WO2022253345A1

WO2022253345A1 - Cleaning robot maintenance system and control method therefor

Info

Publication number: WO2022253345A1
Application number: PCT/CN2022/097032
Authority: WO
Inventors: 马一纯; 顾传祥; 王彪; 毋宏兵; 张士松; 钟红风
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2021-06-04
Filing date: 2022-06-04
Publication date: 2022-12-08
Also published as: JP2024520717A; EP4349235A1; US20240206696A1; CN218738752U; CN116829041A; KR20240019242A

Abstract

A cleaning robot maintenance system and a control method therefor. The maintenance system comprises: a mop pickup device and a first containing compartment, wherein the first containing compartment is used for storing at least two first sheet-shaped mops that are arranged in a stacking manner; and the mop pickup device is used for picking up a single first sheet-shaped mop from the first containing compartment so as to connect the single first sheet-shaped mop to a mop plate. Therefore, dirt left on a mop assembly and a base station side of a cleaning robot in a cleaning process is avoided, and the user experience is improved.

Description

Cleaning robot maintenance system and control method thereof

technical field

The present disclosure relates to the technical field of robots, in particular to a cleaning robot maintenance system and a control method thereof.

Background technique

With the development of science and technology, robots play an increasingly important role in people's lives, especially cleaning robots, which help people to be freed from heavy housework. Widely favored by users.

For a cleaning robot with a mopping function, a mop is usually provided at the bottom of the mop assembly of the cleaning robot, so that the mop can be driven by the cleaning robot to clean the working area. At present, in order to improve the intelligence of the cleaning robot, the base station of the cleaning robot will also have an automatic cleaning function. When the cleaning robot returns to the base station after working in the work area for a period of time, the cleaning robot can be cleaned by the automatic cleaning system set in the base station.

However, this solution for automatically cleaning the cleaning robot will leave dirt on the mop assembly of the cleaning robot and the base station respectively during the cleaning process, reducing user experience.

Contents of the invention

In view of this, the embodiments of the present disclosure are dedicated to providing a cleaning robot maintenance system, so as to reduce the dirt generated at the mop assembly and the base station due to cleaning of the cleaning robot.

In a first aspect, a cleaning robot maintenance system is provided, the maintenance system comprising:

The base station is used to maintain the cleaning robot; the base station includes a first storage bin, and the first storage bin is configured to store at least two pieces of the first sheet mop arranged in a stacked manner;

The mop pick-up device is used to pick up a single piece of the first sheet mop from the first storage compartment, so as to connect the single piece of the first sheet mop to the mop board.

In a possible implementation manner, the mopping device includes the mopping board, and the mopping board and the first storage compartment are configured to be capable of relative movement, so that the mopping board can extend into the first storage compartment. a storage compartment, and reach the mop docking position to engage with the first sheet mop.

In a possible implementation manner, during the engagement process of the mopping board and the first sheet mopping cloth, the first storage bin moves passively, and the mopping board actively moves toward the first storage bin , and extend into the first storage compartment.

In a possible implementation manner, the mopping board is installed on the cleaning robot; during the engagement process between the mopping board and the first sheet mop, the cleaning robot moves inactively, and the mopping cloth The plate is actively moved relative to the cleaning robot towards the first storage bin.

In a possible implementation manner, during the engagement process of the mopping board and the first sheet-shaped mopping cloth, both the first storage bin and the mopping board actively move.

In a possible implementation manner, the mopping device further includes a moving assembly for driving the mopping board to move; the mopping board is connected to the cleaning robot in a detachable manner, and the mopping board can be connected to The cleaning robot is separated, so that when the cleaning robot needs to replace the mop, the separated mop plate can be driven by the moving assembly to extend into the first storage bin.

In a possible implementation manner, the maintenance system includes a mopping plate operating position configured to allow the cleaning robot to separate the mopping plate.

In a possible implementation manner, the mopping docking position or the first storage compartment is higher than the mopping plate operating position, so as to form a space for the cleaning robot to dock.

In a possible implementation manner, the mop board is used to pick up a single piece of the first sheet mop from the first storage bin along a direction perpendicular to the mopping surface of the first sheet mop. Mop.

In a possible implementation manner, the lower surface of the mopping board forms an angle less than 90 degrees with the mopping surface of the first sheet mopping cloth.

In a possible implementation manner, the value range of the angle formed by the lower surface of the mopping board and the mopping surface of the first sheet mopping cloth is greater than or equal to 0 degrees and less than or equal to 35 degrees.

In a possible implementation manner, the first storage compartment has a bottom for carrying the mopping surface of the first sheet mop, wherein the bottom is at an angle to the horizontal plane, and the angle is greater than or equal to 0 degrees and less than or equal to 45 degree.

In a possible implementation manner, the mopping board is provided with a connection area for connecting the first sheet mop, the connection area includes an adhesive part, and the first sheet mop can be adhered to the adhesive part, so as to realize the connection between the mopping plate and the first sheet mopping cloth.

In a possible implementation manner, the mopping device includes a first moving mechanism, which is used to drive the mopping board to vibrate after the first sheet of mopping cloth is adhered to the mopping board, so that the single piece of mopping cloth The first sheet-like mop is pasted on the sticking part of the mop board; wherein the shaking refers to the reciprocating motion of the mop board along the first direction and the second direction; the first direction is the mop board The direction in which the board is taken out of the first sheet-like mop from the first storage compartment, the second direction is opposite to the first direction.

In a possible implementation manner, the first storage compartment is provided with a friction assembly, and after the first sheet-shaped mop is adhered to the mop board, the friction assembly is used to generate resistance to the movement of the mop board along the mop board. The active force of the movement in the first direction enables a single piece of the first sheet-like mop to be pasted on the sticking portion of the mop board; wherein the first direction is the time required for the mop board to be taken out from the first storage compartment Describe the orientation of the first sheet mop.

In a possible implementation manner, a partition assembly is further arranged in the first storage compartment, for creating a gap between two adjacent pieces of the first sheet mop.

In a possible implementation manner, the sticking part has a first part in contact with the first sheet-like mop and/or a second part exposed to the outside of the first sheet-like mop; wherein the first part The angle formed with the first sheet mop is greater than or equal to 0 degrees and less than or equal to 15 degrees; the angle formed between the second part and the first sheet mop is greater than 0 degrees and less than 90 degrees Spend.

In a possible implementation manner, the mopping board has a top, a bottom, and a side wall for connecting the top and the bottom, wherein the side wall is inclined from the bottom toward the top, and the sticking part has The second portion of the sticking portion is exposed to the outside of the first sheet mop, and the second portion of the sticking portion is disposed on the inclined side wall.

In a possible implementation manner, the area ratio of the sticking portion to the first sheet-like mop is within a preset range, so that the mop board can stick a single piece from the first sheet-like mop combination. The first sheet mop.

In a possible implementation manner, the mop picking device includes: a separation mechanism for separating a single piece of the first piece of mop from at least two pieces of the first piece of mop stacked in the first storage compartment. mop, so that the mop plate is connected to the separated single piece of the first sheet mop.

In a possible implementation manner, the mop picking device further includes: a transfer mechanism, configured to transfer the separated single piece of the first sheet-shaped mop to a preset transfer position, so that the mop plate and the single piece The first sheet mop is connected.

In a possible implementation manner, the separation mechanism includes a paper suction device for sucking a first sheet of mop at a mop suction position, wherein the mop suction position means that the paper suction device can suck out a single piece of mop The position of the first sheet mop.

In a possible implementation manner, the separation mechanism includes a fluid delivery device, configured to deliver the fluid to the top surfaces of at least two stacked first sheet-like mops, so that the topmost first sheet-like mop Separated from at least two pieces of said first sheet-like mop.

In a possible implementation manner, the mop picking device further includes a removal mechanism, and the mop board includes a disassembly area; the paper removal mechanism cooperates with the disassembly area to remove the second sheet mop from the mop board. removal, wherein there is no interconnection between the removal area and the second sheet mop.

In a possible implementation manner, the detachment mechanism is configured to detach the second sheet mop along a detachment direction; Acute angles, right angles, or obtuse angles.

In a possible implementation manner, the dismounting mechanism is configured to apply an external force to the second sheet-shaped mop away from the mop plate, and the second sheet-shaped mop separated from the mop plate is supported by its own gravity or Falling under the action of external force.

In a possible implementation manner, during the process of removing the second mop sheet from the mopping board, the cleaning robot moves inactively, and the mopping board or the removal mechanism moves actively.

In a possible implementation manner, the maintenance system further includes a second storage bin, configured to receive the second sheet mop removed from the mop board.

In a possible implementation manner, the second storage compartment is configured to be arranged on the moving path of the second sheet mop dismantled from the mop board, so that the second sheet mop falls into the second storage bin. warehouse.

In a possible implementation manner, the removal mechanism is arranged on the second storage compartment.

In a possible implementation manner, the removal mechanism is installed at a preset mop removal position, and the mop removal position is located outside the second storage compartment, and the removal mechanism is used to remove the mop at the mop removal position. The second sheet mop is removed from the mop board and received by the second storage bin.

In a possible implementation manner, the maintenance system includes a mopping plate operating position configured to allow the cleaning robot to separate the mopping plate; the mopping cloth removal position or the second storage bin is higher than the mopping cloth The plate operation position is formed to form a space for the cleaning robot to dock.

In a possible implementation manner, the removal area includes a cloth removal groove, and the outer edge of the mopping board is recessed toward the interior of the mopping board to form the cloth removal groove.

In a possible implementation manner, the mopping board includes at least a first state and a second state, wherein, in the first state, the mopping board is in a mopping position; in the second state, The mopping board is in a non-mopping position;

Wherein, the non-mopping position is higher than the mopping position, so as to provide an operation space for dismounting the second sheet mopping cloth or installing the first sheet mopping cloth.

In a possible implementation manner, the first storage bin and the second storage bin are vertically arranged vertically.

In a second aspect, the present disclosure also provides a method for controlling a maintenance system of a cleaning robot, the method comprising: providing a first storage compartment for storing at least two pieces of first sheet-like mops arranged in a stacked manner; The pick-up device picks up a single piece of the first sheet-shaped mop from the first storage compartment, so as to connect the single piece of the first sheet-shaped mop to the mop board.

In a possible implementation manner, the mop picking device includes the mopping board; the step of picking up a single piece of the first sheet-shaped mop from the first storage compartment by the mopping device includes: controlling the The movement of at least one of the mopping board and the first storage compartment enables the mopping board to extend into the first storage compartment and reach the docking position of the mopping cloth to engage with the first sheet mopping cloth.

In a possible implementation manner, the mopping device includes a first moving mechanism connected to the mopping board; the step of controlling at least one movement of the mopping board and the first storage bin includes: The first moving mechanism drives the mopping board to move toward the first storage compartment and extend into the first storage compartment.

In a possible implementation manner, the mop picking device includes a first moving mechanism connected to the mopping board; the system further includes a third moving mechanism connected to the first storage bin; The step of moving at least one of the board and the first storage bin includes: driving the mopping board to move by the first moving mechanism and driving the first storage bin to move by the third moving mechanism.

In a possible implementation manner, the mopping device further includes a first moving mechanism for driving the mopping board to move; the mopping board is connected to the cleaning robot in a detachable manner; the mopping board It can be separated from the cleaning robot; the method also includes: when the cleaning robot needs to replace the mop, separate the mop plate from the cleaning robot, and separate the first moving mechanism from the separated mop The board is connected so that the mopping board is driven by the first moving mechanism to extend into the first storage bin.

In a possible implementation manner, before the step of connecting the first moving mechanism to the separated mopping board, the method further includes: connecting the first moving mechanism to the mopping board by means of magnetic attraction. The mopping board is pre-positioned.

In a possible implementation manner, the maintenance system includes a mopping board operation position configured for the cleaning robot to separate the mopping board; the method further includes: determining that the cleaning robot reaches the mopping board for operation When in position, the mopping board is separated from the cleaning robot.

In a possible implementation manner, the mop docking position or the first storage compartment is higher than the mopping plate operating position, so as to form a space for the cleaning robot to dock.

In a possible implementation manner, the step of picking up a single piece of the first sheet-shaped mop from the first storage bin by the mop picking device includes: controlling the mop board to move along a direction perpendicular to the first sheet The direction of mopping the ground of the mop is to pick up a single piece of the first sheet mop from the first storage bin.

In a possible implementation manner, the lower surface of the mopping board forms an angle with the mopping surface of the first sheet mopping cloth, and the angle is less than 90 degrees.

In a possible implementation manner, the mopping device includes a first moving mechanism connected to the mopping board; the method further includes:

After the first sheet-like mop is adhered to the mop board, control the first moving mechanism to drive the mop board to vibrate, so that a single piece of the first sheet-like mop is pasted on the sticking part of the mop board above; wherein the shaking refers to the reciprocating motion of the mopping board along the first direction and the second direction; the first direction is that the mopping board takes out the first sheet from the first storage bin The direction of the mop, the second direction is opposite to the first direction.

In a possible implementation manner, the first storage compartment is provided with a friction assembly; the method further includes: after the first sheet-shaped mop is adhered to the mop board, When moving, a reaction force is generated by the friction assembly, so that a single piece of the first sheet-like mop can be pasted on the sticking part of the mop board; wherein the first direction is from the mop board to the first The direction in which the storage bin takes out the first sheet mop.

In a possible implementation manner, the sticking part has a first part in contact with the first sheet-like mop and/or a second part exposed to the outside of the first sheet-like mop; wherein the first part The angle formed with the first sheet mop is greater than or equal to 0 degrees and less than or equal to 10 degrees; the angle formed between the second part and the first sheet mop is greater than 0 degrees and less than 90 degrees Spend.

In a possible implementation manner, the mopping board has a top, a bottom, and a side wall for connecting the top and the bottom, wherein the side wall is inclined from the bottom toward the top, and the sticking part is provided with on the sloped side walls.

In a possible implementation manner, the mop picking device includes: a separation mechanism; the method includes: separating a single mop from at least two pieces of the first sheet mop stacked in the first storage bin by the separation mechanism; A piece of the first piece of mop, so that the mop board is connected with the separated single piece of the first piece of mop.

In a possible implementation manner, the mop picking device includes: a transfer mechanism; the method includes: transferring a single piece of the first sheet mop to a preset transfer position through the transfer mechanism, so that the mop board and A single piece of said first sheet mop is attached.

In a possible implementation manner, the separation mechanism includes a paper suction device; the method includes: controlling the paper suction device to suck the first sheet mop at a mop suction position, wherein the mop suction position refers to the The position where the paper suction device can suck out a single piece of the first sheet mop.

In a possible implementation manner, the separation mechanism includes: a fluid delivery device; the method includes: controlling the fluid delivery device to deliver the fluid to the first storage compartment, so that the topmost first sheet mop moves from At least two pieces of said first sheet mop are separated.

