Cleaning component replacement base station, replacement method, cleaning robot, and storage medium

Abstract

A cleaning component replacement base station, comprising: a cleaning component receiving unit (1), used for receiving a cleaning component detached from a cleaning device, and for receiving a cleaning component to be attached to the cleaning device; a cleaning component storage unit (2), used for storing the detached cleaning component, and for storing the cleaning component to be attached; and a cleaning component transfer mechanism (3), used for conveying the detached cleaning component from the receiving unit to the storage unit, and for conveying the cleaning component to be attached from the storage unit to the receiving unit.

Description

Cleaning components, base station replacement and replacement method, cleaning robot and storage media

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese invention patent application No. 202411554405.X, filed on November 1, 2024, entitled "Cleaning Component Replacement Base Station and Replacement Method, Cleaning Robot and Storage Medium". Technical Field

[0003] This application relates to the field of robotics, and more specifically, to a cleaning component replacement base station and replacement method, a cleaning robot, and a storage medium. Background Technology

[0004] With the rapid development of science and technology, robotics has been widely applied in various fields. Among them, cleaning robots can automatically perform cleaning tasks such as vacuuming, sweeping, and mopping, and are very popular.

[0005] In existing technologies, cleaning robots often use their cleaning components (such as cloths, roller brushes, and side brushes) to clean various environments during the cleaning process. For example, a cloth might be used to mop the bathroom and kitchen before being used to mop the living room. This can lead to reduced cleaning effectiveness because the cleaning components are not suitable for a particular environment. Furthermore, using the same cleaning components to clean different environments can cause cross-contamination, severely impacting the cleaning results. Summary of the Invention

[0006] This application provides a cleaning robot cleaning component replacement base station and replacement method, a cleaning robot and cleaning method, and a storage medium. This enables the automatic replacement of cleaning components for the cleaning robot to suit different cleaning environments or conditions, improving cleaning efficiency, avoiding cross-contamination, and enhancing user experience.

[0007] According to one embodiment of this application, a cleaning robot cleaning component replacement base station is provided, comprising: a cleaning component receiving unit for receiving cleaning components removed from a cleaning device, and a cleaning component to be installed on the cleaning device;

[0008] A cleaning component storage unit is used to store the disassembled cleaning components and to store the cleaning components to be installed.

[0009] A cleaning component transport mechanism is used to transport the disassembled cleaning components from the receiving unit to the storage unit, and to transport the cleaning components to be installed from the storage unit to the receiving unit.

[0010] According to another embodiment of this application, a method for replacing cleaning components of a cleaning robot is provided, characterized in that the method includes:

[0011] Determine the regional characteristics of the area to be cleaned based on regional map data;

[0012] The cleaning robot is controlled to return to the base station, and the corresponding cleaning components are replaced according to the area feature information.

[0013] According to yet another embodiment of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, and the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0014] According to yet another embodiment of this application, a mobile robot is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0015] According to yet another embodiment of this application, a computer program product is also provided, comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps in any of the above method embodiments.

[0016] The embodiments provided in this application enable the automatic replacement of cleaning components for cleaning robots to suit different cleaning environments or conditions, thereby improving cleaning effectiveness, avoiding cross-contamination, and enhancing user experience. Attached Figure Description

[0017] Figure 1 is a schematic diagram of a cleaning component replacement base station provided in an embodiment of this application;

[0018] Figure 2 is a schematic diagram of an application scenario for replacing a base station with a cleaning component according to an embodiment of this application;

[0019] Figure 3 is a structural schematic diagram of a cleaning robot provided in an embodiment of this application;

[0020] Figure 4 is a structural schematic diagram of the transport vehicle provided in an embodiment of this application;

[0021] Figure 5 is a first-view structural schematic diagram of the transport trolley carrying the rag provided in the embodiment of this application;

[0022] Figure 6 is a second-view structural schematic diagram of the transport trolley carrying the rag provided in the embodiment of this application;

[0023] Figure 7 is a schematic diagram of the chassis of the transport vehicle provided in the embodiment of this application;

[0024] Figure 8 is a structural diagram of the cooperation between the transport trolley and the track provided in an embodiment of this application;

[0025] Figure 9 is a schematic diagram of an application scenario for the pick-up and detachment mechanism of the present application to pick up a rag;

[0026] Figure 10 is a schematic diagram of another cleaning component replacement base station provided in an embodiment of this application;

[0027] Figure 11 is a schematic diagram of another application scenario for replacing a base station with a cleaning component provided in an embodiment of this application;

[0028] Figure 12 is a schematic diagram of the structure of the cleaning component storage unit provided in an embodiment of this application;

[0029] Figure 13 is a schematic diagram of a region map provided in an embodiment of this application;

[0030] Figure 14 is a flowchart illustrating a process for changing a rag, as provided in an application example of this application.

