Cleaning docking station, cleaning system, and cleaning-part replacement method and cleaning method

Abstract

A cleaning docking station for accommodating a cleaning device (300), the cleaning docking station (100) comprising: a docking station body (110), a mop replacement mechanism (120), and a driving mechanism (130) which is mounted to the docking station body (110), wherein the mop replacement mechanism (120) is in transmission connection with the driving mechanism (130), and can be driven by the driving mechanism (130) to move relative to the docking station body (110), so that the mop replacement mechanism (120) can move between a replacement position, a flipping position and a storage position, and the projections of the replacement position, the flipping position and the storage position on the bottom surface of the docking station body are at least partially staggered.

Description

A cleaning base station, a cleaning system, a method for replacing the cleaning unit, and a cleaning method. Cross-references to related applications

[0001] This application claims priority to Chinese patent applications filed on July 21, 2024, with application numbers 2024109799808 and 202421729404X, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure belongs to the field of cleaning system technology, and in particular relates to a cleaning base station, a cleaning system, a cleaning part replacement method, and a cleaning method. Background Technology

[0003] With the development of technology and the fast pace of life, using cleaning robots and other cleaning equipment for environmental cleaning not only improves cleaning efficiency but also frees up people's hands. Therefore, cleaning equipment on the market is currently very popular.

[0004] Current cleaning robots and other cleaning equipment can automatically perform functions such as mopping, sweeping, and wiping. These cleaning devices are usually equipped with a cleaning base station. During the cleaning process, the cleaning base station can wash and dry the mop, or after the cleaning device has finished cleaning, it needs to return to the cleaning base station for charging and self-cleaning, such as washing and drying the mop.

[0005] If the cleaning equipment needs to clean the mop during the cleaning process, it must return to the cleaning base station to execute the cleaning program and clean the mop. After cleaning, it can restart the environmental cleaning process. However, cleaning the mop consumes the cleaning equipment's cleaning time, increasing the overall cleaning time. (Public content)

[0006] This disclosure aims to at least partially solve the technical problem of long cleaning times. To this end, this disclosure provides a cleaning base station, a cleaning system, a method for replacing the cleaning unit, and a cleaning method.

[0007] In a first aspect, the present disclosure provides a cleaning base station for housing cleaning equipment, the cleaning base station comprising:

[0008] The base station body and the drive mechanism installed on the base station body;

[0009] The fabric changing mechanism is connected to the drive mechanism and can move relative to the base station body under the drive of the drive mechanism, so that the fabric changing mechanism can move between the changing position, the flipping position and the storage position.

[0010] The projections of the replacement position, the flipping position, and the storage position on the bottom surface of the base station body are at least partially misaligned.

[0011] The cloth-changing mechanism is capable of flipping relative to the base station body to replace the cleaning part of the cleaning equipment.

[0012] After a period of cleaning, the cleaning unit becomes dirty. Continuing to clean could re-contaminate the already cleaned surface, so the dirty cleaning unit needs to be cleaned. The cleaning equipment then returns to the cleaning base station, positioning the cleaning unit in its placement position. The base station can then detach the cleaning unit from the cleaning equipment. A drive mechanism moves the cloth-changing mechanism to the placement position, securing the dirty cleaning unit. The entire cloth-changing mechanism is then flipped to place the clean cleaning unit in its position, allowing the cleaning equipment to access the clean unit and continue cleaning the surface without waiting for the dirty cleaning unit to be cleaned. This reduces cleaning time and improves cleaning efficiency.

[0013] In an optional embodiment of this disclosure, when the cloth changing mechanism is located at the changing position, the cloth changing mechanism can obtain the cleaning part removed from the cleaning equipment from the base station body, or the cloth changing mechanism can place the cleaning part on the base station body;

[0014] When the fabric replacement mechanism is in the storage position, the fabric replacement mechanism can be stored inside the base station body.

[0015] In an optional embodiment of this disclosure, the storage location is located above the replacement location.

[0016] In an optional embodiment of this disclosure, the storage location and the projection of the location onto the bottom surface of the base station body are at least partially misaligned.

[0017] In an optional embodiment of this disclosure, the storage location and the replacement location are located on opposite sides of the fabric changing mechanism.

[0018] In an optional embodiment of this disclosure, both the replacement location and the storage location are located on the base station body.

[0019] In an optional embodiment of this disclosure, the fabric changing mechanism can be flipped at the flipping position to flip the cleaning part fixed to the fabric changing mechanism, so that the cleaning part can switch between a storage state and a replacement state.

[0020] When the cleaning part is in the stored state, the cleaning part can be stored in the storage location;

[0021] When the cleaning unit is in the replacement state, the cleaning unit can be replaced by the cleaning equipment.

[0022] In an optional embodiment of this disclosure, the cleaning part is in a stored state when it is located above the fabric changing mechanism, and in a replaced state when it is located below the fabric changing mechanism.

[0023] In an optional embodiment of this disclosure, the flipping position is located between the replacement position and the storage position.

[0024] In an optional embodiment of this disclosure, the projections of the flipping position and the storage position on the bottom surface of the base station body are at least partially misaligned.

[0025] In an optional embodiment of this disclosure, the projections of the replacement position and the flipping position on the bottom surface of the base station body are at least partially misaligned.

[0026] In an optional embodiment of this disclosure, the fabric changing mechanism includes a fabric changing drive, an mounting part, and multiple fixing parts. The fabric changing drive is connected to the mounting part and can drive the fixing parts to rotate through the mounting part, thereby flipping the cleaning part fixed to the fixing part.

[0027] In an optional embodiment of this disclosure, there are two fixing parts, which are located on opposite sides of the mounting part.

[0028] In an optional embodiment of this disclosure, when one of the fixing parts is located above the other fixing part, the cleaning part of the upper fixing part is in a stored state, and the cleaning part of the lower fixing part is in a replaceable state.

[0029] In an optional embodiment of this disclosure, the fixing part is slidably connected to the mounting part.

[0030] In an optional embodiment of this disclosure, the fixing part can slide relative to the mounting part, so that the fixing part can cooperate with the cleaning part inside the base station body, or place the cleaning part in a changed state on the base station body.

[0031] In an optional embodiment of this disclosure, the base station body has a cleaning tank, which is configured for the replacement location.

[0032] In an optional embodiment of this disclosure, the base station body has a receiving slot, which is configured as the storage location.

[0033] In an optional embodiment of this disclosure, the fabric changing mechanism includes a fabric changing drive and a fixing member. The fixing member is used to fix the cleaning part. The fabric changing drive is connected to the fixing member in a transmission manner, and the fixing member can drive the cleaning part to switch between a changing state and a storage state.

[0034] In an optional embodiment of this disclosure, the fabric changing drive can drive the fixing member to rotate, so that the cleaning part can switch between a changing state and a storage state.

[0035] In an optional embodiment of this disclosure, the fastener includes an mounting portion and a fixing portion, the fixing portion is mounted on the mounting portion, the fixing portion is used to fix the cleaning portion, and the mounting portion is connected to the fabric changing drive component for transmission.

[0036] In an optional embodiment of this disclosure, the fixing part is slidably connected to the mounting part.

[0037] In an optional embodiment of this disclosure, there are multiple fixing parts, and the multiple fixing parts are located on different sides of the mounting part.

[0038] In an optional embodiment of this disclosure, there are two fixing parts, which are located on opposite sides of the mounting part.

[0039] In an optional embodiment of this disclosure, there are two fixing parts, which are located on opposite sides of the mounting part, and both fixing parts are slidably connected to the mounting part.

[0040] In an optional embodiment of this disclosure, the fixing member further includes a synchronizing part, which is capable of simultaneously driving the two fixing parts to slide relative to the mounting part.

[0041] In an optional embodiment of this disclosure, the synchronizing part can drive the two fixed parts to move in opposite directions or towards each other.

[0042] In an optional embodiment of this disclosure, the synchronizing part includes a synchronizing gear and a rack, the synchronizing gear is mounted on the mounting part, the rack is mounted on the fixing part, and the synchronizing gear meshes with the gears of the two fixing parts.

[0043] In an optional embodiment of this disclosure, one of the fixing part and the mounting part is provided with a sliding groove, and the other is provided with a sliding rail, wherein the sliding groove and the sliding rail are slidably engaged.

[0044] In an optional embodiment of this disclosure, the fixing part is provided with a locking part that cooperates with the cleaning part.

[0045] In an optional embodiment of this disclosure, the fixing part is further provided with an overlapping part that cooperates with the cleaning cloth.

[0046] In an optional embodiment of this disclosure, the driving mechanism includes a driver and a transmission arm. The driver is mounted on the base station body, and the transmission arm is drivenly connected to the driver and rotatably connected to the fabric changing mechanism.

[0047] In an optional embodiment of this disclosure, the transmission arm includes a main arm and a secondary arm. The main arm is drively connected to the driver and the fabric changing mechanism, and the secondary arm is rotatably connected to the base station body and the fabric changing mechanism.

[0048] In an optional embodiment of this disclosure, there are two transmission arms, and the drive mechanism further includes a transmission shaft that drivesly connects the two transmission arms to the driver.

[0049] In an optional embodiment of this disclosure, the cleaning base station further includes an unlocking mechanism installed on the base station body, which enables the cleaning unit to be separated from or locked to the cleaning equipment and / or the cloth changing mechanism.

[0050] In an optional embodiment of this disclosure, the fabric changing mechanism is provided with a locking part, the cleaning part is provided with a stop member, and the unlocking mechanism enables the stop member to engage or disengage from the locking part.

[0051] In an optional embodiment of this disclosure, the unlocking mechanism includes an unlocking component and an unlocking drive component. The unlocking component is installed on the base station body, and the unlocking drive component enables the stop component to engage or disengage from the locking part through the unlocking component.

[0052] In an optional embodiment of this disclosure, the unlocking drive can drive the unlocking member to rotate relative to the base station body, causing the stop member to move relative to the mop, thereby engaging or disengaging with the stop member.

[0053] In an optional embodiment of this disclosure, the unlocking component includes a connecting portion, an unlocking portion, and a transmission portion. The unlocking portion and the transmission portion are respectively located at both ends of the connecting portion. The connecting portion is rotatably connected to the base station body, and the transmission portion is connected to the unlocking drive component.

[0054] In an optional embodiment of this disclosure, the unlocking mechanism further includes a reset member connected between the unlocking member and the base station body. The reset member can work together with the unlocking drive member to make the stop member cooperate with the locking part.

[0055] In an optional embodiment of this disclosure, the unlocking mechanism further includes a rotating shaft, the unlocking component is rotatably connected to the base station body via the rotating shaft, and the reset component is sleeved on the rotating shaft and abuts against the unlocking component.

[0056] In an optional embodiment of this disclosure, the unlocking drive includes an unlocking drive portion and a connecting rope, the connecting rope being wound around the unlocking drive portion and connected to the unlocking component.

[0057] In an optional embodiment of this disclosure, the cleaning unit includes a mop, a mop cloth, and a stop, wherein the mop cloth and the stop are both mounted on the mop.

[0058] In an optional embodiment of this disclosure, the slide plate is provided with a receiving cavity, and a portion of the stop member is installed in the receiving cavity.

[0059] In an optional embodiment of this disclosure, the stop is movable within the receiving cavity.

[0060] In an optional embodiment of this disclosure, the stop member includes a trigger part, a stop part, and a transition part. The trigger part and the stop part are both connected to the transition part. The unlocking mechanism can act on the trigger part, and the stop part can cooperate with the fabric changing mechanism or cleaning equipment.

[0061] In an optional embodiment of this disclosure, the stop further includes an elastic element disposed between the transition portion and the slide plate, which is capable of providing an elastic force for the stop to reset.

[0062] In an optional embodiment of this disclosure, the drive mechanism is capable of driving the fabric changing mechanism to reciprocate between the changing position and the storage position.

[0063] In an optional embodiment of this disclosure, the driving mechanism can drive the fabric changing mechanism to perform circular motion.

[0064] Secondly, embodiments of this disclosure provide a cleaning system, including cleaning equipment and the cleaning base station provided in the first aspect, wherein the cleaning equipment can be accommodated in the cleaning base station.

[0065] The beneficial effects of the cleaning system provided in the second aspect are the same as those of the cleaning base station provided in the first aspect, and will not be repeated here.

[0066] In an optional embodiment of this disclosure, the slide plate has a mating groove, and the stop member can be disposed at the opening of the mating groove to confine the locking part within the mating groove.

[0067] Thirdly, this disclosure provides a method for replacing a cleaning unit, applied to cleaning a base station, comprising:

[0068] The fabric changing mechanism is controlled to move to the changing position and pick up the soiled cleaning part. The fabric changing mechanism is used to store multiple cleaning parts and flip different cleaning parts. The cleaning part is a component for processing the working surface.

[0069] Control the fabric changing mechanism to move to the flipping position, flip the fabric changing mechanism so that the clean cleaning part flips downward;

[0070] Control the fabric changing mechanism to move back to the changing position and place the clean cleaning part in the changing position.

[0071] The method for replacing the cleaning unit provided in the third aspect has the same beneficial effects as the cleaning base station provided in the first aspect, and will not be repeated here.

[0072] In an optional embodiment of this disclosure, before controlling the fabric changing mechanism to move to the changing position and picking up the soiled cleaning section, the method further includes:

[0073] Remove the cleaning unit from the cleaning equipment.

[0074] In an optional embodiment of this disclosure, after the cleaned part is placed in the replacement position, the method further includes:

[0075] Install the clean cleaning part onto the cleaning equipment.

[0076] In an optional embodiment of this disclosure, the cleaning unit replacement method further includes:

[0077] The cloth-changing mechanism places the clean cleaning unit at the changing position, and the cleaning base station triggers a control signal to enable the cleaning equipment to return to the cleaning base station.

[0078] In an optional embodiment of this disclosure, after the step of the cleaning device obtaining a clean cleaning section, the method further includes:

[0079] The fabric changing mechanism is controlled to place the soiled cleaning section into the washing tank;

[0080] In an optional embodiment of this disclosure, after the soiled cleaning section is cleaned, the method further includes:

[0081] The cleaning base station is controlled to perform a cleaning procedure to process the dirty cleaning section into a clean cleaning section;

[0082] Control the fabric changing mechanism to move to the flipping position, and control the fabric changing mechanism to flip so that the clean cleaning part is in the storage state;

[0083] Control the fabric changing mechanism to the storage position to store the clean cleaning unit.

[0084] Fourthly, this disclosure provides a method for replacing a cleaning part, applied to a cleaning device, the method comprising:

[0085] When the cleaning section of the cleaning equipment meets the replacement conditions, the cleaning equipment is controlled to return to the cleaning base station (100);

[0086] Remove the soiled cleaning part from the cleaning equipment, wherein the cleaning part is a component for processing the working surface;

[0087] Control the cleaning equipment to exit the cleaning base station;

[0088] In response to a control signal, the cleaning equipment is controlled to return to the cleaning base station;

[0089] Obtain a clean cleaning section.

[0090] The cleaning department replacement method provided in the fourth aspect has the same beneficial effects as the cleaning department replacement method provided in the third aspect, and will not be repeated here.

[0091] In an optional embodiment of this disclosure, the control signal indicates that the cleaning base station replaces the dirty cleaning section with a clean cleaning section.

[0092] In an optional embodiment of this disclosure, after obtaining a clean cleaning part, the cleaning part replacement method further includes:

[0093] The cleaning equipment exits the cleaning base station and performs the cleaning procedure.

[0094] In an optional embodiment of this disclosure, before the step of controlling the cleaning equipment to return to the cleaning base station, the cleaning unit replacement method further includes:

[0095] Whether the cleaning base station performs a cleaning procedure and / or a drying procedure;

[0096] If the cleaning base station does not execute the cleaning and drying procedures, the cleaning equipment is controlled to return to the cleaning base station.

[0097] In an optional embodiment of this disclosure, the cleaning unit replacement method further includes:

[0098] If the cleaning base station performs a cleaning or drying procedure, the cleaning equipment is controlled to wait until the cleaning and drying procedures are completed, and then the cleaning equipment returns to the cleaning base station.

[0099] In an optional embodiment of this disclosure, the cleaning unit replacement method further includes:

[0100] Obtain the working time of the cleaning equipment performing the cleaning procedure;

[0101] If the working time is greater than or equal to the preset time, it is determined that the cleaning section of the cleaning equipment has met the replacement condition.

[0102] In an optional embodiment of this disclosure, the cleaning unit replacement method further includes:

[0103] Obtain the working records of the cleaning equipment;

[0104] If the work record of the cleaning equipment reaches a cleaning area, it is determined that the cleaning part of the cleaning equipment (300) has reached the replacement condition.

[0105] In an optional embodiment of this disclosure, the cleaning part replacement method further includes:

[0106] The degree of dirtiness of the cleaning equipment is obtained;

[0107] If the degree of soiling is greater than or equal to a set level, the cleaning unit of the cleaning equipment is deemed ready for replacement.

[0108] Fifthly, this disclosure provides a method for replacing a cleaning unit, applied to a cleaning system, the cleaning system including a cleaning base station and cleaning equipment, the method for replacing the cleaning unit comprising:

[0109] When the cleaning section of the cleaning equipment meets the replacement requirements, the cleaning equipment is controlled to return to the cleaning base station;

[0110] Remove the soiled cleaning unit from the cleaning equipment;

[0111] Control the cleaning equipment to exit the cleaning base station;

[0112] The cloth-changing mechanism of the cleaning base station replaces the dirty cleaning section with a clean cleaning section and triggers a control signal.

[0113] The cleaning equipment responds to the control signal and returns to the cleaning base station;

[0114] The cleaning equipment obtains a clean cleaning section;

[0115] Control the cleaning equipment to exit the cleaning base station.

[0116] The cleaning department replacement method provided in the fifth aspect has the same beneficial effects as the cleaning department replacement method provided in the third aspect, and will not be repeated here.

[0117] In an optional embodiment of this disclosure, the control signal indicates that the cleaning base station replaces the dirty cleaning section with a clean cleaning section.

[0118] In an optional embodiment of this disclosure, the step of the cloth-changing mechanism of the cleaning base station replacing the soiled cleaning section with a clean cleaning section includes:

[0119] The fabric changing mechanism is controlled to move to the changing position and pick up the soiled cleaning part; wherein, the fabric changing mechanism is used to store multiple cleaning parts and flip different cleaning parts, and the cleaning part is a component for processing the working surface;

[0120] Control the fabric changing mechanism to move to the flip position, flip the fabric changing mechanism so that the clean cleaning part flips to the replacement state;

[0121] Control the fabric changing mechanism to move back to the changing position and place the clean cleaning part in the changing position.

[0122] In an optional embodiment of this disclosure, after controlling the cleaning equipment to exit the cleaning base station step, the cleaning unit replacement method further includes:

[0123] The cleaning equipment performs the cleaning procedure;

[0124] The clean base station performs a cleaning step.

[0125] In an optional embodiment of this disclosure, the cleaning procedure and the washing step overlap at least partially in time.