In a possible implementation manner, the method further includes: when a second sheet mop cloth is installed on the mop board, separating the second sheet mop cloth from the mop board.

In a possible implementation manner, the maintenance system includes a dismantling mechanism, and the mop board includes a dismantling area; wherein there is no interaction between the dismantling area and the second sheet mop; the second The step of separating the sheet mop from the mop board includes: controlling at least one movement of the removal mechanism and the mop board to remove the second sheet mop from the mop board.

In a possible implementation manner, the step of separating the second sheet-like mop from the mop board includes: removing the second sheet-like mop along the removal direction through the removal mechanism; wherein, the The disassembly direction forms an acute angle, a right angle or an obtuse angle with the mopping ground of the second sheet mop or the mop board.

In a possible implementation manner, the step of separating the second sheet mop from the mop board includes: applying an external force to the second sheet mop away from the mop board through the dismounting mechanism, The second sheet mop separated from the mop board is made to fall under its own gravity or external force, so that the second sheet mop is removed from the mop board.

In a possible implementation manner, the system further includes a second storage compartment, configured to receive the second sheet mop separated from the mop board; The separating step includes: applying an external force away from the mopping plate to the second sheet-shaped mopping cloth through the dismounting mechanism, so as to separate the second sheet-shaped mopping cloth from the mopping plate, so that the second sheet-shaped mopping cloth after being separated from the mopping plate The two-sheet mop falls into the second storage compartment under its own gravity or external force.

In a possible implementation manner, the removal mechanism is arranged on the second storage bin.

In a possible implementation manner, the system includes a second moving mechanism connected to the second storage compartment; the removal mechanism is installed at a preset mop removal position, and the mop removal position is located at the second Outside the storage bin; the method includes: driving the second storage bin to move to a mop removal position by the second moving mechanism, so as to receive the second sheet mop separated from the mop board.

In a possible implementation manner, the mopping board includes at least a first state and a second state, wherein, in the first state, the mopping board is in a mopping position; in the second state, The mopping board is in a non-mopping position; wherein, the non-mopping position is higher than the mopping position, so as to provide an operation space for dismounting the second sheet mopping cloth or installing the first sheet mopping cloth.

In a possible implementation manner, the mop removal position or the second storage bin is higher than the mop board operating position, so as to form a space for the cleaning robot to dock.

In a possible implementation manner, the first storage compartment is located above the second storage compartment.

In a third aspect, the present disclosure further provides a mop replacement method for a cleaning robot, including:

Confirm that the cleaning robot has returned to the base station;

Control the mop picking device to replace the second sheet mop installed on the cleaning robot with the first sheet mop in the first storage compartment.

In a possible implementation manner, the step of determining that the cleaning robot has returned to the base station includes:

It is determined that the cleaning robot has reached the mopping plate operation position, and the cleaning robot is controlled to remove the mopping plate.

In a possible implementation manner, the mop picking device includes a first moving mechanism for driving the mop board to move; the mop picking device is controlled to replace the second sheet mop installed on the cleaning robot with the first storage bin The step of the first sheet mop in the method includes: controlling the first moving mechanism to drive the mop board to move to the mop removal position, so as to remove the second sheet mop and store it in the first mop for recycling the second sheet Two storage compartments: controlling the first moving mechanism to drive the mopping board to move to the mopping cloth installation position, and extending into the first storage compartment, and installing the first sheet-like mopping cloth to the mopping board.

In the solution provided by the present disclosure, when the cleaning robot needs mop maintenance, the unused first sheet mop can be replaced for the cleaning robot to achieve the purpose of cleaning the cleaning robot, eliminating the need for cleaning the cleaning robot in the traditional cleaning robot maintenance system. The process avoids the dirt left on the mop assembly and the base station side of the cleaning robot during the cleaning process, improving user experience.

Description of drawings

FIG. 1 is a schematic diagram of the architecture of a cleaning robot maintenance system applicable to an embodiment of the present disclosure;

2 is a schematic diagram of a cleaning robot returning to a base station according to an embodiment of the present disclosure;

Fig. 3 is a schematic diagram of the connection between the connecting portion 311 and the mopping board 110 in an embodiment of the present disclosure;

Fig. 4 is a schematic diagram of a cleaning robot exiting or semi-exiting a base station in an embodiment of the present disclosure;

Fig. 5 is a schematic diagram of removing the second sheet mop by the removal mechanism in an embodiment of the present disclosure;

Fig. 6 is a schematic diagram of removing the second sheet mop by the removal mechanism in an embodiment of the present disclosure;

Fig. 7 is a schematic diagram of removing the second sheet mop by the removal mechanism in another embodiment of the present disclosure;

Fig. 8 is a schematic diagram of removing the second sheet mop by the removal mechanism in another embodiment of the present disclosure;

Fig. 9 is a schematic diagram of a mopping board according to an embodiment of the present disclosure;

Fig. 10 is a schematic diagram of a mopping board according to another embodiment of the present disclosure;

Fig. 11 is a schematic diagram of a cleaning robot maintenance system after dismantling in an embodiment of the present disclosure;

12 is a schematic diagram of the cleaning robot maintenance system when the first sheet mop is installed in an embodiment of the present disclosure;

Fig. 13 is a schematic diagram of the cleaning robot maintenance system when the first sheet mop is installed in another embodiment of the present disclosure;

Fig. 14 is a schematic diagram of the cleaning robot maintenance system when the first sheet mop is installed in another embodiment of the present disclosure;

Fig. 15 is a schematic diagram of a cleaning robot maintenance system after installation in an embodiment of the present disclosure;

Fig. 16 is a schematic diagram of the robot system when the cleaning robot enters the base station after installation in an embodiment of the present disclosure;

FIG. 17 is a schematic diagram of a base station 500 according to an embodiment of the present disclosure;

Fig. 18 is a schematic diagram of a cleaning robot entering a base station according to another embodiment of the present disclosure;

Fig. 19 is a schematic diagram of a cleaning robot exiting a base station according to another embodiment of the present disclosure;

Fig. 20 is a schematic diagram of the connection between the first moving mechanism and the mopping board according to another embodiment of the present disclosure;

Fig. 21 is a schematic diagram of another embodiment of the present disclosure where the mop board moves to the mop removal position;

Fig. 22 is a schematic diagram of a removal mechanism removing a mop according to another embodiment of the present disclosure;

Fig. 23 is a schematic diagram of the completion of the dismantling action according to another embodiment of the present disclosure;

Fig. 24 is a schematic diagram of pasting the first sheet mop according to another embodiment of the present disclosure;

Fig. 25 is a schematic diagram of another embodiment of the present disclosure after pasting the first sheet mop;

Fig. 26 is a schematic diagram of pressing the mopping board through the flexible abutting part according to another embodiment of the present disclosure;

Fig. 27 is a schematic diagram showing that the first moving mechanism is disconnected from the mopping board according to another embodiment of the present disclosure;

Fig. 28 is a schematic diagram of the connection between the cleaning robot and the mopping board according to another embodiment of the present disclosure;

Fig. 29 is a flowchart of a control method according to an embodiment of the present disclosure;

30 is a schematic diagram of a control device according to an embodiment of the present disclosure;

31 is a schematic diagram of a controller according to another embodiment of the present disclosure;

Fig. 32 is a schematic diagram of a cleaning robot entering a base station according to another embodiment of the present disclosure;

Fig. 33 is a schematic diagram of separation of the cleaning robot from the mopping board according to another embodiment of the present disclosure;

Fig. 34 is a schematic diagram of a cleaning robot exiting a base station according to another embodiment of the present disclosure;

Fig. 35 is a schematic diagram of the descending of the first moving mechanism provided by another embodiment of the present disclosure;

Fig. 36 is a schematic diagram of the connection structure between the first moving mechanism and the mopping board provided by another embodiment of the present disclosure;

Fig. 37 is a schematic diagram of the connection between the first moving mechanism and the mopping board provided by another embodiment of the present disclosure;

Fig. 38 is a schematic diagram of the mop board moving to the mop removal position provided by another embodiment of the present disclosure;

Fig. 39 is a schematic diagram of moving the second storage compartment to the mop removal position provided by another embodiment of the present disclosure;

Fig. 40 is a schematic diagram of removing the mop provided by another embodiment of the present disclosure;

Fig. 41 is a schematic diagram of removing a mop provided by a removal mechanism according to yet another embodiment of the present disclosure;

Fig. 42 is a schematic diagram of moving the mopping board to the mopping position provided by another embodiment of the present disclosure;

Fig. 43 is a schematic diagram of moving the first storage compartment to the mop sticking position provided by another embodiment of the present disclosure;

Fig. 44 is a schematic diagram of pasting the first sheet mop provided by another embodiment of the present disclosure;

Fig. 45 is a schematic diagram of the pasting action provided by another embodiment of the present disclosure;

Fig. 46 is a schematic diagram of resetting the first storage compartment provided by another embodiment of the present disclosure;

Fig. 47 is a schematic diagram of moving the mopping board to the release position of the mopping board according to another embodiment of the present disclosure;

Figure 48 is a schematic side view of Figure 47;

Fig. 49 is a schematic diagram of disconnecting the mopping board from the first moving mechanism according to another embodiment of the present disclosure;

Fig. 50 is a schematic diagram of releasing the mopping board provided by another embodiment of the present disclosure;

Fig. 51 is a schematic diagram of the connection between the cleaning robot and the mopping board provided by another embodiment of the present disclosure;

Figure 52 is a schematic diagram of a mop picking process provided by the present disclosure; wherein, Figure 52(a) shows a schematic diagram of the state before the mop board is connected to the mop; Figure 52(b) shows a schematic diagram of the state of the mop board connected to the mop; Figure 53 (c) represents the schematic diagram of the state after the mop board is connected to the mop;

Fig. 53 is a schematic diagram of a dismantling mechanism provided on a second storage bin according to another embodiment of the present disclosure;

Fig. 54 is a schematic structural view of the first storage compartment provided by another embodiment of the present disclosure;

Fig. 55 is a schematic structural view of a mopping board provided in another embodiment of the present disclosure;

Fig. 56 is a schematic diagram of the first docking state of the mopping board and the mopping cloth provided by the present disclosure;

Fig. 57 is a schematic diagram of the second docking state of the mopping board and the mopping cloth provided by the present disclosure;

FIG. 58 is a flow chart of a control method provided in yet another embodiment of the present disclosure;

Fig. 59 is a schematic diagram showing disassembly of the mop provided by another embodiment of the present disclosure.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, not all of them.

First, some terms involved in this disclosure are briefly explained:

Picking up: its meaning should be understood in a broad sense. For example, the mop pick-up device picks up the first piece of mop from the first storage bin. The mop pick-up device moves to pick up, or the mop pick-up device and the first storage bin move to a specific position to pick up; the mop board and the mop can be directly connected to achieve connection, or by means of an additional third-party mechanism, Realize the connection between the mopping board and the mopping cloth; as for the direction of picking up, it can be picked up from top to bottom, or from bottom to top; it can be picked up from left to right, or from right to left; of course, it can also be picked up from other direction pick up. Various pick-up schemes for realizing the purpose of connecting a single piece of mopping cloth with the mopping board shall be within the protection scope of the present disclosure.

Active motion and non-active motion: In general, the above-mentioned active motion refers to the motion controlled by the controller (for example, driven by the moving mechanism or driven by the driving mechanism), while the non-active motion refers to the motion that is not controlled by the controller, but movement or displacement. For ease of understanding, here is a brief description of the inactive movement by taking the movement of the first storage bin as an example: when the mopping board and the first storage bin move relative to each other to take the mop from the first storage bin, the mopping board and the first storage bin move Under the action of the interaction force when the first sheet mop in the first storage compartment is connected, the first storage compartment may have a movement or displacement, which is not controlled by the controller itself, then the first storage compartment The movement of the bin is called involuntary movement.

At present, for the cleaning robot maintenance system with drag and wipe function, the cleaning robot returns to the base station after working for a period of time, and the cleaning robot is cleaned by the automatic cleaning system set in the base station. However, this solution for automatically cleaning the cleaning robot will leave dirt on the mop assembly and the base station side of the cleaning robot during the cleaning process, reducing user experience.

The present disclosure provides a cleaning solution for a cleaning robot. When the cleaning robot returns to the base station, the unused sheet mop can be replaced for the cleaning robot, which achieves the purpose of cleaning the cleaning robot and eliminates the need for cleaning in the traditional cleaning robot maintenance system. The process of cleaning the robot avoids the dirt left on the mop assembly and the base station side of the cleaning robot during the cleaning process, improving user experience.

The present disclosure provides a maintenance system for a cleaning robot, the maintenance system comprising: a mop picking device and a first storage bin, wherein the first storage bin is used to store at least two pieces of the first sheet mop arranged in a stacked manner The mop pick-up device is used to pick up a single piece of the first piece of mop from the first storage bin, so as to connect the single piece of the first piece of mop with the mop board.

Wherein, for the convenience of maintenance, the first storage compartment can be set on the base station; and the mop picking device can be set on the base station, can also be set on the cleaning robot, or can be set separately.

It should be pointed out that the "stacking" mentioned herein may be partially overlapping or completely overlapping, that is, when there are at least two first sheet mop cloths, the first sheet mop cloths are at least partially overlapped when arranged.

It can be understood that when the first sheet mops are partially overlapped, the mop pick-up device will adaptively adjust the picking position to pick up the corresponding first sheet mop when picking up the mop, that is, the first sheet mop can be There are different placement positions, and the mop pick-up device can have different pick-up positions, and the pick-up position corresponds to the placement position, so as to take out the corresponding first sheet-like mop; preferably, the first sheet-like mop is stacked They are completely overlapping. On the one hand, the occupied space of the mop is saved, for example, the space of the first storage compartment can be reduced. On the other hand, since the mop can be taken at the same position each time, it is simple and convenient to take the mop each time.

Considering how to take out one mop from the stacked pieces of mop, in one embodiment of the present disclosure, the mop picking device includes a mop board, and the mop board and the first storage compartment are configured to be capable of relative movement, so that the mop board can be extended. into the first storage compartment to join with the first sheet mop, for example, the mop board extends into the first storage compartment and reaches the mop docking position to connect with the first sheet mop.

Wherein, the aforementioned mopping position may refer to a position where the mopping plate and the first sheet mop contact each other or a position where the mopping plate and the first sheet mop can be connected or joined.

It can be understood that when the mop docking position refers to the position where the mop board and the first sheet mop are in contact with each other, the mop docking position can be changed as the mop is taken out, for example, when there is no gap between two adjacent mop cloths , the mop docking position can change the thickness of a piece of mop each time as the mop is taken out, so as to contact the next piece of mop; and when there is a gap between two adjacent pieces of mop, the mop docking position can be changed every time the mop is taken out. The sum of the thickness of a piece of mop and the height of the gap can be changed at a time, so as to contact the next piece of mop. To sum up, the docking position of the mop can change the thickness of at least one piece of mop every time the mop is taken out.