[0031] Figure 15 is a schematic diagram of the structure of a cleaning component provided in an embodiment of this application. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] Figure 1 is a schematic diagram of an application scenario for a cleaning component replacement base station provided in an embodiment of this application. As shown in Figure 1, one embodiment of this application provides a cleaning component replacement base station, which may include:

[0035] Cleaning component receiving unit 1 is used to receive cleaning components disassembled from the cleaning equipment, and to receive cleaning components to be installed on the cleaning equipment; cleaning component storage unit 2 is used to store the disassembled cleaning components, and to store the cleaning components to be installed; cleaning component transport mechanism 3 is used to transport the disassembled cleaning components from the receiving unit to the storage unit, and to transport the cleaning components to be installed from the storage unit to the receiving unit.

[0036] In this example, the cleaning equipment includes a cleaning robot, and the cleaning components may include the mop assembly of the cleaning robot. The cleaning robot may include any automatic cleaning device with cleaning functions, such as a sweeping robot, a mopping robot, a floor washing robot, or a sweeping and mopping robot.

[0037] In this example, the cleaning equipment includes a cleaning robot, and the cleaning components may include the mop assembly of the cleaning robot. The mop assembly may be a disc mop, a triangular mop, or other disc mop assembly. As shown in Figure 13, the mop assembly has a mounting protrusion at its center, which can be used to mount magnetic components such as magnets.

[0038] In this example, the cleaning component storage unit may include multiple storage disks for detachably fixing the cleaning component. The multiple storage disks are distributed from top to bottom on the side wall of the base station, and the bottom of the storage disks is approximately parallel to the side wall of the base station.

[0039] In this example, the transport mechanism may include a transport trolley and a transport track. The transport track is bent to form a lifting section and a translation section. The transport trolley can move along the lifting section to the side of the storage tray and along the translation section to the top of the receiving unit. The transport trolley is used to transport the cleaning components.

[0040] In this example, the transport trolley has a pick-and-drop mechanism for picking up the disassembled cleaning components from the receiving unit and for dropping the disassembled cleaning components into the storage unit.

[0041] In this example, the pick-up and drop mechanism is also used to pick up the cleaning component to be replaced from the storage unit and to drop the cleaning component to be replaced into the receiving unit.

[0042] In one embodiment of this application, the cleaning component can be a disc-shaped mop cloth, which is equipped with a magnet. Correspondingly, the pick-up and release mechanism has a first magnetic element that can be attracted by the magnet, and the pick-up and release mechanism can use the magnetic element to pick up the cleaning component. The mop assembly can be a disc-shaped mop cloth, a triangular mop cloth, or other disc-shaped mop cloth assembly. As shown in Figure 13, the mop assembly has a mounting protrusion at its center, which can be used to mount magnetic elements such as magnets.

[0043] In one embodiment of this application, the receiving unit has a second magnetic element at its bottom that can be attracted by a magnet, and the storage disk has a third magnetic element at its bottom that can be attracted by a magnet. The second magnetic element is used to attract and detach the cleaning component attracted by the pickup and detachment structure into the receiving unit, and the third magnetic element is used to attract and detach the cleaning component attracted by the pickup and detachment structure into the storage disk.

[0044] In one embodiment of this application, the receiving unit is provided with a detachment stop for touching and detaching the cleaning component adsorbed by the pickup and detachment structure into the receiving unit.

[0045] In some embodiments of this application, the receiving unit may also have a cleaning component cleaning function, such as automatically washing the cloth tray replaced by the cleaning robot before transporting it to the storage unit. This allows for both replacing dirty cloths and cleaning the soiled cloths.

