Base station and automatic cleaning system

Abstract

Disclosed in the present disclosure are a base station (10) and an automatic cleaning system (100). The base station (10) comprises a transfer assembly (1); the transfer assembly (1) comprises a rotatable connecting member (12); a rotation path of the connecting member (12) comprises a first position and a second position; when the connecting member (12) rotates to the first position, the connecting member (12) is connected to a cleaning element (2); and when the connecting member (12) rotates to the second position, the connecting member (12) is separated from the cleaning element (2).

Description

A base station and an automatic cleaning system Cross-references to related applications

[0001] This disclosure claims priority to Chinese patent applications filed on February 10, 2025, No. 2025202117085, and on February 5, 2026, No. 2026201769476, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure belongs to the field of automatic cleaning equipment technology, and specifically relates to a base station and an automatic cleaning system. Background Technology

[0003] Among current automatic cleaning equipment, mopping robots and sweeper-mopping combos are widely popular due to their mopping function. After completing a set cleaning task or a designated cleaning time, automatic cleaning equipment can dock at a base station to wash the used mop. However, the automatic cleaning equipment needs to wait for the mop to finish washing before it can continue cleaning, and this mop washing process takes a considerable amount of time, extending the total time required for the automatic cleaning equipment to clean the room.

[0004] In related technologies, some automated cleaning devices can remove the mop cloth after returning to the base station and place it inside the base station. The automated cleaning device can then be equipped with another set of mop cloths and immediately resume its cleaning task, thus reducing waiting time. In other related technologies, the base station is equipped with a robotic arm to grip and move the mop cloth removed by the automated cleaning device. However, this method suffers from complex implementation structures and high costs. Summary of the Invention

[0005] This disclosure proposes a base station and an automatic cleaning system.

[0006] In a first aspect of this disclosure, a base station is provided, including a transport assembly, the transport assembly including a rotatable connector, the rotation path of the connector including a first position and a second position; when the connector is rotated to the first position, the connector connects to a cleaning element, and when the connector is rotated to the second position, the connector releases the cleaning element.

[0007] In one possible implementation, during the switching of the connector between the first position and the second position, the connector connects to or releases the cleaning element via a magnetic attraction structure.

[0008] In one possible implementation, the magnetic structure includes a first magnetic element and a second magnetic element; the cleaning element is provided with the first magnetic element, and the connector is provided with the second magnetic element. The connector can adjust the position of the second magnetic element by rotation, so that the connector and the cleaning element can switch between a connected state and a released state.

[0009] In one possible implementation, when the connector is in the first position, the first magnetic element and the second magnetic element attract each other to achieve connection; when the connector is in the second position, the first magnetic element and the second magnetic element disengage.

[0010] In one possible implementation, the first magnetic component is a magnetic attracting component, and the second magnetic component is a magnetic material; or, the first magnetic component is a magnetic material, and the second magnetic component is a magnetic attracting component; or, both the first magnetic component and the second magnetic component are magnetic attracting components.

[0011] In one possible implementation, during the switching of the connector between the first position and the second position, the connector connects or releases the cleaning element via an engagement structure.

[0012] In one possible implementation, the engaging structure includes a pin and a hole; the cleaning element has a pin, and the connector has a hole into which the pin can be inserted; the connector adjusts the position of the hole by rotation to switch the hole and the pin between a connected state and a released state; or, the cleaning element has a hole, and the connector has a pin into which the pin can be inserted; the connector adjusts the position of the pin by rotation to switch the pin and the hole between a connected state and a released state.

[0013] In one possible implementation, the conveying assembly further includes a movable arm, the connector being movably connected to the movable arm, the movable arm being used to move the cleaning element connected to the connector.

[0014] In one possible embodiment, the connector includes a rotating shaft; the conveying assembly further includes a driving member, the output end of which is poweredly connected to the rotating shaft; when the connector and the cleaning element are connected or released through a locking structure, the locking structure includes a pin and a hole, the pin or the hole being disposed on the rotating shaft; the driving member drives the rotating shaft to rotate around its own axis as the center of rotation to adjust the position of the pin or the hole; when the connector and the cleaning element are connected or released through a magnetic attraction structure, the magnetic attraction structure includes a first magnetic element and a second magnetic element, the second magnetic element being disposed on the side wall of the rotating shaft; the driving member drives the rotating shaft to rotate around its own axis as the center of rotation to adjust the position of the second magnetic element.

[0015] In one possible implementation, a portion of the rotating shaft is located within the inner cavity of the movable arm, and the second magnetic element is disposed on another portion of the rotating shaft that protrudes from the movable arm.

[0016] In one possible implementation, the radial distance between the axis of the rotating shaft and the second magnetic element is less than the radius of the rotating shaft; or, the radial distance between the axis of the rotating shaft and the second magnetic element is not less than the radius of the rotating shaft.

[0017] In one possible implementation, the cleaning element includes a tray, the non-cleaning surface of which has a protrusion for connection with the first magnetic element disposed on the protrusion.

[0018] In one possible implementation, a groove is provided on the rotating shaft, and the second magnetic element is disposed in the groove and exposed; or, the second magnetic element is embedded in the rotating shaft, and the second magnetic element is connected to the cleaning element through the side wall of the rotating shaft.

[0019] In one possible implementation, the rotating shaft is provided with a transition arc, and during the process of the connector switching from the first position to the second position, the rotating shaft contacts the cleaning element through the transition arc.

[0020] In one possible implementation, the end face of the protrusion is a plane, and when the connector and the cleaning element are in a connected state, the second magnetic element is in contact with the plane of the protrusion; or, the end face of the protrusion is a concave arc surface, and when the connector and the cleaning element are in a connected state, the rotating shaft is in contact with the concave arc surface of the protrusion.

[0021] In one possible implementation, the base station further includes a drive mechanism connected to the base station body; the drive mechanism is poweredly connected to the mobile arm and is used to drive the mobile arm to move; the mobile arm is rotatably connected to the connector.

[0022] In one possible implementation, the base station further includes a storage compartment connected to the base station body; the drive mechanism drives the moving arm, the connector, and the cleaning element connected to the connector to rise together to store the cleaning element in the storage compartment.

[0023] In one possible implementation, the conveying assembly further includes a drive member connected to the movable arm; the output end of the drive member is poweredly connected to the connector, and the drive member drives the connector to rotate relative to the movable arm; when the drive member drives the connector to rotate to the first position, the drive mechanism drives the conveying assembly and the cleaning element to rise together; after the cleaning element enters the storage compartment, the drive member drives the connector to rotate to the second position to release the cleaning element, and the cleaning element is stored in the storage compartment.

[0024] In one possible implementation, the inner cavity of the storage compartment is angled to the horizontal plane; the cleaning element is in a first posture when it is unloaded by the automatic cleaning equipment, and in a second posture when it is stored in the storage compartment, the second posture being different from the first posture; during the process of the drive mechanism driving the transport assembly and the cleaning element to rise, the drive member drives the connector to rotate, and the connector drives the cleaning element to rotate from the first posture to the second posture.

[0025] In one possible implementation, the storage compartment is provided in two sets; the number of cavities in each set of the storage compartment is the same as the number of cleaning elements configured in the automatic cleaning device; the two sets of the storage compartment are spaced apart in the horizontal direction and are parallel to each other; the interval between the two sets of the storage compartment corresponds to the position of the connector; when the connector drives the cleaning element into the storage compartment, the connector is located in the interval between the two sets of the storage compartment.

[0026] In one possible implementation, at least one set of storage compartments contains a replacement cleaning element; when one set of storage compartments is empty and the other set contains a replacement cleaning element, after the connector carries the used cleaning element into the empty storage compartment, the drive member drives the connector to rotate to the second position to release the used cleaning element, and the drive member drives the connector to continue rotating to the first position so that the connector connects with the replacement cleaning element; the drive mechanism drives the conveying assembly and the replacement cleaning element to descend together, and during the descent, the drive member drives the replacement cleaning element to rotate from the second posture to the first posture through the connector.

[0027] In one possible implementation, a connecting plate is provided between the two sets of storage compartments, the connecting plate being connected to the two sets of storage compartments respectively, and the connecting plate being located above the connecting member.

[0028] In one possible implementation, the base station further includes a controller and a position detection device, wherein the position detection device, the drive device, and the power component of the drive mechanism are electrically connected to the controller; the position detection device is triggered when the cleaning element is stored in the storage compartment.

[0029] In one possible implementation, the cleaning element includes a tray with a protrusion on its non-cleaning surface for connection with the connector; the storage compartment has a limiting structure on its wall, and when the cleaning element is stored in the storage compartment, the protrusion extends out of the storage compartment and is limited by the limiting structure.

[0030] In one possible implementation, the drive mechanism includes a power component, an input component, and an output component that are sequentially connected in transmission; the power component is connected to the base station body, and the output component is connected to the moving arm.

[0031] In one possible implementation, the number of the cleaning element, the conveying assembly, and the output component are all two; the two output components are respectively connected to the moving arms of the two conveying assemblies; the input component is drivenly connected to one of the output components; the drive mechanism further includes a linkage component; the linkage component is drivenly connected to the two output components respectively.

[0032] In one possible implementation, the conveying assembly further includes a drive member; the output end of the drive member is poweredly connected to the connecting members of the two conveying assemblies respectively.

[0033] In one possible implementation, the input component is an input gear, and the output component is a rack; the linkage component includes a connecting rod and two linkage gears mounted at both ends of the connecting rod, the two linkage gears respectively meshing with the corresponding racks, and the input gear meshing with one of the racks; the rack is integrally formed on the moving arm.

[0034] In one possible implementation, the base station is provided with a receiving cavity for accommodating the cleaning element, the inner diameter of the receiving cavity being larger than the outer diameter of the cleaning element, the receiving cavity being clearance-fitted with the cleaning element, and the sidewall of the receiving cavity forming a stop to prevent the cleaning element from moving in the horizontal direction.

[0035] In one possible implementation, the base station body is provided with a cleaning tank for accommodating and cleaning the cleaning element, and the space inside the cleaning tank forms the accommodating cavity.

[0036] In a second aspect of this disclosure, an automatic cleaning system is provided, comprising a base station of any of the first aspects, and an automatic cleaning device, wherein the base station provides maintenance for the automatic cleaning device.

[0037] In one possible implementation, the automatic cleaning device is equipped with one or more of the cleaning elements; the automatic cleaning device is docked with the base station or driven away from the base station; when the automatic cleaning device is docked with the base station, the automatic cleaning device removes the cleaning element and places it inside the base station, or the automatic cleaning device installs the cleaning element located inside the base station. Attached Figure Description

[0038] 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 based on these drawings without creative effort.

