lifting motor 111 rotates in a first direction, for example clockwise, the lifting motor 111 drives the first lifting module 112 and the second lifting module 113 to rise simultaneously via the rope 114. When the lifting motor 111 rotates in a second direction, for example counterclockwise, the first lifting module 112 and the second lifting module 113 to fall simultaneously via the rope 114.
[0108] In some embodiments, the first lifting module 112 and the second lifting module 113 have a disassembly and assembly structure. This disassembly and assembly structure may include, for example, a concave-convex structure or a positioning structure. The disassembly and assembly structure can detach the cleaning component from the cleaning device or assemble the cleaning component into the cleaning device. This disclosure does not impose specific limitations on the disassembly and assembly structure, as long as it enables disassembly and assembly. For example, by setting one or more motors to control the movement of the concave-convex structure of the disassembly and assembly structure, unlocking can be achieved by pushing against the unlocking structure (e.g., a spring or a locking structure) of the cleaning component.
[0109] Other embodiments of this disclosure provide a method for replacing a cleaning component of a cleaning device, as shown in FIG10. The cleaning component includes a first cleaning component and a second cleaning component, which are described above and will not be repeated here. The method includes the following steps:
[0110] Step S202: In response to the cleaning device reaching the first position, the lifting assembly disassembles the second cleaning assembly from the cleaning device;
[0111] Step S204: In response to the cleaning device leaving the first position, the lifting assembly moves the second cleaning assembly to the second position;
[0112] Step S206: The lifting assembly moves the first cleaning assembly to the first position. In response to the cleaning device reaching the first position again, the lifting assembly assembles the first cleaning assembly onto the cleaning device.
[0113] In some embodiments, Figures 11(a)-11(i) provide illustrative diagrams of the replacement of cleaning components in the cleaning device according to this embodiment. As shown in Figures 11(a)-11(i), the positions from top to bottom in the vertical direction are the second position 500', the first position 400', and the third position 600'. When the cleaning device 200 reaches the first position 400', the second position 500' is above the cleaning device 200, and the first position 400' and the third position 600' are below the cleaning device 200. The first position 400' is a cleaning position where the cleaning component can clean the cleaning component located at the first position 400'. The first position 400' is also a disassembly / reassembly position where the cleaning component can be disassembled / reassembled after the cleaning device 200 reaches the first position 400'.
[0114] As shown in Figure 11(a), before the cleaning equipment returns to the base station, the clean first cleaning component 220 is located at the third position 600' below the base station and is in a waiting state. As shown in Figure 11(b), when the cleaning equipment returns to the base station, in response to the cleaning equipment 200 reaching the first position 400', the second cleaning component 210 on the cleaning equipment 200 also reaches the first position 400'. At this time, the first position 400' is directly above the third position 600', and the lifting component 110 disassembles the second cleaning component 210 from the cleaning equipment 200. After that, the cleaning equipment 200 leaves the base station, as shown in Figure 11(c). At this time, the second cleaning component 210 is located at the first position 400', and the first cleaning component 220 is located at the third position 600' below the second cleaning component 210. To quickly assemble the clean first cleaning component 220 onto the cleaning device 200, the second cleaning component 210 is first raised to the second position 500' using the lifting component 110, as shown in Figure 11(d), to expose the clean first cleaning component 220. Then, the clean first cleaning component 220 is further raised to the first position 400' using the lifting component 110, as shown in Figure 11(e). Next, the cleaning device 200 is notified that it can enter the base station 100 to replace the cleaning component, as shown in Figure 11(f). The cleaning device 200 re-enters the base station, and the lifting component 110 assembles the clean first cleaning component 220 onto the cleaning device 200. Then, the cleaning device 200 leaves the base station to continue cleaning, as shown in Figure 11(g). The entire process only involves the disassembly and assembly of the cleaning component. The cleaning device enters and exits the base station twice, resulting in high efficiency and avoiding the waiting time for cleaning the cleaning component.
[0115] In some embodiments, as shown in FIG12, the method further includes the following method steps:
[0116] Step S208: The cleaning device leaves the first position again, and the lifting assembly moves the second cleaning assembly from the second position to the first position;
[0117] Step S210: In response to the second cleaning component reaching the first position, the washing cloth component starts cleaning the second cleaning component.