[0046] Figure 2 is a schematic diagram of an application scenario for a cleaning component replacement base station provided in an embodiment of this application. As shown in Figure 2, it includes the following modules: 1. H1 gripping mechanism, 2. H2 lifting mechanism, 3. H3 rotating mechanism. The storage module consists of multiple storage units, each of which can store two mop components. The gripping mechanism, as shown in Figure H1, is used to pick up and place the mop module. The lifting mechanism, as shown in Figure H2, controls the vertical displacement of the gripping mechanism. The rotating mechanism, as shown in Figure H3, directs the free gripping mechanism toward the mop component disassembled from the sweeper. Specifically, the process of replacing the mop using the base station is as follows: After the sweeper K returns to the base station J, it cleans the mop (1) in the mop cleaning module J4. After cleaning, the sweeper K automatically removes the mop, the lifting trolley J2 descends, and the lifting trolley J21 has a gripping mechanism on it. The gripping mechanism grabs the cleaned mop (1), and the lifting trolley J2 climbs along the track to an empty storage unit. The mop (1) is placed in the storage unit, and the lifting trolley rises and falls along the track to another mop tray storage compartment. The lifting trolley grabs the mop (2), and the climbing trolley descends along the track. The gripping mechanism on the lifting trolley releases the mop (2), which falls into the cleaning unit. The lifting trolley rises, and the sweeper automatically installs the mop. The mop replacement is completed. Among them, the gripping mechanism H1, the lifting mechanism H2, and the rotating mechanism H3 together constitute the cleaning component transportation mechanism, and the mop component is a type of cleaning component.

[0047] As shown in Figure 1, the base station includes a cleaning tray, a lifting trolley, a lifting track, a storage tray, and a cloth drying duct. The cleaning tray is a type of cleaning component, and the lifting trolley and the lifting track together form the cleaning component transportation mechanism. Figure 4 is a structural schematic diagram of the transportation trolley provided in an embodiment of this application. Figure 5 is a first-view structural schematic diagram of the transportation trolley carrying a cloth provided in an embodiment of this application. Figure 6 is a second-view structural schematic diagram of the transportation trolley carrying a cloth provided in an embodiment of this application. Figure 7 is a structural schematic diagram of the chassis of the transportation trolley provided in an embodiment of this application. Figure 8 is a structural diagram of the cooperation between the transportation trolley and the track provided in an embodiment of this application. Figure 9 is a schematic diagram of an application scenario where the pick-up and drop mechanism picks up a cloth provided in an embodiment of this application. As shown in Figures 5-9, the transportation trolley may include ① a lifting trolley chassis, ② a pick-up and drop mechanism, and ③ a positioning module. Specific details are as follows:

[0048] ① The chassis of the car consists of: drive motor, gearbox, drive wheel, driven wheel, chassis, Hall sensor, and bullseye wheel.

[0049] ② The pickup and detachment mechanism consists of a pickup motor, an iron block, a sliding structure, and a guiding structure. Picking up and detaching the cloth is achieved by adjusting the magnetic force. The magnetic force is adjusted by changing the distance between the magnet and the iron block, thus enabling the cloth to be picked up and detached.

[0050] ③ The positioning structure can utilize photoelectric sensors, Hall effect sensors, and micro switches. The lifting trolley's ascent relies on the static friction between its tires and the track. When the trolley rises vertically, since it cannot provide sufficient positive pressure, a pulley is added next to the tire. This pulley is coaxial with the tire and rolls within track 2. The pulley and track 2 work together to compress tire 1. The rebound force generated after tire deformation provides positive pressure, ensuring the trolley does not slip when moving on the track. Regarding the cloth-picking principle, the suction force on the picking mechanism is greater than that of the washing tray and the storage tray, thus enabling the cloth-picking function.

[0051] Figure 10 is a schematic diagram of another cleaning component replacement base station provided in an embodiment of this application. In this example, the cleaning component storage unit may include multiple storage disks, which are arranged from top to bottom on the side wall of the base station and are approximately parallel to the side wall of the base station, for holding the cleaning components.

[0052] In this example, the transport mechanism includes a lifting mechanism and a gripping mechanism. The lifting mechanism is used to raise and lower the gripping mechanism to a predetermined height, and the gripping mechanism is used to grip the cleaning component from the storage tray at the predetermined height.

[0053] In this example, the lifting mechanism and the gripping mechanism can be movably connected by a telescopic mechanism, which can drive the gripping mechanism to move in the horizontal direction.