Through the mutual cooperation between the mopping board and the first storage bin, the mopping board is extended into the first storage bin to take out the first sheet mop, and the mop board and the first sheet mop are connected; in other words, the mop board and the first storage bin The connection between the mopping board and the first sheet mop is realized by directly connecting the mopping board (that is, the mopping board extends into the first storage compartment to take the mopping cloth), which simplifies the structure of the maintenance system.

It should be noted that the above-mentioned relative movement means that at least one of the mopping board and the first storage bin can perform active movement or active movement.

Therefore, in some embodiments, during the engagement process of the mopping board and the first mopping sheet, the first storage bin moves passively, and the mopping board actively moves toward the first storage bin and extends into the first storage bin .

That is, when fetching the mop, the mop plate actively moves toward the first sheet mop in the first storage compartment.

For example, when the mopping board is separated from the cleaning robot, the mopping board actively moves toward the first storage bin, and extends into the first storage bin to engage with the first sheet mop; For example, the mop board can move vertically to a position higher than the first storage bin, then move horizontally to the top of the first storage bin, and then extend into the first storage bin to match the first storage bin. A piece of mopping cloth is docked; it should be pointed out that during the active movement of the mopping board towards the first storage compartment, the cleaning robot can move actively or involuntarily, which is not limited in this embodiment.

As another example, when the mopping board is installed on the cleaning robot, that is, the mopping board is in a connected state with the cleaning robot, the mopping board can also actively move toward the first storage bin relative to the cleaning robot, and extend into the first storage bin to It is connected with the first sheet mop; wherein, during the active movement of the mop plate towards the first storage compartment, the cleaning robot moves inactively, for example, the cleaning robot can remain still.

In summary, no matter whether the mop board is connected or separated from the cleaning robot, the mop board actively moves toward the mop to dock the mop, which reduces the difficulty of docking and improves the reliability and safety of mop docking.

In order to realize the movement of the mopping board, in one embodiment, the mopping device can also include a moving assembly for driving the mopping board to move; the mopping board is connected to the cleaning robot in a detachable manner, and the mopping board can be separated from the cleaning robot to Therefore, when the cleaning robot needs to replace the mop, the separated mop plate can be driven by the moving assembly to extend into the first storage compartment.

For example, the above-mentioned moving assembly may include a first moving mechanism for driving the mopping board to move. The first moving mechanism may include a connecting portion connected to the mopping board so as to be connected to the mopping board and then drive the mopping board to move.

In this embodiment, the mopping board can be detached from the cleaning robot, and the mopping device is connected to the mopping board detached from the cleaning robot through a moving assembly, to carry out cleaning of the mopping board and the first piece of mopping cloth in the first storage bin. The docking; that is, remove the board first and then change the mop. The advantage is that by removing the mop board from the cleaning robot, the mop board can have more room for movement, especially when the board is removed in the base station, due to the space of the base station The movement of the mop board is more convenient after disassembly; and the mop replacement method is simple and easy to use, which improves the safety and reliability of the mop installation. At the same time, the cleaning robot can perform other tasks, making the replacement and maintenance of the mop board as easy as cleaning Robots are more intelligent.

Of course, in other embodiments, the mopping plate can also be connected or installed on the cleaning robot, without dismounting it to perform the operation of fetching the mopping cloth.

It should be noted that the above replacement should be understood as including disassembly and installation. For example, when there is no mop on the mop board, changing the mop at this time means installing the first piece of mop; if there is a second piece of mop on the mop board, replace The mop can include the disassembly of the second sheet mop and the installation of the first sheet mop; the cleaning robot needs to replace the mop by detecting the dirtiness of the mop, obtaining the working time of the cleaning robot using the mop or the cleaning area cleaned by the mop , or by receiving a replacement instruction from the user, etc., which will not be described in detail in this embodiment.

Considering how to separate the mopping cloth, in some embodiments, the maintenance system includes a mopping board operating position configured to allow the cleaning robot to separate the mopping board.

Among them, the operation position of the mopping board can be set at the base station to facilitate the maintenance of the cleaning robot.

It should be pointed out that the mopping plate operating position can also be used for the cleaning robot to install the mopping plate; of course, in other embodiments, an additional installation position can also be provided for installing the mopping plate, which is not included in this embodiment. Do limited. In addition, the operation position of the mopping board in this article may refer to a position, or may refer to an area or space.

Since the cleaning robot usually docks on the platform carrying the cleaning robot at the lower part of the base station, further, the mop docking position or the first storage bin is higher than the mopping plate operating position to form a space for the cleaning robot to dock.

The space occupied by the maintenance system or the base station is saved by arranging the first storage bin on the machine dock or the upper part of the base station platform.

For ease of understanding, with the first mop bin as a regular shape, such as a cube, the lowest position of the mop docking position and the first storage bin can be higher than the mop board operating position to form a space for the cleaning robot to dock; wherein, the mop docking The location, the first storage bin, or the moving track of the first storage bin is located within the projected range of the space for the cleaning robot to dock.

Wherein, the lowest position of the first storage bin is also related to the arrangement of the first storage bin, for example, when the opening of the first storage bin is set upwards, at this time, the lowest position of the first storage bin refers to the bottom of the first storage bin The outer surface; and when the opening of the first storage bin is set to the left or right, at this time, the lowest position of the first storage bin refers to the outer surface of the side wall of the first storage bin.

When the first storage bin cannot be moved, the projection of the first storage bin onto the horizontal ground is within the projection range of the docking space of the cleaning robot; The projection onto the horizontal ground is within the projection range of the docking space of the cleaning robot.

In this embodiment, the first storage bin is above the docking position of the cleaning robot; or, the base station has a position capable of accommodating the first storage bin, and the first storage bin can be set at this position, wherein the position is a distance level The height of the ground is to reserve a docking space for the cleaning robot. The above setting method saves the area occupied by the system and is beneficial to realize the miniaturization of the maintenance system.

In some other embodiments, during the engagement process of the mopping board and the first sheet-shaped mopping cloth, both the first storage bin and the mopping board are actively moving.

That is to say, when the mop is taken, both the first storage compartment and the mop board are actively moved, and the two cooperate with each other to realize the connection between the mop board and the first sheet mop, which simplifies the moving track of the mop board and the maintenance system. The complexity of the structure.

For example, the mop picking device includes a moving component (such as a first moving mechanism) for driving the mopping board to move, and the maintenance system includes a third moving mechanism for driving the first storage bin to move.

Of course, during the docking process between the mopping board and the first storage bin, the first storage bin can also actively move toward the mopping board, while the mopping board is inactive.

Considering the direction in which the mopping board picks up the mopping cloth, in some embodiments, the mopping board is used to pick up a single piece of the first sheet mopping cloth from the first storage compartment along the stacking direction of the first sheet mopping cloth .

Wherein, the above-mentioned stacking direction is a direction perpendicular to the mopping ground of the first sheet mop or a direction in which the non-mopping ground of the first sheet mop is directed to the mopping ground of the first sheet mop .

For example, the mopping board is used to pick up a single piece of the first sheet mopping cloth from the first storage compartment along a direction perpendicular to the mopping ground of the first sheet mopping cloth. That is to say, the moving direction of the mopping board is perpendicular to the mopping ground of the mopping cloth, so as to realize the docking installation of the two, and the docking process is simple and fast, and has high reliability.

It can be understood that the mopping surface of the first sheet mop refers to a surface capable of performing mopping work or a surface that is in contact with the ground to be cleaned to perform cleaning work.

Considering the placement of the mopping board in the direction of taking the mopping cloth, in order to ensure that the mopping board can be connected with the mopping cloth, in some embodiments, the lower surface of the mopping board forms an angle less than 90 degrees with the mopping surface of the first sheet mopping cloth.

In order to improve the connection stability between the mopping board and the mopping cloth, further, the value range of the angle between the lower surface of the mopping board and the mopping ground of the first sheet-like mopping cloth is greater than or equal to 0 degrees and less than or equal to 45 degrees.

In order to facilitate the docking of the mopping board and the mopping cloth, in some embodiments, the first storage bin can be provided with a guiding device, so as to perform connection and positioning during the docking process of the mopping cloth and the mopping cloth, and prevent the connection from being weak or failing due to excessive deviation. Question, optionally, the guide device can be, for example, a guide post, or a chute or a slide rail.

In order to improve the connection stability and docking accuracy between the mopping board and the mopping cloth, further, the value range of the angle between the lower surface of the mopping board and the mopping ground of the first sheet-shaped mopping cloth is greater than or equal to 0 degrees and less than or equal to 35 degrees.

Referring to Fig. 56, in the figure, a guiding device 810 is provided in the first storage compartment 210, and the guiding device 810 adopts a guiding column. The value range is greater than or equal to 0 degrees and less than or equal to 35 degrees.

It should be pointed out that the angle a formed by the lower surface of the mopping board and the mopping surface of the first sheet-like mopping cloth is related to the aperture of the guide device (such as the guide post) and the size of the positioning hole corresponding to the mop board and the guide post.

Considering the placement of the mopping bin in the direction of taking the mopping cloth, in some embodiments, the first storage bin has a bottom for carrying the mopping floor of the first sheet-shaped mopping cloth, wherein the bottom is at an angle to the horizontal plane, and the angle is greater than or equal to 0 degrees is less than or equal to 45 degrees.

Referring to Fig. 57, the first storage bin 210 has a bottom 2104 for mopping the ground for carrying the first sheet-like mop. The bottom 2104 forms an angle b with the horizontal plane, and the value range of the angle b is greater than or equal to 0 degrees and less than or equal to 45 degrees.

In order to facilitate the mopping board to take the mopping cloth, and improve the connection stability between the mopping board and the mopping cloth, further, the angle between the bottom and the horizontal plane is greater than or equal to 0 degrees and less than or equal to 30 degrees.

Considering the manufacturing error of the mop bin, further, the angle between the bottom and the horizontal plane is greater than or equal to 0 degrees and less than or equal to 15 degrees.

Certainly, in other implementation manners, the mop picking device or the mop board is used to extend into the first storage compartment at an angle of less than or equal to 15 degrees along the direction of gravity.

The mop pick-up device or the mop board takes the first piece of mop from the direction of gravity or close to the direction of gravity, to avoid the problem that the first piece of mop is placed unstable in other directions or requires additional devices to fix it, or to avoid the first piece of mop During the moving process, there may be a problem that the mop board and the first piece of mop cannot be accurately docked due to displacement, or the stability of the two is poor after docking; at the same time, when taking out multiple mop cloths, relying on the effect of gravity will The excess mop is returned, thereby retaining the connection to the single piece mop.

Considering the fixing method of the mopping board and the mopping cloth, in some embodiments, the mopping board is provided with a connection area for connecting the first sheet-like mop, the connecting area includes an adhesive part, and the first sheet-like mop It can be adhered to the sticking part to realize the connection between the mopping plate and the first sheet mopping cloth.

That is, the mopping board and the first sheet mopping cloth are connected by pasting, which is easy to install and has high reliability, and simultaneously makes the structure of the mopping board simpler.

Considering the setting position of the sticking part, in some embodiments, the sticking part has a first part in contact with the first sheet mop and/or a second part exposed to the first sheet mop; wherein, the first part and the second The angle formed by the sheet mop is greater than or equal to 0 degrees and less than or equal to 15 degrees; the angle formed by the second part and the first sheet mop is greater than 0 degrees and less than 90 degrees.

Wherein, the first part can realize the face-to-face sticking of the mop board and the first sheet-like mop, and considering manufacturing errors, the included angle between the first part and the first sheet-like mop is greater than or equal to 0 degrees and less than or equal to 15 degrees; The second part is through the interaction force between the mopping board and the first sheet mopping cloth so that the first sheet mopping cloth is tilted to realize the sticking of the mopping board and the first sheet mopping cloth, and when the mopping board passes through the first part and When the second part adheres to the first sheet mop, the connection stability between the mop plate and the first sheet mop can be improved.

In order to facilitate the replacement of the mop, in some embodiments, the mop plate has a top, a bottom, and a side wall for connecting the top and the bottom, wherein the side wall is inclined from the bottom toward the top, and the sticking part has a surface exposed to the outside of the first sheet mop. The second part, the second part of the sticking part is arranged on the inclined side wall.

Considering the convenience of pasting, the angle formed by the second part and the first sheet mop is greater than 10 degrees and less than or equal to 60 degrees.

In order to improve the sticking effect, the angle formed by the second part and the first sheet mop is greater than or equal to 20 degrees and less than 45 degrees.

Considering easy installation, firmness or stability of installation, and easy removal, preferably, the angle formed by the second part and the first sheet mop is greater than or equal to 25 degrees and less than or equal to 35 degrees.

In this embodiment, the preferred angle formed by the second part and the first sheet mop is 30 degrees.

Considering how to avoid the problem of sticking out multiple mops, you can use at least one of the following methods:

Mode 1, after the mopping board is connected with the first sheet mop, it is shaken to prevent multiple pieces of the first sheet mop from being brought out.

For example, the mop pick-up device includes a first moving mechanism, which is used to drive the mop board to vibrate after the first sheet-like mop is adhered to the mop board, so that a single piece of the first sheet-like mop is pasted on the sticking part of the mop board; Refers to the reciprocating movement of the mopping board along the first direction and the second direction; the first direction is the direction in which the mopping board takes out the first sheet mop from the first storage bin, and the The second direction is opposite to the first direction.

Mode 2, after the first sheet-like mop is adhered to the mop board, the mop board is prevented from carrying out multiple pieces of the first sheet-like mop by means of scraping.

For example, the first storage bin is provided with a friction assembly, after the first sheet-shaped mop is adhered to the mop plate, the friction assembly is used to generate an active force that hinders the movement of the mop plate in the first direction, so that the single piece of the first sheet-shaped mop can Paste on the sticking part of the mopping board; wherein the first direction is the direction in which the mopping board takes out the first sheet mop from the first storage compartment.

Mode 3, by setting a partition assembly in the first storage compartment, the adhesion between the first sheet-like mops is reduced, thereby preventing multiple pieces of the first sheet-like mop from being taken out during the process of the mop board docking with the first sheet-like mop The problem.

For example, a partition assembly is provided in the first storage compartment for creating a gap between two adjacent pieces of the first sheet mop.

Mode 4, by controlling the area ratio of the sticking portion to the first sheet-like mop to control the adhesion of the mop board to the first sheet-like mop, so as to avoid the problem that the mop board may stick to multiple pieces of the first sheet-like mop at one time.

For example, the area ratio of the sticking portion to the first sheet-like mop is within a preset range, so that the mopping board can stick a single piece of the first sheet-like mop from the first sheet-like mop combination.

It should be understood that the preset range is related to factors such as the material of the sticking part, the material of the sticking surface (or non-mopping ground) corresponding to the sticking part of the first sheet mop and the sticking part, and the setting position of the sticking part.