[0126] In an optional embodiment of this disclosure, the cleaning base station performs a cleaning step including:

[0127] The fabric changing mechanism is controlled to place the soiled cleaning section into the washing tank;

[0128] The cleaning base station is controlled to perform a cleaning procedure and / or a drying procedure to process the dirty cleaning section into a clean cleaning section.

[0129] In an optional embodiment of this disclosure, the cleaning base station further includes performing a cleaning step:

[0130] Control the fabric changing mechanism to move to the flipping position, and control the fabric changing mechanism to flip so that the clean cleaning part is in the storage state;

[0131] Control the fabric changing mechanism to the storage position to store the clean cleaning unit.

[0132] In an optional embodiment of this disclosure, the cleaning unit replacement method further includes:

[0133] Obtain the working time of the cleaning equipment performing the cleaning procedure;

[0134] If the working time is greater than or equal to the preset time, it is determined that the cleaning section of the cleaning equipment has met the replacement condition.

[0135] In an optional embodiment of this disclosure, the cleaning unit replacement method further includes:

[0136] Obtain the working records of the cleaning equipment;

[0137] If the work record of the cleaning equipment reaches a cleaning area, it is determined that the cleaning part of the cleaning equipment (300) has reached the replacement condition.

[0138] In an optional embodiment of this disclosure, the cleaning unit replacement method further includes:

[0139] The degree of dirtiness of the cleaning equipment is obtained;

[0140] If the degree of soiling is greater than or equal to a set level, the cleaning unit of the cleaning equipment is deemed ready for replacement.

[0141] In an optional embodiment of this disclosure, before the step of controlling the cleaning equipment to return to the cleaning base station, the cleaning unit replacement method further includes:

[0142] Whether the cleaning base station performs a cleaning procedure and / or a drying procedure;

[0143] If the cleaning base station does not execute the cleaning and drying procedures, the cleaning equipment is controlled to return to the cleaning base station.

[0144] In an optional embodiment of this disclosure, the cleaning unit replacement method further includes:

[0145] If the cleaning base station performs a cleaning or drying procedure, the cleaning equipment is controlled to wait until the cleaning and drying procedures are completed, and then the cleaning equipment returns to the cleaning base station.

[0146] Sixthly, this disclosure provides a cleaning method for a cleaning unit, applied to cleaning a base station, the cleaning method comprising:

[0147] The fabric changing mechanism is controlled to place the soiled cleaning section into the washing tank;

[0148] The cleaning base station is controlled to perform a cleaning procedure to process the dirty cleaning section into a clean cleaning section;

[0149] In an optional embodiment of this disclosure, the cleaning method for the cleaning section further includes:

[0150] Control the fabric changing mechanism to move to the flipping position, and control the fabric changing mechanism to flip so that the clean cleaning part is in the storage state;

[0151] Control the fabric changing mechanism to the storage position to store the clean cleaning unit.

[0152] The cleaning method provided in the sixth aspect has the same beneficial effects as the cleaning base station provided in the first aspect, and will not be repeated here.

[0153] In a seventh aspect, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described in the third, fourth, fifth, and sixth aspects. Attached Figure Description

[0154] The above and various other advantages and benefits of this disclosure will become clear to those skilled in the art upon reading the following detailed description of preferred embodiments.

[0155] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0156] Figure 1 shows a first-view structural schematic diagram of the cleaning system provided in an embodiment of the present disclosure.

[0157] Figure 2 shows a schematic diagram of the structure of a clean base station provided in an embodiment of this disclosure.

[0158] Figure 3 shows a schematic diagram of the structure of the cloth replacement mechanism of the clean base station provided in the present disclosure in the storage position.

[0159] Figure 4 shows a schematic diagram of the cloth replacement mechanism of the clean base station provided in the present disclosure at the replacement position.

[0160] Figure 5 shows a cross-sectional view of the cleaning system provided in an embodiment of this disclosure.

[0161] Figure 6 shows a schematic diagram of the cloth-changing mechanism of the clean base station provided in the present disclosure in the flipped position.

[0162] Figure 7 shows a magnified view of section B in Figure 6.

[0163] Figure 8 shows a magnified view of a portion of point A in Figure 3.

[0164] Figure 9 shows a schematic diagram of the structure of the fixing component of the cloth replacement mechanism of the clean base station provided in the embodiments of this disclosure.

[0165] Figure 10 shows a magnified view of a portion of point D in Figure 9.

[0166] Figure 11 shows a cross-sectional view of the fastener of the cloth-changing mechanism of the clean base station provided in this embodiment of the present disclosure.

[0167] Figure 12 shows a schematic diagram of part of the structure of the clean base station.

[0168] Figure 13 shows a schematic diagram of the cleaning section.

[0169] Figure 14 shows a magnified view of point C in Figure 9.

[0170] Figure 15 shows a magnified view of a portion of point F in Figure 13.

[0171] Figure 16 shows a schematic diagram of the structure of the stop groove of the stop section of the cleaning part.

[0172] Figure 17 shows a magnified view of a portion of H in Figure 16.

[0173] Figure 18 shows a schematic diagram of the structure of the opening slot of the stop part of the cleaning section.

[0174] Figure 19 shows a magnified view of point G in Figure 18.

[0175] Figure 20 shows a magnified view of the area in Figure 9.

[0176] Figure 21 shows a schematic diagram of part of the structure of a clean base station.

[0177] Figure 22 shows a schematic diagram of the unlocking component of the unlocking mechanism of the clean base station provided in the application embodiment.

[0178] Figure 23 shows a magnified view of point K in Figure 21.

[0179] Figure 24 shows a structural schematic diagram of the cleaning system provided in the embodiments of this disclosure from a second perspective.

[0180] Figure 25 shows a flowchart of a cleaning part replacement method for a cleaning base station provided by an embodiment of the present disclosure.

[0181] Figure 26 shows a flowchart of the cleaning method for the cleaning section provided in this embodiment of the present disclosure.

[0182] Figure 27 shows a flowchart of a method for replacing the cleaning part of a cleaning device provided by an embodiment of this disclosure.

[0183] Figure 28 shows a flowchart of steps S31a and S31b of the cleaning part replacement method for cleaning equipment provided in this embodiment of the present disclosure.

[0184] Figure 29 shows a flowchart of steps S31c and S31d of the cleaning part replacement method for cleaning equipment provided in this embodiment of the present disclosure.

[0185] Figure 30 shows a flowchart of steps S31e and S31f of the cleaning part replacement method for cleaning equipment provided in this embodiment of the present disclosure.

[0186] Figure 31 shows a flowchart of a cleaning part replacement method for a cleaning system provided by an embodiment of the present disclosure.

[0187] Figure 32 shows a flowchart of steps S41a and S41b of the cleaning part replacement method for a cleaning system provided in this embodiment of the present disclosure.

[0188] Figure 33 shows a flowchart of steps S41c and S41d of the cleaning part replacement method for a cleaning system provided in this embodiment of the present disclosure.

[0189] Figure 34 shows a flowchart of steps S41e and S41f of the cleaning part replacement method for a cleaning system provided in this embodiment of the present disclosure.

[0190] Figure 35 shows a flowchart of a sub-step of step S45 of the cleaning part replacement method for a cleaning system provided in this embodiment of the present disclosure.

[0191] Figure 36 shows a flowchart of a sub-step of step S49 of the cleaning part replacement method for a cleaning system provided in this embodiment of the present disclosure.

[0192] Figure 37 shows a block diagram of the electronic device provided in an embodiment of the present disclosure.

[0193] Reference numerals: 10-Cleaning system, 100-Cleaning base station, 110-Base station body, 112-Cleaning tank, 114-Receiving tank, 120-Cloth changing mechanism, 122-Cloth changing drive component, 124-Fixing component, 126-Mounting part, 126a-Transmission hole, 126b-Slide rail, 128-Fixing part, 128b-Slide groove, 128c-Locking part, 128d-Overlapping part, 129-Synchronization part, 129b-Synchronization gear, 129c-Rack, 130-Drive mechanism, 132-Driver, 134-Transmission arm, 134a-Main arm, 134b-Secondary arm, 134c - Adapter arm, 136- Drive shaft, 140- Unlocking mechanism, 142- Unlocking component, 142a- Connecting part, 142b- Unlocking part, 142c- Drive part, 143- Unlocking drive component, 143a- Unlocking drive component, 143b- Connecting rope, 145- Reset component, 146- Rotating shaft, 200- Cleaning part, 210- Stop component, 212- Trigger part, 213- Stop component, 214- Transition part, 230- Slide plate, 231- Mating groove, 232- Groove opening, 234- Receiving cavity, 235- Overlap groove, 240- Mop, 240- Elastic component, 300- Cleaning equipment.

[0194] Detailed Implementation

[0195] The present disclosure will now be further described with reference to the accompanying drawings and specific embodiments. The following description is merely illustrative of the basic principles of the present disclosure and is not intended to limit it.

[0196] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. 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.

[0197] It should be noted that all directional indications in the embodiments of this disclosure are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0198] In this disclosure, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0199] Furthermore, the use of terms such as "first" and "second" in this disclosure is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this disclosure.

[0200] With the development of technology and the fast pace of life, using cleaning robots and other cleaning equipment for environmental cleaning not only improves cleaning efficiency but also frees up people's hands. Therefore, cleaning equipment on the market is currently very popular.

[0201] Current cleaning robots and other cleaning equipment can automatically perform functions such as mopping, sweeping, and wiping. Moreover, cleaning equipment is usually equipped with a cleaning base station. During the cleaning process, the cleaning base station can wash and dry the cleaning equipment's mop, or after the cleaning equipment has finished cleaning, it needs to return to the cleaning base station for charging and self-cleaning, such as washing and drying the mop.

[0202] If the cleaning equipment needs to wash the mop during the cleaning process, it must return to the cleaning base station to perform the cleaning procedure and then restart the cleaning process. However, washing the mop consumes the cleaning equipment's time, increasing the overall cleaning time. The cleaning base station and cleaning system provided in this disclosure improve upon the above problems. The cleaning base station and cleaning system provided in this disclosure allow for mop replacement during the cleaning process. When the mop needs washing, the equipment can return to the cleaning base station for replacement, significantly reducing the time required for mop replacement compared to the time spent washing the mop. This eliminates the need to wait for mop washing, thereby improving the cleaning efficiency of the cleaning equipment.

[0203] This disclosure is described below with reference to the accompanying drawings and specific embodiments:

[0204] Please refer to Figures 1 and 2. Figure 1 shows a structural schematic diagram of the cleaning device 300 provided in this embodiment, and Figure 2 shows a structural schematic diagram of the cleaning base station 100 provided in this embodiment. This embodiment provides a cleaning base station 100, applied to a cleaning system 10. The cleaning base station 100 provided in this embodiment is mainly used to accommodate the cleaning device 300. The cleaning base station 100 provided in this embodiment enables the cleaning device 300 to eliminate the need to wait for the dirty cleaning section 200 to be cleaned, thereby reducing the cleaning time of the cleaning device 300 and improving the cleaning effect.

[0205] In this embodiment of the disclosure, the cleaning base station 100 includes: a cloth changing mechanism 120, a base station body 110, and a drive mechanism 130 installed on the base station body 110. The cloth changing mechanism 120 is connected to the drive mechanism 130 and can move relative to the base station body 110 under the drive of the drive mechanism 130, so that the cloth changing mechanism 120 can move between a changing position, a flipping position, and a storage position; wherein the projections of the changing position, the flipping position, and the storage position on the bottom surface of the base station body 110 are at least partially misaligned.

[0206] The base station body 110 is the main structure of the entire cleaning base station 100 and is the basic component of the entire cleaning base station 100. It can provide an installation foundation for other structures such as the cleaning module and drying module of the cleaning base station 100. The drive mechanism 130 and the cloth changing mechanism 120 are both installed inside the base station body 110. The cloth changing mechanism 120 can move relative to the base station body 110 under the drive of the drive mechanism 130.

[0207] The driving mechanism 130 can drive the cloth changing mechanism 120 to move relative to the base station body 110. This can be by driving the cloth changing mechanism 120 to move relative to the base station body 110, or by driving the cloth changing mechanism 120 to rotate relative to the base station body 110, or by driving the cloth changing mechanism 120 to move during rotation. Other than these, it can be any other movement that changes the relative position between the cloth changing mechanism 120 and the base station body 110.

[0208] In some implementations, the changing position, the flipping position, and the storage position are three different positions of the fabric changing mechanism 120 relative to the base station body 110. The driving mechanism 130 can drive the fabric changing mechanism 120 to move between the changing position, the flipping position, and the storage position. Alternatively, the driving mechanism 130 can move the fabric changing mechanism 120 from the changing position to the flipping position, or from the changing position to the storage position.

[0209] The projections of the changing position, flipping position, and storage position onto the bottom surface of the base station body 110 are at least partially offset. The projection direction can be along the height direction of the base station body 110, or it can be a direction that forms a certain angle with the height direction. In this disclosure, the projection direction is used as the height direction for illustrative purposes.

[0210] The base station body 110 is set roughly vertically, and its height direction is roughly vertical. In the height direction of the base station body 110, the projections of the replacement position, flip position, and storage position on the bottom surface of the base station body 110 are misaligned, meaning that at least one of the three positions (replacement position, flip position, and storage position) is at least partially misaligned with the projections of the other two on the bottom surface of the base station body 110.

[0211] The projections of the replacement position and the storage position along the height direction on the bottom surface of the base station body 110 can be at least partially offset from the projections of the replacement position and the storage position along the height direction on the bottom surface of the base station body 110.

[0212] The projection of the replacement position and the flip position along the height direction onto the bottom surface of the base station body 110 can be at least partially offset from the projection of the storage position along the height direction onto the bottom surface of the base station body 110.

[0213] It can be the projection of the storage position and the flip position along the height direction onto the bottom surface of the base station body 110, and the projection of the replacement position along the height direction onto the bottom surface of the base station body 110 is at least partially offset from the projection of the storage position and the flip position along the height direction onto the bottom surface of the base station body 110.

[0214] Alternatively, the base station body 110 may be partially misaligned in the projection of any two of the three positions (storage position, replacement position, and flipping position) along the height direction.

[0215] "At least partially offset setting" means that the positions can be completely offset, partially offset, or partially overlapped. This will be illustrated using the example of at least partially offset projections of the changed and flipped positions onto the bottom surface of the base station body 110 along the height direction.

[0216] The fact that the projections of the changed position and the flipped position along the height direction on the bottom surface of the base station body 110 at least partially overlap means that the projections of the changed position and the flipped position along the height direction on the bottom surface of the base station body 110 can be completely staggered, or they can be partially overlapping and partially staggered.

[0217] Along the height direction of the base station body 110, the projections of the replacement position, flipping position, and storage position on the bottom surface of the base station body 110 are at least partially offset. This indicates that the replacement position, flipping position, and storage position are three different positions of the cloth-changing mechanism 120 relative to the base station body 110, allowing the cloth-changing mechanism 120 to have a certain amount of horizontal movement space. This minimizes the space occupied above the replacement position, leaving that space for other components, making the overall structure of the cleaning base station 100 more compact and enabling it to be smaller. For ease of description, a dirty cleaning section 200 and a clean cleaning section 200 are defined. A dirty cleaning section 200 is the cleaning section 200 after cleaning the ground, while a clean cleaning section 200 is the cleaning section 200 after cleaning or before use. It should be noted that the clean cleaning section 200 and the dirty cleaning section 200 have the same structure, differing only in their degree of cleanliness.

[0218] After the cleaning device 300 cleans for a period of time, the cleaning section 200 of the cleaning device 300 becomes dirty. If cleaning continues, it may cause secondary contamination of the already cleaned surface. Therefore, the dirty cleaning section 200 needs to be cleaned. The cleaning device 300 returns to the cleaning base station 100, placing the cleaning section 200 in the placement position. The base station body 110 can then remove the cleaning section 200 from the cleaning device 300. The drive mechanism 130 can drive the cloth changing mechanism 120 to move to the placement position, fix the dirty cleaning section 200, and then flip the entire cloth changing mechanism 120 to place the clean cleaning section 200 in the placement position. This allows the cleaning device 300 to obtain the clean cleaning section 200 and continue cleaning the surface without waiting for the dirty cleaning section 200 to be cleaned, thus reducing the cleaning time of the cleaning device 300 and improving cleaning efficiency.

[0219] Please refer to Figures 3 and 4. Figure 3 shows a structural schematic diagram of the cloth replacement mechanism 120 of the cleaning base station 100 provided in the present disclosure in the storage position, and Figure 4 shows a structural schematic diagram of the cloth replacement mechanism 120 of the cleaning base station 100 provided in the present disclosure in the replacement position. In some embodiments, the drive mechanism 130 can drive the cloth replacement mechanism 120 to move between the replacement position and the storage position.

[0220] When the cloth replacement mechanism 120 is in the replacement position, the cloth replacement mechanism 120 can retrieve the cleaning part 200 removed from the cleaning equipment 300 from the base station body 110 or place the cleaning part 200 on the base station body 110; when the cloth replacement mechanism 120 is in the storage position, the cloth replacement mechanism 120 can be stored inside the base station body 110.

[0221] The replacement position and the storage position refer to the positions of the cloth replacement mechanism 120 relative to the base station body 110. The replacement position and the storage position are two different positions of the cloth replacement mechanism 120 relative to the base station body 110. When the cleaning part 200 is not being replaced or cleaned, the cloth replacement mechanism 120 is basically in the storage position, that is, the storage position is the normal position of the cloth replacement mechanism 120. When it is necessary to replace the cleaning part 200 of the cleaning equipment 300, the cloth replacement mechanism 120 moves to the replacement position, removes the dirty cleaning part 200, and places the clean cleaning part 200 in the replacement position, so that the cleaning equipment 300 can use the clean cleaning part 200.

[0222] In some implementations, the storage location is situated above the replacement location.

[0223] In related technologies, the cleaning unit 200 of the cleaning device 300 is generally located below the cleaning device 300, which facilitates the cleaning device 300 in cleaning the ground. Therefore, to facilitate cleaning of the cleaning unit 200, the replacement position in the base station body 110 is generally located below the base station body 110. Since the bottom of the base station body 110 is relatively thin and other cleaning equipment needs to be installed, there is essentially no space below it to place the cloth replacement mechanism 120. Therefore, the cloth replacement mechanism 120 can be placed above the replacement position. If the cloth replacement mechanism 120 is placed directly above the replacement position and is too close, interference may easily occur during the process of the cleaning device 300 returning to the cleaning base station 100. Therefore, during the process of the cleaning device 300 returning to the cleaning base station 100, the drive mechanism 130 can move the cloth replacement mechanism 120 to another position, thereby enabling the cleaning device 300 to smoothly return to the cleaning base station 100.

[0224] In other words, the entire cloth-changing mechanism 120 is placed above the replacement position and can move between the storage position and the replacement position. The storage position is set above the replacement position, so that the entire cloth-changing mechanism 120 can be located above the base station body 110 under normal conditions, avoiding the cleaning equipment 300 and minimizing interference between the cloth-changing mechanism 120 and the cleaning equipment 300 during the process of the cleaning equipment 300 returning to the cleaning base station 100.