[0054] Figure 12 is a structural schematic diagram of the cleaning component storage unit provided in an embodiment of this application. As shown in Figures 10 and 12, the base station can be composed of the following mechanisms: 1. F1 gripping mechanism, 2. F2 lifting mechanism, and 3. F3 telescopic mechanism. The storage module consists of multiple storage units, and each storage unit F4 can store two mop components.

[0055] The gripping mechanism, as shown in Figure F1, is used to pick up and place the mop modules. The lifting mechanism, as shown in Figure F2, controls the vertical displacement of the gripping mechanism. The telescopic mechanism, as shown in Figure F3, controls the horizontal displacement of the gripping mechanism. The storage unit, as shown in Figure F4, is used to store the mop modules for each area.

[0056] The specific process for replacing the cleaning components is as follows: After the cleaning robot returns to the base station, it cleans the mop in the H4 mop cleaning module (1). After cleaning, the I sweeper automatically removes the mop, the H2 lifting structure descends, the H1 gripping mechanism grabs the cleaned mop (1), the H2 lifting structure rises, the H3 rotating mechanism rotates, the H2 lifting structure descends, the gripping mechanism releases the mop (2), and it falls into the cleaning unit. The H2 lifting structure rises again, and the I sweeper automatically installs the mop. The mop replacement is completed. As shown in Figure 12, multiple storage units a1, b1, c1, etc. are arranged vertically on the side wall of the base station.

[0057] Figure 11 is a schematic diagram of another application scenario for replacing a base station with a cleaning component according to an embodiment of this application. In this example, the base station may include:

[0058] A cleaning component receiving unit is used to receive cleaning components removed from the cleaning equipment, and to receive cleaning components to be installed on the cleaning equipment.

[0059] A cleaning component storage and transportation unit is used to store the disassembled cleaning components, to store the cleaning components to be installed, and to transport the cleaning components to be installed to the receiving unit.

[0060] The storage and transportation unit includes a lifting mechanism, a gripping mechanism, and a rotating mechanism.

[0061] As shown in Figure 11, the base station may include 1. H1 a gripping mechanism, 2. H2 a lifting mechanism, and 3. H3 a rotating mechanism. The storage module consists of multiple storage units, each of which can store two mop assemblies.

[0062] The gripping mechanism, as shown in Figure H1, is used to pick up and place the mop module. The lifting mechanism, as shown in Figure H2, controls the vertical displacement of the gripping mechanism. The rotating mechanism, as shown in Figure H3, directs the idle gripping mechanism toward the mop assembly that has been removed from the sweeper. Specifically, the process of replacing the cleaning components of the cleaning robot is as follows: After the sweeper K returns to the base station J, it cleans the mop (1) in the mop cleaning module J4. After cleaning, the sweeper K automatically removes the mop, the J2 lifting trolley descends, and the J21 gripping mechanism on the J2 lifting trolley grabs the cleaned mop (1). The J2 lifting trolley climbs along the track to an empty storage unit and places the mop (1) into the storage unit. The lifting trolley rises and falls along the track to another mop tray storage compartment and grabs the mop (2). The climbing trolley descends along the track, and the gripping mechanism on the lifting trolley releases the mop (2), which falls into the cleaning unit. The lifting trolley climbs, and the sweeper automatically installs the mop. The mop replacement is completed.

[0063] One embodiment of this application also provides a method for replacing cleaning components of a cleaning robot. This method can be used in the base station and corresponding cleaning robot system described in the above embodiments, and can also be applied to other base station and robot systems with replaceable cleaning cloths. Correspondingly, the method may include:

[0064] S1: Determine the regional characteristics of the area to be cleaned based on the regional map data.

[0065] S2: Control the cleaning robot to return to the base station and replace the corresponding cleaning components according to the area feature information.

[0066] The regional feature information includes any one or more of the following: the degree of contamination of the area to be cleaned, the area type, the material of the cleaning surface, and the cleaning component information set by the user.

[0067] In some embodiments of this application, the area map data may be pre-stored in the storage unit of the cleaning robot, and the area map data includes the area feature information, which may be obtained by the cleaning robot through sensor identification or pre-input by the user.