In order to save the material usage of the paste part, the preset range is set to be greater than or equal to 5% and less than or equal to 90%.

Preferably, the preset range is set to be greater than or equal to 5% and less than or equal to 60%.

Considering that it is also convenient to remove the mop, the preset range is set to be greater than or equal to 5% and less than or equal to 30%.

Taking the adhesive part as Velcro, the adhesive surface of the mop as fluff, and the adhesive part is set on the side wall and bottom of the mop board as an example, the preset range is set to 10%-20%.

Of course, in other embodiments, it is also possible to reduce the adhesion between the first sheet-like mop through the stacked position of the first sheet-like mop, such as partially overlapping two adjacent pieces of the first sheet-like mop or The material angle between the surface where the sticking part of each first sheet mop is located and the surface where the non-sticking part is located is considered to reduce the adhesion of two adjacent sheet mop cloths.

For the problem of how to take out a single piece of mop from multiple pieces of mop, in another embodiment of the present disclosure, the mop picking device may include a separation mechanism for at least two pieces of first sheet mop stacked in the first storage bin Separate the single first sheet mop.

And/or, the transfer mechanism is used to transfer the single piece of the first sheet mop to the preset transfer position, so that the mopping plate is connected with the single piece of the first sheet mop.

The single piece of the first piece of mop is taken out from the first storage compartment by means of separation and/or transfer, and then the single piece of the first piece of mop is connected to the mop board. This kind of indirect docking method between the mop board and the mop, It can effectively reduce the probability of taking out multiple mops from the mopping board.

For example, the connection between the mop board and the single piece of mop can be realized by separating first and then transferring, or by transferring first and then separating, or by separating and transferring simultaneously; The principle, structure, positional relationship and other factors of the pickup device are related.

In some embodiments, the separation of a single piece of the first sheet mop is achieved by suction separation.

For example, the separation mechanism includes a paper suction device for sucking the first sheet mop at a mop suction position, wherein the mop suction position refers to a position where the paper suction device can suck out a single piece of the first sheet mop.

It can be understood that the above-mentioned mop suction position also changes with the suction of the sheet mop. For example, when there is no gap between adjacent mop cloths, the mop suction position will change the thickness of a piece of mop every time a mop is sucked; there is a gap between adjacent mop cloths. , the mop suction position changes the sum of the thickness of a piece of mop and the height of the gap each time a piece of mop is picked up.

Taking the mop picking device including the separation mechanism as an example, if the mop board and the single piece of mop separated by the separation mechanism are all in the docking position, there is no need to use the transfer mechanism, that is, the separation and transfer are completed at the same time through the separation mechanism, that is, the separation and transfer are performed at the same time ; And if one of the mop board and the separated single-piece mop is at the docking position, it is only necessary to transfer the other to the docking position through the transfer mechanism; if the mop board and the separated mop are not at the docking position, then it is necessary to The mopping board and the mopping cloth are transferred to the docking position respectively; wherein, there may be one or two transfer mechanisms for transferring the mopping board and the mopping cloth.

For ease of understanding, a brief description will be given by taking the separation mechanism as an example of a paper suction device. The paper suction device (such as a vacuum suction cup) uses the principle of vacuum suction. If the paper suction device separates a single piece of mop through vacuum suction, the single piece of mop and mop board When both of them are in the docking position, for example, when a paper suction device is arranged on the mop board, the docking position and the separation position are also consistent at this time. The transfer can be performed simultaneously, and the mop pick-up device does not need to include an additional transfer mechanism at this time;

If there is a distance between the mopping board and the paper suction device, and the single piece of mop separated from the paper suction device is at the docking position, a transfer mechanism is required to transfer the mopping board to the docking position; and if the mopping board is at the docking position, the transfer mechanism is required to separate The single-piece mop is delivered to the docking position; if the mop board and the separated mop are not at the docking position, the mop board and the mop need to be transferred to the docking position respectively; wherein, the transfer mechanism for transferring the mop board and the mop can be one, or It can be two.

Of course, in other embodiments, the separation of the single first piece of mop is achieved by means of air blowing separation.

For example, the separation mechanism includes a fluid delivery device for delivering a fluid to the top surface of the stacked at least two first sheet mops such that the topmost first sheet mop is separated from the at least two first sheet mops .

As for whether it needs to be transferred after separation and the order of separation and transfer, please refer to the above. In order to save space, it will not be repeated here.

Considering the disassembly of the mop board, in one embodiment of the present disclosure, the mop pick-up device also includes a removal mechanism, and the mop board includes a disassembly area; the paper removal mechanism cooperates with the disassembly area to remove the second sheet mop from the mop board. Removal, wherein there is no interconnection between the removal area and the second mop sheet.

Wherein, the above-mentioned second sheet mop may refer to a used, old or dirty mop. For example, the cleaning robot carries the first sheet mop on the mop to perform the mopping work of the preset time or the mop after completing the cleaning work of the preset area. When the second sheet mop is carried on the mop board, the mop board When changing the mop, it is necessary to disassemble the second mop first, and then connect the first mop. It can be understood that the first sheet-like mop can be converted into a second sheet-like mop after mopping the floor. Of course, in other embodiments, the second sheet mop may also be a mop that needs to be disassembled in other situations, such as a mop for testing or a mop that needs to be removed when the user finds that the connection of the mop is not ideal. Whether the second sheet mop is clean.

Optionally, the above-mentioned removal mechanism may be set on the base station.

By starting from the disassembly area when the second sheet mop needs to be removed from the mop board, since there is no connection between the disassembly area and the second sheet mop, the mop can be removed from the mop board more easily and conveniently. Down.

Considering the mopping direction of the disassembly mechanism, in some implementations, the disassembly mechanism is configured to remove the second sheet mop along the disassembly direction; wherein the disassembly direction forms an acute angle with the mopping board or the mopping surface of the second sheet mop, Right angle or obtuse angle.

The above-mentioned detachment direction may be, for example, the direction in which the detachment mechanism applies external force to the second sheet mop;

The disassembly direction forms an acute angle, a right angle or an obtuse angle with the mop board or the mopping ground of the second sheet mop; that is, the disassembly direction is not parallel to the mop ground of the second sheet mop, so that the disassembly direction is perpendicular to the mop surface of the second sheet mop The component direction of mopping the ground or the external force exerted by the disassembly mechanism on the second sheet mop has a component force perpendicular to the second sheet mop mopping the ground, which makes the removal of the mop simple and efficient, and reduces the mop left on the mop board, and the removal is easier Clean and less damage to the mop.

For ease of understanding, the removal mechanism 320 is two hook-shaped parts installed in the first storage bin 220 as an example to illustrate the removal direction. The top ends of the hook-shaped parts can be connected to form a connecting line. The connecting line (such as the dotted line shown in Figure 59) is non-parallel to the mopping surface of the mopping board or the second sheet mopping cloth. mopping the ground at right angles (of course, if at least one of the dismounting mechanism 320 or the mopping board 110 may also be inclined due to setting or manufacturing errors, etc., the angle between the dismounting mechanism 320 and the mopping board 110 or the second sheet mopping cloth has It may be an acute angle or an obtuse angle. FIG. 59 shows a case where the angle c formed by the disassembly mechanism 320 and the mopping board 110 or the second sheet mop is an acute angle), wherein the disassembly direction (such as the direction of the straight arrow indicated in FIG. 59 ) It is the direction in which the disassembly mechanism applies an external force away from the mop board to the second sheet mop, or it can also be the perpendicular line of the line connecting the two hooks, so that the disassembly direction or the external force applied to the second sheet mop is perpendicular to the second The flake mopping cloth mopping the ground makes the removal of the mop easy and efficient, and minimizes the residue of the mop on the mop board. The removal of the mop is relatively clean and thorough, which is conducive to avoiding damage to the mop.

In order to avoid the residue of the mop on the mop board, in some embodiments, the detachment mechanism is configured to apply an external force away from the mop board to the second sheet mop, and the second sheet mop separated from the mop board is under its own gravity or external force. Fall under effect.

For example, when removing the mop, when the lower surface of the mop board is perpendicular or nearly vertical to the direction of gravity, the dismounting mechanism can be arranged on the moving path of the mop board. In the process of moving and passing through the disassembly mechanism, at this time, under the action of the external force applied by the disassembly mechanism to the second sheet mop on the mop board away from the mop board, it is disassembled from the mop board, and the disassembled second sheet mop The mop can fall along the direction of gravity;

And when the lower surface of the mopping board is parallel or substantially parallel to the direction of gravity, by setting the dismounting mechanism on the moving path of the mopping board, for example, when the mopping board moves from the left side of the dismounting mechanism to the right relative to the dismounting mechanism and undergoes disassembly mechanism (or move from the right side of the disassembly mechanism to the left and pass through the disassembly mechanism), the disassembly mechanism applies an external force to the second sheet mop on the mop board that is far away from the mop board, and the second sheet mop is removed from the mop board down, the disassembled second sheet-like mop can fall along the direction of the external force.

In order to improve the convenience of removing the mop, further, in the process of removing the second sheet mop from the mop board, the cleaning robot moves inactively, and the mop board or the removal mechanism actively moves.

When removing the mop, the position of the robot body is not adjusted, but the removal of the mop is achieved through the active movement of the mop board and/or the removal mechanism, which provides a large space for the operation of removing the mop, making the removal of the mop simple and convenient. Moreover, the reliability and safety of removing the mop are improved.

After the second piece of mop is disassembled, in order to facilitate the centralized recovery of the second piece of mop and avoid manual handling of dirty cleaning media and dirty hands, the maintenance system also includes a second storage compartment for receiving the mop removed from the mop board. The second sheet mop. Wherein, the second storage bin can also be set on the base station that can maintain the cleaning robot.

Further, the detachment mechanism is configured to apply an external force away from the mop board to the second sheet mop, and the second sheet mop separated from the mop board falls into the second storage bin under its own gravity or external force.

After the second sheet mop is removed from the mop board through the cooperation of the paper removal mechanism with the disassembly area, the second sheet mop is dropped into the second storage compartment.

That is, the dismantled second sheet mop is dismantled from the mop board and directly falls into the second storage compartment, which improves the efficiency of mop recovery. For example, when the detachment mechanism is arranged outside the second storage bin, the second storage bin can be arranged on the moving path of the separated second sheet mop, so that the second sheet mop enters the second storage bin. For example, the removal mechanism is installed at the preset mop removal position, and the mop removal position is located outside the second storage compartment. The removal mechanism is used to remove the second sheet mop from the mop board at the mop removal position, and receive it by the second storage compartment. . Wherein the second storage bin is arranged on the path where the second sheet mop falls.

In order to facilitate the removal of the mopping board, in some embodiments, the maintenance system includes a mopping board operating position configured to allow the cleaning robot to separate the mopping board.

Further, the mop removal position or the second storage bin is higher than the mop board operating position to form a space for the cleaning robot to dock.

When the cleaning robot returns to the base station for maintenance, it usually docks on the lower platform of the base station. By setting the second storage compartment above the docking space of the cleaning robot or the upper area of the base station, the floor space of the base station can be saved.

Considering the positional relationship between the first storage bin and the second storage bin, in some embodiments, the first storage bin and the second storage bin are vertically arranged vertically.

For example, both the first storage bin and the second storage bin are arranged in the upper area of the base station, and the two are arranged up and down. Cloth should be understood in a broad sense, that is, the heights of the first storage bin and the second storage bin are different. For example, the initial positions of the first storage bin and the second storage bin may be on the same straight line, or not on the same straight line. In this regard, this Public is not limited.

Considering the space requirements for dismantling and installing the mop, starting from reducing the occupied space of the base station, further, the height of the first storage bin is higher than that of the second storage bin or the first storage bin is located above the second storage bin.

Considering that the operation space for removing the mop is relatively large, the second mop bin is placed below the first mop bin in the base station, so that the space of the first mop bin can also be used as an operating space for disassembling the mop, which is beneficial to reduce The volume of the base station.

Of course, in other embodiments, the detachment mechanism can also be directly arranged on the second storage compartment.

Regarding the structure of the removal area, in some embodiments, the removal area includes a cloth removal groove, and the outer edge of the mopping board is recessed toward the inside of the mopping board to form a cloth removal groove.

Wherein, there can be one or more cloth removing grooves mentioned above. In order to improve the cloth removing efficiency and reduce the damage of the second sheet-like mop, there are multiple cloth removing grooves, and the cloth removing grooves can be arranged at intervals.

Considering the replacement operation space of the mopping cloth, in some embodiments, the mopping board includes at least a first state and a second state, wherein, in the first state, the mopping board is in the mopping position; in the second state, the mopping board in a non-mopping position;

It should be noted that the first state may be a mopping state, the second state may be a non-mopping state, and the first state and the second state may be switched to each other. The mopping board is in the mopping position refers to the position where the mopping board can perform mopping work or the position where the mopping board touches the ground (for example, the mopping board is removed from the cleaning robot); For example, according to the cleaning needs or the switching of the working mode or the user control is lifted or in the position where maintenance can be performed (such as performing replacement or cleaning the mop); for ease of understanding, the mop board is installed as an example for mopping the floor. A brief description of the non-mopping position: when the mopping board is in the mopping position, the mopping cloth is attached to the working surface; and when the mopping board is in the non-mopping position, the mopping cloth is separated from the working surface.

Wherein, the non-mopping position is higher than the mopping position, so as to provide an operation space for the disassembly of the second sheet mop or the installation of the first sheet mop.

The mopping board can be changed between the mopping position and the non-mopping position to provide operating space for the replacement of the mopping cloth. Provides maneuvering space for mop board removal and/or installation.

Of course, in other embodiments, the mopping board can still be installed or connected to the cleaning robot without dismounting, and only operate on the mopping board, so that the mopping board can be switched between the first state and the second state; for example, when mopping cloth When the plate needs to be replaced or the first sheet mop is installed, the mop plate is switched from the first state where the mop plate (such as a mop is installed on the mop plate, the mop here refers to the mop) to the working surface is attached to the mop plate (such as the mop plate Mop is installed, then here can refer to the second state that mop) breaks away from the working surface, and then realize the docking of mop board and the first sheet mop in the first storage bin, make mop board change mop faster.

It should be pointed out that during the switching process of the mopping board between the first state and the second state, the cleaning robot itself is inactive, and only the position of the mopping board relative to the cleaning robot (body) changes; wherein, the first state and In the second state, the position of the mopping board is different. Of course, during the switching process between the first state and the second state of the mopping board, the cleaning robot can also actively move, such as to perform corresponding work, in order to facilitate understanding, cleaning components (such as brushes, edge At least one of the brush or the suction port), the cleaning robot can perform cleaning work during the replacement of the mop.

For ease of understanding, a cleaning robot maintenance system applicable to embodiments of the present disclosure will be introduced first with reference to FIG. 1 . As shown in FIG. 1 , the system includes a cleaning robot 100 and a base station 200 .