[0039] Figure 1 shows a schematic diagram of the structure of a base station according to one or more embodiments of the present disclosure.

[0040] Figure 1A shows a schematic diagram of the connector and cleaning element in the first position of the base station in Figure 1.

[0041] Figure 2 shows a schematic diagram of the structure of a base station according to one or more embodiments of the present disclosure.

[0042] Figure 2A shows a schematic diagram of the connector and cleaning element in the second position of the base station in Figure 1.

[0043] Figure 3A shows a schematic diagram of the structure of a connector and a cleaning element in a first position in a base station according to some other embodiments of the present disclosure.

[0044] Figure 3B shows a schematic diagram of the structure of the connector and cleaning element in the second position in a base station according to some other embodiments of the present disclosure.

[0045] Figure 4 shows a schematic diagram of the structure of the mobile arm, connector, and cleaning element of the base station according to one or more embodiments of the present disclosure.

[0046] Figure 5A shows a schematic diagram of the assembly structure of the base station's rotating shaft and the second magnetic component according to certain embodiments of the present disclosure.

[0047] Figure 5B shows a schematic diagram of the assembly structure of the base station's rotating shaft and the second magnetic component according to some other embodiments of the present disclosure.

[0048] Figure 5C shows a schematic diagram of the assembly structure of the base station's rotating shaft and second magnetic component according to some other embodiments of the present disclosure.

[0049] Figure 6 shows a schematic diagram of the structure of a connector and a cleaning element in a first position in a base station according to some other embodiments of the present disclosure.

[0050] Figure 7 shows a schematic diagram of the drive mechanism and storage compartment of a base station according to one or more embodiments of the present disclosure.

[0051] Figure 8 shows a front view of the drive mechanism and storage compartment of Figure 7.

[0052] Figure 8A shows a cross-sectional view along line AA of Figure 8.

[0053] Figure 9 shows a schematic diagram of the transport assembly, cleaning element, drive mechanism, and storage compartment of a base station according to one or more embodiments of the present disclosure.

[0054] Figure 9A shows a full sectional view of Figure 9, with the same cutting position as Figure 8A.

[0055] Figure 10 shows a schematic diagram of the structure of the driving mechanism of a base station according to one or more embodiments of the present disclosure.

[0056] Figure 11 shows a circuit block diagram of a base station according to one or more embodiments of the present disclosure.

[0057] Figure 12 shows a schematic diagram of the structure of a base station body according to one or more embodiments of the present disclosure.

[0058] Figure 13 shows a schematic diagram of the structure of an automatic cleaning system according to one or more embodiments of the present disclosure.

[0059] Figure 14 illustrates a process diagram of a base station processing a cleaning element according to one or more embodiments of the present disclosure.

[0060] Figure 14A shows a cross-sectional view of the base station of Figure 14.

[0061] Figure 15 illustrates a process diagram 2 for a base station to process cleaning elements according to one or more embodiments of the present disclosure.

[0062] Figure 15A shows a cross-sectional view of the base station of Figure 15.

[0063] Figure 16 illustrates a process for a base station to process cleaning elements according to one or more embodiments of the present disclosure.

[0064] Figure 16A shows a cross-sectional view of the base station of Figure 16.

[0065] Figure 17 illustrates a process for a base station to process cleaning elements according to one or more embodiments of the present disclosure.

[0066] Figure 17A shows a cross-sectional view of the base station of Figure 17.

[0067] Figure 18 illustrates a process for a base station to process cleaning elements according to one or more embodiments of the present disclosure.

[0068] Figure 18A shows a cross-sectional view of the base station of Figure 18.

[0069] Figure 19 illustrates a process for a base station to process cleaning elements according to one or more embodiments of the present disclosure.

[0070] Figure 19A shows a cross-sectional view of the base station of Figure 19.

[0071] Figure 20 illustrates a process for a base station to process cleaning elements according to one or more embodiments of the present disclosure.

[0072] Figure 20A shows a cross-sectional view of the base station of Figure 20.

[0073] Figure 21 illustrates a process for a base station to process cleaning elements according to one or more embodiments of the present disclosure.

[0074] Figure 21A shows a cross-sectional view of the base station of Figure 21.

[0075] Figure 22 illustrates a process for a base station to process cleaning elements according to one or more embodiments of the present disclosure.

[0076] Figure 22A shows a cross-sectional view of the base station of Figure 22.

[0077] Figure 23 illustrates a process for a base station to process cleaning elements according to one or more embodiments of the present disclosure.

[0078] Figure 23A shows a cross-sectional view of the base station of Figure 23.

[0079] Figure 24 illustrates a process diagram 11 for a base station to process cleaning elements according to one or more embodiments of the present disclosure.

[0080] Figure 24A shows a cross-sectional view of the base station of Figure 24.

[0081] Explanation of reference numerals in the attached drawings: 10-Base station; 1-Transportation assembly; 11-Moving arm; 12-Connector; 121-Shaft; 122-Second magnetic component; 123-Pin; 1231-Protrusion; 13-Driver; 2-Cleaning element; 21-Pattern; 22-Protrusion; 23-First magnetic component; 24-Hole; 241-Recess; 2A-Used cleaning element; 2B-Replacement cleaning element; 3-Cleaning tank; 3a-Receiving cavity; 4-Base station body; 41 - Guide rail; 5- Drive mechanism, 51- Power component, 52- Input component, 52A- Input gear, 53- Output component, 53A- Rack, 54- Linkage component, 541- Connecting rod, 542- Linkage gear; 6- Storage compartment, 6a- Inner cavity, 61- Connecting plate, 62- Limiting structure, 63- Guide part, 64- Guide groove; 7- Controller; 8- Position detection component; 9A- Clean water tank, 9B- Wastewater tank; 20- Automatic cleaning equipment; 100- Automatic cleaning system. Detailed Implementation

[0082] To enable those skilled in the art to more clearly understand this disclosure, the technical solutions in 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 of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0083] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this disclosure. Such repetition is for simplification and clarity purposes and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this disclosure provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0084] The specific technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings, which are not necessarily drawn to scale. Similar or identical reference numerals may be used to designate the same or similar parts in different figures. The use of similar or identical reference numerals in different figures does not mean that all figures including similar or identical reference numerals constitute a single or the same embodiment. The accompanying drawings illustrate the various embodiments discussed in this disclosure in a generalized, illustrative, and not restrictive manner.

[0085] Referring to Figures 1 and 2, a first aspect of this disclosure provides a base station 10, which includes a base station body 4. The base station body 4 is used to dock with an automatic cleaning device 20 to store and / or clean cleaning elements 2 removed from the automatic cleaning device 20. The cleaning element 2 can be a flat mop, a disc mop (the outline is not necessarily circular, but can also be elliptical, rounded polygonal, but the overall outline is approximately circular), a roller mop, a tracked mop, etc., and this disclosure does not impose any limitations.

[0086] Referring to Figures 1 and 2, the base station 10 also includes a transport assembly 1, which includes a rotatable connector 12. The rotation path of the connector 12 includes a first position and a second position. When the connector 12 rotates to the first position, the connector 12 connects to the cleaning element 2, as shown in Figure 1A; when the connector 12 rotates (the rotation direction is shown by the arrow in Figure 2A) to the second position, the connector 12 releases the cleaning element 2, as shown in Figure 2A.

[0087] According to one or more embodiments of the present disclosure, a base station 10 includes a transport assembly 1, which includes a rotatable connector 12. By rotating the connector 12 relative to the cleaning element 2, the connector 12 switches between a first position and a second position, thereby adjusting the connection state or release state between the connector 12 and the cleaning element 2. The base station 10 provided according to one or more embodiments of the present disclosure enables rapid installation and disassembly of the connector 12 and the cleaning element 2, and features a simple structure, low cost, convenient operation, and easy replacement of the cleaning element, thus improving the cleaning efficiency of the automatic cleaning equipment 20.

[0088] In one possible implementation, as shown in Figures 1A and 2A, during the switching of the connector 12 between a first position and a second position, the connector 12 connects to or releases the cleaning element 2 via a magnetic attraction structure.

[0089] In some embodiments, the magnetic attraction structure includes a first magnetic element 23 and a second magnetic element 122. Specifically, the cleaning element 2 may have the first magnetic element 23, and the connector 12 may have the second magnetic element 122. The connector 12 can be rotated to adjust the position of the second magnetic element 122, thereby switching the connector 12 and the cleaning element 2 between a connected state and a released state.

[0090] Please refer to Figures 1A and 2A. The cleaning element 2 is equipped with a first magnetic element 23, and the conveying assembly 1 is equipped with a matching second magnetic element 122. When the second magnetic element 122 is close to the first magnetic element 23, they can be magnetically attracted together; when they are far apart, the magnetic attraction is insufficient, and the second magnetic element 122 can detach from the first magnetic element 23. Rotation of the connecting member 12 can move the second magnetic element 123, thereby adjusting the position of the second magnetic element 122 and thus the magnitude of the magnetic attraction between the second magnetic element 122 and the first magnetic element 23. The rotation path of the connecting member 12 includes a first position and a second position. When the connecting member 12 rotates to the first position, the second magnetic element 122 and the first magnetic element 23 approach each other and are magnetically attracted together; when the connecting member 12 rotates to the second position, the second magnetic element 122 and the first magnetic element 23 move away from each other and are detached. Rotation of the connecting member 12 adjusts the connection state and the cleaning element 2 to be in a connected or released state.

[0091] In one possible implementation, when the connector 12 is in the first position, the first magnetic element 23 and the second magnetic element 122 attract each other to achieve connection, as shown in Figure 1A; when the connector 12 is in the second position, the first magnetic element 23 and the second magnetic element 122 disengage, as shown in Figure 2A. When the connector 12 is in the first position, the second magnetic element 122 and the first magnetic element 23 are close to each other, and the first magnetic element 23 and the second magnetic element 122 are magnetically connected, so that the connector 12 and the cleaning element 2 are connected, which facilitates the subsequent movement of the cleaning element 2 by the subsequent transport assembly 1, thereby realizing the function of transporting the cleaning element 2. The connector 12 can rotate from the first position to the second position. When the connector 12 is in the second position, the magnetic attraction between the first magnetic element 23 and the second magnetic element 122 decreases and they disengage.

[0092] The connector 12 can drive the second magnetic component 122 to rotate. During the process of the connector 12 switching from the first position to the second position, the second magnetic component 122 rotates and slides laterally away from the first magnetic component 23. During the process of lateral relative sliding, the magnetic attraction between the two gradually decreases, and finally the second magnetic component 122 is separated from the first magnetic component 23, realizing the operation of removing the cleaning element 2 from the connector 12.