[0225] In some implementations, the projections of the storage location and the replacement location on the bottom surface of the base station body 110 are at least partially misaligned.

[0226] The base station body 110 is generally vertically positioned. Along the height of the base station body 110, the projections of the storage position and the replacement position onto the bottom surface of the base station are at least partially offset. That is, in the horizontal direction, the replacement position and the storage position are staggered, allowing the fabric changing mechanism 120 some horizontal space to move, minimizing its occupation of the space above the replacement position and reserving that space for other components.

[0227] In addition, the projections of the storage position and the replacement position on the bottom surface of the base station body 110 are at least partially misaligned. This can be a complete misalignment, a partial misalignment, or a partial overlap.

[0228] From the perspective of the direction in which the cleaning equipment 300 is moved out of the base station body 110, the storage position is located in front of the replacement position. That is, the replacement position can be located at the lower rear of the base station body 110, and the storage position can be located at the upper front of the base station body 110.

[0229] In some implementations, both the replacement position and the storage position are located on the base station body 110, which means that the replacement position and the storage position are two fixed positions. Under the drive of the drive mechanism 130, the cloth changing mechanism 120 can move from the replacement position to the storage position and from the storage position to the replacement position.

[0230] Since the replacement position and the storage position are two fixed positions, the drive mechanism 130 can control the movement of the fabric changing mechanism 120 according to the distance between the replacement position and the storage position during the process of driving the fabric changing mechanism 120. This enables the drive mechanism 130 to accurately control the movement of the fabric changing mechanism 120 and improve the stability of the fabric changing mechanism 120 during the movement process.

[0231] In some embodiments, if the drive mechanism 130 drives the fabric changing mechanism 120 to rotate, the fabric changing mechanism 120 can move between the changing position and the storage position. Since the changing position and the storage position are relatively fixed, that is, the distance between the changing position and the storage position is constant, the stroke of the drive mechanism 130 can be set according to the distance between the changing position and the storage position. When the drive mechanism 130 moves a preset stroke, it can be determined that the fabric changing mechanism 120 has moved from the storage position to the changing position, or from the changing position to the storage position.

[0232] Of course, in other embodiments, detection switches can be set at the replacement position and the storage position. When the detection switch detects the arrival signal of the fabric changing mechanism 120, it can be determined that the fabric changing mechanism 120 has moved to the replacement position or the storage position.

[0233] Please refer to Figure 5, which shows a cross-sectional view of the cleaning system 10 provided in this embodiment of the present disclosure. In some embodiments, the base station body 110 has a cleaning tank 112, which is configured to be repositioned.

[0234] The cleaning tank 112 is mainly used for cleaning the cleaning part 200 of the cleaning equipment 300, that is, the cleaning tank 112 is provided in the base station body 110. The cleaning tank 112 is configured to be in a replacement position. After the cleaning equipment 300 returns to the cleaning base station 100, the cleaning part 200 is approximately located above or inside the cleaning tank 112. When the cleaning part 200 is removed from the cleaning equipment 300, the cleaning equipment 300 moves out of the base station body 110, and the cloth changing mechanism 120 can move to the cleaning tank 11 (i.e., the replacement position), fix the cleaning part 200, and then remove the cleaning part 200 that has been removed from the cleaning equipment 300.

[0235] The cleaning tank 112 is configured as a replacement position, and the existing structure can be used as the replacement position. After the cleaning part 200 is removed from the cleaning equipment 300, there is no need to move the cleaning part 200 to another position. The cloth changing mechanism 120 can be moved directly to the cleaning tank 112 (i.e., the replacement position), and after fixing the cleaning part 200, the cleaning part 200 removed from the cleaning equipment 300 can be removed. The operation is simple and quick.

[0236] Since the existing cleaning tank 112 is used, there is no need to set up other structures for replacement, which can reduce the number of parts in the base station body 110 and make the structure of the entire cleaning base station 100 more compact, minimizing the increase in the volume of the cleaning base station 100.

[0237] In some embodiments, the base station body 110 has a receiving slot 114 configured as a storage location.

[0238] The receiving groove 114 is positioned above the cleaning body, with its opening facing downwards, allowing the cloth changing mechanism 120 to be stored within it. When the cloth changing mechanism 120 is in the stored position, the cleaning section 200 on it is usually clean. Placing the entire cloth changing mechanism 120 within the receiving groove 114 also provides some protection for the clean cleaning section 200, minimizing its contamination by other impurities and thus improving the cleaning effect of the cleaning equipment 300.

[0239] The opening of the receiving tank 114 faces downwards, and the opening of the washing tank 112 faces upwards. It can be considered that the receiving tank 114 and the washing tank 112 are arranged opposite each other in the vertical direction. This means that when the fabric changing mechanism 120 moves to the changing position, it does not need to move past the changing position to move below the changing position, nor does it need to move past the storage position to move above the storage position. The fabric changing mechanism 120 only needs to move between the storage position and the changing position, so that the drive mechanism 130 can drive the fabric changing mechanism 120 to maintain a certain movement trajectory, which can reduce the driving difficulty of the drive mechanism 130.

[0240] In some implementations, the storage location and the replacement location are located on opposite sides of the fabric changing mechanism 120.

[0241] The fabric changing mechanism 120 is positioned between the storage position and the replacement position, allowing the fabric changing mechanism 120 to move between the storage position and the replacement position under the drive of the drive mechanism 130. The storage position and the replacement position are located on opposite sides of the fabric changing mechanism 120, allowing the fabric changing mechanism 120 to move back and forth between the storage position and the replacement position. That is, the trajectory of the fabric changing mechanism 120 moving from the storage position to the replacement position and the trajectory moving from the replacement position to the storage position are approximately the same, so that the drive mechanism 130 can drive the fabric changing mechanism 120 to perform replacement or storage actions in the same driving manner.

[0242] The replacement and storage locations of the fabric changing mechanism 120 have been described above. The following section will explain how the fabric changing mechanism 120 replaces the cleaning part 200, i.e. how the dirty cleaning part 200 is replaced with a clean cleaning part 200, based on the specific structure and flipping position of the fabric changing mechanism 120.

[0243] Please refer to Figure 6, which shows a schematic diagram of the structure of the cloth changing mechanism 120 of the cleaning base station 100 provided in this embodiment of the present disclosure in the flipped position. In some embodiments, the cloth changing mechanism 120 can be flipped in the flipped position to flip the cleaning part 200 fixed to the cloth changing mechanism 120, so that the cleaning part 200 can switch between the storage state and the replacement state. When the cleaning part 200 is in the storage state, the cleaning part 200 can be stored in the storage position. When the cleaning part 200 is in the replacement state, the cleaning part 200 can be replaced by the cleaning device 300.

[0244] The fabric changing mechanism 120 can fix the cleaning part 200. The cleaning part 200 is located on the fabric changing mechanism 120 and has a changing state and a storage state. When the cleaning part 200 is in the changing state, the fabric changing mechanism 120 can place the cleaning part 200 in the changing position. When the cleaning part 200 is in the storage state, the cleaning part 200 can be stored in the base station body 110.

[0245] It should be noted that, in some embodiments, the replacement state of the cleaning unit 200 refers to the position of the cleaning unit 200 on the cloth replacement mechanism 120, and the replacement position refers to the position of the cloth replacement mechanism 120 on the base station body 110. When the cleaning unit 200 is in the replacement state on the cloth replacement mechanism 120, the cloth replacement mechanism 120 can be placed on the replacement position on the base station body 110 under the drive of the drive mechanism 130.

[0246] Similarly, in some embodiments, the storage state of the cleaning unit 200 refers to the position of the cleaning unit 200 on the cloth changing mechanism 120, and the storage position refers to the position of the cloth changing mechanism 120 on the base station body 110. When the cleaning unit 200 is in the storage state on the cloth changing mechanism 120, the cloth changing mechanism 120 can be placed in the storage position on the base station body 110 under the drive of the drive mechanism 130.

[0247] The cloth changing mechanism 120 can be flipped relative to the base station body 110. Flipping means that the cloth changing mechanism 120 can rotate relative to the base station body 110, so that the cleaning part 200 can be flipped from the replacement state to the storage state, or from the storage state to the replacement state, thereby replacing the cleaning part 200 removed from the cleaning equipment 300 and replacing the clean cleaning part 200 with the cleaning equipment 300.

[0248] The fabric changing mechanism 120 has two motion states. One is that the drive mechanism 130 drives the fabric changing mechanism 120 to move relative to the base station body 110, enabling it to move from the changing position to the storage position, or vice versa, i.e., it can move between the storage position and the changing position. The drive mechanism 120's movement relative to the base station body 110 causes a change in the position of the fabric changing mechanism 120 relative to the base station body 110. For ease of understanding, the movement of the fabric changing mechanism 120 relative to the base station body 110 driven by the drive mechanism 130 can be considered as the revolution of the fabric changing mechanism 120, i.e., revolution refers to the change in the position of the fabric changing mechanism 120 relative to the base station body 110.

[0249] In some other embodiments, the fabric changing mechanism 120 itself can also rotate, i.e., flip. The flipping of the fabric changing mechanism 120 means that the fabric changing mechanism 120 flips itself in a fixed position. That is, the fabric changing mechanism 120 can flip at the changing position, at the storage position, or at any of the changing and storage positions. In other words, when the fabric changing mechanism 120 flips, its position relative to the base station body 110 remains basically unchanged. The flipping is only the rotation of the fabric changing mechanism 120 itself. That is, the flipping can be understood as the self-rotation of the fabric changing mechanism 120.

[0250] In other words, the cloth-changing mechanism 120 can both revolve relative to the base station body 110 (driven by the drive mechanism 130), and rotate (flip) relative to the base station body 110.

[0251] In some embodiments, the cleaning unit 200 being in a stored state means that the cleaning unit 200 can be stored in a storage position. Since the storage position is above the replacement position, the cleaning unit 200 is located above the fabric changing mechanism 120 when it is in the stored state. The cleaning unit 200 being in a replacement state means that the fabric changing mechanism 120 can place the cleaning unit 200 in the replacement position. Since the replacement position is located below, when the cleaning unit 200 is in the replacement position, it is also located below the fabric changing mechanism 120.

[0252] When the cloth changing mechanism 120 needs to replace the cleaning part 200, a clean cleaning part 200 can be fixed on the cloth changing mechanism 120 first. After the cloth changing mechanism 120 obtains the dirty cleaning part 200 that has been replaced from the cleaning equipment 300, the clean cleaning part 200 and the dirty cleaning part 200 can be swapped by flipping them over. That is, the clean cleaning part 200 can be in the replacement state (located below the cloth changing mechanism 120), and then the clean cleaning part 200 can be placed in the replacement position so that the cleaning equipment 300 can obtain the clean cleaning part 200 and continue cleaning.

[0253] In some implementations, the flipping position is located between the replacement position and the storage position.

[0254] When the cleaning part 200 needs to be replaced, the cloth changing mechanism 120 first moves to the replacement position, acquires the soiled cleaning part 200 removed from the cleaning device 300, then moves to the flipping position and flips the entire cloth changing mechanism 120, swapping the positions of the clean and soiled cleaning parts 200. The cloth changing mechanism 120 then moves back to the replacement position, placing the clean cleaning part 200 in the replacement position so that the cleaning device 300 can acquire the clean cleaning part 200. Setting the flipping position between the replacement and storage positions reduces the travel distance of the cloth changing mechanism 120 during the replacement of the cleaning part 200, thus reducing the replacement time of the cloth changing mechanism 120.

[0255] It should be noted that the flipping position can be any position between the changing position and the storage position; that is, the flipping position can be a fixed position or it can be a non-fixed position.

[0256] A fixed flip position means that the fabric changing mechanism 120 flips at a designated position each time. Since the changing position and the storage position are staggered both vertically and horizontally, when the drive mechanism 130 moves the fabric changing mechanism 120 between the changing and storage positions, the movement trajectory of the fabric changing mechanism 120 is approximately an arc. A fixed flip position means that the fabric changing mechanism 120 flips at a designated angle each time.

[0257] The flipping position does not have to be fixed; it can be adjusted according to the replacement situation or the status of the cleaning section 200.

[0258] For example, the cleaning unit 200 may absorb some water stains during the cleaning process, which increases the weight of the cleaning unit 200. Due to the different weights of the cleaning units 200, the turning force caused by gravity is different when the cleaning units 200 are turned in the same position, which may result in different torques during the turning process. If the torque is too large, it may cause the cloth changing mechanism 120 and the drive mechanism 130 to become loose. Different turning heights can be set according to different weights to minimize damage to the cloth changing mechanism 120.

[0259] In some embodiments, the drive mechanism 130 can drive the fabric changing mechanism 120 to perform an arc motion. That is, the movement trajectory of the fabric changing mechanism is roughly arc-shaped, so that there is a certain distance between any two positions of the fabric changing mechanism 120 on the arc in both the vertical and horizontal directions. This ensures that the movement trajectory of the fabric changing mechanism is basically no longer directly above the changing position, thus minimizing the space occupied above the changing position and leaving the space above the changing position for other components.

[0260] In some embodiments, the drive mechanism 130 can drive the fabric changing mechanism 120 to reciprocate between the changing position and the storage position. The fabric changing mechanism 120 only needs to move between the storage position and the changing position, so that the drive mechanism 130 can drive the fabric changing mechanism 120 to maintain a certain motion trajectory, which can reduce the driving difficulty of the drive mechanism 130.

[0261] In some implementations, the projections of the flipped position and the stowed position onto the bottom surface of the base station body 110 are at least partially misaligned.

[0262] The base station body 110 is generally vertically positioned. Along the height of the base station body 110, the projections of the flipping position and the storage position onto the bottom surface of the base station body 110 are at least partially offset. That is, in the horizontal direction, the storage position and the flipping position are staggered, allowing the fabric changing mechanism 120 some horizontal movement space. This ensures that at least one of the flipping position and the storage position is not directly above the changing position, minimizing the space occupied above the changing position and reserving that space for other components.

[0263] In some implementations, the projections of the changing and flipping positions on the bottom surface of the base station body 110 are at least partially misaligned.

[0264] The base station body 110 is generally vertically positioned. Along the height of the base station body 110, the projections of the flipping position and the replacement position onto the bottom surface of the base station body 110 are at least partially offset. That is, in the horizontal direction, the replacement position and the flipping position are staggered, allowing the fabric changing mechanism 120 sufficient horizontal space to minimize its occupation of the space above the replacement position, thus reserving that space for other components.

[0265] Please refer to Figure 7, which shows a partial enlarged view of point B in Figure 6. As for the structure of the drive mechanism 130, in some embodiments, the drive mechanism 130 may include a driver 132 and a transmission arm 134. The driver 132 is mounted on the base station body 110, and the transmission arm 134 is connected to the driver 132 in a transmission manner and is rotatably connected to the cloth changing mechanism 120.

[0266] The driver 132 is installed inside the base station body 110. It drives the fabric changing mechanism 120 to swing between the changing position and the storage position via the transmission arm 134. Specifically, the transmission arm 134 is the swing arm through which the entire fabric changing mechanism 120 can move. When the fabric changing mechanism 120 is in the changing position, the transmission arm 134 is approximately vertical; when the fabric changing mechanism 120 is in the storage position, the transmission arm 134 is approximately horizontal. The vertical and horizontal distances between the changing and storage positions are both the length of the connecting arm.

[0267] In other words, the positional relationship between the storage position, the flipping position, and the storage position can be explained by the angle between the transmission arm 134 and the horizontal direction. When the fabric changing mechanism 120 is in the storage position and the transmission arm 134 is roughly horizontal, the angle of the transmission arm 134 can be considered 0 degrees, which means the angle of the fabric changing mechanism 120 can also be considered 0 degrees. When the fabric changing mechanism 120 is in the changing position and the transmission arm 134 is roughly vertical, the angle of the transmission arm 134 can be considered 90 degrees, which means the angle of the fabric changing mechanism 120 can also be considered 90 degrees. When the fabric changing mechanism 120 is in the flipping position and the transmission arm 134 is set at an angle to the horizontal direction, the angle of the transmission arm 134 can be considered to be an angle between 0 degrees and 90 degrees, which means the angle of the fabric changing mechanism 120 can also be considered to be between 0 degrees and 90 degrees.

[0268] In some implementations, the angle of the fabric changing mechanism 120 can be 30 degrees, 40 degrees, 45 degrees, 60 degrees, 75 degrees, etc., and the specific angle is not limited.

[0269] In some embodiments, the transmission arm 134 includes a main arm 134a and a secondary arm 134b. The main arm 134a is drive-connected to the driver 132 and the fabric changing mechanism 120, and the secondary arm 134b is rotatably connected to the base station body 110 and the fabric changing mechanism 120.

[0270] Driven by the transmission arm 134, the movement trajectory of the entire fabric changing mechanism 120 is roughly arc-shaped. Whether in the changing position, the storage position, or any position between the changing position and the storage position, the fabric changing mechanism 120 is roughly horizontal. Through the cooperation of the main arm 134a and the auxiliary arm 134b, the fabric changing mechanism 120 can be in a roughly horizontal state at any position, thereby reducing interference between the fabric changing mechanism 120 and other structures.

[0271] In addition, a transfer arm 134c can be provided between the auxiliary arm 134b and the fabric changing mechanism 120. The transfer arm 134c is rotatably connected to the auxiliary arm 134b and the fabric changing mechanism 120 respectively, so that the fabric changing mechanism 120 can remain horizontal in all situations except when it is flipped.

[0272] In some embodiments, there are two drive arms 134, and the drive mechanism 130 also includes a drive shaft 136, which drives the two drive arms 134 and the driver 132.

[0273] Since the cleaning part 200 is roughly plate-shaped, the cloth changing mechanism 120 is also roughly plate-shaped, which can fix the cleaning part 200 without increasing the volume as much as possible. That is, the cloth changing mechanism 120 is relatively long. The two transmission arms 134 are respectively set on both sides of the cloth changing mechanism 120, which can improve the stability of the cloth changing mechanism 120 during movement.

[0274] When the fabric changing mechanism 120 needs to move from the changing position to the storage position, the driver 132 can rotate forward, driving the transmission arm 134 to rotate, thereby causing the fabric changing mechanism 120 to move from the changing position to the storage position. Conversely, when the fabric changing mechanism 120 needs to move from the storage position to the changing position, the driver 132 can rotate in reverse, driving the transmission arm 134 to rotate in reverse, thereby causing the fabric changing mechanism 120 to move from the storage position to the changing position.

[0275] If the fabric changing mechanism 120 needs to stay in the flipped position, the driver 132 can be controlled to stop at the corresponding position, or the drive can be stalled so that the fabric changing mechanism 120 can stay in the flipped position.

[0276] The above describes the movement and switching between the flipping position, storage position, and replacement position. The following will describe in detail the specific structure of the fabric changing mechanism 120.