The cleaning robot 100 cleans the working area. Wherein, the cleaning robot 100 may be, for example, a cleaning robot with a mopping function, for example, a floor mopping robot, another example, a sweeping and mopping integrated robot, and another example, a glass cleaning robot. Correspondingly, the working area may be, for example, the floor, or areas such as windows.

The base station 200 can communicate with the cleaning robot 100 for maintaining the cleaning robot 100 . In some embodiments, the base station 200 may also have the function of charging the cleaning robot 100 . In some other embodiments, the base station 200 may also have the function of changing the mop for the cleaning robot.

Based on the base station 200 shown in FIG. 1 , the structure of the base station in the embodiment of the present disclosure will be described in detail below. The base station 200 includes a first storage bin 210 and a mop picking device 300 .

The first storage bin 210 is used to accommodate the unused first sheet mop. In some embodiments, the above-mentioned first sheet mops can be stored in the first storage bin 210 in a stacked manner.

The first unused mop sheet may be a new mop sheet or a clean mop sheet. The sheet mop can be understood as a mop piece that can be used directly after cutting.

In some embodiments, the above-mentioned first sheet-shaped mop may be paper-based disposable mop paper, therefore, the above-mentioned first storage bin may also be called a "clean carton".

The mop pick-up device 300, when the cleaning robot 100 returns to the base station 200 (see FIG. 2), the mop pick-up device 300 is used to replace the second sheet mop installed on the cleaning robot 100 with the first sheet mop in the first storage bin 210. Mop. Wherein, the second sheet mop may be a used sheet mop or a dirty sheet mop.

After the mop picking device 300 replaces the first mop sheet for the cleaning robot 100, the removed second sheet mop can be stored in the second storage bin 220, so that the user can replace the mop sheet in the second storage bin 220 at regular intervals. The second sheet mop improves user experience. Certainly, the user may manually clean the second sheet mop after each replacement of the first sheet mop for the cleaning robot 100 . Correspondingly, the base station 200 may not be provided with the second storage compartment 220 .

As mentioned above, the second mop sheet may be a used mop sheet, or a dirty sheet. In addition, in some embodiments, the second sheet-like mop may also be a paper-based disposable mop paper, therefore, the second storage bin 220 may also be called a "dirty cardboard box".

In order to save the floor area of the base station, the above-mentioned first storage bin 210 and second storage bin 220 can be vertically arranged up and down, for example, the first storage bin 210 can be located above the second storage bin 220, and for example, the second storage bin 220 The storage bin 220 may be located above the first storage bin 210 . Certainly, the first storage bin 210 and the second storage bin 220 may also be arranged left and right along the horizontal direction.

In order to facilitate the user to put the first sheet mop into the first storage bin 210, and/or clean the second sheet mop stored in the second storage bin 220, the first storage bin 210 and the second storage bin 220 can be arranged along the Arranged in a vertical direction and close to the casing of the base station 200 , for example, it may be close to the casing on the front of the base station 200 , or close to the casing on the top surface of the base station 200 .

Correspondingly, when the user opens the first storage bin 210 and/or the second storage bin 220, they can be opened by pulling them manually. Alternatively, when the user opens the first storage bin 210 and/or the second storage bin 220 , the first storage bin 210 and/or the second storage bin 220 can be automatically ejected by pressing a button.

In order to simplify the process of changing the mop sheet, when the mop picking device 300 replaces the mop sheet for the cleaning robot 100 , it can first separate the mop board 110 on the cleaning robot 100 from the cleaning robot 100 . In this way, only the mopping board 110 can be operated during the process of replacing the sheet mopping cloth. Of course, the mopping assembly with the water tank can also be separated together, which is not limited in the embodiments of the present disclosure.

As mentioned above, the cleaning robot 100 includes a mopping board 110 that can be separated from the cleaning robot 100, and the mopping device 300 includes: a first moving mechanism 310 having a connecting portion 311 of the mopping board 110, and the mopping board 110 is separated from the cleaning robot 100 Afterwards, the first moving mechanism 310 is connected with the mopping board 110 through the connecting part 311, and drives the mopping board 110 to move to the mopping removal position first, so as to remove the second sheet mop and store it in the second storage bin 220, and then drive the mopping board 110 moves to the mop installation position, so as to install the first sheet mop in the first storage bin 210 to the mop board 110 .

The above-mentioned first moving mechanism 310 can drive the mopping board 110 to move in the base station by sliding, for example, a slide rail can be set in the base station 200 so that the first moving mechanism 310 drives the mopping board 110 to move to the mopping cloth removal position and/or the mopping cloth installation Location. Certainly, the above-mentioned first moving mechanism 310 may also be a manipulator, and the movement of the manipulator 310 drives the mopping board 110 to move. The embodiment of the present disclosure does not limit the specific form of the first moving mechanism 310 .

In the process that the first moving mechanism 310 drives the mop board 110 to move, the first storage bin 210 and the second storage bin 220 can be stationary, so that only the first moving mechanism 310 drives the mop board 110 to move to the first storage bin 210 and the second storage bin. The corresponding position of the two accommodation bins 220 completes the replacement of the mop. Certainly, in order to simplify the complexity of moving the mopping board 110 driven by the first moving mechanism 310 , the first storage bin 210 and/or the second storage bin 220 may also cooperate with the movement of the first moving mechanism 310 . The following will be described in conjunction with FIG. 5 to FIG. 6 . For the sake of brevity, details are not repeated here.

It should be pointed out that, in other embodiments, the mopping board 110 may also be stationary, and move from the first storage bin 210 and the second storage bin 220 to the mopping board 110 to realize the replacement of the mopping cloth. The aforementioned mop installation position and/or mop removal position may be a specific position on the moving path of the first moving mechanism 310, or may be a position area on the moving path. In some embodiments, the position of the mopping board 110 can be sensed by sensors installed in the base station 200.

The connecting portion 311 and the mopping board 110 can be connected by grasping. Referring to FIG. 3 , the connection part 311 may include mechanical claws, and when the mopping board 110 is separated from the cleaning robot 100 , the mechanical claws are connected to the mopping board 110 by grabbing. Certainly, the connecting part 311 and the mopping board 110 may also be connected by means of a mechanical hook, which is not limited in this embodiment of the present disclosure.

In order to facilitate the connection between the connecting portion 311 and the mopping board 110, the above-mentioned first moving mechanism 310 can also be provided with a magnetic positioning part, so that before the connecting part 311 is connected with the mopping board 110, the first moving mechanism 310 can pass through the magnetic positioning part. The mopping board 110 is magnetically positioned.

After the mopping board 110 is separated from the cleaning robot 100 , in order to avoid blocking the first moving mechanism 310 from being connected to the mopping board 110 , the cleaning robot 100 may exit or half exit the base station 200 as shown in FIG. 4 .

Optionally, the above-mentioned mop picking device 300 further includes a removal mechanism 320 located at the mop removal position for removing the second sheet mop from the mop board 110 .

There are many specific structures of the removal mechanism 320, for example, the removal mechanism 320 may include a robot arm. For another example, the removal mechanism 320 may also include a rod with a hook-shaped portion, through which the second sheet mop is removed from the mop board 110 . The following will introduce in detail with reference to FIG. 7 to FIG. 8 . For the sake of brevity, details are not repeated here.

Considering that if the removal mechanism is arranged on the dirty mop bin (i.e. the second storage bin), since the dirty mop bin needs to be taken out as a whole for dumping and cleaning, it may cause mechanical damage and easy rusting of the removal mechanism during cleaning. Therefore, in some embodiments, referring to FIG. 11 and FIG. 17, the removal mechanism 320 can be arranged outside the second storage bin 220, and the installation position of the removal mechanism is adapted to the position of the second storage bin, for example, the removal mechanism The setting height is adapted to the height of the second storage bin, and the distance between the two groups of rods 321 rotating around the fixed axis included in the removal mechanism is adapted to the opening size of the second storage bin, which avoids possible damage caused by the dirty mop bin. Mechanical damage and rusting of the dismantling mechanism during cleaning.

Of course, in other embodiments, referring to FIG. 53 , the removal mechanism 320 can also be arranged on the second storage bin 220 to reduce the complexity of the mop removal structure and save installation space.

As mentioned above, the second storage bin 220 is used to recover the second sheet mop separated by the removal mechanism 320 . The separated second mop sheet is directly recovered into the second storage bin 220 , avoiding manual handling of the dirty second sheet mop and soiling hands. In order to realize that the dirty second sheet mop is directly recovered to the second storage bin 220, the second storage bin 220 is arranged on the moving path of the separated second sheet mop, so that the second sheet mop falls into the second storage bin 220. Two storage bins 220.

The removal mechanism 320 exerts an external force away from the mop board 110 on the second sheet mop covering the removal area to remove the second sheet mop, and the separated second sheet mop falls into the second storage compartment 220 by its own gravity . Optionally, the second storage bin 220 can be arranged under the separated second sheet-like mop, so that the separated second sheet-like mop directly falls into the second storage bin 220 due to its own gravity, which can be achieved without additional structures. Recovery of the second sheet mop.

Alternatively, the removal mechanism 320 applies an external force away from the mopping board 110 to the second mop sheet covering the removal area to remove the second mop sheet, and the external force pulls the second mop sheet into the second storage compartment 220 . Utilize the external force of the removal mechanism 320 to disassemble the second sheet mop, and put the second sheet mop into the second storage compartment 220 , and also realize the recovery of the second sheet mop without additional structure.

Further, the removal mechanism 320 includes a hook-shaped portion, the hook-shaped portion corresponds to the removal area, and hooks the second sheet mop covered on the removal area, and applies an external force away from the mop board 110 to the second sheet mop, moving the second sheet mop Two sheet mops are separated from the mop plate 110. The hook portion can be set on the base station, and can also be set on the second storage bin 220 . In this embodiment, the hook portion is at least partially located in the second receiving compartment 220 . The second receiving bin 220 is open toward one side, and the hook-shaped portion is distributed on both sides of the opening. Specifically, the second storage bin 220 is provided with two rotating shafts, which are respectively arranged on both sides of the opening of the second receiving bin 220 , and the hook-shaped part is arranged on the rotating shaft 203 . Wherein, the number of hook-shaped parts provided on each rotating shaft is multiple, and the multiple hook-shaped parts are evenly arranged to improve the removal efficiency of the dirty second sheet mop.

In one embodiment, an opening is provided on one side of the second storage bin 220 , and the hook portion is disposed outside the opening relative to the second storage bin 220 . Further, please refer to FIG. 53 , the upper side of the second storage bin 220 is open, and the hook portion is disposed above the opening opposite to the second storage bin 220 . The specific manner in which the hook-shaped portion is arranged outside the opening relative to the second storage bin 220 is not limited. For example, the second storage bin 220 and the hook-shaped portion are connected to the base provided inside the base station, and the second sheet-like mop is separated. , the second storage bin 220 and the hook-shaped part do not produce displacement relative to the base; the hook-shaped part may also be directly connected to the outside of the second storage bin 220, and when the second sheet-like mop is separated, the second storage bin 220 is relatively hooked. The shape does not shift.

It should be pointed out that the back side of the hook-shaped portion, that is, the surface facing the opening is a smooth transition surface, while the front side, that is, the surface facing away from the opening is provided with serrations. In this way, the smooth back side of the hook-shaped portion uses the mop board 110 to enter, so as to avoid blocking and interfering with the mop board 110 entering the second storage compartment 220, and the front side provided with serrations can hook the second sheet mop to achieve better unloading. remove the effect.

Further, in order to solve the above-mentioned mechanical damage caused by the overall removal of the second storage bin and the problem that the removal mechanism is prone to rust during cleaning, in some embodiments, the second storage bin can be divided into a second inner bin 2201 and a second inner bin 2201. The outer compartment 2202, the second inner compartment and the second outer compartment can be separated, and the second outer compartment is provided with a removal mechanism 320, for example, the second inner compartment is installed on the second outer compartment in an embedded manner, and the second inner compartment can be drawn out separately . By arranging the removal mechanism on the outer warehouse, not only the above-mentioned problems of mechanical damage and easy rusting of the removal mechanism during cleaning are avoided, but also the structure of removing the mop is simpler and more convenient.

As mentioned above, in order to reduce the complexity of the movement of the first moving mechanism 310 , the first storage bin 210 and the second storage bin 220 can also cooperate with the movement of the first moving mechanism 310 . That is, the above-mentioned base station further includes a second moving mechanism 410 and/or a third moving mechanism 420 .

The second moving mechanism 410 is connected with the second storage bin 220 , and is used to control the second storage bin 220 to move below the removal mechanism 320 to receive the second sheet mop falling from the mopping board 110 .

In some embodiments, the above-mentioned second moving mechanism 410 may be a sliding mechanism, and accordingly, the second accommodating bin 220 may move to the bottom of the removing mechanism 320 in a sliding manner. Certainly, the second moving mechanism 410 may also be a manipulator, which is not limited in this embodiment of the present disclosure.

The third moving mechanism 420 is connected with the first storage bin 210, and is used to control the first storage bin 210 to move to the bottom of the mopping board 110, so that the mopping board 110 enters the first storage bin 210, so as to be compatible with the first storage bin 210 The first sheet of mop in the engagement.

In some embodiments, the above-mentioned third moving mechanism 420 may be a sliding mechanism, and correspondingly, the first storage compartment 210 may move to the bottom of the mopping board 110 in a sliding manner. Certainly, the third moving mechanism 420 may also be a manipulator, which is not limited in this embodiment of the present disclosure.

In the embodiment of the present disclosure, there are many ways to implement the first moving mechanism 310, the second moving mechanism 410, and the third moving mechanism 420. In order to simplify the complexity of moving each moving mechanism, a first moving mechanism can be set 310 drives the mopping board 110 to move up and down along the vertical path, and the second moving mechanism 410 and the third moving mechanism 420 are located on one side or both sides of the vertical path, and drive the second storage bin 220 and the first storage bin 210 to move along the horizontal path respectively. Path moves.

Of course, the first moving mechanism 310 can also be set to drive the mop board 110 to move vertically to the height corresponding to the first storage bin 210 and/or the second storage bin 220, and then drive the mop board 110 to move horizontally to On the same vertical plane as the first storage bin 210 or the second storage bin 220 , so as to align the mopping board 110 with the first storage bin 210 or the second storage bin 220 .

5 to 6 , taking the first moving mechanism 310 moving in the vertical direction and the second moving mechanism 410 moving in the horizontal direction as an example, the process of removing the second sheet mop from the mopping board 110 will be introduced. 12 , taking the first moving mechanism 310 moving in the vertical direction and the third moving mechanism 420 moving in the horizontal direction as an example, the process of installing the first sheet mop on the mopping board 110 is introduced.