[0093] By bringing the two magnetic components close together, they can be magnetically connected. Therefore, by bringing the second magnetic component 122 of the connector 12 closer to the first magnetic component 23 of the cleaning element 2, the cleaning element 2 can be picked up. Compared to traditional robotic arms, the implementation structure of picking up the cleaning element 2 using the magnetic attraction method is simpler, lower in cost, easier to operate, and facilitates the replacement of the cleaning element 2, thus improving the cleaning efficiency of the automatic cleaning equipment 20 adapted to the base station 10. Furthermore, the magnetic attraction method can also reduce the accumulation of dirt and grime in the transport component 1.

[0094] When the automatic cleaning device 20 is connected to the base station 10, the automatic cleaning device 20 removes the cleaning element 2 and places it at a designated position on the base station 10, as shown in Figure 1. Subsequently, the base station 10 drives the second magnetic element 122 to rotate via the connector 12. The lower surface of the removed cleaning element 2 abuts against the base station 10. During the rotation of the connector 12, the cleaning element 2 is restricted by the base station 10 (it may be restricted by certain components of the base station 10, or the friction between the cleaning element 2 and the base station 10 may be very large) and cannot move in the horizontal direction.

[0095] Based on the magnetic property that the parallel separation force of a magnet is greater than its lateral sliding force, during the rotation of the connector 12, the second magnetic element 122 initially moves in a direction approximately parallel to the attraction surface, overcoming the magnetic attraction and frictional force between the second magnetic element 122 and the first magnetic element 23 (frictional force is generated when the second magnetic element 122 and the first magnetic element 23 are in direct contact). Subsequently, the second magnetic element 122 gradually slides laterally relative to the first magnetic element 23, thereby gradually detaching from the first magnetic element 23. As the connector 12 rotates from the first position to the second position, the attraction area of ​​the first magnetic element 23 and the second magnetic element 122 gradually decreases, and the magnetic attraction between them gradually decreases accordingly. When the connector 12 rotates from the first position to the second position, the cleaning element 2 does not rotate with the connector 12 under the restriction of the base station, causing the second magnetic element 122 to gradually move away from the first magnetic element 23. The magnetic attraction between the first magnetic element 23 and the second magnetic element 122 gradually decreases, and this magnetic attraction is insufficient to attract the movement of the cleaning element 2, thereby ensuring that the cleaning element 2 can remain in place and not move with the transport assembly 1, as shown in Figure 2.

[0096] In some embodiments, the connector 12 is positioned above the cleaning element 2 as the second magnetic element 12 rotates. Because the connector 12 blocks the movement of the cleaning element 2, the cleaning element 2 cannot move up or down or left or right. Therefore, when the second magnetic element 122 rotates, the first magnetic element 23 remains stationary, and the second magnetic element 122 continues to rotate despite the magnetic attraction between them.

[0097] In some embodiments, the first magnetic element 23 can be a magnetic attractor, and the second magnetic element 122 can be a magnetic material. That is, the first magnetic element 23 can be a magnet, which has its own magnetism; the second magnetic element 122 can be a material such as an iron sheet that can be attracted by a magnet. When the transport assembly 1 moves the iron sheet close to the magnet of the cleaning element 2, the magnet will attract the iron sheet, thereby causing the cleaning element 2 to be attracted to the transport assembly 1, so that the cleaning element 2 can move synchronously with the transport assembly 1.

[0098] In other embodiments, the first magnetic element 23 can be a magnetic material, and the second magnetic element 122 can be a magnetic attracting element. That is, the first magnetic element 23 can be a material such as an iron sheet that can be attracted by a magnet, and the second magnetic element 122 can be a magnet (permanent magnet or electromagnet). When the transport assembly 1 moves the magnet close to the iron sheet of the cleaning element 2, the iron sheet will be attracted to the magnet so that the cleaning element 2 can move synchronously with the transport assembly 1.

[0099] In some embodiments, the attraction area is small when the iron sheet is perpendicular to the magnet. That is, when the second magnetic element 122 is rotated to be perpendicular to the first magnetic element 23, the attraction force between them is small, and the cleaning element 2 is easier to remove from the transport assembly 1.

[0100] Referring to Figure 2A, in some embodiments, the connector 12 includes a rotating shaft 121 and a second magnetic element 122, with the rotating shaft 121 located above the cleaning element 2. When the rotating shaft 121 rotates to the position where the second magnetic element 122 is located at a side quadrant point on the circumference (including the left quadrant point, corresponding to the 9 o'clock direction; and the right quadrant point, corresponding to the 3 o'clock direction), the first magnetic element 23 and the second magnetic element 122 are perpendicular to each other, resulting in a small attraction force between them, and the connector 12 can easily separate from the cleaning element 2. This position can be used as the second position of the connector 12. When the rotating shaft 121 rotates to the position where the second magnetic element 122 is located at the upper quadrant point on the circumference (corresponding to the 12 o'clock direction), although the first magnetic element 23 and the second magnetic element 122 are parallel to each other, they are at their farthest distance, and the attraction force between them is still small, making it easy for the connector 12 to separate from the cleaning element 2. This position can also be used as the second position of the connector 12. When the rotating shaft 121 rotates to the position where the second magnetic element 122 is located at the lower quadrant point of the circumference (corresponding to the 6 o'clock direction), the distance between the first magnetic element 23 and the second magnetic element 122 is the closest and they are parallel to each other. Then the adsorption force between them is the greatest, and the connector 12 is stably connected to the cleaning element 2. This position can be used as the first position of the connector 12.

[0101] In other embodiments, the first magnetic element 23 and the second magnetic element 122 can both be magnetic attracting elements, that is, the first magnetic element 23 and the second magnetic element 122 can both be magnets. During the process of the conveying assembly 1 driving one magnet to rotate towards the other magnet of the cleaning element 2, when the connecting member 12 rotates to the first position, the S pole and N pole of the two magnets approach each other and attract each other. One magnet will be attracted to the other magnet to achieve connection with each other, so that the cleaning element 2 is connected to the conveying assembly 1, and the cleaning element 2 can move synchronously with the conveying assembly 1.

[0102] It should be noted that when both the first magnetic component 23 and the second magnetic component 122 are magnets, when the second magnetic component 122 rotates to the 12 o'clock position and becomes parallel to the first magnetic component 23, the two magnets have the same pole facing each other. The two magnets generate a repulsive force because their magnetic fields are in the same direction, making it easier to remove the cleaning element 2 from the transport assembly 1. Therefore, this position can also be used as the second position of the connector 12.

[0103] In one possible implementation, as shown in FIG1A, when both the first magnetic element 23 and the second magnetic element 122 are sheet-like structures, when they are close to each other and parallel, the attraction area between the first magnetic element 23 and the second magnetic element 122 is large, and the adsorption force between them is large, which can firmly adsorb the cleaning element 2 onto the transport assembly 1. It can be understood that during the rotation of the sheet-like second magnetic element 122, the angle between the sheet-like first magnetic element 23 and the sheet-like second magnetic element 122 gradually increases, the second magnetic element 122 moves away from the first magnetic element 23, and the projected portion of the second magnetic element 122 located in the edge region of the first magnetic element 23 gradually decreases, that is, the attraction area between them decreases, and the adsorption force between them decreases.

[0104] In other possible implementations, as shown in Figures 3A and 3B, during the switching of the connector 12 between the first position and the second position, the connector 12 can also connect or release the cleaning element 2 via a snap-fit ​​structure.

[0105] The connector 12 and the cleaning element 2 can be snap-fitted together, connected by a snap-fit ​​structure. This snap-fit ​​structure may include a pin 123 and a hole 24. One of the connector 12 and the cleaning element 2 has a pin 123, and the other has a corresponding hole 24. When the connector 12 is rotated to the first position, the pin 123 engages in the hole 24, achieving a connection between the connector 12 and the cleaning element 2, as shown in Figure 3A. When the connector 12 is rotated to the second position, the pin 123 disengages from the hole 24, achieving a release between the connector 12 and the cleaning element 2, as shown in Figure 3B.

[0106] In one possible implementation, the cleaning element 2 is provided with a pin, and the connector 12 is provided with a hole into which the pin can be inserted. The connector 12 can be rotated to adjust the position of the hole, thereby switching the hole and the pin between a connected state and a released state.

[0107] In another possible implementation, the cleaning element 2 has a hole 24, and the connector 12 has a pin 123 that can be inserted into the hole 24, as shown in Figures 3A and 3B. The connector 12 can adjust the position of the pin 123 by rotating it, thereby switching the pin 123 and the hole 24 between a connected state and a released state.

[0108] In some embodiments, as shown in FIG3A, the pin 123 can be set as arc-shaped, and the hole 24 is an arc-shaped hole corresponding to the pin 123, so as to facilitate the connection 12 to rotate and adjust the position state between the two.

[0109] As a further implementation scheme, please refer to Figures 3A and 3B. A protrusion 1231 can also be provided on the pin 123, and a corresponding recess 241 can be provided in the hole 24. When the connector 12 is in the first position, the protrusion 1231 and the recess 241 are aligned. When the connector 12 moves upward, the protrusion 1231 is embedded in the recess 241 to form a limit, which improves the connection stability between the connector 12 and the cleaning element 2.

[0110] In one possible implementation, as shown in Figures 1A, 2A, and 4, the conveying assembly 1 further includes a movable arm 11, with a connector 12 movably connected to the movable arm 11. The movable arm 11 is used to move the cleaning element 2 connected to the connector 12. Of course, after the connector 12 releases the cleaning element 2, the movable arm 11 can also move the connector 12 independently.

[0111] The movable arm 11 can move the cleaning element 2, including lifting, translation and rotation. The movable arm 11 is movable, and the connecting member 12 is disposed on the movable arm 11. The movable arm 11 is connected to the cleaning element 2 through the connecting member 12. The connecting member 12 can rotate to adjust the position between the second magnetic member 122 and the first magnetic member 23, so as to pick up or remove the cleaning element 2.

[0112] In one possible implementation, when the connector 12 is connected to or released from the cleaning element 2 via a locking structure, the locking structure includes a pin 123 and a hole 24. The connector 12 includes a rotating shaft 121, and the pin 123 or the hole 24 is disposed on the rotating shaft 121. The conveying assembly also includes a drive member 13, the output end of which is poweredly connected to the rotating shaft 121. The drive member 13 drives the rotating shaft 121 to rotate about its own axis as the center of rotation, thereby adjusting the position of the pin or the hole. Specifically, as shown in FIG3A, the rotating shaft 121 rotates about its own axis as the center of rotation, and the pin 123 or the hole 24 is disposed on the side wall of the rotating shaft 121 and rotates with the rotating shaft 121.