[0118] In some embodiments, the method further includes the following method steps:
[0119] Step S212: In response to the completion of cleaning by the second cleaning component, the lifting component moves the second cleaning component from the first position to the third position; and / or
[0120] The lifting assembly moves from the third position to the first position.
[0121] As shown in Figure 11(h), after the cleaning equipment 200 leaves the base station, the lifting assembly 110 lowers the second cleaning assembly 210 to the first position 400'. Subsequently, the base station control center controls the cleaning assembly to clean the second cleaning assembly 210. After cleaning, the lifting assembly 110 lowers the second cleaning assembly 210 to the third position 600', waiting for the next replacement, as shown in Figure 11(i).
[0122] The structure and lifting principle of the lifting component 110 described in this embodiment are shown in Figures 8-9. For details, please refer to the above embodiment, which will not be repeated here.
[0123] The cleaning component replacement method for the cleaning equipment provided in this embodiment can automatically replace the cleaning components of the cleaning equipment. After the cleaning components are replaced, the cleaning equipment can continue to perform the cleaning task without waiting for the cleaning components to finish cleaning, which greatly improves the cleaning efficiency of the cleaning equipment.
[0124] This disclosure provides a cleaning component replacement device for a cleaning equipment, which is used to perform the replacement method described above. The technical effects and principles are as described in the above embodiments and will not be repeated here. The cleaning component includes a first cleaning component and a second cleaning component, as shown in FIG13. The replacement device includes:
[0125] The first control unit 1302 is configured to control the lifting assembly to disassemble the second cleaning assembly from the cleaning equipment in response to the cleaning equipment reaching a first position;
[0126] The second control unit 1304 is configured to control the lifting assembly to move the second cleaning assembly to the second position in response to the cleaning device leaving the first position.
[0127] The third control unit 1306 is configured to control the lifting assembly to move the first cleaning assembly to the first position, and in response to the cleaning device reaching the first position again, control the lifting assembly to assemble the first cleaning assembly onto the cleaning device.
[0128] In some embodiments, the second control unit 1304 is further configured to control the second cleaning component to move from the second position to the third position in response to the rotation of the rotating component, while simultaneously controlling the first cleaning component to move from the third position to the second position.
[0129] In some embodiments, the third control unit 1306 is further configured to control the second cleaning component to move from a third position to a second position in response to the rotation of the rotating component.
[0130] In some embodiments, the third control unit 1306 is further configured to, when the cleaning device leaves the first position again, control the lifting assembly to move the second cleaning component from the second position to the first position; and in response to the second cleaning component reaching the first position, control the washing cloth assembly to start cleaning the second cleaning component.
[0131] In some embodiments, the third control unit 1306 is further configured to control the lifting component to move the second cleaning component from the first position to the second position in response to the completion of cleaning by the second cleaning component.
[0132] In some embodiments, the third control unit 1306 is further configured to, in response to the second cleaning component reaching the second position, control the rotating component to move the second cleaning component from the second position to the third position; and / or control the lifting component to move from the second position to the first position.
[0133] In some embodiments, the third control unit 1306 is further configured to, in response to the second cleaning component completing cleaning, move the second cleaning component from the first position to the third position; and / or control the lifting component to move from the third position to the first position.
[0134] This disclosure provides a base station in some embodiments, including a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, it implements the steps of the method described in any of the above embodiments.
[0135] Some embodiments of this disclosure provide a non-transitory computer-readable storage medium storing computer program instructions that, when invoked and executed by a processor, implement the steps of the method described in any of the above embodiments.
[0136] As shown in Figure 14, the base station may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1402 or a program loaded from a storage device 1408 into a random access memory (RAM) 1403. The RAM 1403 also stores various programs and data required for base station operation. The processing device 1401, ROM 1402, and RAM 1403 are interconnected via a bus 1404. An input / output (I / O) interface 1405 is also connected to the bus 1404.
[0137] Typically, the following devices can be connected to I / O interface 1405: input devices 1406 including, for example, touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1407 including, for example, liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1408 including, for example, hard disk; and communication devices 1409. Communication device 1409 allows the base station to communicate wirelessly or wiredly with other devices to exchange data.
[0138] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.
[0139] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.
[0140] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure.