Referring to Fig. 5, when the first moving mechanism 310 drives the mop board 110 to move to the mop removal position, in the process of removing the second sheet mop by the removal mechanism 320, the second storage bin 220 and the removal mechanism 320 need to cooperate with each other to facilitate removal. The lower second sheet mop can fall into the second storage bin 220 . That is to say, before the removal mechanism 320 completes the removal of the second sheet mop (for example, before starting to remove the second sheet mop, or during the process of removing the sheet mop), the second storage bin 220 needs to move to the removal mechanism. 320, that is, the position shown in FIG. 6 .

The above-mentioned cooperation relationship can be controlled by the controller in the base station 200 in cooperation with the position sensor, but in order to simplify the complexity of the control, the removal mechanism 320 can be pushed to move when the second moving mechanism 410 drives the second storage compartment 220 to move to the mop removal position.

For example, referring to FIG. 5, the removal mechanism 320 includes two sets of rods 321 that rotate about a fixed axis. For ease of distinction, the two sets of rods 321 are referred to as rods 3211 and rods 3212 hereinafter. The rods 3211, 3212 can be respectively located on both sides of the vertical moving track of the first moving device 310. Correspondingly, the first pushing part 221 and the second pushing part 222 are respectively provided on the side and the back of the second storage bin 220. When the second During the movement of the second storage compartment 220, the first pusher 221 can push the rod 3211 to rotate in the direction where the mop board 110 is located, and the second pusher 222 can push the rod 3212 to rotate in the direction where the mop board 110 is located, that is, the rod 3211 and the rod 3212 Rotate in opposite directions.

In order to improve the removal efficiency of the second mop sheet by the removal mechanism 320, the end of the removal mechanism 320 may be configured as a hook-shaped portion. That is to say, the end of the rod 321 is set as a hook-shaped part. When the second moving mechanism 410 drives the second storage bin 220 to move, the hook-shaped part passes the position where the second sheet-like mop is located, and moves from the second sheet-like mop. The top moves to the bottom of the second sheet-like mopping cloth to remove the second sheet-like mopping cloth from the mopping board 110 .

In other words, referring to FIG. 7 to FIG. 8 , the second sheet-like mop is driven by the first moving mechanism 310 to move relative to the hook-shaped portion. Through this relative movement, the hook-like portion passes by where the second sheet-like mop is located. position, and move from above the second sheet mop to below the second sheet mop, so as to remove the second sheet mop from the mop board 110 .

In order to facilitate the above removal mechanism 320 to remove the second piece of mopping cloth from the mopping board 110, the embodiment of the present disclosure also provides a mopping board 110, that is, the shape of the mopping board 110 is set so that the second piece of mopping cloth installed on the mopping board 110 The mopping cloth has a part not covered by the mopping board, and the removal mechanism 320 applies force to the part of the second mopping cloth not covered by the mopping board to remove the second mopping cloth from the mopping board 110 .

Referring to FIG. 9 , the mopping board 110 includes one or more cloth-removing grooves 111 , and the part of the second sheet-like mopping cloth not covered by the mopping board 110 is located in the cloth-removing grooves 111 . Of course, as the quantity of the cloth removal groove 111 increases, it is easier to remove the second sheet mop from the mop plate 110, or in other words, as the area of the part of the second sheet mop that is not covered by the mop plate 110 increases, It is easier to remove the second sheet mop from the mop board 110 .

In other embodiments, the mopping plate 110 includes two opposite sides, wherein each side is provided with one or more cloth removal grooves 111, and the cloth removal grooves 111 on the two sides can be arranged symmetrically, In order to improve the removal efficiency of the removal mechanism 320 from the mop board 110 in the form of sheet mops.

In order to simplify the connection mode between the mop board 110 and the sheet mop (comprising the first sheet mop and the second sheet mop), the mop board 110 and the sheet mop can be connected by pasting, that is, the mop board 110 has a paste 112 , the mopping board 110 uses the sticking part 112 to stick the first sheet mop to the mopping board 110 . Wherein, the sticking part 112 may be, for example, a Velcro.

In order to facilitate the dismantling mechanism 320 to remove the sheet mop from the mop board 110, referring to Figure 10, the two opposite sides of the mop board 110 (that is, the two sides where the plurality of cloth removal grooves 112 are located) can be set as hypotenuses 113, and sticking portion 112 is also arranged on the hypotenuse. Certainly, in the embodiment of the present disclosure, the sticking part 112 may also be disposed in the middle of the mopping board 110 , which is not specifically limited in the embodiment of the present disclosure.

Referring to Fig. 55, the present disclosure also provides a mopping board, which is different from the mopping board shown in Fig. 9 and Fig. 10 in that the mopping board 110 includes two mopping board bodies 115, wherein the two mopping board bodies are detachable connected, and the two mop board bodies can perform opening and closing movements, such as fan-shaped opening and closing movements, to increase the cleaning area and improve the cleaning effect, so that the cleaning robot can adapt to more cleaning scenarios. Of course, in other embodiments, the two mopping board bodies can also be integrally formed, which will not be described in this disclosure.

The mopping plate 110 includes two opposite long ends 1111 , 1112 , and the sticking portion 112 and/or the cloth removal groove 111 are at least partially disposed on the opposite

long ends

1111 , 1112 .

The sticking part 112 is disposed on the opposite

long ends

1111 , 1112 . The sticking part 112 is arranged on the opposite

long ends

1111, 1112, which can make the span of the connection area with the mop board longer, and make the first sheet mop stick more firmly. Wherein, the sticking part 112 may be, for example, a Velcro.

Further, the cloth removal groove 111 is arranged on the opposite

long ends

1111 , 1112 . For example, on each

long side

1111, 1112, a plurality of cloth-removing grooves 111 are respectively set, the span of the dismounting area can be made longer, and the dismounting force exerted on the second sheet-like mop can be made stronger when dismounting the second sheet-like mop. Scattered, it is more convenient to disassemble the second sheet mop, reduce the possibility of tearing the second sheet mop, avoid the residue of the second sheet mop, and at the same time, the cloth removal groove can also be closer to the sticking part, during the disassembly process Less effort and avoid tearing the cleaning media.

It should be noted that, in order to improve the joint force between the mopping board 110 and the first sheet mop when the cleaning robot is cleaning, and prevent slipping, the surface 116 of the mopping board 110 that the sheet mop contacts can be set as a rough part, for example, the surface 116 is provided with Soft rubber surface, and the soft rubber is provided with multiple protrusions or stripes to increase friction and prevent slipping.

In addition, in order to facilitate the dismantling mechanism 320 to remove the sheet mop from the mop board 110, the two opposite long sides of the mop board 110 can be set as hypotenuses 113, and the sticking part 112 and the cloth removal groove 111 can be arranged on the hypotenuses. and the sticking part 112 and the cloth removal groove 111 are arranged adjacently; the sticking part 112 and the cloth removal groove 111 are adjacently arranged on the hypotenuse 113, which not only facilitates the disassembly and installation of the sheet mop, but also does not affect the mopping of the floor cleaning width.

In some embodiments, after the second mop sheet is removed from the mop board 110, the second moving mechanism 410 can drive the second storage bin 220 back to the initial position (for example, the position close to the housing of the base station described above) , referring to FIG. 11 , to reserve a space for the mop board 110 to install the first sheet mop. Correspondingly, in order to avoid interference with the movement of the second storage bin 220, the first moving mechanism 310 can control the mopping board to move.

The first storage compartment has a bottom, an opening and a side wall, wherein the bottom and the side wall enclose a space for accommodating the first sheet-like mop, and the first sheet-like mop can be placed on the bottom surface in a stacked manner Form the first sheet-like mop combination; the mop pick-up device is used to pick up a single piece of the first sheet-like mop from the first sheet-like mop combination along the stacking direction of the first sheet-like mop, so that the first The sheet mop is connected with the mop board. For ease of understanding, a brief description of the stacking direction is given below: when the first sheet-like mop is stacked in the vertical direction from the bottom of the first storage compartment to the opening, the stacking direction is the vertical direction or the up-down direction, And when the direction from the bottom to the opening of the first sheet mop is stacked in the horizontal direction, the stacking direction is the horizontal direction or the left-right direction.

In some embodiments, the first storage bin is placed horizontally, and the opening is upward; the mop pick-up device is used to extend into the first storage bin along a direction from the opening to the bottom, so as to extract from at least two stacked pieces of the first storage bin. A single piece of the first sheet mop is picked up from the sheet mop.

The following describes the process of installing the first sheet mop on the mop board 110 with reference to FIGS. 12 to 14 .

As shown in FIG. 12 , the first moving mechanism 310 can move in a vertical direction (for example, an up and down direction). When the first moving mechanism 310 moves vertically and the third moving mechanism 420 moves horizontally, when the first moving mechanism 310 drives the mop board 110 to move to the mop installation position, the first storage bin 210 moves in the third Driven by the mechanism 420, it moves to the bottom of the mopping board 110. At this time, the first moving mechanism 310 only needs to drive the mopping board 110 to move downwards, extend into the first storage compartment 210, and give the first sheet mopping cloth downward The force to paste the first sheet mop. This method of installing the first sheet-like mop reduces the difficulty of installing the first sheet-like mop on the mop board 110 , and is relatively simple.

In the process that the mopping board 110 extends into the first storage bin 210 to paste the first sheet mops, the mopping board 110 may bring out a plurality of first sheet mopping cloths at a time. According to the quantity of mops, the first moving mechanism 310 can control the mopping board 110 to vibrate after the mopping board 110 sticks the first mopping cloth, so as to shake off the redundant first mopping cloth. For example, the first moving mechanism is used to drive the mop board to vibrate after the first sheet-like mop is adhered to the mop board, so that a single piece of the first sheet-like mop is pasted on the sticking part of the mop board; wherein the Shaking refers to the reciprocating motion of the mopping board along the first direction and the second direction; the first direction is the direction in which the mopping board takes out the first sheet mop from the first storage bin, so The second direction is opposite to the first direction. It can be understood that the direction in which the mopping board 110 takes out/takes out the mopping cloth refers to the vertical direction or the up-down direction.

Since the first moving mechanism 310 moves vertically, the mopping board 110 can be controlled to vibrate up and down at a preset frequency along the direction of gravity.

Of course, in order to prevent the mopping board from bringing out multiple first sheet-like mops, in addition to shaking, in some other embodiments, scraping can also be used. Referring to Figure 54, the first storage bin 210 is provided with a friction assembly , after the first sheet-like mop is attached to the mop board, the friction assembly is used to generate friction during the docking process of the first storage bin and the mop board, so that the single piece of the first sheet-like mop is pasted on the sticking portion of the mop board. For example, the friction assembly is used to generate a force that hinders the movement of the mop board along the first direction, so that a single piece of the first sheet mop can be pasted on the sticking portion of the mop board; wherein the first direction is the The direction in which the mopping board takes out the first sheet mop from the first storage compartment or the direction in which the bottom points to the opening. Further, the friction assembly includes a first friction assembly 2102 disposed on the inner surface of the side wall of the first storage bin and/or a second friction assembly 2103 disposed at the opening. Wherein, the first friction component may be different from the second friction component, for example, the first friction component is multiple bundles of shaving hairs arranged at equal intervals, while the second friction component is a rubber block. It should be noted that the first friction assembly and the second friction assembly can be arranged on one side of the first storage bin, or on both sides, which is not limited in this embodiment.

It should be pointed out that, in other embodiments, the first storage compartment is placed horizontally, and the bottom pointing to the opening can be left or right; Picking a single piece of the first sheet mop from at least two stacked first sheet mops.

Specifically, the first moving mechanism 310 may also move in a horizontal direction (for example, a left-right direction). For example, when the first moving mechanism 310 moves to the right (or to the left) along the horizontal direction, and the third moving mechanism 420 moves to the left (or to the right) along the horizontal direction, when the first moving mechanism 310 drives the mopping board 110 to move to After the mop is installed, the first storage bin 210 moves to the right side (left side) of the mop board 110 under the drive of the third moving mechanism 420, so that when the opening of the first storage bin is separated from the mop board by a preset distance, this , the first moving mechanism 310 only needs to drive the mopping board 110 to continue to move rightward (or leftward), extend into the first storage bin 210, and apply a rightward (or leftward) force to the first sheet mopping cloth , to attach the first sheet mop. It should be noted that when the opening of the first storage bin faces to the left (or right side), the first sheet mop is supported in a stacked manner and in an upright state (perpendicular to the side wall of the first storage bin). The bottom of the first containment compartment.

In order to prevent the mopping board from bringing out a plurality of first sheet-like mopping cloths, in some embodiments, the first storage compartment has a bottom, an opening and a side wall, wherein the bottom and the side wall are formed to accommodate the first piece of mopping cloth. The first sheet mop can be placed on the bottom surface in a stacked manner to form the first sheet mop combination; the first storage bin 210 is provided with a friction assembly, and the first sheet mop After the mop is attached to the mop board, the friction assembly is used to generate a force that hinders the movement of the mop board along the first direction, so that a single piece of the first sheet mop can be pasted on the sticking portion of the mop board; wherein The first direction is the direction in which the mopping board takes out the first sheet mop from the first storage compartment or the direction in which the bottom points to the opening. Further, the friction assembly includes a first friction assembly disposed on the inner surface of the side wall of the first storage bin and/or a second friction assembly disposed at the opening. Wherein, the first friction component may be different from the second friction component, for example, the first friction component is multiple bundles of shaving hairs arranged at equal intervals, while the second friction component is a rubber block. It should be noted that the first friction assembly and the second friction assembly can be arranged on one side of the first storage bin, or on both sides, which is not limited in this embodiment.

Of course, in addition to the above-mentioned scraping method, in other embodiments, a shaking method can also be used, for example, when the mopping board 110 extends into the first storage bin 210 to paste the first sheet mop, the mopping board 110 It is possible to bring out a plurality of first sheet-like mops at one time. Therefore, in order to control the quantity of the first sheet-like mop attached each time, the first moving mechanism 310 can control the mop plate 110 after the first sheet-like mop is pasted. The plate 110 shakes, for example, along the direction in which the mop board 110 takes out/takes out the mop (that is, the stacking direction of the mop, here is the horizontal direction or the left and right direction) and reciprocates a preset distance several times to shake off the redundant first sheet mop .

Of course, in order to prevent the mopping board from bringing out a plurality of first sheet-like mops, in other embodiments, at least one of the following methods can also be used: A. Control the adhesion force by controlling the area ratio of the sticking part and the sheet-like mop, so that The mop board is capable of adhering a single sheet of mop. For example, the area ratio of the sticking portion to the first sheet-like mop is controlled within a preset range, so that the mopping board can stick a single piece of the first sheet-like mop from the first sheet-like mop combination. The preset range can be obtained through experiments. B. A partition assembly is arranged in the first storage bin to create a gap between two adjacent pieces of the first sheet-like mop. For example, a partition paper is set between adjacent first sheet-like mops, wherein the partition paper can be smooth paper to reduce friction with the sheet-like mop; the size of the partition paper can be 1/3 to 4 of the size of the mop /3 values. In order to avoid affecting the sticking part arranged on the hypotenuse, the partition paper is preferably set close to the middle of the mop, avoiding the sticking part as much as possible; another example is to set a step partition on the inner surface of the side wall of the first cloth storage bin, where the step The distance between them is equal to or slightly greater than the thickness of the sheet-like mop itself. When the sticking part is set on the long side of the mop board, in order to avoid affecting the sticking of the sticking part set on the hypotenuse, set the steps at the short distance from the mop board. The sidewall corresponding to the edge. C. The two surface materials of the first sheet-like mop are at least partially different, so that the adhesion between two adjacent first sheet-like mops is reduced.