[0113] When the pin 123 is mounted on the rotating shaft 121 and the hole 24 is mounted on the cleaning element 2, during assembly, it should be ensured that when the rotating shaft 121 drives the pin 123 to rotate to a position facing the hole 24, the pin 123 is aligned with the opening of the hole 24. In this case, the moving arm 11 lowers the pin 123 closer to the hole 24, and the rotating shaft 121 rotates, causing the pin 123 to embed into the hole 24. At this time, the cleaning element 2 can move synchronously with the moving arm 11. The moving arm 11 can adjust the height of the cleaning element 2 by raising and lowering it, and it can also adjust the horizontal position of the cleaning element 2 by moving it horizontally. When it is necessary to remove the cleaning element 2, the moving arm 11 moves the cleaning element 2 to the designated position on the base station 10, and the cleaning surface of the cleaning element 2 abuts against the base station 10. The rotating shaft 121 drives the pin 123 to rotate and move it out of the hole 24 of the cleaning element 2. The cleaning element 2 remains in its original position and cannot move synchronously with the moving arm 11 as it rises. The rising of the moving arm 11 causes the rotating shaft 121 to separate from the cleaning element 2.

[0114] When the hole is set on the rotating shaft 121 and the pin is set on the cleaning element 2, during assembly, it should be ensured that when the rotating shaft 121 drives the hole to rotate to a position facing the pin, the end of the hole and the pin are opposite each other. In this case, the moving arm 11 drives the hole to descend closer to the pin, and the rotating shaft 121 rotates to cause the hole to be fitted onto the pin. At this time, the cleaning element 2 can move synchronously with the moving arm 11. The moving arm 11 can adjust the height of the cleaning element 2 by raising and lowering it, and it can also adjust the horizontal position of the cleaning element 2 by moving it horizontally. When it is necessary to remove the cleaning element 2, the moving arm 11 drives the cleaning element 2 to move to the designated position of the base station 10, and the cleaning surface of the cleaning element 2 abuts against the base station 10. The rotating shaft 121 drives the hole to rotate and disengage from the pin. The cleaning element 2 remains in its original position and cannot move synchronously with the moving arm 11 as it rises. The rising of the moving arm 11 causes the rotating shaft 121 to separate from the cleaning element 2.

[0115] In one possible implementation, as shown in FIG2A, when the connector 12 and the cleaning element 2 are connected or released via a magnetic attraction structure, the magnetic attraction structure includes a first magnetic element 23 and a second magnetic element 122. The connector 12 includes a rotating shaft 121, and the second magnetic element 122 is disposed on the side wall of the rotating shaft 121. The second magnetic element 122 rotates about the axis of the rotating shaft 121. The conveying assembly also includes a driving element 13, the output end of which is poweredly connected to the rotating shaft 121. The driving element 13 drives the rotating shaft 121 to rotate, and the rotating shaft 121 rotates about its own axis. The second magnetic element 122 is disposed on the side wall of the rotating shaft 121 and rotates with the rotating shaft 121 to adjust the position of the second magnetic element 122.

[0116] During assembly, ensure that the second magnetic component 122 is rotated to face the first magnetic component 23, with the second magnetic component 122 opposite to the first magnetic component 23. In this position, the moving arm 11 lowers the second magnetic component 122 closer to the first magnetic component 23, allowing the cleaning element 2 to adhere to the rotating shaft 121. The cleaning element 2 can then move synchronously with the moving arm 11. The moving arm 11 can adjust the height of the cleaning element 2 by raising and lowering it, and it can also adjust the horizontal position of the cleaning element 2 by moving it horizontally. The rotating shaft 121 can rotate to adjust the angle of the cleaning element 2.

[0117] When it is necessary to remove the cleaning element 2, the moving arm 11 moves the cleaning element 2 to the designated position of the base station 10. The cleaning surface of the cleaning element 2 abuts against the base station 10. The rotating shaft 121 drives the second magnetic component 122 to rotate. Under the restriction of the base station 10, the cleaning element 2 cannot rotate with the rotating shaft 121. The rotating component 12 drives the second magnetic component 122 away from the first magnetic component 23. The magnetic attraction between the two becomes smaller. The cleaning element 2 stays in the original position and cannot move synchronously with the moving arm 11 as it rises. The rising of the moving arm 11 causes the rotating shaft 121 to separate from the cleaning element 2.

[0118] In some embodiments, the drive unit 13 may include a motor, and may also include other transmission structures such as a reducer, with the output shaft of the motor being poweredly connected to the rotating shaft 121.

[0119] Figure 4 illustrates the specific structure of the connector 12 in some embodiments, wherein a portion of the rotating shaft 121 is located within the inner cavity of the movable arm 11, and a second magnetic element 122 is disposed on the other portion of the rotating shaft 121 protruding from the movable arm 11. Specifically, a portion of the rotating shaft 121 is located within the inner cavity of the movable arm 11, and the other portion is located outside the movable arm 11. The outer diameter of the rotating shaft 121 is slightly smaller than the inner diameter of the movable arm 11, and the two are fitted with a small clearance to ensure that the rotating shaft 121 can rotate relative to the movable arm 11. The drive element 13 can be disposed within the inner cavity of the movable arm 11, which can prevent dirt from entering the inner cavity and causing contamination, and the movable arm 11 plays a protective role for the drive element 13.

[0120] The rotating shaft 121 and the movable arm 11 can be fitted with a clearance or a transition fit, and the clearance between them can not exceed 5mm. Specifically, the clearance can be 0.1mm, 0.3mm, 0.5mm, 0.8mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, etc., as long as the rotating shaft 121 can rotate freely within the inner cavity of the movable arm 11 without wobbling.

[0121] The second magnetic element 122 is disposed on the protruding sidewall of the rotating shaft 121 on the movable arm 11 and is used to connect with the cleaning element 2. In some embodiments, as shown in Figures 5A and 5B, the second magnetic element 122 can be exposed. When the second magnetic element 122 is exposed, the attraction force between it and the first magnetic element 23 is greater, and the second magnetic element 122 is easier to replace after its magnetic force weakens.

[0122] In some embodiments, as shown in FIG5A, the radial distance between the axis of the rotating shaft 121 and the second magnetic element 122 is less than the radius of the rotating shaft 121. During the removal of the cleaning element 2, the distance between the cleaning element 2 and the axis of the rotating shaft 121 increases slightly when the rotating shaft 121 rotates. This can be compensated for by moving the moving arm 11, leaving a gap between the bottom of the cleaning element 2 and the base station, or squeezing the flexible cleaning surface of the cleaning element 2, so that the rotating shaft 121 is not blocked by the cleaning element 2 during rotation.

[0123] In some embodiments, as shown in FIG5B, the radial distance between the axis of the rotating shaft 122 and the second magnetic element 122 is not less than the radius of the rotating shaft 121. During the removal of the cleaning element 2, the distance between the cleaning element 2 and the axis of the rotating shaft 121 does not increase when the rotating shaft 121 rotates, and no compensation is required; the rotating shaft 121 can rotate on its own.

[0124] In other embodiments, as shown in FIG5C, the second magnetic element 122 can be embedded within the rotating shaft 121, sufficient to ensure the suction force of the cleaning element 2. By embedding the second magnetic element 122 within the rotating shaft 121, the flatness of the surface of the rotating shaft 121 can be improved, preventing dirt from entering the gap between the second magnetic element 122 and the rotating shaft 121, facilitating the cleaning of the rotating shaft 121, and reducing bacterial growth; at the same time, it can prevent the second magnetic element 122 from detaching from the rotating shaft 121 due to excessive magnetic force.

[0125] In some embodiments, the two ends of the contact surface of the connector 12 that comes into contact with the cleaning element 2 may be provided with transition arcs to make the surface of the rotating shaft 121 flatter and easier to detach from the cleaning element 2 when rotating.

[0126] Figure 6 shows the specific structure of the cleaning element 2 in some embodiments. As shown in Figure 6, the cleaning element 2 includes a tray 21, and the non-cleaning surface of the tray 21 is provided with a protrusion 22, which is used to connect with the connector 12.

[0127] In some embodiments, a protrusion 22 may be provided at the axial position of the tray 21 to facilitate the positioning of the connection position between the connector 12 and the cleaning element 2, so that the cleaning element 2 is subjected to uniform force during movement, thereby improving the stability of the cleaning element 2 during movement.

[0128] In some embodiments, the first magnetic element 23 can be disposed within the protrusion 22, which can reduce the overall height requirement of the tray 21.

[0129] In one possible implementation, as shown in FIG5A, a groove is provided on the rotating shaft 121, and the second magnetic element 122 is disposed in the groove and exposed. The cross-sectional dimension of the groove is not smaller than the cross-sectional dimension of the second magnetic element 122. Correspondingly, in some embodiments, the first magnetic element 23 can also be exposed. When the first magnetic element 23 is exposed, the magnetic attraction force with the second magnetic element 122 is greater, and the first magnetic element 23 is easier to replace after its magnetic force weakens.

[0130] In one possible implementation, as shown in Figures 5B and 6, the second magnetic element 122 can be embedded in the rotating shaft 121, and the second magnetic element 122 is connected to the cleaning element 2 through the side wall of the rotating shaft 121.

[0131] Referring to Figure 6, in some embodiments, the first magnetic element 23 may also be embedded within the protrusion 22, as long as the magnetic attraction force for adsorbing the second magnetic element 122 is sufficient. By embedding the first magnetic element 23 within the protrusion 22, the flatness of the surface of the protrusion 22 can be improved, preventing dirt from entering the gap between the first magnetic element 23 and the protrusion 22, facilitating cleaning, and reducing bacterial growth; at the same time, it can prevent the first magnetic element 23 from detaching from the protrusion 22 due to excessive magnetic attraction force.

[0132] In one possible implementation, as shown in Figures 1A and 2A, the end face of the protrusion 22 can be a plane. When the connector 12 and the cleaning element 2 are in a connected state, the second magnetic suction member 123 is in contact with the plane of the protrusion 22. Since the end face of the protrusion 22 is a plane, it can be parallel to the tray 21. During the lifting and lowering process of the conveying assembly 1, the contact surface between the protrusion 22 and the connector 12 remains basically horizontal, preventing the cleaning element 2 from slipping off the connector 12.

[0133] In another possible implementation, as shown in FIG6, the end face of the protrusion 22 can also be a concave arc surface. When the connector 12 and the cleaning element 2 are in a connected state, the side wall of the rotating shaft 121 is in contact with the concave arc surface of the protrusion 22.

[0134] In some embodiments, as shown in Figures 2A and 4, the base station 10 further includes a guide rail 41, along which the movable arm 11 moves up and down. The guide rail 41 can be installed on the base station body 4, allowing the movable arm 11 to move along a preset trajectory via the guide rail 41, thus making the movement of the movable arm 11 more precise and stable.