[0277] Please refer to Figure 8, which shows a partial enlarged view of point A in Figure 3. In some embodiments, the fabric changing mechanism 120 includes a fabric changing drive 122 and a fixing member 124. The fixing member 124 is used to fix the cleaning part 200. The fabric changing drive 122 is connected to the fixing member 124 in a transmission manner, and the fixing member 124 can drive the cleaning part 200 to switch between the changing state and the storage state.

[0278] The cloth changing drive 122 is connected to the fixing member 124 and can drive the fixing member 124 to move, so that the cleaning unit 200 can switch between the changing state and the storage state. That is, it can switch from the storage state to the changing state and from the changing state to the storage state.

[0279] Regarding the movement of the fabric changing drive component 122 driving the fixing component 124, it can be that the fabric changing drive component 122 drives the fixing component 124 to slide, thereby allowing the cleaning unit 200 to switch between the changing state and the storage state. Alternatively, the fabric changing drive component 122 can drive the fixing component 124 to rotate, thereby allowing the cleaning unit 200 to switch between the changing state and the storage state. Another possibility is that the fabric changing drive component 122 drives the fixing component 124 to reciprocate, thereby allowing the cleaning unit 200 to switch between the changing state and the storage state.

[0280] In some embodiments, the cloth-changing drive 122 is connected to the fixing member 124 in a transmission manner, and the fixing member 124 can drive the cleaning part 200 to rotate.

[0281] The cleaning unit 200 is fixed to the fixing member 124. The cloth changing drive member 122 can drive the fixing member 124 to rotate, so that the cleaning unit 200 can rotate with the fixing member 124, thereby allowing the cleaning unit 200 to be replaced. The cloth changing drive member 122 and the fixing member 124, as a whole, can move between the replacement position and the storage position under the drive of the drive mechanism 130. When the cloth changing mechanism 120 moves to the rotating position, the cloth changing drive member 122 drives the fixing member 124 to rotate.

[0282] In some embodiments, two cleaning parts 200 are fixed on the fixing member 124 respectively, one of the cleaning parts 200 is in the replacement state and the other cleaning part 200 is in the storage state. The cloth changing drive member 122 can drive the fixing member to flip, so that the cleaning part 200 in the replacement state switches to the storage state and the cleaning part 200 in the storage state switches to the replacement state.

[0283] In some embodiments, the fabric changing drive 122 can be mounted on the transmission arm 134, that is, the entire fabric changing mechanism 120 can be rotatably connected between the fabric changing drive 122 and the transmission arm 134.

[0284] Please refer to Figure 9, which shows a structural schematic diagram of the fixing member 124 of the cloth changing mechanism 120 of the cleaning base station 100 provided in this embodiment. In some embodiments, the fixing member 124 includes a mounting part 126 and a fixing part 128. The fixing part 128 is mounted on the mounting part 126 and is used to fix the cleaning part 200. The mounting part 126 is connected to the cloth changing drive member 122 for transmission.

[0285] The fixing part 128 is mainly used to fix the cleaning part 200. The mounting part 126 is connected to the cloth changing drive 122. A transmission hole 126a can be provided on the mounting part 126. The drive shaft of the cloth changing drive 122 is inserted into the transmission hole 126a, thereby realizing that the cloth changing drive 122 drives the entire fixing part 124 to flip.

[0286] In some embodiments, there are multiple fixing parts 128, and the multiple fixing parts 128 are located on different sides of the mounting part 126.

[0287] One fixing part 128 can fix one cleaning part 200. The cloth changing mechanism 120 includes multiple fixing parts 128, so that the cloth changing mechanism 120 can fix multiple cleaning parts 200 at the same time. That is, after obtaining the dirty cleaning part 200 from the changing position, the clean cleaning part 200 can be placed directly in the changing position without having to return to the storage position to get the cleaning part 200 and then place it in the changing position. This can reduce the time of the entire cloth changing mechanism 120 to change the cleaning part 200, thereby reducing the time of the cleaning equipment 300 to change the cleaning part 200, and further reducing the ineffective time of the cleaning equipment 200 in the cleaning process, and reducing the total time of the cleaning equipment.

[0288] The total time of the cleaning equipment 300 includes the sum of effective time and ineffective time. Effective time refers to the time that the cleaning equipment 300 spends cleaning the surface (ground) during the cleaning process. Ineffective time refers to the time that the cleaning equipment 300 does not spend cleaning the surface during the cleaning process, such as the cleaning time of the cleaning section 200 and the dust collection time of the cleaning equipment 200.

[0289] The fixing part 128 can be provided in two, three, or four ways. The number of fixing parts 128 can be set according to the specific structure of the cloth changing mechanism 120 and the space of the base station body 110. This embodiment does not make a specific limitation. The following will explain how the cloth changing mechanism 120 replaces the cleaning part 200, taking two fixing parts 128 as an example.

[0290] In some embodiments, there are two fixing parts 128, located on opposite sides of the mounting part 126. During the replacement of the cleaning part 200, one fixing part 128 can fix the clean cleaning part 200, while the other fixing part 128 can be left unattended, with the unattended fixing part 128 facing downwards. The drive mechanism 130 moves the entire fabric changing mechanism 120 to the replacement position, where the unattended fixing part 128 fixes the cleaning part 200 removed from the cleaning device 300. The drive mechanism 130 then moves the entire fabric changing mechanism 120 to the flipping position, where the fabric changing drive member 122 flips the mounting part 126 and the fixing part 128 together, swapping the positions of the clean and dirty cleaning parts 200, i.e., the clean cleaning part 200 faces downwards (replacement state) and the dirty cleaning part 200 faces upwards (storage state). The drive mechanism 130 then moves the entire fabric changing mechanism 120 to the replacement position, placing the clean cleaning part 200 in the replacement position.

[0291] In other words, when there are two fixing parts 128, one fixing part 128 is located above the other fixing part 128, that is, one fixing part 128 is set upwards and the other fixing part 128 is set downwards. The cleaning part 200 of the fixing part 128 located above is in the storage state, and the cleaning part 200 of the fixing part 128 located below is in the replacement state.

[0292] Please refer to Figure 10, which shows a partial enlarged view of point D in Figure 9. In some embodiments, the fixing part 128 is slidably connected to the mounting part 126, so that the fixing part 128 can cooperate with the cleaning part 200 in the base station body 110, or the cleaning part 200 in a changed state can be placed in the base station body 110.

[0293] Regarding the specific sliding method, of the two parts, the fixing part 128 and the mounting part 126, one is provided with a slide rail 126b, and the other is provided with a slide groove 128b, with the slide groove 128b slidingly engaging with the slide rail 126b. Alternatively, the slide rail 126b can be provided on the fixing part 128, and the slide groove 128b can be provided on the mounting part 126.

[0294] To improve the stability of the sliding fit between the fixing part 128 and the mounting part 126, the number of slide rails 126b and slide grooves 128b can be set to multiple.

[0295] The fixing part 128 is slidably connected to the mounting part 126, so that there is a relative position between the fixing part 128 and the mounting part 126, that is, the fixing part 128 can move relative to the mounting part 126, so that the fixing part 128 is misaligned relative to the mounting part 126, thereby facilitating the fixing of the cleaning part 200.

[0296] The cleaning unit 200 is located below the cleaning equipment 300. The cleaning unit 200 and the fixing unit 128 are located below the cleaning unit 200. The fixing unit 128 is slidably connected to the mounting unit 126, so that the fixing unit 128 slides into the lower part of the cleaning unit 200 and can be fixedly engaged with the cleaning unit 200, thereby moving the cleaning unit 200 to a different position.

[0297] Conversely, when the cloth changing mechanism 120 places the clean cleaning part 200 in the changing position, the fixing part 128 slides away from the cleaning part 200, so that the fixing part 128 can separate from the cleaning part 200, and the clean cleaning part 200 can be placed in the changing position.

[0298] When there are two fixing parts 128, each fixing part 128 can potentially mate with the cleaning part 200 located in a different position, and therefore both fixing parts 128 are slidably connected to the mounting part 126. Each fixing part 128 can extend under the cleaning part 200 and mate with it.

[0299] In other words, when there are two fixing parts 128, the two fixing parts 128 are located on both sides of the mounting part 126, and both fixing parts 128 can move relative to the mounting part 126. Since there is only one cleaning part 200 in the replacement position, when fixing the cleaning part 200 in the replacement position, only one fixing part 128 needs to move relative to the mounting part 126.

[0300] It is understandable that both fixing parts 128 can move relative to the mounting part 126, but the two fixing parts 128 may not move at the same time or may move at the same time, and there is no limitation.

[0301] Please refer to Figure 11, which shows a cross-sectional view of the fastener 124. In some embodiments, the fastener 124 further includes a synchronizing part 129, which can simultaneously drive two fasteners 128 to slide relative to the mounting part 126.

[0302] The synchronizing part 129 is installed on the mounting part 126 and can simultaneously drive the two fixing parts 128 to slide relative to the mounting part 126. In other words, the two fixing parts 128 move synchronously, so that the two fixing parts 128 can be stored synchronously on the mounting part, thereby making the structure of the entire fabric changing mechanism 120 more compact.

[0303] In some embodiments, the synchronizing part 129 can drive the two fixed parts 128 to move in opposite directions or towards each other.

[0304] In some embodiments, opposite movement means that the two fixed parts 128 move away from each other, while opposite movement means that the two fixed parts 128 move towards each other.

[0305] In some embodiments, the synchronization unit 129 includes a synchronization gear 129b and a rack 129c. The synchronization gear 129b is mounted on the mounting part 126, and the rack 129c is mounted on the fixing part 128. The synchronization gear 129b meshes with the racks 129c of the two fixing parts 128. The synchronization gear 129b meshes with the racks 129c of the two fixing parts 128 simultaneously, so that the synchronization gear 129b can drive the racks 129c of the two fixing parts 128 at the same time during rotation, so that the two fixing parts 128 can move synchronously. This allows the fixing parts 128 to be housed on the mounting part 126, minimizing their protrusion outside the mounting part 126 and reducing the volume occupied by the fabric changing mechanism 120 as much as possible.

[0306] The synchronizing unit 129 may also include a synchronizing drive unit, which is connected to the synchronizing gear 129b in a transmission manner.

[0307] Under normal conditions, the fabric changing mechanism 120 is stored in the storage position, and a clean cleaning part 200 is provided on the upper fixing part 128. When the cleaning device 300 returns to the base station body 110 and removes the dirty cleaning part 200, the cleaning device 300 exits the base station body 110. The drive mechanism 130 drives the entire fabric changing mechanism 120 to the changing position, and the lower fixing part 128 slides relative to the mounting part 126 until it is fixed with the dirty cleaning part 200. The drive mechanism 130 then drives the fabric changing mechanism 120 away from the changing position and moves to the flipping position. The fabric changing drive component 122 drives the mounting part 126 and the fixing part 128 to flip as a whole, so that the upper clean cleaning part 200 (storage state) flips to the lower part of the mounting part 126 (changing state), and the lower dirty cleaning part 200 (changing state) flips to the upper part of the mounting part 126 (storage state). After the clean cleaning unit 200 is flipped to the replacement position, the drive mechanism 130 moves the entire cloth changing mechanism 120 to the replacement position. The fixing part 128 slides relative to the mounting part 126, thereby placing the clean cleaning unit 200 in the replacement position. The drive mechanism 130 then drives the cloth changing mechanism 120 away from the replacement position. The cleaning equipment 300 returns to the base station body 110, thus obtaining the clean cleaning unit 200.

[0308] During the cleaning process, the cleaning section 200 of the cleaning equipment 300 is prone to getting dirty. Replacing the cleaning section 200 takes less time than washing it, which can reduce the ineffective time of the cleaning equipment 300 during the cleaning process, and thus reduce the total cleaning time of the cleaning equipment 300.

[0309] The above details the specific structure of the fabric changing mechanism 120 and how to achieve fabric changing by flipping. The following will detail how the cleaning unit 200 cooperates with and unlocks the cleaning equipment 300 and the fabric changing mechanism 120.

[0310] Please refer to Figure 12, which shows a schematic diagram of a portion of the structure of the cleaning base station 100. In some embodiments, the cleaning base station 100 further includes an unlocking mechanism 140, which is installed on the base station body 110 and enables the cleaning unit 200 to be separated from or locked to the cleaning equipment 300 and / or the cloth changing mechanism 120.

[0311] The unlocking mechanism 140 is installed on the base station body 110, enabling the cleaning unit 200 to be locked or separated from the cleaning equipment 300, and also enabling the cleaning unit 200 to be locked or separated from the cloth changing mechanism 120. That is, the unlocking mechanism 140 can detach the cleaning unit 200 from the cleaning equipment 300, and can also install the cleaning unit 200 onto the cleaning equipment 300. Similarly, the unlocking mechanism 140 can install the cleaning unit 200 onto the cloth changing mechanism 120, and can also detach the cleaning unit 200 from the cloth changing mechanism.

[0312] Please refer to Figures 13 and 14. Figure 13 shows a schematic diagram of the structure of the cleaning unit 200, and Figure 14 shows a partial enlarged view of point C in Figure 9. In some embodiments, the fabric changing mechanism 120 is provided with a locking part 128c, the cleaning unit 200 is provided with a stop member 210, and the unlocking mechanism 140 can make the stop member 210 engage or disengage from the locking part 128c.

[0313] In some embodiments, the locking part 128c is provided on the fixing part 128, and the unlocking mechanism 140 can act on the stop member 210, so that the stop member 210 can engage or disengage from the locking part 128c.

[0314] In some embodiments, the cleaning unit 200 may include a mop plate 230, a mop cloth 240, and a stop member 210, both of which are mounted on the mop plate 230. The mop cloth 240 is a cleaning component and a mounting component of the entire cleaning unit 200. The stop member 210 can engage with the locking part 128c. The stop member 210 can move relative to the mop plate 230 under the action of the unlocking mechanism 140, adjusting the position of the stop member 210 on the mop plate 230, that is, adjusting the relative position between the stop member 210 and the locking part 128c, so that the stop member 210 can engage or disengage from the locking part 128c.

[0315] Please refer to Figures 15, 16, and 17. Figure 15 shows a partial enlarged view of point F in Figure 13. Figure 16 shows a structural schematic diagram of the stop groove 232 of the stop portion 213 of the cleaning unit 200. Figure 17 shows a partial enlarged view of point H in Figure 16. In some embodiments, the stop member 210 and the locking portion 128c can be engaged. The stop member 210 may include a trigger portion 212, a stop portion 213, and a transition portion 214. The trigger portion 212 and the stop portion 213 are both connected to the transition portion 214. The unlocking mechanism 140 can act on the trigger portion 212, and the stop portion 213 can cooperate with the fabric changing mechanism 120 or the cleaning device 300.

[0316] A mating groove 231 can be provided on the slide plate 230, and a stop 213 can engage with the locking part 128c within the mating groove 231. The stop 213 can be provided on the opening 232 of the mating groove 231, confining the locking part 128c within the mating groove 231, thereby achieving the engagement between the stop 213 and the locking part 128c. Specifically, the unlocking mechanism 140 can act on the trigger 212, which drives the stop 213 to move relative to the slide plate 230 via the transition part 214, allowing the stop 213 to move relative to the mating groove 231. This causes the stop 213 to open the opening 232 of the mating groove 231, allowing the locking part 128c to enter into or disengage from the mating groove 231.

[0317] When the unlocking mechanism 140 acts on the stop 210, the unlocking mechanism 140 can open the groove 232 of the mating groove 231, allowing the locking part 128c to enter or exit the mating groove 231. If it is necessary to fix the cleaning part 200 and the cloth changing mechanism 120, the locking part 128c can enter the mating groove 231 from the groove 232. The unlocking mechanism 140 then removes the force applied to the trigger part 212, and the entire stop 210 is reset. That is, the stop 213 can extend into the groove 232 of the mating groove 231, thereby blocking the locking part 128c at the groove 232 of the mating groove 231, so that the stop 213 can cooperate with the locking part 128c, thereby fixing the cleaning part 200 and the cloth changing mechanism 120.

[0318] Please refer to Figures 18 and 19. Figure 18 shows a schematic diagram of the structure of the stop 213 of the cleaning unit 200 opening the slot 232, and Figure 19 shows a partial enlarged view of point G in Figure 18. Conversely, if it is necessary to remove the cleaning unit 200 from the fabric changing mechanism 120, the unlocking mechanism 140 applies force to the trigger 212, so that the stop 213 can open the slot 232 of the mating groove 231, and the locking part 128c can disengage from the mating groove 231, thereby disengaging the locking part 128c from the mating groove 231, that is, the cleaning unit 200 can be removed from the fabric changing mechanism 120.

[0319] In some embodiments, the stop 210 further includes an elastic element 240 disposed between the transition portion 214 and the slide plate 230, which can provide an elastic force for the stop 210 to reset.

[0320] The elastic element 240 can cooperate with the unlocking mechanism 140 to realize the movement of the stop 210 within the mating groove 231. When the unlocking mechanism 140 applies force to the trigger part 212, the trigger part 212 drives the stop part 213 to move through the transition part 214. At the same time, the transition part 214 can compress the elastic element 240, and the elastic element 240 stores force, so that the elastic element 240 has a certain restoring force. After the unlocking mechanism 140 removes the force applied to the trigger part 212, under the action of the restoring force of the elastic element 240, the stop part 213 is driven to move in the opposite direction through the transition part 214, so that the stop part 213 can be reset and can stop the groove 232 of the mating groove 231.

[0321] In other words, when the unlocking mechanism 140 applies force to the trigger part 212, the stop part 213 can open the slot 232 of the mating groove 231, allowing the locking part 128c to enter or exit the mating groove 231. When the force of the unlocking mechanism 140 is removed, under the restoring force of the elastic member 240, the stop part 213 can block the slot 232 of the mating groove 231, thereby blocking the locking part 128c.

[0322] In some implementations, the elastic element 240 may be a spring.

[0323] In some embodiments, the slide plate 230 is provided with a receiving cavity 234, and a portion of the stop member 210 is mounted in the receiving cavity 234. The stop member 210 is movable within the receiving cavity 234.

[0324] In some embodiments, portions of the elastic element 240, transition portion 214, and trigger portion 212 are disposed within the receiving cavity 234, and portions of the stop portion 213 are disposed within the receiving cavity 234 and within the mating groove 231. The receiving cavity 234 can protect a portion of the structure of the stop element 210, minimizing damage to the stop element 210 from water or other impurities during the operation of the cleaning unit 200.

[0325] The fact that the stop 210 can move within the receiving cavity 234 indicates that the internal space of the receiving cavity 234 is larger than the external dimensions of the stop 210, thus giving the stop 210 room to move within the receiving cavity 234 and facilitating the movement of the entire stop 210.

[0326] It should be noted that the above only describes how the cleaning unit 200 and the fabric changing mechanism 120 cooperate and separate. The cooperation and separation methods between the cleaning unit 200 and the cleaning equipment 300 are exactly the same as those between the cleaning unit 200 and the fabric changing mechanism 120. That is to say, the cleaning equipment 300 is also equipped with a locking part 128c, and the cooperation between the cleaning unit 200 and the cleaning equipment 300 is achieved through the cooperation of the locking part 128c and the stop member 210. The cooperation and separation methods between the cleaning unit 200 and the cleaning equipment 300 can be referred to as the cooperation and separation methods between the cleaning unit 200 and the fabric changing mechanism 120, and will not be repeated here.