[0068] Figure 13 is a schematic diagram of a region map provided in an embodiment of this application. As shown in Figure 13, the cleaning robot can create a region map using sensors and stored algorithms. The indoor space can be divided into N regions, such as A, B, C, etc. The robot can determine the region type based on region feature information, and then obtain the corresponding cleaning components, such as a mop tray. Specifically, the region feature information can be based on room function classification information, such as bedroom, living room, bathroom, kitchen, balcony, etc., or it can be classified according to the degree of pollution, such as lightly polluted areas, moderately polluted areas, heavily polluted areas, etc. Users can manually divide the regions on the APP according to their usage scenarios, that is, manually input the region type and other region feature information corresponding to each region in advance. As shown in Figure 12, corresponding mops a, b, c... are configured for areas A, B, C... As shown in Figure 12, the robot vacuum base station has corresponding mop tray storage units a1, b1, c1... (mop b generally refers to the mopping mechanism adapted to area B. If area B is a prohibited area such as a carpet, then mop b is an empty tray. This correspondence is not limited to this method; areas a and b can be set to correspond to mop tray b1). The mop tray storage unit is the cleaning component storage unit.

[0069] Before the robot begins cleaning, the S1 cleaning path planning is completed (the path can be automatically planned by the program, and user-defined cleaning paths are also supported). The robot then cleans the first, second, third, and other areas according to the planned path. After cleaning the first area, the robot automatically replaces the mop with a special mop for the second area using the mop replacement module on the base station, and then cleans the second area. This process is repeated to clean the subsequent areas and replace the mop, thus avoiding cross-contamination when cleaning different areas.

[0070] One addition to the solution is a mop cleaning function in this system, which can ensure the reuse of the mop.

[0071] Figure 14 is a flowchart illustrating a process for changing a cleaning cloth, as provided in an application example of this application.

[0072] As shown in Figure 14, the specific procedure for changing the cleaning cloth is as follows:

[0073] Step S1: Plan the cleaning path. For example: Start - ABC - End Cleaning, or: Start - BCD - End Cleaning; that is, after starting cleaning, pass through area A, area B, and area C in sequence and then end cleaning, or after starting cleaning, pass through area B, area C, and area D in sequence.

[0074] Step S2: Determine the cleaning area, for example, A. The cleaning area is area A.

[0075] Step S3: Replace the mop a with the mop a corresponding to area A, that is, replace the cleaning component with the cleaning component corresponding to area A.

[0076] Step S4, Area Cleaning: If the mop gets dirty during the area cleaning process, it can be returned to the base station for mop cleaning. Mop cleaning is completed within the "Area Cleaning" step.

[0077] Step S5: Return to the base station and use the self-cleaning mop, which means using the base station's cleaning tank to automatically clean the cleaning components.

[0078] In step S6, a judgment is made as to whether there is an area to be cleaned. If so, return to step S2, that is, redetermine the area to be cleaned and determine the cleaning component corresponding to the area.

[0079] If not, proceed to step S7 to end this cleaning task.

[0080] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0081] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0082] According to another aspect of the embodiments of this application, a cleaning robot is also provided, including a storage unit and a control unit, wherein the storage unit stores a computer program, and the control unit is configured to run the computer program to perform the steps in any of the above method embodiments.

[0083] In one exemplary embodiment, the cleaning robot may further include a transmission device and an input / output device, wherein the transmission device is connected to the input / output resource pool, and the input / output device is connected to the input / output resource pool.

[0084] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0085] Obviously, those skilled in the art should understand that the modules or steps of the embodiments of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the embodiments of this application are not limited to any particular combination of hardware and software.

[0086] The above description is merely a preferred embodiment of this application and is not intended to limit the embodiments of this application. For those skilled in the art, various modifications and variations can be made to the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A cleaning component for replacing a base station, characterized in that, The base station includes: A cleaning component receiving unit is used to receive cleaning components removed from the cleaning equipment, and to receive cleaning components to be installed on the cleaning equipment. A cleaning component storage unit is used to store the disassembled cleaning components and to store the cleaning components to be installed. A cleaning component transport mechanism is used to transport the disassembled cleaning components from the receiving unit to the storage unit, and to transport the cleaning components to be installed from the storage unit to the receiving unit.

2. The cleaning component replacement base station as described in claim 1, characterized in that, The cleaning equipment includes a cleaning robot, and the cleaning components include the mop assembly of the cleaning robot.