[0135] Please refer to Figures 7 and 8. In some embodiments, the base station 10 further includes a drive mechanism 5, which is poweredly connected to the mobile arm 11. The drive mechanism 5 drives the mobile arm 11 to move toward or away from the cleaning element 2.

[0136] Please refer to Figures 7 and 8. In some embodiments, the base station 10 further includes a storage compartment 6, which is connected to the base station body 4. The drive mechanism 5 drives the moving arm 11, the connector 12, and the cleaning element 22 connected to the connector 12 to rise together, so as to store the cleaning element 22 in the storage compartment 6.

[0137] Referring to Figure 9, in some embodiments, the conveying assembly 11 further includes a drive member 13, which is connected to the movable arm 11. The output end of the drive member 13 is poweredly connected to the connector 12, and the drive member 13 drives the connector 12 to rotate relative to the movable arm 11. In some embodiments, the connector 12 is rotatably connected to the movable arm 11, and the connector 12 can rotate relative to the movable arm 11, thereby switching between a first position and a second position. When the drive member 13 drives the connector 12 to rotate to the first position, the drive mechanism 5 drives the conveying assembly 11 (including the movable arm 11, connector 12, and drive member 13) and the cleaning element 22 to rise together; after the cleaning element 22 enters the storage compartment 6, the drive member 13 drives the connector 12 to rotate to the second position to release the cleaning element 22, so that the cleaning element 22 is stored in the storage compartment 6.

[0138] The storage compartment 6 can be encapsulated inside the base station body 4. In some embodiments, when the automatic cleaning device 20 docks with the base station 10, a portion of the automatic cleaning device 20 enters the interior of the base station 10. That is, if the lower space of the base station 10 is used to accommodate the automatic cleaning device 20, then the storage compartment 6 can be located in the upper space of the base station body 4. By storing the cleaning elements 2 in the storage compartment 6, on the one hand, the base station 10 can store multiple cleaning elements 2, and the automatic cleaning device 20 can quickly install clean cleaning elements 2 after removing dirty cleaning elements 2, improving the cleaning efficiency of the automatic cleaning device 20; on the other hand, the base station 10 can store multiple cleaning elements 2, thereby enabling the base station 10 to dock with multiple automatic cleaning devices 20 and clean the cleaning elements 2 of multiple automatic cleaning devices 20; furthermore, the base station 10 can also protect the cleaning elements 2 stored inside.

[0139] Please refer to Figure 9. In the industry, the height direction of base station 10 is typically denoted as the Z-direction, also known as the vertical direction; the relative movement direction between the automatic cleaning device 20 and base station 10 when they dock is denoted as the X-direction, also known as the forward / backward direction or travel direction; the horizontal direction perpendicular to the X-direction is denoted as the Y-direction, also known as the left / right direction or lateral direction. In some embodiments, the inner cavity 6a of storage compartment 6 is angled to the horizontal plane (i.e., the XY plane). The inner cavity 6a of storage compartment 6 can be parallel to the XZ plane or the YZ plane, or inclined relative to the XZ plane or the YZ plane. This reduces the projected area of ​​storage compartment 6 on the horizontal plane, avoids storage compartment 6 occupying too much horizontal space, and facilitates the arrangement of storage compartment 6.

[0140] Please refer to Figure 9. When cleaning element 2 is unloaded by the automatic cleaning device 20, it is in the first posture (refer to cleaning element 2A in Figure 9A). Normally, cleaning element 2 is placed horizontally when unloaded by the automatic cleaning device 20, basically parallel to the horizontal plane (XY plane). When cleaning element 2 is stored in storage compartment 6, it is in the second posture (refer to cleaning element 2B in Figure 9A). Since the inner cavity 6a of storage compartment 6 is set at an angle to the horizontal plane, cleaning element 2 is placed vertically or at an angle when stored in storage compartment 6, which results in the second posture being different from the first posture. During the process of driving the conveying assembly 1 and cleaning element 2 to rise, the driving component 13 drives the connecting component 12 to rotate, and the connecting component 12 drives the cleaning element 2 to rotate from the first posture to the second posture.

[0141] As one implementation scheme, please refer to Figures 8A and 9A. The inner cavity 6a of the storage compartment 6 is parallel to the YZ plane. Among the dimensions of the three directions of the base station 10, the X-direction dimension is the smallest, and the X-direction space of the base station body 4 is the most compact. By setting the inner cavity 6a of the storage compartment 6 to be parallel to the YZ plane, the X-direction dimension of the inner cavity 6a of the storage compartment 6 is only the thickness of the cleaning element 2, which facilitates its arrangement inside the base station body 4. Correspondingly, the axis of the rotating shaft 121 of the connector 12 is parallel to the Y-direction. In embodiments where a guide rail 41 is provided on the base station body 4, the guide rail 41 can be arranged on both sides of the base station body 4 in the Y-direction.

[0142] It is understandable that, due to the changing orientation of the cleaning element 2, when the connector 12 is in a certain absolute position, it may be in either a first position or a second position due to the influence of the orientation of the cleaning element 2. That is, the first and second positions of the connector 12 are relative to the cleaning element 2 (relative position), not relative to the base station body 4 (absolute position). For example, when the cleaning element 2 is in the first orientation, if the connector 12 rotates to the position where the second magnetic element 122 is at the 6 o'clock position, the second magnetic element 122 attracts the first magnetic element 23, and the connector 12 is magnetically connected to the cleaning element 2, then the connector 12 is in the first position. If the cleaning element 2 is in the second orientation, if the connector 12 rotates to the position where the second magnetic element 122 is at the 6 o'clock position, the second magnetic element 122 is perpendicular to the first magnetic element 23, the magnetic attraction is almost zero, and the connector 12 releases the cleaning element 2, then the connector 12 is in the second position.

[0143] The shape of the inner cavity 6a of the storage compartment 6 is adapted to the shape of the cleaning element 2. Please refer to Figures 9 and 9A. In some embodiments, the cleaning element 2 is a disc mop, and the inner cavity 6a of the storage compartment 6 is semi-circular. To facilitate the entry and exit of the cleaning element 2 into and out of the inner cavity 6a of the storage compartment 6, a guide portion 63 with a flared structure is provided at the lower part of the storage compartment 6. The opening size of the guide portion 63 gradually decreases from bottom to top, and the minimum opening size of the guide portion 63 is not less than the thickness (X-direction dimension) of the inner cavity 6a of the storage compartment 6. Even if the cleaning element 2 is not completely vertical, or if there are foreign objects attached to the cleaning element 2, the cleaning element 2 can still smoothly enter the inner cavity 6a of the storage compartment 6 under the guidance of the larger opening of the guide portion 63.

[0144] As a further implementation, the inner surface of the guide section 63 can be set as a spherical surface. If the height space inside the base station 10 is insufficient, the internal space of the guide section 63 can be used when the cleaning element 2 rotates and changes its posture. The internal space of the guide section 63 is a spherical space, which will not interfere with the rotation of the cleaning element 2.

[0145] Referring to Figure 9, in some embodiments, the storage compartment 6 is provided in two sets, and the number of cavities 6a in each set of storage compartment 6 is the same as the number of cleaning elements 2 configured in the automatic cleaning device 20. That is, the base station 10 can store the cleaning elements 2 required by two sets of automatic cleaning devices 20. If the cleaning element 2 is a flat mop, the automatic cleaning device 20 is usually configured with only one flat mop, and each set of storage compartment 6 is provided with only one cavity 6a. If the cleaning element 2 is a disc mop, the automatic cleaning device 20 is usually configured with two disc mops, and each set of storage compartment 6 is provided with two cavities 6a.

[0146] Please refer to Figure 9A. In the two sets of storage compartments 6, one set contains replacement cleaning elements 2B. The automatic cleaning device 20 can unload used cleaning elements 2A and leave them at the base station 10 for cleaning via the handling component 1. The automatic cleaning device 20 can then assemble the replacement cleaning element 2B from the base station 10, performing the cleaning task without waiting for the used cleaning element 2A to finish cleaning. This significantly reduces the waiting time for the cleaning element 2 to clean, increases the frequency of cleaning element 2 replacement, and greatly improves the cleaning efficiency of the automatic cleaning device 20. Furthermore, the used cleaning element 2A is cleaned offline, allowing for a longer cleaning time, improving the cleanliness of the cleaning element 2, and increasing user satisfaction.

[0147] Alternatively, both sets of storage compartments 6 can be configured to store replacement cleaning elements 2B. When the automatic cleaning device 20 needs to mop the floor, it first docks with the base station 10. The transport component 1 picks up and transports one set of cleaning elements 2. After loading the cleaning element 2, the automatic cleaning device 20 can leave the base station 10 to perform the cleaning operation.

[0148] Referring to Figures 9 and 9A, in some embodiments, two sets of storage compartments 6 are arranged horizontally at intervals and parallel to each other, with the interval between the two sets of storage compartments 6 corresponding to the position of the connector 12. When the drive mechanism 5 drives the conveying assembly 1 to rise, and the connector 12 drives the cleaning element 2 to rise into the storage compartment 6, the connector 12 is located in the interval between the two sets of storage compartments 6.

[0149] Referring to Figures 9 and 9A, when one set of storage compartments 6 is empty and the other set of storage compartments 6 contains a replacement cleaning element 2B, after the connector 12 carries the used cleaning element 2A into the empty storage compartment 6, the drive member 13 drives the connector 12 to rotate to the second position to release the used cleaning element 2A. Subsequently, the drive member 13 drives the connector 12 to continue rotating to the first position, so that the connector 12 connects with the replacement cleaning element 2B stored in the other set of storage compartments 6. Finally, the drive mechanism 5 drives the transport assembly 1 and the replacement cleaning element 2B to descend together, and during the descent, the drive member 13 drives the replacement cleaning element 2B to rotate from the second position to the first position via the connector 12.

[0150] Understandably, during the lifting and lowering process of the transport component 1, the drive component 13 drives the cleaning element 2 to rotate via the connector 12 to adjust its posture, ensuring that the cleaning element 2 does not interfere with the base station body 4. The drive component 13 can drive the cleaning element 2 to rotate when the vertical distance between the connector 12 and the base station body 4 is greater than the radius of the cleaning element 2. That is, during the lifting process, the cleaning element 2 first rises and then rotates; during the lowering process, the cleaning element 2 first rotates and then lowers. The operating speed of the drive component 13 and the drive mechanism 5 can also be adjusted so that the vertical distance between the connector 12 and the base station body 4 is always greater than the vertical distance from the axis of the cleaning element 2 to its lowest point, thereby avoiding interference between the cleaning element 2 and the base station body 4. This allows the cleaning element 2 to rotate while simultaneously rising / falling.