[0327] Please refer to Figures 18, 19, and 20. Figure 20 shows a partial enlarged view of the area in Figure 9. In some embodiments, the fixing part 128 is further provided with an overlapping part 128d that mates with the cleaning part 200. The cleaning part 200 is provided with an overlapping groove 235, and the overlapping part 128d can be inserted into the overlapping groove 235, so that when the cleaning part 200 is in a downward-facing position, the overlapping groove 235 and the overlapping part 128d prevent the cleaning part 200 from falling off.

[0328] Since the cleaning unit 200 has two states on the fabric changing mechanism 120, namely a changing state and a storage state, when it is in the changing state, the cleaning unit 200 is located below the fabric changing mechanism 120. If there is no fixing structure, the cleaning unit 200 is prone to falling down under its own weight when it is in the fabric changing mechanism 120 (changing state). The overlapping part 128d is inserted into the overlapping groove 235, which can limit the cleaning unit 200 from the top and bottom. So that when the cleaning unit 200 is set downward (changing state), the overlapping groove 235 and the overlapping part 128d can prevent the cleaning unit 200 from falling down.

[0329] Please refer to Figure 21, which shows a schematic diagram of a portion of the structure of the cleaning base station 100. In some embodiments, the unlocking mechanism 140 includes an unlocking member 142 and an unlocking drive member 143. The unlocking member 142 is mounted on the base station body 110, and the unlocking drive member 143 can engage or disengage the stop member 210 from the locking part 128c through the unlocking member 142.

[0330] The unlocking drive 143 drives the unlocking member 142 to move, allowing the unlocking member 142 to move relative to the cleaning part 200 under the action of the unlocking drive 143. This applies a force to the stop member 210 of the cleaning part 200, enabling the stop member 210 to engage or disengage from the locking part 128c. The structure and working process of the unlocking member 142 will be described in detail below.

[0331] In some embodiments, the unlocking drive 143 can drive the unlocking member 142 to rotate relative to the base station body 110, causing the stop member 210 to move relative to the slide plate 230, thereby engaging or disengaging with the locking part 128c. Applying a force to the stop member 210 by rotation allows the unlocking member 142 to move within a smaller space, reducing the movement space of the unlocking member 142 and making the internal structure of the entire cleaning base station 100 more compact.

[0332] Of course, in addition to this, the unlocking drive component 143 can also drive the unlocking component 142 to move relative to the base station body 110 in other ways, thereby acting on the stop component 210. This could be the unlocking drive component 143 moving relative to the base station body 110, thereby applying a force to the stop component 210, or the unlocking drive component 143 sliding relative to the base station body 110, etc.

[0333] Please refer to Figure 22, which shows a schematic diagram of the unlocking component 142. In some embodiments, the unlocking component 142 includes a connecting portion 142a, an unlocking portion 142b, and a transmission portion 142c. The unlocking portion 142b and the transmission portion 142c are located at opposite ends of the connecting portion 142a. The connecting portion 142a is rotatably connected to the base station body 110, and the transmission portion 142c is connected to the unlocking drive component 143.

[0334] The connecting part 142a is rotatably connected to the base station body 110, so that the entire unlocking part 142 can have a fulcrum of rotation. The unlocking drive part 143 drives the transmission part 142c to move away from the cleaning part 200, so that the unlocking part 142b can move towards the cleaning part 200, thereby enabling the unlocking part 142b to contact the trigger part 212 of the stop part 210. The entire stop part 210 can move relative to the slide plate 230, so that the stop part 213 can open the slot 232 of the mating groove 231, so that the locking part 128c can enter or disengage from the mating groove 231.

[0335] In order to improve the stability of the engagement between the unlocking part 142b and the triggering part 212, a groove can be provided in one of the triggering part 212 and the unlocking part 142b and a protrusion can be provided in the other. The groove and the protrusion can be used to achieve a stable engagement between the unlocking part 142b and the triggering part 212.

[0336] A groove may be provided on the trigger part 212 and a protrusion may be provided on the unlock part 142b. Alternatively, a groove may be provided on the unlock part 142b and a protrusion may be provided on the trigger part 212.

[0337] In some embodiments, the unlocking mechanism 140 further includes a reset member 145, which is connected between the unlocking member 142 and the base station body 110. The reset member 145 can work together with the unlocking drive member 143 to make the stop member 210 cooperate with the locking part 128c.

[0338] When the unlocking drive 143 stops driving the unlocking member 142, the reset member 145 can provide a restoring force to the unlocking member 142, so that the unlocking member 142 can be reset and thus ready for the next operation.

[0339] Specifically, the unlocking mechanism 140 also includes a rotating shaft 146. The unlocking component 142 is rotatably connected to the base station body 110 through the rotating shaft 146. The reset component 145 is sleeved on the rotating shaft 146 and abuts against the unlocking component 142.

[0340] In some embodiments, the reset member 145 can be a torsion spring. The reset member 145 is sleeved on the rotating shaft 146. When the unlocking drive member 143 drives the entire unlocking member 142 to rotate, the reset member 145 can store force. After the unlocking drive member 143 stops driving, the reset member 145, under the action of its own torsional force, drives the entire unlocking member 142 to rotate in the opposite direction, thereby enabling the unlocking member 142 to reset.

[0341] Of course, in other embodiments, the reset member 145 can also be a spring. If the reset member 145 is a spring, the elastic member 240 can be connected between the unlocking member 142 and the base station body 110. During the process of the unlocking drive member 143 driving the entire unlocking member 142 to rotate, the reset member 145 is compressed or stretched. After the unlocking drive member 143 stops driving, the reset member 145 drives the entire unlocking member 142 to rotate in the opposite direction under the action of its own restoring force, so that the unlocking member 142 can be reset.

[0342] Please refer to Figure 23, which shows a partial enlarged view of point K in Figure 21. In some embodiments, the unlocking drive 143 includes an unlocking drive part 143a and a connecting rope 143b, which is wound around the unlocking drive part 143a and connected to the unlocking member 142. One end of the connecting rope 143b is connected to the transmission part 142c, and the other end can be wound around the unlocking drive part 143a. When the unlocking drive part 143a is working, the connecting rope 143b is wound around the unlocking drive part 143a, and the length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move. This allows the unlocking part 142b to move in the opposite direction of the transmission part 142c, that is, to move closer to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212. The entire stop 210 can move relative to the slide plate 230, so that the stop 213 can open the slot 232 of the mating groove 231, allowing the locking part 128c to enter or disengage from the mating groove 231.

[0343] In other words, during the process of the unlocking mechanism 140 acting on the cleaning part 200, the unlocking drive part 143a rotates, causing the connecting rope 143b to wrap around the unlocking drive part 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move. This allows the unlocking part 142b to move in the opposite direction of the transmission part 142c, that is, to move closer to the cleaning part 200. This allows the unlocking part 142b to contact the trigger part 212, and the entire stop 210 to move relative to the slide plate 230, so that the stop 213 can open the slot 232 of the mating groove 231, allowing the locking part 128c to enter or disengage from the mating groove 231.

[0344] When the locking part 128c enters or exits the mating groove 231, the unlocking drive part 143a reverses or stops working. Under the action of its own restoring force, the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction, thereby enabling the unlocking part 142 to reset. The unlocking part 142b removes the force applied to the upper trigger part 212. Under the action of the restoring force of the elastic member 240, the stop part 213 can stop the groove 232 of the mating groove 231, thereby stopping the locking part 128c.

[0345] The above details the specific structures of the unlocking mechanism 140, the cloth changing mechanism 120, and the cleaning section 200. The following will detail the working principle of the entire cleaning base station 100: I. The process of removing the cleaning section 200 from the cleaning equipment 300: After the cleaning equipment 300 has been working for a period of time, the cleaning section 200 becomes dirty. Continuing to clean it may cause secondary contamination of the already cleaned surface. Therefore, the dirty cleaning section 200 needs to be cleaned. The cleaning equipment 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive unit 143a operates, causing the connecting rope 143b to wrap around the unlocking drive unit 143a. The length of the connecting rope 143b becomes shorter, thereby pulling the transmission unit 142. c moves, allowing the unlocking part 142b to move in the opposite direction to the transmission part 142c, that is, to move closer to the cleaning part 200. In this way, the unlocking part 142b can contact the trigger part 212, and the entire stop 210 can move relative to the slide plate 230, so that the stop part 213 can open the slot 232 of the mating groove 231, allowing the locking part 128c of the cleaning device 300 to disengage from the mating groove 231. The cleaning device 300 can then be removed from the base station body 110, and the process of removing the dirty cleaning part 200 from the cleaning device 300 is completed. II. Fabric changing mechanism 120 fabric changing process: The drive mechanism 130 drives the entire fabric changing mechanism 120 to move from the storage position to the changing position. The synchronization part 129 drives the fixing part 128 to slide into the mounting part 126, allowing the fixing part 128 to slide under the cleaning part 200, so that the locking part 128c of the fabric changing mechanism 120 can enter the mating groove 231. After the locking part 128c of the fabric changing mechanism 120 enters the mating groove 231, the unlocking drive part 143a stops working. Under the action of its own restoring force, the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction, thereby enabling the unlocking part 142 to reset. The unlocking part 142b removes the force applied to the trigger part 212. Under the action of the restoring force of the elastic member 240, the stop part 213 can stop the groove 232 of the mating groove 231, thereby stopping the locking part 128c.

[0346] The drive mechanism 130 drives the entire fabric changing mechanism 120 to the flipping position. The fabric changing mechanism 120 flips, and the flipping drive drives the positioning part and the fixing part 128 to flip as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are swapped, that is, the clean cleaning part 200 faces down (changing state), and the dirty cleaning part 200 faces up (storage state).

[0347] The drive mechanism 130 then moves the entire fabric changing mechanism 120 to the changing position. At this time, the clean cleaning part 200 is set downwards. The clean cleaning part 200 moves to the unlocking mechanism 140, and the unlocking drive part 143a works, causing the connecting rope 143b to wrap around the unlocking drive part 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move. This allows the unlocking part 142b to move in the opposite direction of the transmission part 142c, that is, to move closer to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212. The entire stop 210 can move relative to the slide plate 230, so that the stop 213 opens the slot 232 of the mating groove 231. The synchronizing part 129 can drive the fixing part 128 to slide and connect with the mounting part 126, so that the locking part 128c of the fabric changing mechanism 120 can disengage from the mating groove 231.

[0348] III. Cloth Removal Process of Cleaning Equipment 300: The drive mechanism 130 then drives the entire cloth changing mechanism 120 to the storage position. At this time, the cleaning equipment 300 returns to the cleaning base station 100. The locking part 128c of the cleaning device extends into the mating groove 231. The unlocking drive part 143a stops working. Under the action of its own restoring force, the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction, so that the unlocking part 142 can be reset. The unlocking part 142b removes the force applied to the trigger part 212. Under the action of the restoring force of the elastic part 240, the stop part 213 can stop the groove opening 232 of the mating groove 231, thereby stopping the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning equipment 300. The cleaning equipment 300 moves out of the cleaning base station 100 to work.

[0349] Thus, the cleaning part 200 of the cleaning equipment 300 has been replaced. If the cleaning part 200 of the cleaning equipment 300 needs to be replaced again, the above process can be repeated.

[0350] IV. Cleaning process of cleaning part 200: After the cleaning part 200 is replaced, the dirty cleaning part 200 is placed on the cloth changing mechanism 120 and is currently in the storage state. Then the drive mechanism 130 can drive the cloth changing mechanism 120 to move to the flipping position again. The cloth changing mechanism 120 flips, and the flipping drive drives the positioning part and the fixing part 128 to flip as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are flipped from the storage state to the replacement state.

[0351] The drive mechanism 130 then moves the cloth changing mechanism 120 to the changing position (washing tank 112) to clean the soiled cleaning part 200. After cleaning, the drive mechanism 130 can move the cloth changing mechanism 120 to the flipping position again. The cloth changing mechanism 120 flips, so that the cleaning cloth is in the storage position, and finally moves to the storage position. As for drying the cleaning part 200, it can be dried at the washing tank 112 or at the storage position.

[0352] Please refer to Figure 24, which shows a second-view structural schematic diagram of the cleaning system 10 provided in this embodiment of the present disclosure. Based on the same inventive concept, this embodiment of the present disclosure provides a cleaning system 10, which includes a cleaning device 300 and the aforementioned cleaning base station 100, wherein the cleaning device 300 can be accommodated in the cleaning base station 100.

[0353] Based on the same inventive concept, this disclosure also provides a method for replacing the cleaning unit 200, applied to the aforementioned cleaning base station 100. The specific structure of the cleaning base station 100 has been described in detail above, and will not be described in detail here. For the specific structure of the cleaning base station 100, please refer to the foregoing description. The specific steps of the method for replacing the cleaning unit 200 are as follows:

[0354] Please refer to Figure 25. In step S10, the cleaning unit 200 is removed from the cleaning device 300.

[0355] The cleaning unit 200 is a component used to process the work surface. After the cleaning equipment 300 returns to the cleaning base station 100, the unlocking mechanism 140 of the cleaning base station 100 removes the soiled cleaning unit 200. The specific disassembly process is as follows:

[0356] The cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive unit 143a is activated, causing the connecting rope 143b to wrap around the unlocking drive unit 143a. The length of the connecting rope 143b becomes shorter, which in turn pulls the transmission unit 142c to move. This allows the unlocking unit 142b to move in the opposite direction of the transmission unit 142c, that is, to move closer to the cleaning unit 200. In this way, the unlocking unit 142b can contact the trigger unit 212, and the entire stop 210 can move relative to the slide plate 230, so that the stop 213 can open the slot 232 of the mating groove 231. This allows the locking part 128c of the cleaning device 300 to disengage from the mating groove 231, and the cleaning device 300 can be removed from the base station body 110. The process of removing the dirty cleaning unit 200 from the cleaning device 300 is completed.

[0357] Step S11: Control the cloth changing mechanism 120 to move to the changing position and pick up the dirty cleaning part 200.

[0358] When the cleaning device 300 places the cleaning unit 200 inside the base station body 110 located in the cleaning base station 100, the cleaning device 300 may return to the cleaning base station 100 after a preset cleaning time has elapsed. Specifically, the cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive unit 143a is activated, causing the connecting rope 143b to wrap around the unlocking drive unit 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission unit 142c to move. This allows the unlocking unit 142b to move in the opposite direction of the transmission unit 142c, that is, to move closer to the cleaning unit 200. This allows the unlocking unit 142b to contact the trigger unit 212. The entire stop 210 can move relative to the sliding plate 230, so that the stop 213 can open the slot 232 of the mating groove 231. This allows the locking part 128c of the cleaning device 300 to disengage from the mating groove 231. The cleaning device 300 can then be removed from the base station body 110. The process of removing the dirty cleaning unit 200 from the cleaning device 300 is completed.

[0359] The drive mechanism 130 moves the entire fabric changing mechanism 120 from the storage position to the changing position. The synchronization part 129 drives the fixing part 128 to slide into the mounting part 126, allowing the fixing part 128 to slide under the cleaning part 200, so that the locking part 128c of the fabric changing mechanism 120 can enter the mating groove 231. After the locking part 128c of the fabric changing mechanism 120 enters the mating groove 231, the unlocking drive part 143a stops working. Under the action of its own restoring force, the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction, so that the unlocking part 142 can be reset. The unlocking part 142b removes the force applied to the trigger part 212. Under the action of the restoring force of the elastic member 240, the stop part 213 can stop the groove 232 of the mating groove 231, thereby stopping the locking part 128c.

[0360] Step S12: Control the fabric changing mechanism 120 to move to the flip position, flip the fabric changing mechanism 120 so that the clean cleaning part 200 is flipped to the replacement state.

[0361] After the cleaning equipment 300 is withdrawn from the cleaning base station 100, the control drive mechanism 130 is activated. The drive mechanism 130 drives the entire cloth changing mechanism 120 to the flip position. The cloth changing mechanism 120 flips, and the flipping drive drives the positioning part and the fixing part 128 to flip as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are swapped, that is, the clean cleaning part 200 faces down (changing state), and the dirty cleaning part 200 faces up (storage state).

[0362] Step S13: Control the fabric changing mechanism 120 to move to the changing position again, and place the clean cleaning part 200 in the changing position.

[0363] The drive mechanism 130 then moves the entire fabric changing mechanism 120 to the changing position. At this time, the clean cleaning part 200 is set downwards. The clean cleaning part 200 moves to the unlocking mechanism 140, and the unlocking drive part 143a works, so that the connecting rope 143b is wrapped around the unlocking drive part 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, move closer to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212. The entire stop 210 can move relative to the slide plate 230, so that the stop part 213 can open the slot 232 of the mating groove 231. The synchronizing part 129 can drive the fixing part 128 and the mounting part 126 to slide and connect, so that the locking part 128c of the fabric changing mechanism 120 can disengage from the mating groove 231.

[0364] In step S14, the cloth changing mechanism 120 places the clean cleaning part 200 at the changing position cleaning base station 100 and triggers a control signal so that the cleaning equipment 300 can return to the cleaning base station 100.

[0365] After the cloth changing mechanism 120 places the clean cleaning part 200 in the changing position, the cleaning base station 100 can trigger a control signal, so that the cleaning 300 receives the control signal and returns to the cleaning base station 100. The locking part 128c of the cleaning device 300 extends into the mating groove 231, the unlocking drive part 143a stops working, and the reset part 145, under its own restoring force, drives the entire unlocking part 142 to rotate in the opposite direction, so that the unlocking part 142 can be reset. The unlocking part 142b removes the force applied to the trigger part 212. Under the restoring force of the elastic member 240, the stop part 213 can stop the groove opening 232 of the mating groove 231, and thus stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300. The cleaning device 300 moves out of the cleaning base station 100 to work.

[0366] When the cloth-changing mechanism 120 places the clean cleaning section 200 in the replacement position, it means that the current cleaning base station 100 has replaced the dirty cleaning section 200 with a clean cleaning section 200, and the cleaning equipment 300 can obtain the clean cleaning section 200 from the cleaning base station 100.

[0367] When the cloth changing mechanism 120 places the clean cleaning unit 200 in the changing position, it triggers a control signal. The control signal can be sent directly to the cleaning equipment 300 via the cleaning base station 100, or the server can receive the control signal after the cleaning base station 100 triggers the control signal and then send the control signal to the cleaning equipment 300.

[0368] Step S15: Install the clean cleaning unit 200 onto the cleaning equipment 300.