In some embodiments, after the first mop sheet is installed on the mop board 110, the third moving mechanism 420 can drive the first storage bin 210 back to the initial position (for example, the position close to the base station housing described above), Referring to FIG. 13 , a space is reserved for installing the mopping board 110 for the cleaning robot 100 . Correspondingly, in order to avoid interfering with the movement of the first storage bin 210 , the first moving mechanism 310 may first control the mopping board 110 to move upward.

In order to improve the bonding force between the mopping board 110 and the first mop sheet, the sticking part 112 can be arranged on the flexible abutting part 114 of the mopping board 110 . Referring to FIG. 14 , after the first sheet-like mop is attached to the mop board 110 through the flexible abutting portion 114 , the first moving mechanism 310 can drive the mop board 110 to abut against the bottom surface of the base station 200 so that the deformation of the flexible abutting portion 114 , to increase the bonding force between the mopping board 110 and the first sheet-like mopping cloth.

In other embodiments, in order to enhance the bonding force between the mopping board 110 and the first sheet mop, an elastic liner can also be provided in the first mop bin, and a plurality of first sheet mop can be placed on the elastic liner in a stacked manner. Pad. The two sides of the elastic pad are stepped, matching the structure of the mop board, so that the two can be closely pasted. Referring to Figure 52 (Figure 52(a)-Figure 52(c)), when the mopping board 110 is driven by the first moving mechanism 310 and stretches into the first storage bin 210, and continues to move downward to take the mop, when it touches When mopping, a downward force (pressure) will be exerted on the mopping cloth. The first piece of mopping cloth is under the downward pressure force of the mopping board 110, and cooperates with the reaction force of the elastic pad 2101, so that the mopping board 110 and the first piece The binding force of the shaped mop is improved.

After the first sheet mopping cloth is installed on the mopping board 110 , the first moving mechanism 310 may be separated from the mopping board 110 . At the same time, in order to reserve space for connecting the mopping board 110 and the cleaning robot 100, the first moving mechanism 310 can be moved up. In some embodiments, in order to simplify the complexity of the control, the first moving mechanism 310 can be directly moved up to the top. See Figure 15.

After the first moving mechanism 310 moves up, the cleaning robot 100 enters the base station 200, as shown in Figure 16. At this time, the mopping board 110 with the first sheet mop installed is reconnected to the cleaning robot 100. For the specific connection method, please refer to the introduction above. .

As mentioned above, when the first storage bin 210 and the second storage bin 220 can also be arranged in the horizontal direction, at this time, the embodiment of the present disclosure also provides a relatively simple way of moving, that is, the first storage bin 210 and the second storage bin The two storage bins 220 are respectively arranged on both sides of the vertical path. At this time, the first moving mechanism 310 can first drive the mopping board 110 to move along the vertical path to reach the top of the first storage bin 210 and the second storage bin 220. Then the mopping board 110 is driven to move along a horizontal path to reach above the first storage bin 210 and the second storage bin 220 .

After the second mop sheet is removed by the removal mechanism 320, the second mop sheet may remain on the removal mechanism 320, which will affect the removal of the second mop sheet next time. Therefore, a mechanism for removing residual mops, such as a robot arm, may be provided in the above embodiments provided by the present disclosure. However, the way of adding a mechanism specially for removing the residual mop may cause the mechanism of the base station to be complicated.

In order to avoid the above problems, an embodiment of the present disclosure further provides a base station 500 . The following will be introduced in conjunction with the schematic structural diagram of the base station 500 shown in FIG. 16 . It should be noted that the units with the same or similar functions in the base station 500 and the base station 200 use the same numbers. The specific structure and functions can be referred to above.

As shown in FIG. 17 , in the base station 500 , the first storage bin 210 and the second storage bin 220 are arranged vertically, and the first storage bin 210 is located above the second storage bin 220 . The removal mechanism 320 may be located between the first receiving bin 210 and the second receiving bin 220 .

A scraping part 510 is provided below the first storage bin 210 , and the first storage bin 210 can move downwards to use the scraper part 510 to remove the second mop sheet remaining on the removal mechanism 320 . Of course, in other embodiments, the first storage bin 210 includes an outer bin and an inner bin arranged in the outer bin, for example, the inner bin is arranged in the outer bin in a nested manner, and there is a gap between the inner bin and the outer bin. The gap makes the inner bin movable relative to the outer bin, for example, the inner bin can move up and down to a certain extent relative to the outer bin; The scraping part, the scraping part is matched with the dismantling mechanism set on the second storage compartment; the inner compartment drives the scraping part to move downward under the action of the downward pressure of the mop board to pick up paper, so that the scraping part can scrape the dirty carton ( That is, the dismantling mechanism provided on the second accommodating bin), thereby removing the residual paper on the dismantling mechanism.

That is to say, when the first storage bin 210 moves down and passes the removal mechanism 320 , the scraping portion 510 of the first storage bin 210 can scrape off the second mop sheet remaining on the removal mechanism 320 .

In some embodiments, in order to simplify the mechanism of the scraping part 510, the scraping part 510 can be set in a convex shape. Of course, the embodiment of the present disclosure does not limit the specific structure of the scraping part 510. For example, it can also be It is hook-shaped.

In some embodiments, the above-mentioned base station 500 can be provided with vertical guide rails, so that the first storage bin 210 can move downward in a sliding manner. Certainly, the first storage bin 210 may also be moved by the robot arm, and the embodiment of the present disclosure does not specifically limit the movement mode of the first storage bin.

In order to simplify the moving path of each moving mechanism in the base station 500 , the moving path along the vertical direction of the first receiving bin 210 may be the same as the moving path along the vertical direction of the first moving mechanism 310 . For example, referring to FIG. 17 , the first moving mechanism 310 and the first storage bin 210 can share a vertical slide rail for movement.

The above describes the structure of the device of the embodiment of the present disclosure in conjunction with FIGS. 1 to 17. In order to facilitate the understanding of the present disclosure, the base station 500 is taken as an example below, and the embodiment of the present disclosure is introduced in conjunction with FIGS. 18 to 28. The mopping process.

Referring to FIG. 18 , the cleaning robot 100 enters the base station 500 . Referring to FIG. 19 , the cleaning robot 100 pushes the mopping board 110 away so that the mopping board 110 falls on a predetermined area in the base station 500 , and then the body of the cleaning robot exits the base station 500 .

Wherein, the predetermined area can be understood as an area where the first moving mechanism 310 can be connected with the mopping board 110 . Referring to FIG. 20 , the first moving mechanism 310 moves down along the vertical track and is connected with the mopping board 110 . Referring to FIG. 21 , the first moving mechanism 310 drives the mopping board 110 to move up to the position where the mopping cloth is removed, and at the same time reserves a space for the movement of the second storage compartment 220 . Referring to FIG. 22 , the second moving mechanism 410 drives the second storage bin 220 to move horizontally from the initial position to the bottom of the removal mechanism 320 , and during the movement of the second storage bin 220 , pushes the removal mechanism 320 to rotate toward the mopping board 110 for removal. The hook portion of the mechanism 320 can be aligned with the second sheet mop located at the cloth removal groove 111 of the mop board 110 .

Then, the first moving mechanism 310 drives the mopping board 110 to move up, passing the position where the hook-shaped part is located, so that the hook-shaped part moves from above the second sheet-shaped mop cloth to below the second sheet-shaped mop cloth, so as to move the second sheet-shaped mop cloth The mop is removed from the mop board 110 .

Referring to FIG. 23 , after the dismantling action is completed, the first moving mechanism 310 drives the mopping board 110 to move up, so that the second moving mechanism 410 drives the second storage bin 220 to move horizontally back to the initial position.

Referring to Fig. 24, the third moving mechanism 420 drives the first storage compartment 210 to move horizontally from the initial position to the bottom of the mopping board 110, and the first moving mechanism 310 drives the mopping board 110 to extend into the first storage compartment 210 to paste the first sheet shaped mop. Referring to FIG. 25 , after the pasting action is completed, the first moving mechanism 310 drives the mopping board 110 to move upwards, so that the third moving mechanism 420 drives the first storage compartment 210 to move horizontally back to the initial position.

Referring to FIG. 26 , the first moving mechanism 310 drives the mopping board 110 down to a predetermined area, and presses the mopping board 110 toward the bottom of the base station 500 to elevate the mopping board 110 and the first sheet through the deformation of the flexible abutting portion 114 . The bonding force of the mop.

Referring to FIG. 27 , the first moving mechanism 310 disconnects from the mopping board 110 and leaves the mopping board 110 in a predetermined area. The first moving mechanism 310 moves upwards to reserve a space for the cleaning robot 100 to connect to the mopping board 110 .

Referring to FIG. 28 , the cleaning robot 100 enters the base station 500 and connects the mopping board 110 to the cleaning robot 100 at a predetermined area.

The cleaning robot, the base station and the cleaning robot maintenance system of the embodiment of the present disclosure are described above with reference to FIGS. 1 to 28 , and the control method of the embodiment of the present disclosure is described below with reference to FIG. 29 . It should be noted that the method provided by the embodiments of the present disclosure can be used in cooperation with any cleaning robot maintenance system introduced above.

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

It should be understood that the control method shown in FIG. 29 may be executed by a controller in the base station, or by one or more other devices having a control function, which is not limited in this embodiment of the present disclosure. It should also be understood that the controller or the device having a control function may perform any one or more control functions mentioned above.

The controller determines that the cleaning robot 100 has returned to the base station 500 at step S2910.

In step S2920 , the controller controls the mop picking device 300 to replace the second sheet mop mounted on the cleaning robot 100 with the first sheet mop in the first storage bin 210 .

Optionally, as an embodiment, the above method further includes: the controller controls the mop picking device 300 to remove the second sheet mop from the cleaning robot 100 and store it in the second storage bin 220 .

Optionally, as an embodiment, the cleaning robot 100 includes a mopping board 110 detachable from the cleaning robot 100 .

Optionally, as an embodiment, the step of the controller determining that the cleaning robot 100 has returned to the base station 500 includes:

It is determined that the cleaning robot 100 has reached the mopping plate operation position, and the cleaning robot 100 is controlled to remove the mopping plate 110 .

Optionally, as an embodiment, the mop picking device 300 includes: a first moving mechanism 310 having a connecting portion of the mopping plate 110, after the mopping plate 110 is separated from the cleaning robot 100, the first moving mechanism 310 is connected to the mopping cloth through the connecting portion. board 110 is connected, the above method also includes: the controller controls the first moving mechanism 310 to drive the mop board 110 to move to the mop removal position first, so as to remove the second sheet mop and store it in the second storage bin 220, and then drive the mop board 110 Move to the mop installation position to install the first sheet mop in the first storage bin 210 to the mop board 110 .

For example, the controller communicates with the cleaning robot to control the ejection mechanism of the cleaning robot to push out the mopping plate 110, thereby separating the mopping plate from the cleaning robot.

Optionally, as an embodiment, the second moving mechanism 410 is connected to the second storage bin 220, and the third moving mechanism 420 is connected to the first storage bin 210. The above method further includes: the controller controls the second moving mechanism 410 to drive the second The second storage bin 220 moves to the bottom of the dismantling mechanism 320 to receive the second sheet mop dropped from the mopping board 110; and/or the controller controls the third moving mechanism 420 to drive the first storage bin 210 to move to the bottom of the mopping board 110 downward, so that the mopping board 110 enters the first storage compartment 210 , so as to engage with the first sheet mop in the first storage compartment 210 .

Optionally, as an embodiment, the second moving mechanism 410 and the third moving mechanism 420 are located on one or both sides of the vertical path, and the above method further includes: the controller controls the first moving mechanism 310 to drive the mopping board 110 along the vertical path. The straight path carries out lifting movement, and the controller controls the second moving mechanism 410 and the third moving mechanism 420 to respectively drive the second storage bin 220 and the first storage bin 210 to move along the horizontal path.

Optionally, as an embodiment, the first storage bin 210 and the second storage bin 220 are vertically arranged up and down.

Optionally, as an embodiment, the above method further includes: the controller controls the second moving mechanism 410 to drive the second storage compartment 220 to move, and the second storage compartment 220 pushes the removal mechanism 320 to move to the mop removal position.

Optionally, as an embodiment, after the first sheet-shaped mopping cloth is attached to the mopping board 110 , the above method further includes: the controller controls the first moving mechanism 310 to drive the mopping board 110 to rise and vibrate.

Optionally, as an embodiment, the sticking part 112 is arranged on the flexible abutting part 114 of the mopping board 110, and the above method further includes: the controller controls the first moving mechanism 310 when the first sheet mop passes the flexible abutting part 114 After sticking to the mopping board 110 , the mopping board 110 is driven to abut against the bottom surface of the base station 500 , so as to improve the bonding force between the mopping board 110 and the first sheet mopping cloth through the deformation of the flexible abutting portion 114 .

The embodiment of the control method of the present disclosure is described in detail above with reference to FIG. 29 . The following describes an embodiment of a device for executing the control method of the present disclosure in conjunction with FIGS. 30 to 31 . It should be understood that the descriptions of the method embodiments correspond to the descriptions of the device embodiments, therefore, for parts not described in detail, reference may be made to the foregoing method embodiments.

FIG. 30 is a schematic diagram of a control device of an embodiment of the present disclosure. The control device 3000 shown in FIG. 30 includes a determination module 3010 and a control module 3020 . Wherein, the determination module 3010 is used to determine that the cleaning robot 100 has returned to the base station 500; A sheet mop.

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

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

It should be understood that, in the embodiment of the present disclosure, the processor 3120 may adopt a general-purpose central processing unit (Central Processing Unit, CPU), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more An integrated circuit is used to execute related programs to realize the technical solutions provided by the embodiments of the present disclosure.

The memory 3110 may include read-only memory and random-access memory, and provides instructions and data to the processor 3120 . A portion of processor 3120 may also include non-volatile random access memory. For example, processor 3120 may also store device type information.

In the implementation process, each step of the above method may be implemented by an integrated logic circuit of hardware in the processor 3120 or instructions in the form of software. The method for requesting uplink transmission resources disclosed in the embodiments of the present disclosure may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory 3110, and the processor 3120 reads the information in the memory 3110, and completes the steps of the above method in combination with its hardware. To avoid repetition, no detailed description is given here.