[0151] Referring to Figures 8A and 9A, in some embodiments, a connecting plate 61 is provided between the two sets of storage compartments 6. The connecting plate 61 is connected to both sets of storage compartments 6 respectively, and the relative position between the two sets of storage compartments 6 is stabilized by setting the connecting plate 61. The two sets of storage compartments 6 can be connected to the base station body 4 through the connecting plate 61, and the drive mechanism 5 can also be installed on the connecting plate 61. As a further implementation, the two sets of storage compartments 6 and the connecting plate 61 can be an integral structure.

[0152] In some embodiments, the connecting plate 61 is located above the connector 12. When the drive mechanism 5 drives the conveying assembly 1 to rise, the connecting plate 61 can act as a stop device for the rising stroke of the connector 12. Alternatively, a limit switch can be provided on the connecting plate 61, which is triggered when the conveying assembly 1 rises to its designated position.

[0153] Referring to Figure 9A, in some embodiments, the cleaning element 2 includes a tray 21, the non-cleaning surface of which has a protrusion 22 for connection with the connector 12. When the cleaning element 2 is stored in the storage compartment 6, the tray 21 of the cleaning element 2 is located in the inner cavity 6a of the storage compartment 6, and the protrusion 22 extends out of the storage compartment 6. As a further embodiment, the wall of the storage compartment 6 is provided with a limiting structure 62. When the cleaning element 2 is stored in the storage compartment 6, the protrusion 22 extends out of the storage compartment 6 and is limited by the limiting structure 62. A guide groove 64 may be provided on the wall of the storage compartment 6. During the process of the cleaning element 2 entering and leaving the storage compartment 6, the protrusion 22 slides along the guide groove 64. The limiting structure 62 may be provided on the groove wall of the guide groove 64, and the limiting structure 62 may be a protrusion or an elastic element. The resistance generated by the limiting structure 62 to the protrusion is less than the connection force when the connector 12 is connected to the cleaning element 2, ensuring that when the connector 12 moves the cleaning element 2, the protrusion 22 of the cleaning element 2 can smoothly pass over the limiting structure 62 without detaching from the connector 12.

[0154] The drive mechanism 5 may include a motor, and may also include other transmission structures such as gear sets and reducers. The output shaft of the motor is poweredly connected to the moving arm 11 to drive the moving arm 11 to move. The specific structure of the drive mechanism 5 can be set according to the preset moving trajectory of the moving arm 11, and this disclosure does not impose any restrictions.

[0155] Figure 10 shows a schematic diagram of the drive mechanism 5 in some embodiments. Referring to Figure 10, the drive mechanism 5 includes a power component 51, an input component 52, and an output component 53 connected in sequence. The power component 51 is connected to the base station body 4. The power component 51 can be a motor, and the output shaft of the motor is connected to the input component 52. The output component 53 is connected to the movable arm 11, and the output component 53 drives the movable arm 11 to move up and down.

[0156] In some embodiments, the automatic cleaning device 20 is equipped with two cleaning elements 2, and correspondingly, there are two conveying components 1 and two output components 53. The two output components 53 are respectively connected to the moving arms 11 of the two conveying components 1, and the two output components 53 drive the moving arms 11 of the two conveying components 1 to move up and down synchronously. In embodiments where the conveying components 1 also include a drive component 13, the two conveying components 1 can share one drive component 13. The output end of the drive component 13 is poweredly connected to the connecting parts 12 of the two conveying components 1, that is, the drive component 13 drives the two connecting parts 12 to rotate synchronously. The drive component 13 can be a dual-axis motor, or include a motor and its driven transmission components (e.g., gear sets, lead screw and nut mechanisms, worm gear mechanisms, etc.).

[0157] The input component 52 is driven to one of the output components 53. To ensure that the two output components 53 move synchronously, please refer to Figure 10. In some embodiments, the drive mechanism 5 also includes a linkage component 54. The linkage component 54 is driven to the two output components 53 respectively. The movement of the output component 53 driven to the input component 52 is synchronously transmitted to the other output component 53 through the linkage component 54, thereby realizing the synchronous movement of the two output components 53.

[0158] As one implementation, please refer to Figure 10. The input component 52 is an input gear 52A, and the output component 53 is a rack 53A. The corresponding linkage component 54 includes a connecting rod 541 and two linkage gears 542 mounted at both ends of the connecting rod 541. The two linkage gears 542 mesh with the corresponding racks 53A. When the input gear 52A meshes with one of the racks 53A, the motor drives the input gear 52A to rotate. The input gear 52A drives one of the racks 53A to move up and down through the meshing of its teeth. The linkage gear 542 meshing with the rack 53A rotates accordingly, and drives the other linkage gear 542 to rotate synchronously. The rack 53A meshing with the other linkage gear 542 moves up and down synchronously. In some embodiments, the rack 53A can be integrally formed on the movable arm 11, for example, by injection molding to directly obtain the movable arm 11 with the rack 53A.

[0159] Referring to Figures 9A and 11, in some embodiments, the base station 10 further includes a controller 7 and a position detection element 8. The position detection element 8, the drive element 13, and the power element 51 of the drive mechanism 5 are electrically connected to the controller 7. The position detection element 8 is triggered when the cleaning element 2 is stored in the storage compartment 6. The position detection element 8 can be a limit switch, a Hall sensor, a photoelectric sensor, etc., and this disclosure does not impose any limitations.

[0160] Referring to Figure 9A, in some embodiments, the position detection element 8 can be a limit switch, which is fixed to the storage compartment 6. When the cleaning element 2 is stored in the storage compartment 6, the contact of the limit switch is squeezed, triggering the limit switch. The power element 51 of the drive element 13 and the drive mechanism 5 can both be stepper motors or servo motors equipped with encoders. The controller 7 can directly and precisely control the lifting height and rotation angle of the connector 12 based on the number of steps of the stepper motor and the signal fed back by the encoder. Of course, in other embodiments, other position detection elements can also be set in the base station body 4 to detect the lifting height and rotation angle of the connector 12 respectively.

[0161] In one possible implementation, as shown in Figures 2A and 3, the base station 10 is provided with a receiving cavity 3a for accommodating the cleaning element 2. The inner diameter of the receiving cavity 3a is larger than the outer diameter of the cleaning element 2, and the receiving cavity 3a and the cleaning element 2 are fitted with a small clearance. The sidewall of the receiving cavity 3a forms a stop for the cleaning element 2 moving in the horizontal direction. The transport assembly 1 unloads the cleaning element 2 into the receiving cavity 3a, facilitating the subsequent assembly of the cleaning element 2 by the automatic cleaning equipment 20, or the base station 10 performing a cleaning operation on the cleaning element 2.

[0162] The receiving cavity 3a and the cleaning element 2 can be fitted with a clearance or a transition fit. The clearance between the receiving cavity 3a and the cleaning element 2 can not exceed 10mm. Specifically, the clearance can be 0.5mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, 5mm, 5.5mm, 6mm, 6.5mm, 7mm, 7.5mm, 8mm, 8.5mm, 9mm, etc., as long as the cleaning element 2 can be smoothly inserted into the receiving cavity 3a without shaking.

[0163] In some embodiments, the receiving cavity 3a is recessed inward to accommodate the cleaning element 2. The inner diameter of the receiving cavity 3a is larger than the outer diameter of the cleaning element 2. The cleaning element 2, placed in the receiving cavity 3a, can only move vertically and cannot move horizontally. In some embodiments, the cleaning element 2 can also move a certain displacement horizontally within the receiving cavity 3a, but cannot detach from the receiving cavity 3a. When the connecting member 12 rotates from the first position to the second position, the stop formed by the side wall of the receiving cavity 3a can prevent the cleaning element 2 from moving horizontally, causing the connection force between the connecting member 12 and the cleaning element 2 to fail (the connection force disappears or decreases to less than the weight of the cleaning element 2).

[0164] Taking the connector 12, which includes a rotating shaft 121 and a second magnetic component 122, as an example, when the transport assembly 1 moves the cleaning element 2 into the receiving cavity 3a, the rotating shaft 121 rotates, causing the second magnetic component 122 to move. Due to the constraint of the receiving cavity 3a, the cleaning element 2 cannot remain within the receiving cavity 3a as the second magnetic component 122 moves. The second magnetic component 122 can continue to move away from the first magnetic component 23, reducing the magnetic attraction between them, and the connector 12 releases the cleaning element 2. By setting the receiving cavity 3a, the position of the cleaning element 2 can be kept accurate, facilitating subsequent assembly of the cleaning element 2 with the automatic cleaning device 20, and also facilitating the removal of the cleaning element 2 from the transport assembly 1.

[0165] Referring to Figure 12, in some embodiments, the base station body 4 is provided with a cleaning tank 3 for accommodating and cleaning the cleaning element 2, and the space inside the cleaning tank 3 forms a receiving cavity 3a. Cleaning equipment can be installed in the receiving cavity 3a, including a scraper, a rinsing device, etc., which can clean the cleaning element 2 within the receiving cavity 3a, facilitating the replacement of the cleaning element 2 after the automatic cleaning equipment 20 returns to the base station 10. Compared to the traditional situation where the automatic cleaning equipment needs to wait for the cleaning element 2 to be cleaned after returning to the base station, the base station 20 provided in this embodiment can directly assemble the cleaning element 2 with a high degree of cleanliness with the automatic cleaning equipment 20, and then the automatic cleaning equipment 20 can immediately start performing the cleaning task. After the automatic cleaning equipment 20 departs, the removed and used cleaning element 2 is then cleaned, reducing the waiting time of the automatic cleaning equipment 20.

[0166] When the automatic cleaning equipment 20 enters the base station body 4, the cleaning element 2 of the automatic cleaning equipment is located in the cleaning tank 3, and the cleaning element 2 is cleaned by the liquid in the cleaning tank 3. The base station 10 can be directly connected to a tap water pipe, and tap water enters the cleaning tank 3 to clean the cleaning element 2. Referring to Figure 13, in some embodiments, the base station 10 may also include a clean water tank 9A, which has a large volume and can store a large amount of clean water. The water stored in the clean water tank 9A enters the cleaning tank 3 to clean the cleaning element 2. Continuing to refer to Figure 13, in some embodiments, a wastewater tank 9B may also be provided on the base station 10. The wastewater tank 9B has a large volume, and the wastewater, dirt, etc. generated by the cleaning tank 3 in cleaning the cleaning element 2 can be collected in the wastewater tank 9B.