[0369] The unlocking mechanism 140 secures the clean cleaning unit 200 to the cleaning device 300, as follows:

[0370] The drive mechanism 130 then drives the entire cloth changing mechanism 120 to the storage position. At this time, the cleaning device 300 returns to the cleaning base station 100. The locking part 128c of the cleaning device extends into the mating groove 231. The unlocking drive part 143a stops working. Under the action of its own restoring force, the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction, so that the unlocking part 142 can be reset. The unlocking part 142b removes the force applied to the trigger part 212. Under the action of the restoring force of the elastic member 240, the stop part 213 can stop the groove 232 of the mating groove 231, and then stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300. The cleaning device 300 moves out of the cleaning base station 100 to work.

[0371] Step S16: Control the fabric changing mechanism 120 to place the soiled cleaning part 200 into the washing tank 112.

[0372] After the cleaning equipment 300 obtains a clean cleaning section 200, the cleaning equipment 200 will move out of the cleaning base station 100 to continue cleaning the surface. The cleaning section 200 removed from the cleaning equipment 300 is left on the cloth changing mechanism 120. Since the cleaning section 200 will become dirty again during the cleaning process, it needs to be replaced. The removed cleaning section 200 needs to be cleaned to prepare for the next replacement of the cleaning equipment 200.

[0373] After the cleaning part 200 is replaced, the dirty cleaning part 200 is placed on the cloth changing mechanism 120 and is currently in the storage state. Then the drive mechanism 130 can drive the cloth changing mechanism 120 to move to the flipping position again. The cloth changing mechanism 120 flips, and the flipping drive drives the positioning part and the fixing part 128 to flip as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are flipped from the storage state to the replacement state.

[0374] The drive mechanism 130 then drives the cloth changing mechanism 120 to move to the replacement position (cleaning tank 112), which can clean the dirty cleaning section 200.

[0375] Step S17: Control the cleaning base station 100 to perform a cleaning procedure and / or a drying procedure to process the dirty cleaning section 200 into a clean cleaning section 200.

[0376] The cleaning base station 100 is controlled to perform cleaning and / or drying procedures, which can clean and / or dry the cleaning unit 200.

[0377] Controlling the cleaning base station 100 to execute cleaning and / or drying procedures can be done by the cleaning base station 100 executing the cleaning procedure, the cleaning base station 100 executing the drying procedure, or the cleaning base station 100 executing the cleaning procedure first and then the drying procedure.

[0378] In step S18, control the fabric changing mechanism 120 to move to the flip position and control the fabric changing mechanism 120 to flip so that the clean cleaning part 200 is in the storage state.

[0379] After the cleaning is completed, the dirty cleaning section 200 becomes a clean cleaning section 200. Then the drive mechanism 130 can drive the cloth changing mechanism 120 to move to the flip position again. The cloth changing mechanism 120 flips, so that the cleaning section 200 is in the storage position.

[0380] Step S19: Control the cloth changing mechanism 120 to the storage position to store the clean cleaning part 200.

[0381] Since the cleaning time of cleaning unit 200 may be less than the working time required for cleaning equipment 300 to replace cleaning unit 200, that is, after cleaning unit 200 is cleaned, the cleaning unit 200 currently in use by cleaning equipment 300 has not yet reached the point where it needs to be replaced, and the cleaned cleaning unit 200 can then be moved to the storage location. As for drying cleaning unit 200, it can be dried in the cleaning tank 112 or at the storage location.

[0382] Based on the same inventive concept, this disclosure also provides a cleaning method for the cleaning unit 200, applied to the cleaning base station 100. The specific steps of the cleaning method for the cleaning unit 200 are as follows:

[0383] Please refer to Figure 26. In step S21, the fabric changing mechanism 120 is controlled to place the soiled cleaning section 200 into the cleaning tank 112.

[0384] When the cleaning equipment 300 is out of service, if a dirty cleaning part 200 is fixed on the cloth changing mechanism 120, the dirty cleaning part 200 can be cleaned. The drive mechanism 130 can move the cloth changing mechanism 120 to the flipping position. The cloth changing mechanism 120 flips, and the flipping drive causes the positioning part and the fixing part 128 to flip as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are flipped from the storage state to the replacement state.

[0385] The drive mechanism 130 then drives the cloth changing mechanism 120 to move to the replacement position (cleaning tank 112), which can clean the dirty cleaning section 200.

[0386] Step S22: Control the cleaning base station 100 to perform a cleaning procedure to process the dirty cleaning section 200 into a clean cleaning section 200.

[0387] The cleaning base station 100 can control the degree of cleaning, and the cleaning unit 200 can be cleaned.

[0388] Step S23: Control the fabric changing mechanism 120 to move to the flip position and control the fabric changing mechanism 120 to flip so that the clean cleaning part 200 is in the storage state.

[0389] After the cleaning is completed, the dirty cleaning section 200 becomes a clean cleaning section 200. Then the drive mechanism 130 can drive the cloth changing mechanism 120 to move to the flip position again. The cloth changing mechanism 120 flips, so that the cleaning section 200 is in the storage position.

[0390] Step S24: Control the fabric changing mechanism 120 to the storage position to store the clean cleaning part 200.

[0391] Since the cleaning time of cleaning unit 200 may be less than the working time required for cleaning equipment 300 to replace cleaning unit 200, that is, after cleaning unit 200 is cleaned, the cleaning unit 200 currently in use by cleaning equipment 300 has not yet reached the point where it needs to be replaced, and the cleaned cleaning unit 200 can then be moved to the storage location. As for drying cleaning unit 200, it can be dried in the cleaning tank 112 or at the storage location.

[0392] It should be noted that the execution process of steps S15-S18 and steps S21-S24 is the same, but the triggering conditions are different. Steps S15-S18 are executed immediately after the cleaning unit 200 is replaced, while steps S21-S24 can be executed according to the cleaning instruction or other triggering conditions.

[0393] Based on the same inventive concept, this disclosure also provides a method for replacing the cleaning part 200, applied to a cleaning device 300. The method for replacing the cleaning part 200 includes:

[0394] Please refer to Figure 27. In step S31, determine whether the cleaning section 200 of the cleaning equipment 300 meets the replacement conditions.

[0395] Whether the cleaning section 200 of the cleaning equipment 300 meets the replacement conditions can be determined during the cleaning process of the cleaning equipment 300, before the cleaning process is executed, or after the cleaning equipment 300 has completed the cleaning process.

[0396] Replacement conditions refer to situations where the cleaning section 200 of the cleaning equipment 300 is currently quite dirty. If the cleaning section 200 is used directly to clean the surface, it may cause secondary contamination of the already cleaned surface. Therefore, the dirty cleaning section 200 needs to be cleaned. In other words, it can be determined whether the cleaning section 200 of the cleaning equipment 300 meets the replacement conditions before or during the cleaning procedure.

[0397] There are multiple ways to determine whether the cleaning unit 200 of the cleaning equipment 300 has met the replacement conditions. If any one of these conditions is met, the cleaning unit 200 of the cleaning equipment 300 is considered to have met the replacement conditions. Specifically, three determination methods can be provided: the first method includes steps S31a and S31b; the second method includes steps S31c and S31d; and the third method includes steps S31e and S31f.

[0398] Please refer to Figure 28, step S31a, obtain the working time of the cleaning equipment 300 performing the cleaning procedure.

[0399] In some implementations, the working time refers to the working time of the cleaning section 200 of the cleaning equipment 300, not the cleaning time of the entire cleaning equipment 300. During the cleaning process, the cleaning equipment 300 will replace the cleaning section 200. The working time is reset to zero every time the cleaning section 200 is replaced. That is, the timer starts after the cleaning equipment 300 has replaced the cleaning section 200, or after the cleaning equipment 300 has replaced the cleaning section 200 and exited the cleaning base station 100.

[0400] In step S31b, if the working time is greater than or equal to the preset time, it is determined that the cleaning section 200 of the cleaning equipment 300 has met the replacement conditions.

[0401] In some implementations, the preset time can be set by the user or by the cleaning equipment 300 at the factory. The preset time refers to the time after which the cleaning unit 200 may become dirty and cause secondary contamination to the already cleaned surface.

[0402] If the working time is greater than or equal to the preset time, it means that if the current cleaning section 200 continues to clean, it may cause secondary pollution to the already cleaned surface. Therefore, it can be determined that the cleaning section 200 of the cleaning equipment 300 has reached the replacement condition.

[0403] Please refer to Figure 28, step S31c, to obtain the work record of cleaning equipment 300.

[0404] During the cleaning process of the cleaning equipment 300, the work record of the cleaning equipment 300 is obtained. The work record refers to the cleaning area of ​​the cleaning equipment 300 during the cleaning process, or the area specified in the cleaning map.

[0405] In step S31d, if the work record of the cleaning equipment 300 reaches a cleaning area, it is determined that the cleaning part 200 of the cleaning equipment 300 has reached the replacement condition.

[0406] The cleaning area can be set by the user or set by the cleaning equipment 300 at the factory.

[0407] The cleaning map can include areas such as the living room, dining room, kitchen, bedroom A, and bedroom B. The cleaning area can be any of these areas or a user-defined area. For example, if cleaning equipment 300 is currently cleaning the kitchen, and the kitchen cleaning is complete, it means that the work record has reached a cleaning area, and cleaning equipment 300 has completed cleaning one area. If cleaning unit 200 is dirty, it can be determined that cleaning unit 200 has met the conditions for replacement.

[0408] Please refer to Figure 30, step S31e, to obtain the degree of dirtiness of the cleaning device 300.

[0409] The degree of turbidity also refers to the degree of turbidity of the cleaning section 200 of the cleaning equipment 300. The cleaning section 200 is mainly used for water absorption during the cleaning process. The humidity of the cleaning equipment 300 can be detected by a humidity sensor to determine the degree of turbidity of the cleaning equipment 300.

[0410] Furthermore, during the cleaning process, some impurities will be absorbed onto the cleaning section 200. The degree of dirtiness of the cleaning section 200 can be determined by measuring its weight.

[0411] In step S31f, if the degree of turbidity is greater than or equal to the set degree, it is determined that the cleaning section 200 of the cleaning equipment 300 has reached the replacement condition.

[0412] If the level of dirtiness is greater than or equal to the set level, it means that the current cleaning section 200 is already dirty. Further cleaning will cause secondary pollution to the already cleaned areas. The cleaning section 200 is seriously dirty and needs to be replaced. Therefore, the cleaning section 200 is determined to meet the replacement conditions.

[0413] Please refer to Figure 27. In step S32a, when the cleaning section 200 of the cleaning equipment 300 meets the replacement conditions, it is determined whether the cleaning base station 100 has performed a cleaning procedure and / or a drying procedure.

[0414] When the cleaning base station 100 is performing a cleaning procedure and / or a drying procedure, the cleaning section 200 being cleaned is located in the cleaning tank 112 (change position). If the cleaning equipment 300 directly enters the cleaning base station 100, it will interfere with the cleaning section 200 located in the change position, which may cause damage or malfunction to the cleaning equipment 300 and the cleaning base station 100.

[0415] In step S32b, if the cleaning base station 100 does not perform the cleaning and drying procedures, the cleaning equipment 300 is controlled to return to the cleaning base station 100.

[0416] If the cleaning base station 100 does not perform the cleaning and drying procedures, it means that the cleaning unit 200 is not located in the cleaning tank 112 (change position), and there are no obstructions above the cleaning tank 112. The cleaning equipment 300 can return to the cleaning base station 100.

[0417] In step S32c, if the cleaning base station 100 performs a cleaning or drying procedure, the cleaning equipment 300 is controlled to wait until the cleaning and drying procedures are completed.

[0418] When the cleaning base station 100 is performing a cleaning and / or drying procedure, the cleaning unit 200 being cleaned is located in the cleaning tank 112 (change position). If the cleaning equipment 300 directly enters the cleaning base station 100, it will interfere with the cleaning unit 200 located in the change position, which may cause damage or malfunction to both the cleaning equipment 300 and the cleaning base station 100. Therefore, the cleaning equipment 300 should wait. The waiting position can be near the cleaning base station 100 or at the last cleaning position of the cleaning equipment 300.

[0419] When the cleaning part 200 of the cleaning equipment 300 reaches the replacement condition, the cleaning equipment 300 can return to the cleaning base station 100 to replace the dirty cleaning part 200, so that the cleaning part 200 of the cleaning equipment 300 is always in a relatively clean state during the cleaning process, thereby improving the cleaning effect of the cleaning equipment 300.

[0420] Step S34: Remove the dirty cleaning part 200 from the cleaning equipment 300.

[0421] After the cleaning equipment 300 returns to the cleaning base station 100, the unlocking mechanism 140 of the cleaning base station 100 removes the soiled cleaning unit 200. The specific disassembly process is as follows:

[0422] The cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive unit 143a is activated, causing the connecting rope 143b to wrap around the unlocking drive unit 143a. The length of the connecting rope 143b becomes shorter, which in turn pulls the transmission unit 142c to move. This allows the unlocking unit 142b to move in the opposite direction of the transmission unit 142c, that is, to move closer to the cleaning unit 200. In this way, the unlocking unit 142b can contact the trigger unit 212, and the entire stop 210 can move relative to the slide plate 230, so that the stop 213 can open the slot 232 of the mating groove 231. This allows the locking part 128c of the cleaning device 300 to disengage from the mating groove 231, and the cleaning device 300 can be removed from the base station body 110. The process of removing the dirty cleaning unit 200 from the cleaning device 300 is completed.

[0423] Step S35: Control the cleaning equipment 300 to exit the cleaning base station 100.

[0424] After the soiled cleaning unit 200 is removed, the fabric changing mechanism 120 needs to retrieve the soiled cleaning unit 200 and place the clean cleaning unit 200 into the cleaning tank 112 (changing position). The cleaning equipment 300 needs to first withdraw from the cleaning base station 100 to avoid interference between the cleaning base station 100 and the fabric changing mechanism 120. Therefore, after removing the soiled cleaning unit 200, the cleaning equipment 300 withdraws from the cleaning base station 100.

[0425] In step S36, the cleaning device 300 responds to the control signal and returns to the cleaning base station 100. The control signal indicates that the cleaning base station 100 has replaced the dirty cleaning section 200 with a clean cleaning section 200.

[0426] After the cleaning equipment 300 exits the cleaning base station 100, the cloth changing mechanism 120 of the cleaning base station 100 begins to change the cleaning part 200, and triggers a control signal after the change is completed. In response to the control signal, the cleaning equipment 300 returns to the cleaning base station 100.

[0427] Step S37: Obtain a clean cleaning unit 200.

[0428] After the cleaning equipment 300 enters the cleaning base station 100, the unlocking mechanism 140 fixes the clean cleaning part 200 to the cleaning equipment 300. The specific process is as follows:

[0429] The drive mechanism 130 then drives the entire cloth changing mechanism 120 to the storage position. At this time, the cleaning device 300 returns to the cleaning base station 100. The locking part 128c of the cleaning device extends into the mating groove 231. The unlocking drive part 143a stops working. Under the action of its own restoring force, the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction, so that the unlocking part 142 can be reset. The unlocking part 142b removes the force applied to the trigger part 212. Under the action of the restoring force of the elastic member 240, the stop part 213 can stop the groove 232 of the mating groove 231, and then stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300. The cleaning device 300 moves out of the cleaning base station 100 to work.

[0430] In step S38, the cleaning device 300 exits the cleaning base station 100 and executes the cleaning procedure.

[0431] After obtaining a clean cleaning unit 200, the cleaning device 300 exits the cleaning base station 100 and begins or continues the cleaning procedure. Steps S31-S38 are repeated.

[0432] Based on the same inventive concept, this disclosure provides a method for replacing a cleaning unit 200, applied to a cleaning system 10. The cleaning system 10 includes a cleaning base station 100 and a cleaning device 300. The method for replacing the cleaning unit 200 includes:

[0433] Please refer to Figure 31. In step S41, it is determined whether the cleaning section 200 of the cleaning equipment 300 meets the replacement conditions.

[0434] Whether the cleaning section 200 of the cleaning equipment 300 meets the replacement conditions can be determined during the cleaning process of the cleaning equipment 300, before the cleaning process is executed, or after the cleaning equipment 300 has completed the cleaning process.

[0435] Replacement conditions refer to situations where the cleaning section 200 of the cleaning equipment 300 is currently quite dirty. If the cleaning section 200 is used directly to clean the surface, it may cause secondary contamination of the already cleaned surface. Therefore, the dirty cleaning section 200 needs to be cleaned. In other words, it can be determined whether the cleaning section 200 of the cleaning equipment 300 meets the replacement conditions before or during the cleaning procedure.

[0436] There are multiple ways to determine whether the cleaning unit 200 of the cleaning equipment 300 has met the replacement conditions. If any one of these conditions is met, the cleaning unit 200 of the cleaning equipment 300 is considered to have met the replacement conditions. Specifically, three determination methods can be provided: the first method includes steps S41a and S41b; the second method includes steps S41c and S41d; and the third method includes steps S41e and S41f.

[0437] Please refer to Figure 32, step S41a, to obtain the working time of the cleaning equipment 300 in performing the cleaning procedure.

[0438] The working time refers to the working time of the cleaning section 200 of the cleaning equipment 300, not the cleaning time of the entire cleaning equipment 300. During the cleaning process, the cleaning equipment 300 will replace the cleaning section 200. The working time is reset to zero every time the cleaning section 200 is replaced. That is, the timer starts after the cleaning equipment 300 has replaced the cleaning section 200, or after the cleaning equipment 300 has replaced the cleaning section 200 and exited the cleaning base station 100.

[0439] In step S41b, if the working time is greater than or equal to the preset time, it is determined that the cleaning section 200 of the cleaning equipment 300 has met the replacement conditions.

[0440] The preset time can be set by the user or by the cleaning equipment 300 at the factory. The preset time refers to the time after which the cleaning unit 200 may become dirty again, potentially causing secondary contamination of the already cleaned surfaces.

[0441] If the working time is greater than or equal to the preset time, it means that if the current cleaning section 200 continues to clean, it may cause secondary pollution to the already cleaned surface. Therefore, it can be determined that the cleaning section 200 of the cleaning equipment 300 has reached the replacement condition.

[0442] Please refer to Figure 33, step S41c, to obtain the work record of cleaning equipment 300.

[0443] During the cleaning process of the cleaning equipment 300, the work record of the cleaning equipment 300 is obtained. The work record refers to the cleaning area of ​​the cleaning equipment 300 during the cleaning process, or the area specified in the cleaning map.

[0444] In step S41d, if the work record of the cleaning equipment 300 reaches a cleaning area, it is determined that the cleaning part 200 of the cleaning equipment 300 has reached the replacement condition.

[0445] The cleaning area can be set by the user or set by the cleaning equipment 300 at the factory.

[0446] The cleaning map can include areas such as the living room, dining room, kitchen, bedroom A, and bedroom B. The cleaning area can be any of these areas or a user-defined area. For example, if cleaning equipment 300 is currently cleaning the kitchen, and the kitchen cleaning is complete, it means that the work record has reached a cleaning area, and cleaning equipment 300 has completed cleaning one area. If cleaning unit 200 is dirty, it can be determined that cleaning unit 200 has met the conditions for replacement.

[0447] Please refer to Figure 34, step S41e, to obtain the degree of dirtiness of the cleaning device 300.