Claims
1. A method for replacing a cleaning component in a cleaning device, wherein the cleaning component comprises a first cleaning component and a second cleaning component, characterized in that, The method includes: In response to the cleaning device reaching the first position, the lifting assembly disassembles the second cleaning assembly from the cleaning device; In response to the cleaning device leaving the first position, the lifting assembly moves the second cleaning assembly to the second position; The lifting assembly moves the first cleaning component to the first position, and in response to the cleaning device reaching the first position again, the lifting assembly assembles the first cleaning component onto the cleaning device.
2. The method according to claim 1, characterized in that, After the lifting assembly moves the second cleaning assembly to the second position, the method further includes: In response to the rotation of the rotating component, the second cleaning component moves from the second position to the third position, while the first cleaning component moves from the third position to the second position.
3. The method according to claim 2, characterized in that, The method further includes: In response to the rotation of the rotating component, the second cleaning component moves from the third position to the second position.
4. The method according to claim 1 or 3, characterized in that, The method further includes: When the cleaning device leaves the first position again, the lifting assembly moves the second cleaning assembly from the second position to the first position; In response to the second cleaning component reaching the first position, the washing cloth component initiates the cleaning of the second cleaning component.
5. The method according to claim 4, characterized in that, The method further includes: In response to the completion of cleaning by the second cleaning component, the lifting component moves the second cleaning component from the first position to the second position.
6. The method according to claim 5, characterized in that, The method further includes: In response to the second cleaning component reaching the second position, the rotating component moves the second cleaning component from the second position to the third position; and / or The lifting component moves from the second position to the first position.
7. The method according to any one of claims 2-6, characterized in that, The second position and the third position are approximately on the same horizontal plane, and the height of the first position is lower in the vertical direction than the height of the second position and / or the height of the third position.
8. The method according to claim 7, characterized in that, When the cleaning device reaches the first position, the second and third positions are located above the cleaning device, and the first position is located below the cleaning device.
9. The method according to claim 4, characterized in that, The method further includes: In response to the completion of cleaning by the second cleaning component, the lifting component moves the second cleaning component from the first position to the third position; and / or The lifting assembly moves from the third position to the first position.
10. The method according to claim 9, characterized in that, The second position, the first position, and the third position are arranged sequentially from top to bottom in the vertical direction.
11. The method according to claim 10, characterized in that, When the cleaning device reaches the first position, the second position is above the cleaning device, and the first and third positions are below the cleaning device.
12. The method according to any one of claims 1-3, 5-6, and 8-11, characterized in that, The lifting assembly includes a lifting motor, a first lifting module, a second lifting module, and a rope. The rope connects the lifting motor, the first lifting module, and the second lifting module in series. When the lifting motor rotates in a first direction, it drives the first lifting module and the second lifting module to rise simultaneously via the rope. When the lifting motor rotates in a second direction, it drives the first lifting module and the second lifting module to fall simultaneously via the rope.
13. The method according to claim 12, characterized in that, The rope connects the lifting motor, the first lifting module, and the second lifting module in series to form an approximate figure-eight structure.
14. The method according to claim 12, characterized in that, The first lifting module and / or the second lifting module have a disassembly and assembly structure, configured to remove the cleaning component from the cleaning equipment or assemble the cleaning component into the cleaning equipment.
15. The method according to claim 14, characterized in that, The cleaning component has an unlocking structure, configured to allow the cleaning component to be assembled into the cleaning device under the action of the disassembly structure, or configured to allow the cleaning component to be detached from the cleaning device under the action of the disassembly structure.
16. A cleaning component replacement device for a cleaning equipment, the cleaning component comprising a first cleaning component and a second cleaning component, characterized in that, The replacement device includes: A first control unit is configured to control a lifting assembly to detach the second cleaning assembly from the cleaning equipment in response to the cleaning equipment reaching a first position; The second control unit is configured to control the lifting assembly to move the second cleaning assembly to the second position in response to the cleaning device leaving the first position. The third control unit is configured to control the lifting assembly to move the first cleaning assembly to the first position, and in response to the cleaning device reaching the first position again, to control the lifting assembly to assemble the first cleaning assembly onto the cleaning device.
17. A base station, comprising a processor and a memory, characterized in that, The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, it implements the steps of the method as described in any one of claims 1-15.
18. A non-transitory computer-readable storage medium, characterized in that, The system stores computer program instructions that, when invoked and executed by a processor, implement the steps of the method as described in any one of claims 1-15.