[0167] Referring to Figure 13, a second aspect of this disclosure provides an automatic cleaning system 100, including a base station 10 as described in the first aspect, and an automatic cleaning device 20, wherein the base station 20 provides maintenance for the automatic cleaning device 10. The automatic cleaning device 20 is equipped with one or more cleaning elements 2, and can be docked with or removed from the base station 10. When docked with the base station 10, the automatic cleaning device 20 removes the cleaning element 2 and places it inside the base station 10. The transport assembly 1 of the base station 10 can pick up and move the cleaning element 2. When docked with the base station 10, the automatic cleaning device 20 can also install the cleaning element 2 located inside the base station 10 onto the main body of the automatic cleaning device 20, enabling the automatic cleaning device 20 to perform cleaning operations.

[0168] The automatic cleaning device 20 can be a self-moving cleaning robot or other types of cleaning robots that meet the requirements. A self-moving cleaning robot is a device that automatically performs cleaning operations in a designated area without user intervention. Specifically, the automatic cleaning device 20 can be a sweeper, a floor scrubber, a sweeper-mop combo, etc.

[0169] The automatic cleaning device 20 can connect the cleaning element 2 via structural components such as snap-fit ​​structures, hooks, clips, and magnetic structures. When it is necessary to remove the cleaning element 2, the aforementioned structural components can be moved by a power component (e.g., a motor drives a clip to clamp the protrusion 22 of the cleaning element 2), or the power supply state of the aforementioned structural components can be changed (e.g., an electromagnet generates magnetic force only after it is energized), thus removing the current cleaning element 2.

[0170] In some embodiments, the base station 10 can perform targeted cleaning for different scenarios by replacing the cleaning elements 2. Specifically, one set of cleaning elements 2 can be used to clean heavily soiled areas such as the kitchen, while another set of cleaning elements 2 can be used to clean other less soiled areas, avoiding secondary pollution caused by residual dirt on the cleaning elements 2. Correspondingly, two storage compartments 6 are provided in the base station body 4 to store two sets of cleaning elements 2 respectively. The automatic cleaning device 20 can assemble another set of cleaning elements 2 without waiting for the cleaning elements 2 to finish cleaning, and then start to perform the next round of cleaning tasks. The transport component 1 can move the cleaning elements 2 removed from the automatic cleaning device 20 to the cleaning tank 3 for cleaning. Since the cleaning elements 2 are now detached from the automatic cleaning device 20, cleaning elements 2 with more residual dirt can have a longer cleaning time, improving the cleanliness of the cleaning elements 2.

[0171] In some embodiments, the base station 10 can also perform targeted cleaning for different scenarios by replacing the cleaning elements 2 with those of different materials, greatly improving the cleaning effect. Different materials of cleaning elements 2 can be used for cleaning scenarios with different levels of dirt; for example, different materials can be used for the kitchen and living room. Specifically, for heavily soiled areas such as the kitchen, a cleaning element 2 with a rougher surface can be used, as it has a better abrasion effect on the floor and can remove stubborn stains. For less soiled areas such as the living room, a cleaning element 2 with a finer surface can be used to avoid scratching the floor. In other embodiments, different materials of cleaning elements 2 can also be used for cleaning surfaces of different materials; for example, different materials of cleaning elements 2 can be used for floors, tiles, and carpets, improving the cleaning effect for different scenarios.

[0172] Other undetailed structures of the base station 10 and automatic cleaning equipment 20 of the automatic cleaning system 100 can be referred to relevant prior art disclosures, and this disclosure does not impose any limitations.

[0173] The working principle of the automatic cleaning system 100 in some embodiments will be described below with reference to Figures 14 to 24A. In this embodiment, the automatic cleaning device 20 is equipped with two cleaning elements 2, which are disc mops. The base station 10 is equipped with a cleaning tank 3, two sets of storage compartments 6, and two sets of conveying components 1. Each set of storage compartments 6 has two inner cavities 6a. In one set of storage compartments 6, the cleaning elements 2B for replacement are stored. This set of cleaning elements 2 mainly cleans areas with lighter dirt, such as the living room and bedroom. The cleaning elements 2 in the other set of storage compartments 6 are already installed on the automatic cleaning device 20, so the inner cavity 6a of this set of storage compartments 6 is empty. This set of cleaning elements 2 mainly cleans areas with heavier dirt, such as the kitchen. Each storage compartment 6 is equipped with a limit structure 62 and a position detection component 8. The conveying assembly 1 includes a moving arm 11, a connector 12 and a drive component 13. The connector 12 includes a rotating shaft 121 and a second magnetic component 122 mounted on the rotating shaft 121. A first magnetic component 23 is correspondingly provided on the protrusion 22 of the cleaning element 2.

[0174] For ease of understanding, the following text uses "A" and "B" to distinguish between two sets of identical parts. Specifically, "A" indicates the storage compartment 6 with an empty inner cavity 6a and the cleaning element 2 that is adapted to the storage compartment 6, and "B" indicates the storage compartment 6 containing the cleaning element 2B for replacement and the cleaning element 2 that is adapted to the storage compartment 6.

[0175] After loading cleaning element 2A, the automatic cleaning equipment 20 departs from the base station 10 to clean heavily soiled areas. After cleaning, the automatic cleaning equipment 20 returns to the base station 10. After docking with the base station 10, the automatic cleaning equipment 20 unloads cleaning element 2A and then departs from the base station 10, facilitating the transport component 1 to pick up and move cleaning element 2A.

[0176] The cleaning element 2A, removed from the automatic cleaning device 20, is located in the cleaning tank 3 in the first position. The drive mechanism 5 drives the two sets of conveying components 1 to descend synchronously, while the drive component 13 drives the rotating shaft 121 to rotate until the second magnetic component 122 is located at the 6 o'clock position, at which point the connecting component 12 is in the first position. After the rotating shaft 121 descends to its position, the second magnetic component 122 and the first magnetic component 23 of the cleaning element 2A are connected by magnetic attraction, so that the rotating shaft 121 is connected to the cleaning element 2A, as shown in Figures 14 and 14A.

[0177] The drive mechanism 5 drives the two sets of conveying components 1 to rise synchronously, causing the cleaning element 2A to detach from the cleaning tank 3 of the base station 10, as shown in Figures 15 and 15A. This step facilitates the rotation of the cleaning element 2A in subsequent processes.

[0178] During the ascent, the drive unit 13 drives the rotating shaft 121 to rotate to the position where the second magnetic element 122 is located at the 9 o'clock position. The rotating shaft 121 drives the cleaning element 2A to rotate from the first posture to the second posture, as shown in Figures 16 and 16A.

[0179] The drive mechanism 5 drives the conveying assembly 1 to rise continuously until the cleaning element 2A enters the storage compartment 6A, as shown in Figures 17 and 17A. After the cleaning element 2A enters the storage compartment 6A, it triggers the position detection element 8. Upon receiving the signal from the position detection element 8, the controller 7 controls the drive mechanism 5 to stop.

[0180] The driving component 13 drives the rotating shaft 121 to continue rotating until the second magnetic component 122 is located at the 6 o'clock or 12 o'clock position, at which point the connecting component 12 is in the second position. During the rotation of the rotating shaft 121, the cleaning element 2A is blocked by the storage compartment 6A and cannot continue to rotate. The distance between the second magnetic component 122 and the first magnetic component 23 of the cleaning element 2A gradually increases, the magnetic attraction decreases, and the cleaning element 2A is released. The protrusion 22 of the cleaning element 2A is restricted by the limiting structure 62, ensuring that the cleaning element 2A is stably stored in the storage compartment 6A, as shown in Figures 18 and 18A.

[0181] The driving component 13 drives the rotating shaft 121 to continue rotating until the second magnetic component 122 is located at the 3 o'clock position. The second magnetic component 122 attracts the first magnetic component 23 of the cleaning element 2B, and the rotating shaft 121 is magnetically connected to the cleaning element 2B. At this time, the connecting component 12 is once again in the first position, as shown in Figures 19 and 19A.

[0182] The drive mechanism 5 drives the two sets of conveying components 1 to descend synchronously. The conveying components 1 carry the cleaning element 2B away from the storage chamber 6B, as shown in Figures 20 and 20A. This step facilitates the rotation of the cleaning element 2B in subsequent processes.

[0183] During the descent, the drive unit 13 drives the rotating shaft 121 to rotate to the position where the second magnetic element 122 is located at the 6 o'clock position. The rotating shaft 121 drives the cleaning element 2B to rotate from the second posture to the first posture, as shown in Figures 21 and 21A.

[0184] The drive mechanism 5 drives the transport assembly 1 to descend continuously until the cleaning element 2B enters the cleaning tank 3, as shown in Figures 22 and 22A.

[0185] The driving component 13 drives the rotating shaft 121 to rotate until the second magnetic component 122 is located at the 9 o'clock or 3 o'clock position, at which point the connecting component 12 is in the second position. During the rotation of the rotating shaft 121, the cleaning element 2B is blocked by the cleaning tank 3 and cannot continue to rotate. The distance between the second magnetic component 122 and the first magnetic component 23 of the cleaning element 2B gradually increases, the magnetic attraction decreases, and the cleaning element 2B is released, as shown in Figures 23 and 23A.

[0186] The drive mechanism 5 drives the two sets of transport components 1 to rise synchronously, clearing space for the automatic cleaning device 20 to enter the base station 10. The automatic cleaning device 20 enters the base station 10 and docks with it again. After installing the cleaning element 2B, the automatic cleaning device 20 leaves the base station 10 to clean areas with lighter levels of dirt. At the same time, the drive mechanism 5 drives the two sets of transport components 1 to rise synchronously to the location of the storage compartment 6. During the rising process, the drive component 13 drives the rotating shaft 121 to rotate to the position where the second magnetic component 122 is located at the 9 o'clock position (if the rotating shaft 121 has already rotated to the position where the second magnetic component 122 is located at the 9 o'clock position when the cleaning element 2B is released, this step can be omitted). The second magnetic component 122 is connected to the first magnetic component 23 of the cleaning component 2A by magnetic attraction, so that the rotating shaft 121 is connected to the cleaning component 2A, as shown in Figures 24 and 24A.

[0187] The drive mechanism 5 drives the two sets of conveying components 1 to descend synchronously. During the descent, the drive component 13 drives the rotating shaft 121 to rotate until the second magnetic component 122 is located at the 6 o'clock position. The rotating shaft 121 drives the cleaning element 2A to rotate from the second posture to the first posture. The drive mechanism 5 drives the conveying components 1 to continue descending until the cleaning element 2A enters the cleaning tank 3.