[0448] The degree of turbidity also refers to the degree of turbidity of the cleaning section 200 of the cleaning equipment 300. The cleaning section 200 is mainly used for water absorption during the cleaning process. The humidity of the cleaning equipment 300 can be detected by a humidity sensor to determine the degree of turbidity of the cleaning equipment 300.

[0449] Furthermore, during the cleaning process, some impurities will be absorbed onto the cleaning section 200. The degree of dirtiness of the cleaning section 200 can be determined by measuring its weight.

[0450] In step S41f, if the degree of turbidity is greater than or equal to the set degree, it is determined that the cleaning section 200 of the cleaning equipment 300 has reached the replacement condition.

[0451] If the level of dirtiness is greater than or equal to the set level, it means that the current cleaning section 200 is already dirty. Further cleaning will cause secondary pollution to the already cleaned areas. The cleaning section 200 is seriously dirty and needs to be replaced. Therefore, the cleaning section 200 is determined to meet the replacement conditions.

[0452] Please refer to Figure 31. In step S42a, when the cleaning section 200 of the cleaning equipment 300 meets the replacement conditions, it is determined whether the cleaning base station 100 has performed a cleaning procedure and / or a drying procedure.

[0453] When the cleaning base station 100 is performing a cleaning procedure and / or a drying procedure, the cleaning section 200 being cleaned is located in the cleaning tank 112 (change position). If the cleaning equipment 300 directly enters the cleaning base station 100, it will interfere with the cleaning section 200 located in the change position, which may cause damage or malfunction to the cleaning equipment 300 and the cleaning base station 100.

[0454] In step S42b, if the cleaning base station 100 does not perform the cleaning and drying procedures, the cleaning equipment 300 is controlled to return to the cleaning base station 100.

[0455] If the cleaning base station 100 does not perform the cleaning and drying procedures, it means that the cleaning unit 200 is not located in the cleaning tank 112 (change position), there are no obstructions above the cleaning tank, and the cleaning equipment 300 can return to the cleaning base station 100.

[0456] In step S42c, if the cleaning base station 100 performs a cleaning or drying procedure, the cleaning equipment 300 is controlled to wait until the cleaning and drying procedures are completed.

[0457] When the cleaning base station 100 is performing a cleaning and / or drying procedure, the cleaning unit 200 being cleaned is located in the cleaning tank 112 (change position). If the cleaning equipment 300 directly enters the cleaning base station 100, it will interfere with the cleaning unit 200 located in the change position, which may cause damage or malfunction to both the cleaning equipment 300 and the cleaning base station 100. Therefore, the cleaning equipment 300 should wait. The waiting position can be near the cleaning base station 100 or at the last cleaning position of the cleaning equipment 300.

[0458] When the cleaning part 200 of the cleaning equipment 300 reaches the replacement condition, the cleaning equipment 300 can return to the cleaning base station 100 to replace the dirty cleaning part 200, so that the cleaning part 200 of the cleaning equipment 300 is always in a relatively clean state during the cleaning process, thereby improving the cleaning effect of the cleaning equipment 300.

[0459] Step S43: Remove the dirty cleaning part 200 from the cleaning equipment 300.

[0460] After the cleaning equipment 300 returns to the cleaning base station 100, the unlocking mechanism 140 of the cleaning base station 100 removes the soiled cleaning unit 200. The specific disassembly process is as follows:

[0461] The cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive unit 143a is activated, causing the connecting rope 143b to wrap around the unlocking drive unit 143a. The length of the connecting rope 143b becomes shorter, which in turn pulls the transmission unit 142c to move. This allows the unlocking unit 142b to move in the opposite direction of the transmission unit 142c, that is, to move closer to the cleaning unit 200. In this way, the unlocking unit 142b can contact the trigger unit 212, and the entire stop 210 can move relative to the slide plate 230, so that the stop 213 can open the slot 232 of the mating groove 231. This allows the locking part 128c of the cleaning device 300 to disengage from the mating groove 231, and the cleaning device 300 can be removed from the base station body 110. The process of removing the dirty cleaning unit 200 from the cleaning device 300 is completed.

[0462] Step S44: Control the cleaning equipment 300 to exit the cleaning base station 100.

[0463] After the soiled cleaning unit 200 is removed, the fabric changing mechanism 120 needs to retrieve the soiled cleaning unit 200 and place the clean cleaning unit 200 into the cleaning tank 112 (changing position). The cleaning equipment 300 needs to first withdraw from the cleaning base station 100 to avoid interference between the cleaning base station 100 and the fabric changing mechanism 120. Therefore, after removing the soiled cleaning unit 200, the cleaning equipment 300 withdraws from the cleaning base station 100.

[0464] In step S45, the cloth replacement mechanism 120 of the cleaning base station 100 replaces the dirty cleaning section 200 with a clean cleaning section 200 and triggers a control signal.

[0465] Please refer to Figure 35. In some embodiments, step S45 may include steps S45a, S45b, S45c and S45d.

[0466] In step S45a, the cloth changing mechanism 120 is controlled to move to the changing position, and the dirty cleaning part 200 removed from the cleaning equipment 300 is obtained.

[0467] When the cleaning device 300 places the cleaning unit 200 inside the base station body 110 located in the cleaning base station 100, the cleaning device 300 may return to the cleaning base station 100 after a preset cleaning time has elapsed. Specifically, the cleaning device 300 returns to the cleaning base station 100 and moves to the top of the cleaning tank 112 (changing position). The unlocking drive unit 143a is activated, causing the connecting rope 143b to wrap around the unlocking drive unit 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission unit 142c to move. This allows the unlocking unit 142b to move in the opposite direction of the transmission unit 142c, that is, to move closer to the cleaning unit 200. This allows the unlocking unit 142b to contact the trigger unit 212. The entire stop 210 can move relative to the sliding plate 230, so that the stop 213 can open the slot 232 of the mating groove 231. This allows the locking part 128c of the cleaning device 300 to disengage from the mating groove 231. The cleaning device 300 can then be removed from the base station body 110. The process of removing the dirty cleaning unit 200 from the cleaning device 300 is completed.

[0468] The drive mechanism 130 moves the entire fabric changing mechanism 120 from the storage position to the changing position. The synchronization part 129 drives the fixing part 128 to slide into the mounting part 126, allowing the fixing part 128 to slide under the cleaning part 200, so that the locking part 128c of the fabric changing mechanism 120 can enter the mating groove 231. After the locking part 128c of the fabric changing mechanism 120 enters the mating groove 231, the unlocking drive part 143a stops working. Under the action of its own restoring force, the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction, so that the unlocking part 142 can be reset. The unlocking part 142b removes the force applied to the trigger part 212. Under the action of the restoring force of the elastic member 240, the stop part 213 can stop the groove 232 of the mating groove 231, thereby stopping the locking part 128c.

[0469] Step S45b: Control the fabric changing mechanism 120 to move to the flip position, flip the fabric changing mechanism 120 so that the clean cleaning part 200 is flipped to the replacement state.

[0470] After the cleaning equipment 300 is withdrawn from the cleaning base station 100, the control drive mechanism 130 is activated. The drive mechanism 130 drives the entire cloth changing mechanism 120 to the flip position. The cloth changing mechanism 120 flips, and the flipping drive drives the positioning part and the fixing part 128 to flip as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are swapped, that is, the clean cleaning part 200 faces down (changing state), and the dirty cleaning part 200 faces up (storage state).

[0471] In step S45c, control the fabric changing mechanism 120 to move back to the changing position and place the clean cleaning part 200 in the changing position.

[0472] The drive mechanism 130 then moves the entire fabric changing mechanism 120 to the changing position. At this time, the clean cleaning part 200 is set downwards. The clean cleaning part 200 moves to the unlocking mechanism 140, and the unlocking drive part 143a works, so that the connecting rope 143b is wrapped around the unlocking drive part 143a. The length of the connecting rope 143b becomes shorter, pulling the transmission part 142c to move, so that the unlocking part 142b can move in the opposite direction of the transmission part 142c, that is, move closer to the cleaning part 200, so that the unlocking part 142b can contact the trigger part 212. The entire stop 210 can move relative to the slide plate 230, so that the stop part 213 can open the slot 232 of the mating groove 231. The synchronizing part 129 can drive the fixing part 128 and the mounting part 126 to slide and connect, so that the locking part 128c of the fabric changing mechanism 120 can disengage from the mating groove 231.

[0473] In step S45d, the cloth changing mechanism 120 places the clean cleaning part 200 at the changing position cleaning base station 100 and triggers a control signal so that the cleaning equipment 300 can return to the cleaning base station 100.

[0474] After the cloth changing mechanism 120 places the clean cleaning part 200 in the changing position, the cleaning base station 100 can trigger a control signal, so that the cleaning 300 receives the control signal and returns to the cleaning base station 100. The locking part 128c of the cleaning device 300 extends into the mating groove 231, the unlocking drive part 143a stops working, and the reset part 145, under its own restoring force, drives the entire unlocking part 142 to rotate in the opposite direction, so that the unlocking part 142 can be reset. The unlocking part 142b removes the force applied to the trigger part 212. Under the restoring force of the elastic member 240, the stop part 213 can stop the groove opening 232 of the mating groove 231, and thus stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300. The cleaning device 300 moves out of the cleaning base station 100 to work.

[0475] When the cloth-changing mechanism 120 places the clean cleaning section 200 in the replacement position, it means that the current cleaning base station 100 has replaced the dirty cleaning section 200 with a clean cleaning section 200, and the cleaning equipment 300 can obtain the clean cleaning section 200 from the cleaning base station 100.

[0476] When the cloth changing mechanism 120 places the clean cleaning unit 200 in the changing position, it triggers a control signal. The control signal can be sent directly to the cleaning equipment 300 via the cleaning base station 100, or the server can receive the control signal after the cleaning base station 100 triggers the control signal and then send the control signal to the cleaning equipment 300.

[0477] In step S46, the cleaning device 300 responds to the control signal and returns to the cleaning base station 100.

[0478] After the cleaning equipment 300 exits the cleaning base station 100, the cloth changing mechanism 120 of the cleaning base station 100 begins to change the cleaning part 200, and triggers a control signal after the change is completed. In response to the control signal, the cleaning equipment 300 returns to the cleaning base station 100.

[0479] Step S47, the cleaning equipment 300 obtains a clean cleaning section 20.

[0480] After the cleaning equipment 300 enters the cleaning base station 100, the unlocking mechanism 140 fixes the clean cleaning part 200 to the cleaning equipment 300. The specific process is as follows:

[0481] The drive mechanism 130 then drives the entire cloth changing mechanism 120 to the storage position. At this time, the cleaning device 300 returns to the cleaning base station 100. The locking part 128c of the cleaning device extends into the mating groove 231. The unlocking drive part 143a stops working. Under the action of its own restoring force, the reset part 145 drives the entire unlocking part 142 to rotate in the opposite direction, so that the unlocking part 142 can be reset. The unlocking part 142b removes the force applied to the trigger part 212. Under the action of the restoring force of the elastic member 240, the stop part 213 can stop the groove 232 of the mating groove 231, and then stop the locking part 128c, so that the clean cleaning part 200 can be locked on the cleaning device 300. The cleaning device 300 moves out of the cleaning base station 100 to work.

[0482] Step S48: Control the cleaning device 300 to exit the cleaning base station 100, and the cleaning device 300 executes the cleaning procedure.

[0483] After obtaining a clean cleaning unit 200, the cleaning device 300 exits the cleaning base station 100 and begins or continues the cleaning procedure.

[0484] Step S49: Cleaning base station 100 performs cleaning steps.

[0485] Please refer to Figure 36. In some embodiments, step S49 may include steps S49a, S49b, S49c and S49d.

[0486] In step S49a, the fabric changing mechanism 120 is controlled to place the soiled cleaning section 200 into the washing tank 112.

[0487] After the cleaning equipment 300 obtains a clean cleaning section 200, the cleaning equipment 200 will move out of the cleaning base station 100 to continue cleaning the surface. The cleaning section 200 removed from the cleaning equipment 300 is left on the cloth changing mechanism 120. Since the cleaning section 200 will become dirty again during the cleaning process, it needs to be replaced. The removed cleaning section 200 needs to be cleaned to prepare for the next replacement of the cleaning equipment 200.

[0488] After the cleaning part 200 is replaced, the dirty cleaning part 200 is placed on the cloth changing mechanism 120 and is currently in the storage state. Then the drive mechanism 130 can drive the cloth changing mechanism 120 to move to the flipping position again. The cloth changing mechanism 120 flips, and the flipping drive drives the positioning part and the fixing part 128 to flip as a whole, so that the clean cleaning part 200 and the dirty cleaning part 200 are flipped from the storage state to the replacement state.

[0489] The drive mechanism 130 then drives the cloth changing mechanism 120 to move to the replacement position (cleaning tank 112), which can clean the dirty cleaning section 200.

[0490] In step S49b, the cleaning base station 100 is controlled to perform a cleaning procedure and / or a drying procedure to process the dirty cleaning section 200 into a clean cleaning section 200.

[0491] The cleaning base station 100 is controlled to perform cleaning and / or drying procedures, which can clean and / or dry the cleaning unit 200.

[0492] Controlling the cleaning base station 100 to execute cleaning and / or drying procedures can be done by the cleaning base station 100 executing the cleaning procedure, the cleaning base station 100 executing the drying procedure, or the cleaning base station 100 executing the cleaning procedure first and then the drying procedure.

[0493] In step S49c, control the fabric changing mechanism 120 to move to the flip position and control the fabric changing mechanism 120 to flip so that the clean cleaning part 200 is in the storage state.

[0494] After the cleaning is completed, the dirty cleaning section 200 becomes a clean cleaning section 200. Then the drive mechanism 130 can drive the cloth changing mechanism 120 to move to the flip position again. The cloth changing mechanism 120 flips, so that the cleaning section 200 is in the storage position.

[0495] In step S49d, control the cloth changing mechanism 120 to the storage position to store the clean cleaning part 200.

[0496] Since the cleaning time of cleaning unit 200 may be less than the working time required for cleaning equipment 300 to replace cleaning unit 200, that is, after cleaning unit 200 is cleaned, the cleaning unit 200 currently in use by cleaning equipment 300 has not yet reached the point where it needs to be replaced, and the cleaned cleaning unit 200 can then be moved to the storage location. As for drying cleaning unit 200, it can be dried in the cleaning tank 112 or at the storage location.

[0497] It should be noted that the cleaning procedure and the cleaning step must overlap in time at least partially. Since the execution time of the cleaning procedure and the cleaning step may differ—the cleaning procedure may take longer than the cleaning step, or vice versa—at least partial overlap means that a certain period of time in the cleaning procedure overlaps with a certain period of time in the cleaning step.

[0498] In other words, while the cleaning equipment 300 is performing the cleaning procedure, the cleaning base station 100 is simultaneously performing a cleaning step. Specifically, the cleaning equipment 300 cleans the surface, and the cleaning base station 100 cleans the cleaning section 200, transforming the dirty section 200 into a clean section 200, preparing it for the next replacement by the cleaning equipment 300. The cleaning time of the cleaning section 200 does not interfere with the cleaning time of the cleaning equipment 300, reducing the ineffective time of the cleaning equipment 300 during operation, and thus reducing the total working time of the cleaning equipment 300. It should be noted that during the cleaning procedure, the cleaning equipment 300 continuously checks whether the cleaning section 200 meets the replacement conditions; that is, steps S41-S49 are repeated after step S48.

[0499] Based on the same inventive concept, this disclosure also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the above-described cleaning part replacement method and cleaning part cleaning method.

[0500] It should be noted that although several modules or units of the device for execution have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0501] Based on the same inventive concept, in an exemplary embodiment of this disclosure, an electronic device capable of implementing the above method is also provided. For example, the electronic device may be an intelligent robot capable of implementing the above method.

[0502] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0503] An electronic device 800 according to such an exemplary embodiment of the present disclosure will now be described with reference to FIG37. The electronic device 800 shown in FIG37 is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present disclosure.

[0504] As shown in Figure 37, the electronic device 800 is presented in the form of a general-purpose computing device. The components of the electronic device 800 may include, but are not limited to: at least one processor 810, at least one memory 820, a bus 830 connecting different system components (including memory 820 and processor 810), and a display unit 840.

[0505] The memory stores program code that can be executed by the processor 810, causing the processor 810 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processor 810 can perform the steps shown in Figures 25-36.

[0506] The memory 820 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 821 and / or cache memory 822, and may further include read-only memory (ROM) 823.

[0507] The memory 820 may also include a program / utility 824 having a set (at least one) of program modules 825, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0508] Bus 830 can represent one or more of several types of bus structures, including a memory bus or memory controller, peripheral bus, graphics acceleration port, processor, or a local bus using any of the various bus structures.

[0509] Electronic device 800 can also communicate with one or more external devices 900 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 800, and / or with any device that enables electronic device 800 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 850. Furthermore, electronic device 800 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 860. As shown, network adapter 860 communicates with other modules of electronic device 800 via bus 830. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 800, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0510] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0511] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of this disclosure may also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0512] The program product for implementing the above-described method according to embodiments of the present disclosure may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0513] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0514] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0515] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0516] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0517] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0518] Furthermore, the technical solutions of various implementation methods can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this disclosure.

[0519] Although embodiments of the present disclosure have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents.

[0520] The foregoing description of specific embodiments of this specification, together with other embodiments, is covered within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than those shown in the embodiments, and the desired result may still be achieved. Furthermore, the processes depicted in the drawings do not necessarily follow the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also feasible or advantageous.

[0521] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0522] It should be understood that the above-described embodiments are merely illustrative of the purpose of this disclosure and are not intended to limit the scope of this disclosure. Those skilled in the art can implement this disclosure in other ways without departing from its basic spirit and characteristics. The scope of this disclosure is determined by the appended claims, and any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this specification should be included therein.

Claims

1. A cleaning base station for accommodating a cleaning device (300), the cleaning base station (100) comprising: a base station body (110) and a driving mechanism (130) mounted on the base station body (110); a cloth changing mechanism (120) in driving connection with the driving mechanism (130) and capable of moving relative to the base station body (110) under the driving of the driving mechanism (130) so that the cloth changing mechanism (120) is capable of moving between a changing position, a turning position and a receiving position; wherein projections of the changing position, the turning position and the receiving position on a bottom surface of the base station body are at least partially misaligned. 2.The cleaning base station of claim 1, wherein: when the cloth changing mechanism (120) is located at the changing position, the cloth changing mechanism (120) is capable of obtaining a cleaning part (200) changed from the cleaning device (300) from the base station body (110), or the cloth changing mechanism (120) is capable of placing the cleaning part (200) on the base station body (110); when the cloth changing mechanism (120) is located at the receiving position, the cloth changing mechanism (120) is capable of being received in the base station body (110).

3. The cleaning dock of claim 1, wherein, the receiving position is located above the changing position.

4. The cleaning dock of claim 1, wherein, the receiving position and the changing position are at least partially misaligned in the projection on the bottom surface of the base station body (110).