3. A cleaning component replacement base station as described in claim 1 or 2, characterized in that, The cleaning component storage unit includes multiple storage disks for detachably fixing the cleaning component. The multiple storage disks are distributed from top to bottom on the side wall of the base station, and the bottom of the storage disks is approximately parallel to the side wall of the base station.

4. A cleaning component replacement base station as described in claim 3, characterized in that, The transport mechanism includes a transport trolley and a transport track. The transport track is bent to form a lifting section and a translation section. The transport trolley can move along the lifting section to the side of the storage tray and along the translation section to the top of the receiving unit. The transport trolley is used to transport the cleaning components.

5. A cleaning component replacement base station as described in claim 4, characterized in that, The transport trolley has a pick-up and drop mechanism for picking up the disassembled cleaning components from the receiving unit and for dropping the disassembled cleaning components into the storage unit.

6. A cleaning component replacement base station as described in claim 5, characterized in that, The picking and dropping mechanism is also used to pick up the cleaning component to be replaced from the storage unit and to drop the cleaning component to be replaced into the receiving unit.

7. A cleaning component replacement base station as described in claim 5 or 6, characterized in that, The cleaning component is a disc-shaped cloth with a magnet. Correspondingly, the pick-up and drop mechanism has a first magnetic element that can be attracted by the magnet, and the pick-up and drop mechanism can use the magnetic element to pick up the cleaning component.

8. A cleaning component replacement base station as described in claim 7, characterized in that, The receiving unit has a second magnetic element at its bottom that can be attracted by a magnet, and the storage tray has a third magnetic element at its bottom that can be attracted by a magnet. The second magnetic element is used to attract and detach the cleaning component attracted by the pickup and detachment structure into the receiving unit, and the third magnetic element is used to attract and detach the cleaning component attracted by the pickup and detachment structure into the storage tray.

9. A cleaning component replacement base station as described in claim 7, characterized in that, The receiving unit is equipped with a detachment stop, which is used to detach the cleaning component adsorbed by the pickup and detachment structure into the receiving unit.

10. A cleaning component replacement base station as described in claim 1 or 2, characterized in that, The cleaning component storage unit includes multiple storage disks, which are arranged from top to bottom on the side wall of the base station and are roughly parallel to the side wall of the base station, for holding the cleaning components.

11. A cleaning component replacement base station as described in claim 10, characterized in that, The transport mechanism includes a lifting mechanism and a gripping mechanism. The lifting mechanism is used to raise and lower the gripping mechanism to a predetermined height, and the gripping mechanism is used to grip the cleaning component from a storage tray at the predetermined height.

12. A cleaning component replacement base station as described in claim 11, characterized in that, The lifting mechanism and the gripping mechanism are movably connected by a telescopic mechanism, which can drive the gripping mechanism to move in the horizontal direction.

13. A cleaning component for replacing a base station, characterized in that, The base station includes: A cleaning component receiving unit is used to receive cleaning components removed from the cleaning equipment, and to receive cleaning components to be installed on the cleaning equipment. A cleaning component storage and transportation unit is used to store the disassembled cleaning components, to store the cleaning components to be installed, and to transport the cleaning components to be installed to the receiving unit.

14. A cleaning component replacement base station as described in claim 13, characterized in that, The storage and transportation unit includes a lifting mechanism, a gripping mechanism, and a rotating mechanism.

15. A method for replacing cleaning components of a cleaning robot, characterized in that, The method includes: Determine the regional characteristics of the area to be cleaned based on regional map data; The cleaning robot is controlled to return to the base station, and the corresponding cleaning components are replaced according to the area feature information.

16. A method for replacing cleaning components of a cleaning robot as described in claim 15, characterized in that, The area feature information includes any one or more of the following: the degree of contamination of the area to be cleaned, the area type, the material of the cleaning surface, and the cleaning component information set by the user.

17. A method for replacing cleaning components of a cleaning robot as described in claim 15 or 16, characterized in that, The area map data is pre-stored in the storage unit of the cleaning robot. The area map data includes the area feature information, which is obtained by the cleaning robot through sensor identification or pre-input by the user.

18. A cleaning robot, characterized in that, include: Storage unit, which stores computer programs; The control unit is configured to run the computer program to perform the method as described in any one of claims 15 to 17.

19. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method as described in any one of claims 15 to 17.

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