[0188] The driving component 13 drives the rotating shaft 121 to rotate until the second magnetic component 122 is positioned at either the 9 o'clock or 3 o'clock position, at which point the connecting component 12 is in the second position. During the rotation of the rotating shaft 121, the cleaning element 2A is blocked by the cleaning tank 3 and cannot continue to rotate. The distance between the second magnetic component 122 and the first magnetic component 23 of the cleaning element 2A gradually increases, the magnetic attraction decreases, and the cleaning element 2A is released. The cleaning tank 3 of the base station 10 cleans the cleaning element 2A. After the cleaning element 2A is cleaned, the transport assembly 1 puts the cleaning element 2A back into the storage compartment 6A to free up the internal space of the cleaning tank 3.

[0189] The cleaning element 2A is transferred from storage compartment 6A to cleaning tank 3, cleaned in cleaning tank 3, and then stored back in storage compartment 6A. All three steps are performed during the cleaning process of the automatic cleaning equipment 20, which loads the cleaning element 2B to clean areas with relatively light dirt. After cleaning, the automatic cleaning equipment 20 returns to base station 10 and unloads the cleaning element 2B. If the cleaning work of the automatic cleaning equipment 20 has already been completed, the base station 10 directly cleans the cleaning element 2B. After cleaning, the transport assembly 1 places the cleaning element 2B back into storage compartment 6B.

[0190] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0191] In the description of this disclosure, it should be understood that the terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” and “counterclockwise” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0192] It should be noted that all directional indications in this embodiment 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.

[0193] 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.

[0194] 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, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this disclosure, "multiple" means two or more, unless otherwise explicitly specified.

[0195] 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.

[0196] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are 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.

[0197] 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.

Claims

1. A base station, comprising a transport assembly, the transport assembly including a rotatable connector, the rotation path of the connector including a first position and a second position; wherein when the connector is rotated to the first position, the connector engages a cleaning element; and when the connector is rotated to the second position, the connector releases the cleaning element.

2. The base station according to claim 1, wherein, During the switching of the connector between the first position and the second position, the connector connects to or releases the cleaning element via a magnetic attraction structure.

3. The base station according to claim 2, wherein, The magnetic attraction structure includes a first magnetic component and a second magnetic component; The cleaning element is provided with the first magnetic element, and the connector is provided with the second magnetic element; the connector can adjust the position of the second magnetic element by rotating it so that the connector and the cleaning element can switch between a connected state and a released state.

4. The base station according to claim 3, wherein, When the connector is in the first position, the first magnetic element and the second magnetic element attract each other to achieve connection. When the connector is in the second position, the first magnetic element is disengaged from the second magnetic element.

5. The base station according to claim 4, wherein, The first magnetic component is a magnetic attracting component, and the second magnetic component is a magnetic material; or, The first magnetic component is made of magnetic material, and the second magnetic component is a magnetic attracting component; or, Both the first magnetic component and the second magnetic component are magnetic attraction components.

6. The base station according to claim 1, wherein, During the switching of the connector between the first position and the second position, the connector connects or releases the cleaning element via a snap-fit ​​structure.

7. The base station according to claim 6, wherein, The engaging structure includes a pin and a hole; The cleaning element is provided with the pin, and the connector is provided with the hole into which the pin can be inserted. The connector can adjust the position of the hole by rotating it, so as to switch the hole and the pin between the connected state and the released state. or, The cleaning element has the hole, and the connector has the pin that can be inserted into the hole. The connector can adjust the position of the pin by rotating it, so as to switch the pin and the hole between a connected state and a released state.

8. The base station according to any one of claims 1-7, wherein, The conveying assembly further includes a movable arm, and the connector is movably connected to the movable arm. The movable arm is used to move the cleaning element connected to the connector.

9. The base station according to claim 8, wherein, The connector includes a rotating shaft; the conveying assembly further includes a driving component, the output end of which is poweredly connected to the rotating shaft. When the connector and the cleaning element are connected or released through a locking structure, the locking structure includes a pin and a hole, and the pin or the hole is disposed on the rotating shaft; the driving member drives the rotating shaft to rotate around its own axis as the center of rotation to adjust the position of the pin or the hole; When the connector and the cleaning element are connected or released through a magnetic attraction structure, the magnetic attraction structure includes a first magnetic element and a second magnetic element, the second magnetic element being disposed on the side wall of the rotating shaft; the driving element drives the rotating shaft to rotate around its own axis as the center of rotation, so as to adjust the position of the second magnetic element.

10. The base station according to claim 9, wherein, One part of the rotating shaft is located inside the cavity of the moving arm, and the second magnetic element is disposed on another part of the rotating shaft that protrudes from the moving arm.

11. The base station according to claim 9, wherein, The radial distance between the axis of the rotating shaft and the second magnetic element is less than the radius of the rotating shaft; or, The radial distance between the axis of the rotating shaft and the second magnetic component is not less than the radius of the rotating shaft.

12. The base station according to claim 9, wherein, The cleaning element includes a tray, the non-cleaning surface of which has a protrusion for connection with the connector, and the first magnetic element is disposed on the protrusion.

13. The base station according to claim 12, wherein, The rotating shaft has a groove, and the second magnetic component is disposed in the groove and exposed. Alternatively, the second magnetic element is embedded within the rotating shaft, and the second magnetic element is connected to the cleaning element through the side wall of the rotating shaft.

14. The base station according to claim 13, wherein, The rotating shaft is provided with a transition arc. During the process of the connector switching from the first position to the second position, the rotating shaft contacts the cleaning element through the transition arc.

15. The base station according to claim 12, wherein, The end face of the protrusion is a plane. When the connector and the cleaning element are in a connected state, the second magnetic element is in contact with the plane of the protrusion. Alternatively, the end face of the protrusion is a concave arc surface, and when the connector and the cleaning element are in a connected state, the rotating shaft is in contact with the concave arc surface of the protrusion.

16. The base station according to claim 8, wherein, The base station also includes a drive mechanism connected to the base station body; the drive mechanism is powered to the mobile arm and is used to drive the mobile arm to move; the mobile arm is rotatably connected to the connector.

17. The base station according to claim 16, wherein, The base station also includes a storage compartment connected to the base station body; the drive mechanism drives the moving arm, the connector, and the cleaning element connected to the connector to rise together to store the cleaning element in the storage compartment.

18. The base station according to claim 17, wherein, The conveying assembly further includes a drive unit connected to the movable arm; the output end of the drive unit is poweredly connected to the connector, and the drive unit drives the connector to rotate relative to the movable arm. When the drive member drives the connector to rotate to the first position, the drive mechanism drives the transport assembly and the cleaning element to rise together; after the cleaning element enters the storage compartment, the drive member drives the connector to rotate to the second position to release the cleaning element, and the cleaning element is stored in the storage compartment.

19. The base station according to claim 18, wherein, The inner cavity of the storage compartment is set at an angle to the horizontal plane; the cleaning element is in a first posture when it is unloaded by the automatic cleaning equipment, and in a second posture when it is stored in the storage compartment, the second posture being different from the first posture; during the process of the drive mechanism driving the transport component and the cleaning element to rise, the drive component drives the connector to rotate, and the connector drives the cleaning element to rotate from the first posture to the second posture.

20. The base station according to claim 19, wherein, The storage compartments are provided in two sets; the number of cavities in each set of storage compartments is the same as the number of cleaning elements configured in the automatic cleaning device; the two sets of storage compartments are spaced apart in the horizontal direction and are parallel to each other; The interval between the two sets of storage compartments corresponds to the position of the connector; when the connector drives the cleaning element into the storage compartment, the connector is located in the interval between the two sets of storage compartments.

21. The base station according to claim 20, wherein, At least one of the storage compartments contains a cleaning element for replacement; When one set of storage compartments is empty and the other set of storage compartments contains a replacement cleaning element, after the connector carries the used cleaning element into the empty storage compartment, the drive unit drives the connector to rotate to the second position to release the used cleaning element. The drive unit then drives the connector to continue rotating to the first position so that the connector connects with the replacement cleaning element. The drive mechanism drives the transport assembly and the replacement cleaning element to descend together, and during the descent, the drive unit drives the replacement cleaning element to rotate from the second position to the first position through the connector.

22. The base station according to claim 20, wherein, A connecting plate is provided between the two sets of storage compartments, and the connecting plate is connected to the two sets of storage compartments respectively. The connecting plate is located above the connecting member.

23. The base station according to claim 17, wherein, The base station also includes a controller and a position detection device, wherein the position detection device, the driving device, and the power component of the driving mechanism are electrically connected to the controller. The position detection device is triggered when the cleaning element is stored in the storage compartment.

24. The base station according to claim 17, wherein, The cleaning element includes a tray, the non-cleaning surface of which has a protrusion for connecting with the connector; the storage compartment has a limiting structure on its wall, and when the cleaning element is stored in the storage compartment, the protrusion extends out of the storage compartment and is limited by the limiting structure.

25. The base station according to claim 16, wherein, The drive mechanism includes a power component, an input component, and an output component that are connected in sequence; the power component is connected to the base station body, and the output component is connected to the moving arm.

26. The base station according to claim 25, wherein, The number of the cleaning element, the conveying assembly, and the output component are all two; the two output components are respectively connected to the moving arms of the two conveying assemblies; The input component is driven to one of the output components; the drive mechanism also includes a linkage component; the linkage component is driven to both of the output components respectively.

27. The base station according to claim 26, wherein, The input component is an input gear, and the output component is a rack; the linkage component includes a connecting rod and two linkage gears installed at both ends of the connecting rod, the two linkage gears respectively meshing with the corresponding racks, and the input gear meshing with one of the racks; the rack is integrally formed on the moving arm.

28. The base station according to claim 26, wherein, The transport assembly also includes a drive unit; the output end of the drive unit is poweredly connected to the connecting parts of the two transport assemblies respectively.

29. The base station according to any one of claims 1-7, wherein, The base station is provided with a receiving cavity for accommodating the cleaning element. The inner diameter of the receiving cavity is larger than the outer diameter of the cleaning element. The receiving cavity is clearance-fitted with the cleaning element. The sidewall of the receiving cavity forms a stop to prevent the cleaning element from moving in the horizontal direction.

30. The base station according to claim 29, wherein, The base station body is provided with a cleaning tank for accommodating and cleaning the cleaning element, and the space inside the cleaning tank forms the accommodating cavity.

31. An automatic cleaning system comprising a base station as described in any one of claims 1-30, and an automatic cleaning device, wherein the base station provides maintenance for the automatic cleaning device.

32. The automatic cleaning system according to claim 31, wherein, The automatic cleaning device is equipped with one or more of the aforementioned cleaning elements; the automatic cleaning device is docked with the base station or driven away from the base station; when the automatic cleaning device is docked with the base station, the automatic cleaning device removes the cleaning element and places it inside the base station, or the automatic cleaning device installs the cleaning element located inside the base station.

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