5. The cleaning dock of claim 1, wherein, the receiving position and the changing position are respectively located on two sides of the cloth changing mechanism (120).

6. The cleaning dock of claim 1, wherein, the changing position and the receiving position are both located in the base station body (110).

7. The cleaning dock of claim 1, wherein, the cloth changing mechanism (120) is capable of turning at the turning position to turn a cleaning part (200) fixed to the cloth changing mechanism (120) so that the cleaning part is capable of switching between a receiving state and a changing state; when the cleaning part (200) is in the receiving state, the cleaning part (200) is capable of being received in the receiving position; when the cleaning part (200) is in the changing state, the cleaning part (200) is capable of being changed in the cleaning device (300).

8. The cleaning dock of claim 7, wherein, the cleaning part (200) is in the receiving state when located above the cloth changing mechanism (120), and the cleaning part (200) is in the changing state when located below the cloth changing mechanism (120).

9. The cleaning dock of claim 1, wherein, the turning position is located between the changing position and the receiving position.

10. The cleaning dock of claim 1, wherein, the turning position and the receiving position are at least partially misaligned in the projection on the bottom surface of the base station body.

11. The cleaning dock of claim 1, wherein, the changing position and the turning position are at least partially misaligned in the projection on the bottom surface of the base station body.

12. The cleaning dock of claim 1, wherein, the cloth changing mechanism (120) comprises a cloth changing driving member (122), a mounting portion (126) and a plurality of fixing portions (128), the cloth changing driving member (122) is in driving connection with the mounting portion (126) and is capable of driving the fixing portions (128) to rotate through the mounting portion (126) to turn a cleaning part (200) fixed to the fixing portions (128).

13. The cleaning dock of claim 12, wherein, The fixing part (128) is two, two fixing parts (128) are respectively located on the two sides of the mounting part (126).

14. The cleaning dock of claim 13, wherein, In the case where one of the fixing parts (128) is above the other fixing part (128), the cleaning part (200) of the fixing part (128) above is in a storage state, and the cleaning part (200) of the fixing part (128) below is in a replacement state.

15. The cleaning dock of claim 14, wherein, The fixing part (128) is in sliding connection with the mounting part (126).

16. The cleaning dock of claim 15, wherein, The fixing part (128) can slide relative to the mounting part (126), so that the fixing part (128) can cooperate with the cleaning part (200) in the base station body (110) or place the cleaning part (200) in the replacement state in the base station body (110).

17. The cleaning dock of claim 1, wherein, The base station body (110) has a cleaning tank (112), and the cleaning tank (112) is configured as the replacement position.

18. The cleaning dock of claim 1, wherein, The base station body (110) has a containing groove (114), and the containing cavity (234) is configured as the storage position.

19. The cleaning dock of any one of claims 1-18, wherein, The cloth replacing mechanism (120) comprises a cloth replacing driving member (122) and a fixing member (124), the fixing member (124) is used for fixing the cleaning part (200), the cloth replacing driving member (122) is in transmission connection with the fixing member (124), and the fixing member (124) can drive the cleaning part (200) to switch between the replacement state and the storage state.

20. The cleaning dock of claim 19, wherein, The cloth replacing driving member (122) can drive the fixing member (124) to rotate, so that the cleaning part (200) can switch between the replacement state and the storage state.

21. The cleaning dock of claim 19, wherein, The fixing member (124) comprises a mounting part (126) and a fixing part (128), the fixing part (128) is mounted on the mounting part (126), the fixing part (128) is used for fixing the cleaning part (200), and the mounting part (126) is in transmission connection with the cloth replacing driving member (122).

22. The cleaning dock of claim 21, wherein, The fixing part (128) is in sliding connection with the mounting part (126).

23. The cleaning dock of claim 21, wherein, The fixing part (128) is multiple, and multiple fixing parts (128) are respectively located on different sides of the mounting part (126).

24. The cleaning dock of claim 21, wherein, The fixing part (128) is two, two fixing parts (128) are respectively located on the two sides of the mounting part (126).

25. The cleaning base station of claim 21, wherein, The fixing part (128) is two, two fixing parts (128) are respectively located on the two sides of the mounting part (126), and two fixing parts (128) are in sliding connection with the mounting part (126).

26. The cleaning dock of claim 25, wherein, The fixing member (124) further comprises a synchronization part (129), and the synchronization part (129) can simultaneously drive two fixing parts (128) to slide relative to the mounting part (126).

27. The cleaning dock of claim 26, wherein, The synchronization part (129) can drive two fixing parts (128) to move away from each other or move towards each other.

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

29. The cleaning base station of claim 25, wherein, Among the fixed part (128) and the installation part (126), one is provided with a sliding groove (128b), and the other is provided with a sliding rail (126b), and the sliding groove (128b) is matched with the sliding rail (126b).

30. The cleaning base station of claim 21, wherein, The fixed part (128) is provided with a locking part (128c) matched with the cleaning part (200).

31. The cleaning base station of claim 21, wherein, The fixed part (128) is also provided with a lap joint part (128d) matched with the cleaning cloth.

32. The cleaning station of any one of claims 1-31, wherein, The driving mechanism (130) comprises a driver (132) and a transmission arm (134), the driver (132) is installed on the base station body (110), the transmission arm (134) is in transmission connection with the driver (132) and in rotary connection with the cloth changing mechanism (120).

33. The cleaning dock of claim 32, wherein, The transmission arm (134) comprises a main arm (134a) and a sub-arm (134b), the main arm (134a) is in transmission connection with the driver (132) and the cloth changing mechanism (120), and the sub-arm (134b) is in rotary connection with the base station body (110) and the cloth changing mechanism (120).

34. The cleaning base station of claim 32, wherein, The transmission arm (134) is two, and the driving mechanism (130) further comprises a transmission shaft (136), the transmission shaft (136) is in transmission connection with the two transmission arms (134) and the driver (132).

35. The cleaning dock of any one of claims 1-34, wherein, The cleaning base station (100) further comprises an unlocking mechanism (140), the unlocking mechanism (140) is installed on the base station body (110) and can separate or lock the cleaning part (200) from the cleaning equipment (300) and / or the cloth changing mechanism (120).

36. The cleaning base station of claim 35, wherein, The cloth changing mechanism (120) is provided with a locking part (128c), the cleaning part (200) is provided with a stop piece (210), and the unlocking mechanism (140) can make the stop piece (210) cooperate or separate with the locking part (128c).

37. The cleaning dock of claim 36, wherein, The unlocking mechanism (140) comprises an unlocking piece (142) and an unlocking driving piece (143), the unlocking piece (142) is installed on the base station body (110), and the unlocking driving piece (143) can make the stop piece (210) cooperate or separate with the locking part (128c) through the unlocking piece (142).

38. The cleaning base station of claim 37, wherein, The unlocking driving piece (143) can drive the unlocking piece (142) to rotate relative to the base station body (110), so that the stop piece (210) moves relative to the mop cloth (240), and then cooperates or separates with the stop piece (210).

39. The cleaning base station of claim 38, wherein, The unlocking member (142) comprises a connecting portion (142a), an unlocking portion (142b) and a transmission portion (142c), the unlocking portion (142b) and the transmission portion (142c) are respectively located at two ends of the connecting portion (142a), the connecting portion (142a) is rotationally connected with the base station body (110), and the transmission portion (142c) is connected with the unlocking driving member (143).

40. The cleaning dock of claim 38, wherein, The unlocking mechanism (140) further comprises a reset member (145), the reset member (145) is connected between the unlocking member (142) and the base station body (110), and the reset member (145) can jointly act on the unlocking driving member (143) to enable the stopper (210) to cooperate with the locking portion (128c).

41. The cleaning dock of claim 40, wherein, The unlocking mechanism (140) further comprises a rotating shaft (146), the unlocking member (142) is rotationally connected with the base station body (110) through the rotating shaft (146), and the reset member (145) is sleeved on the rotating shaft (146) and abuts against the unlocking member (142).

42. The cleaning base station of claim 37, wherein, The unlocking driving member (143) comprises an unlocking driving portion (143a) and a connecting rope (143b), the connecting rope (143b) is wound around the unlocking driving portion (143a) and connected with the unlocking member (142).

43. The cleaning dock of claim 7, wherein, The cleaning portion (200) comprises a mop plate (230), a mop cloth (240) and a stopper (210), and the mop cloth (240) and the stopper (210) are both mounted on the mop plate (230).

44. The cleaning dock of claim 43, wherein, The mop plate (230) is provided with a containing cavity (234), and part of the stopper (210) is mounted in the containing cavity (234).

45. The cleaning base station according to claim 44, wherein the stopper (210) is movable in the containing cavity (234).

46. The cleaning base station of claim 43, wherein, The stopper (210) comprises a triggering portion (212), a stopper portion (213) and a transition portion (214), the triggering portion (212) and the stopper portion (213) are both connected with the transition portion (214), the unlocking mechanism (140) can act on the triggering portion (212), and the stopper portion (213) can cooperate with the cloth changing mechanism (120) or the cleaning device (300).

47. The cleaning dock of claim 46, wherein, The stopper (210) further comprises an elastic member (240), the elastic member (240) is arranged between the transition portion (214) and the mop plate (230) and can provide an elastic force for resetting the stopper (210).

48. The cleaning dock of claim 43, wherein, The mop plate (230) has a cooperation groove (231), and the stopper (210) can be arranged in a groove opening (232) of the cooperation groove (231) to limit the locking portion (128c) in the cooperation groove (231).

49. The cleaning dock of any one of claims 1-48, wherein, The driving mechanism can drive the cloth changing mechanism to reciprocate between the replacement position and the containing position.

50. The cleaning dock of any one of claims 1-49, wherein, The driving mechanism can drive the cloth changing mechanism to perform circular arc motion. 51.A cleaning system comprising a cleaning device (300) and a cleaning base station (100) as claimed in any one of claims 1-50, wherein the cleaning device (300) is capable of being received in the cleaning base station (100). 52.A method of cleaning part replacement, applied to a cleaning base station (100), comprising: controlling a cloth changing mechanism (120) to move to a replacement position to pick up a dirty cleaning part (200), wherein the cloth changing mechanism (120) is configured to store a plurality of the cleaning parts (200) and to flip different cleaning parts (200), and the cleaning part (200) is a component of a treatment work surface; controlling the cloth changing mechanism (120) to move to a flipping position to flip the cloth changing mechanism (120) so that a clean cleaning part (200) is flipped downward; controlling the cloth changing mechanism (120) to move to the replacement position again to place the clean cleaning part (200) in the replacement position.

53. The cleaning section replacement method of claim 52, wherein, Before controlling the cloth changing mechanism (120) to move to the replacement position to pick up the dirty cleaning part (200), the method further comprises: removing the cleaning part (200) from the cleaning device (300).

54. The cleaning section replacement method of claim 52, wherein, After placing the clean cleaning part (200) in the replacement position, the method further comprises: installing the clean cleaning part (200) to the cleaning device (300).

55. The cleaning section replacement method of claim 54, wherein, After installing the clean cleaning part to the cleaning device, the method further comprises: controlling the cloth changing mechanism (120) to place the dirty cleaning part (200) on a washing tank (112); controlling the cleaning base station (100) to perform a washing procedure and / or a drying procedure to treat the dirty cleaning part (200) into a clean cleaning part (200).

56. The cleaning section replacement method of claim 52, wherein, After the dirty cleaning part (200) is treated clean, the method further comprises: controlling the cloth changing mechanism (120) to move to the flipping position and controlling the cloth changing mechanism (120) to flip so that the clean cleaning part (200) is in a storage state; controlling the cloth changing mechanism (120) to move to a storage position to store the clean cleaning part (200). 57.A method of cleaning part replacement, applied to a cleaning device (300), comprising: controlling the cleaning device (300) to return to a cleaning base station (100) when a cleaning part (200) of the cleaning device (300) reaches a replacement condition; removing a dirty cleaning part (200) from the cleaning device (300), wherein the cleaning part is a component of a treatment work surface; controlling the cleaning device (300) to exit the cleaning base station (100); controlling the cleaning device (300) to return to the cleaning base station (100) in response to a control signal; obtaining a clean cleaning part (200).

58. The cleaning section replacement method of claim 57, wherein, The control signal indicates that the cleaning base station (100) is to replace the dirty cleaning part (200) with the clean cleaning part (200).

59. The cleaning section replacement method of claim 57, wherein, After obtaining the clean cleaning part (200), the method of cleaning part replacement further comprises: The cleaning device (300) exits the cleaning base station (100) and performs a cleaning program.

60. The cleaning section replacement method of claim 57, wherein, Before the step of controlling the cleaning device (300) to return to the cleaning base station (100), the cleaning part replacement method further comprises: obtaining whether the cleaning base station (100) performs a cleaning program and / or a drying program; if the cleaning base station (100) does not perform the cleaning program and the drying program, controlling the cleaning device (300) to return to the cleaning base station (100).

61. The cleaning section replacement method of claim 60, wherein, The cleaning part replacement method further comprises: if the cleaning base station (100) performs a cleaning program or a drying program, controlling the cleaning device (300) to wait until the cleaning program and the drying program are completed, and the cleaning device (300) returns to the cleaning base station (100).

62. The cleaning section replacement method of claim 57, wherein, The cleaning part replacement method further comprises: obtaining the working time of the cleaning device (300) performing the cleaning program; if the working time is greater than or equal to the preset time, it is determined that the cleaning part (200) of the cleaning device (300) meets the replacement condition.

63. The cleaning section replacement method of claim 57, wherein, The cleaning part replacement method further comprises: obtaining the working record of the cleaning device (300); if the working record of the cleaning device (300) meets a cleaning area, it is determined that the cleaning part (200) of the cleaning device (300) meets the replacement condition.

64. The cleaning section replacement method of claim 57, wherein, The cleaning part replacement method further comprises: obtaining the dirtiness degree of the cleaning device (300); if the dirtiness degree is greater than or equal to the set degree, it is determined that the cleaning part (200) of the cleaning device (300) meets the replacement condition.

65. A cleaning part replacement method applied to a cleaning system (10), the cleaning system (10) comprising a cleaning base station (100) and a cleaning device (300), the cleaning part replacement method comprising: when the cleaning part (200) of the cleaning device (300) meets the replacement condition, controlling the cleaning device (300) to return to the cleaning base station (100); removing the dirty cleaning part (200) on the cleaning device (300), wherein the cleaning part (200) is a component for processing a work surface; controlling the cleaning device (300) to exit the cleaning base station (100); the cloth replacement mechanism (120) of the cleaning base station (100) replaces the dirty cleaning part (200) with a clean cleaning part (200) and triggers a control signal; the cleaning device (300) returns to the cleaning base station (100) in response to the control signal; the cleaning device (300) obtains the clean cleaning part (200); controlling the cleaning device (300) to exit the cleaning base station (100).

66. The cleaning section replacement method of claim 65, wherein, The control signal represents that the cleaning base station (100) replaces the dirty cleaning part (200) with the clean cleaning part (200).

67. The cleaning section replacement method of claim 65, wherein, The step of replacing the dirty cleaning part (200) with the clean cleaning part (200) by the cloth replacement mechanism (120) of the cleaning base station (100) comprises: controlling the cloth changing mechanism (120) to move to a replacement position and pick up the dirty cleaning part (200); wherein the cloth changing mechanism (120) is used to store a plurality of cleaning parts (200) and flip different cleaning parts (200), and the cleaning part (200) is a component of a processing work surface; controlling the cloth changing mechanism (120) to move to a flipping position and flip the cloth changing mechanism (120) so that the clean cleaning part (200) is flipped downward; controlling the cloth changing mechanism (120) to move to the replacement position again and place the clean cleaning part (200) in the replacement position.

68. The cleaning section replacement method of claim 65, wherein, After the step of controlling the cleaning device (300) to exit the cleaning base station (100), the cleaning part replacement method further comprises: the cleaning device (300) performs a cleaning program; the cleaning base station (100) performs a cleaning step.

69. The cleaning section replacement method of claim 68, wherein, The cleaning program and the cleaning step at least partially overlap in time.

70. The cleaning section replacement method of claim 68, wherein, The cleaning base station (100) performs a cleaning step, which comprises: controlling the cloth changing mechanism (120) to place the dirty cleaning part (200) in the cleaning tank (112); controlling the cleaning base station (100) to perform a cleaning program and / or a drying program to process the dirty cleaning part (200) into a clean cleaning part (200).

71. The cleaning section replacement method of claim 68, wherein, The cleaning base station (100) performs a cleaning step, which further comprises: controlling the cloth changing mechanism (120) to move to a flipping position and controlling the cloth changing mechanism (120) to flip so that the clean cleaning part (200) is in a storage state; controlling the cloth changing mechanism (120) to the storage position to store the clean cleaning part (200).

72. The cleaning section replacement method of claim 65, wherein, The cleaning part replacement method further comprises: obtaining the working time of the cleaning device (300) performing a cleaning program; if the working time is greater than or equal to a preset time, it is determined that the cleaning part (200) of the cleaning device (300) meets the replacement condition.

73. The cleaning section replacement method of claim 65, wherein, The cleaning part replacement method further comprises: obtaining the cleaning area of the cleaning device (300); if the cleaning area reaches a set area, it is determined that the cleaning part (200) of the cleaning device (300) meets the replacement condition.

74. The cleaning section replacement method of claim 65, wherein, The cleaning part replacement method further comprises: obtaining the degree of dirtiness of the cleaning device (300); if the degree of dirtiness is greater than or equal to a set degree, it is determined that the cleaning part (200) of the cleaning device (300) meets the replacement condition.

75. The cleaning section replacement method of claim 65, wherein, Before the step of controlling the cleaning device (300) to return to the cleaning base station (100), the cleaning part replacement method further comprises: obtaining whether the cleaning base station (100) performs a cleaning program and / or a drying program; if the cleaning base station (100) does not perform a cleaning program and a drying program, controlling the cleaning device (300) to return to the cleaning base station (100).

76. The cleaning section replacement method of claim 75, wherein, The cleaning part replacement method further comprises: If the cleaning base station (100) performs a cleaning degree or drying procedure, the control unit controls the cleaning device (300) to wait until the cleaning procedure and the drying procedure are completed, and the cleaning device (300) returns to the cleaning base station (100). 77.A cleaning part washing method applied to a cleaning base station (100), the cleaning part washing method comprising: controlling a cloth changing mechanism (120) to place a dirty cleaning part (200) in a washing tank (112); controlling the cleaning base station (100) to perform a cleaning procedure to process the dirty cleaning part (200) into a clean cleaning part (200).

78. The method of claim 77, wherein, After the dirty cleaning part (200) is processed into the clean cleaning part (200), the method further comprises: controlling the cloth changing mechanism (120) to move to a turnover position and controlling the cloth changing mechanism (120) to turn over so that the clean cleaning part (200) is in a storage state; controlling the cloth changing mechanism (120) to a storage position to store the clean cleaning part (200).

79. A computer readable storage medium having stored thereon a computer program, wherein, The program is executed by a processor to implement the method of any one of claims 52-78.

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