A cleaning robot maintenance system provided by an embodiment of the present disclosure is described above with reference to FIGS. 1 to 28 ; another cleaning robot maintenance system provided is described below with reference to FIGS. 32 to 55 .

Referring to FIG. 32 , the cleaning robot 100 enters the base station 500 .

In some embodiments, when the cleaning robot 100 needs to replace the mop, such as entering a different area (from one area to another area), or when the dirtiness of the mop reaches a preset level, etc., the cleaning robot 100 returns and Enter base station 500 .

Referring to FIG. 33 and FIG. 34 , the cleaning robot 100 pushes the mopping board 110 away so that the mopping board 110 falls on a predetermined area in the base station 500 , and then the main body of the cleaning robot exits the base station 500 .

In one embodiment, the cleaning robot 100 enters the predetermined position of the base station. For example, when the charging electrode of the cleaning robot 100 is in contact with the charging pole piece of the base station 500, it can be considered that the cleaning robot 100 has entered the predetermined position of the base station. At this time, the cleaning robot 100 can push away or push out the mopping board 110 so that the mopping board 110 falls on a predetermined area in the base station 500; it can be understood that once the cleaning robot reaches the predetermined position, it can realize the mopping board falling on the predetermined area in the base station.

Referring to FIG. 35 and FIG. 37 , the first moving mechanism 310 moves down along the vertical track and is connected with the mopping board 110 .

The vertical track includes a conveyor belt 314, and the first moving mechanism 310 moves under the drive of the conveyor belt. In order to reduce the alignment error generated during the downward movement of the first moving mechanism, the vertical track also includes a guide mechanism 315. In one embodiment, the above-mentioned conveyor belt may be, for example, a synchronous belt, and the guiding mechanism may be, for example, a guiding column.

Referring to Fig. 36, a first magnet 3111 is provided at the bottom of the connecting part 311; correspondingly, a second magnet 1101 is provided at the top of the mopping board 110, and the first moving mechanism is moved by the mutual attraction between the connecting part 311 and the two magnets on the mopping board 110. 310 and the mopping board 110 are aligned; for example, the magnets can be respectively arranged at the center of the bottom of the first moving mechanism 310 and the center of the top of the mopping board 110 .

Further, in order to prevent the mopping board from falling off during the moving process, the connecting part 311 and the mopping board 110 can also be connected by grasping. For example, the connecting part 311 and the mopping board 110 can be connected by a mechanical hook. Specifically, the connecting part 311 is also provided with a locking part 3112. Correspondingly, the mopping board 110 is provided with a locking part 1102. Through the locking part and The cooperation of the locking part fixes the mopping board and the first moving mechanism.

Certainly, the connecting part 311 may also include mechanical claws, and when the mopping board 110 is separated from the cleaning robot 100 , the mechanical claws are connected to the mopping board 110 by grabbing. The embodiments of the present disclosure are not limited to this.

Referring to FIG. 38 , the first moving mechanism 310 drives the mopping board 110 to move up to a position higher than the second storage bin or above the position where the mop is removed, and at the same time reserves a space for the second storage bin 220 to move.

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

Referring to Fig. 40 , the first moving mechanism 310 drives the mopping board 110 to move down, passing the position where the removal mechanism 320 is located, so that the second piece of mop moves from above the removal mechanism 320 to below the removal mechanism 320, so that the second piece of mop can be removed later. The shape mop is removed from the mop plate 110.

Since the sheet-like mop can be deformed when it is stressed, and the mop plate 110 is provided with a cloth removal groove 111, the mop plate 110 is moved down to the mop removal position by the first moving mechanism 310, so that the second mop plate The sheet mop smoothly passes through the hook of the removal mechanism 320 without being stuck. At this time, the hook portion of the removal mechanism 320 can be aligned with the second sheet mop located at the cloth removal groove 111 of the mop board 110 .

Referring to FIG. 41 , the first moving mechanism 310 drives the mop board 110 to rise, and the removal mechanism 320 removes the second sheet mop from the mop board 110 .

Wherein the first moving mechanism 310 drives the mopping board 110 in the process of rising, through the position where the hook-shaped part of the removal mechanism 320 is located, the hook-shaped part hooks the second sheet-like mop, so as to move the second sheet-like mop from the mop board 110 Remove and the second sheet mop comes off.

Referring to FIG. 42 , the first moving mechanism drives the mopping board 110 to continue to rise and move up to the mopping position, while reserving space for the movement of the first storage compartment.

Wherein, the mop sticking position can be a position higher than the height of the first mop bin. For example, the mop sticking position can be the upper limit position of the stroke of the first moving mechanism, so that a larger pressure can be provided during the downward movement. It is beneficial to improve the connection stability with the mop (for example, to improve the effect of adhesion); it should be pointed out that by controlling the position of the mop, the adhesion can also be controlled, so that the mop board can only stick out a single piece of the first piece of mop ; It can be understood that the mop sticking position can be determined according to experiments.

When the first moving mechanism drives the mopping board 110 to continue to rise, the second mop sheet falls into the second storage bin 220 to realize recovery of the second mop sheet.

Referring to FIG. 43 , the third moving mechanism 420 drives the first storage compartment 210 to move horizontally from the initial position to the mop sticking position.

Referring to FIG. 44 , the first moving mechanism 310 drives the mopping board 110 to extend into the first storage bin 210 to stick the first sheet mopping cloth.

An elastic pad 2101 may be provided on the inner surface of the bottom of the first storage bin to improve the adhesion effect between the mopping board and the mopping cloth. The two sides of the elastic liner are stepped, which match the structure of the mop board, so as to facilitate the pasting of the two. A plurality of first sheet mops are stacked on the elastic liner, and the first sheet mop is placed on the mop. Under the action of the downward pressure of the mopping plate and the reaction force of the elastic pad, the adhesion between the mopping board and the first sheet mopping cloth is improved.

It should be noted that, referring to Fig. 56, a guide device 810 can also be provided in the first storage bin, so as to carry out connection and positioning during the docking process of the mop and the mop, and prevent the problem that the connection is not strong or fails due to excessive deviation. Optionally, the guide device 810 may be, for example, a guide post, or a slide groove or a slide rail.

Referring to Fig. 45, after the pasting action is completed, the first moving mechanism 310 drives the mopping board 110 to move upwards to reserve space for the reset of the first storage bin, so that the third moving mechanism 420 drives the first storage bin 210 to move horizontally back to the initial position .

Referring to FIG. 46 , the third moving mechanism 420 drives the first storage bin 210 to horizontally move back to the initial position.

It should be understood that, if the second storage bin is not reset, the second storage bin also needs to be reset.

It should be pointed out that, in the process of resetting the first storage bin, the second storage bin can be reset at the same time; it is also possible to reset the second storage bin after completing the reset of the first storage bin; of course, the second storage bin The resetting of the holding bin can also be carried out after completing the recovery of the second sheet mop. This disclosure is not limited in this regard.

Referring to Figure 47, Figure 48 and Figure 49, the first moving mechanism 310 drives the mopping board 110 to move down to the mopping board release position, so as to release the mopping board 110, so that the mopping board 110 can accurately fall into the predetermined area at the bottom of the base station 500 for cleaning The robot 100 picks up.

In the process of releasing the mopping board 110, the magnets can be separated by the release mechanism 600. It can be understood that if the mopping board and the first moving mechanism are locked together by the locking part and the locking part, the locking part to the locking part is released first. Lock, then separate the magnets.

Referring to Fig. 50, the first moving mechanism 310 is disconnected from the mopping board 110, and after leaving the mopping board 110 in a predetermined area, the first moving mechanism 310 moves up, for example, the first moving mechanism moves back to the initial position (reset) , to reserve a space for the cleaning robot 100 to connect to the mopping board 110 .

Referring to FIG. 51 , the cleaning robot 100 enters the base station 500 and picks up the mop board 110 at a predetermined area to connect the mop board 110 with the first mop sheet to the cleaning robot 100 . Then the cleaning robot 100 exits the base station 500 and can continue to perform work tasks, for example, the cleaning robot can return to the previous breakpoint to continue cleaning.

In the present disclosure, the first storage compartment is at the top and the second storage compartment is at the bottom, which improves the operation space for changing the mop, especially the disassembly of the mop, and can avoid the problem that the base station height becomes higher because the dirty cloth bin requires a larger space above the stroke. It is beneficial to reduce the volume of the base station.

In the above two embodiments of changing the mop as described in Fig. 18 to Fig. 28 and Fig. 32 to Fig. 51, the mop is replaced by detaching the mop plate from the cleaning robot.

Certainly, in other embodiments, the mopping board can also be arranged on the cleaning robot, and the mopping board can be replaced without being disassembled.

In addition, in the above-described embodiments of automatically fetching the mop, the first sheet-like mop is picked up by the mop board and the first storage bin in a docking manner, so as to realize the mop board and a single piece of the first sheet-like mop. connect. In other words, the connection between the first sheet mopping cloth and the mopping board is realized through the butt-fitting between the mopping board and the first storage compartment.

In other embodiments, the connection between the mopping board and the single-piece mop can also be achieved by separating the single-piece mop, delivering the single-piece mop, or combining separation and delivery.

For example, a separation transfer device may be provided to transfer a single piece of the first sheet mop from the first storage bin to the preset transfer position, and then the mop board is connected to the single first sheet mop at the preset transfer position; that is, The mop picking device includes: a separation transfer device for transferring a single piece of the first sheet mop separated from at least two pieces of the first sheet mop stacked in the first storage compartment to the pre-set A transfer position is provided so that the mopping board is connected to a single piece of the first sheet-like mopping cloth.

Optionally, the separation transfer device includes: a separation mechanism for separating a single first sheet-like mop from at least two stacked first sheet-like mops. Further, the separated single piece of the first piece of mop is transferred to the preset transfer position via the transfer mechanism, so as to be connected with the mop board.

The transfer mechanism is used to transfer the single piece of the first piece of mop picked up by the mop picking device from the first storage compartment to a preset transfer position so as to be connected with the mop board. Wherein, in some embodiments, the transfer mechanism may be arranged between the first storage bin and the mop board, for example, at a position close to the first storage bin or at a position in the first storage bin that is convenient for separating sheet mops.

It should be understood that the functions of separation and transfer can be realized by one device (such as a separation transfer device).

Of course, the functions of separation and delivery can also be realized by the above two separate functional mechanisms. For example, the mop picking device includes: a separation mechanism for at least two pieces of the first sheet mop stacked in the first storage compartment. Separate the single piece of the first sheet mop so that the mop plate is connected with the separated single piece of the first sheet mop; and/or, the transfer mechanism is used to separate the single piece of the mop The first sheet-shaped mop is transferred to a preset transfer position, so that the mop board is connected to a single piece of the first sheet-shaped mop.

It should be noted that the above-mentioned separation and transfer can be performed simultaneously or sequentially, for example, it can be separated first and then transferred (for example, it can be separated first by vacuum suction, and then transferred), or it can be transferred first Post-separation (e.g. achieving final separation during transfer);

The preset transfer position mentioned in this article is to facilitate the sticking of the mop board, for example, it can be the position where the first sheet mop is separated or transferred to the position where the mop board is located; One position, in order to provide more operating space for the connection of the mop plate and the first sheet mop, while avoiding the damage that is conducive to avoiding the first storage bin; of course, it can also be transferred to other positions in the first storage bin, for This embodiment is not limited.

Different from the above method in which the mopping board extends into the first mopping bin to connect with the mopping cloth, in this embodiment, the mopping board and the single first sheet-like mopping cloth are separated and passed out from the first storage bin, and then the mopping board and the single first sheet-like The connection of the mop; that is to say, the connection between the mop board and the first storage compartment can be realized by means of a separation and transfer function mechanism, which reduces the probability of sticking multiple pieces, and can simplify the unit. The operation of picking up the piece of mop or the complexity of the structure for realizing single piece of mop picking up.

In some embodiments, the separation mechanism includes a paper suction device for sucking the first sheet mop at the mop suction position, wherein the mop suction position means that the paper suction device can suck out a single piece of the first sheet The location of the sheet mop.

Further, the paper suction device is a vacuum suction cup assembly, and the vacuum suction cup assembly includes a vacuum suction cup.

Of course, in addition to the above method of separating the mop through suction, in other embodiments, the applicant has found that the single-piece mop can also be separated by "blowing" based on the porosity of the sheet-like mop. For example, the separation mechanism includes The fluid conveying device is used for conveying the fluid to the top surface of the stacked first sheet-shaped mop assembly to separate the topmost first sheet-shaped mop assembly from the first sheet-shaped mop assembly. In addition, the mop can also be separated by friction. For example, the separation mechanism can also adopt a friction paper feeding mechanism, which uses the principle of friction to lift one end (feed end) of the first sheet mop, and then the first sheet mop at the feed end Blocked by a gasket with a coefficient of friction, the topmost piece of first sheet mop is brought out to the preset transfer position by a rubber wheel. Wherein, the raised height can be set as the difference between the depth (or height) of the first storage bin and the thickness of the first sheet mop.

In addition, the above-mentioned transfer mechanism transfers the separated first sheet-shaped mop, which is different from the above-mentioned moving assembly that drives the entire first mop bin to move.

The present disclosure also provides a control method used in conjunction with any of the cleaning robot maintenance systems mentioned above. Referring to FIG. 58 , the cleaning robot control method includes:

Step S5810, providing a first storage compartment for storing at least two pieces of the first sheet mop arranged in a stacked manner;

Step S5820, picking up a single piece of the first sheet-shaped mop from the first storage bin by the mop picking device, so as to connect the single piece of the first sheet-shaped mop to the mopping board.

Optionally, step S5820 can be implemented in one of the following two ways:

Method 1. The mop pick-up device includes a mop board;

By controlling at least one movement of the mopping board and the first storage bin, the mopping board can extend into the first storage bin and reach the docking position of the mopping cloth to engage with the first sheet mopping cloth.

Optionally, as an implementation, the mop picking device includes a first moving mechanism connected to the mop board;

Controlling at least one movement of the mopping board and the first storage bin can be realized by driving the mopping board to move toward the first storage bin by the first moving mechanism.

Optionally, as an implementation manner, the mopping board is installed on the cleaning robot; during the joint process between the mopping board and the first sheet-shaped mop, the cleaning robot moves inactively, and the mopping board moves toward the first mop relative to the cleaning robot. A housing for active movement.

Optionally, as an embodiment, the mopping device also includes a first moving mechanism for driving the mopping board to move; the mopping board is connected to the cleaning robot in a detachable manner; the mopping board can be separated from the cleaning robot; Methods also include:

When the cleaning robot needs to replace the mopping cloth, the mopping board is separated from the cleaning robot, and the first moving mechanism is connected to the separated mopping board, so that the mopping board is driven into the first storage compartment by the first moving mechanism.

Optionally, as an implementation, the maintenance system includes a mopping plate operating position, which is configured to allow the cleaning robot to separate the mopping plate; The robot separates.

Optionally, as an implementation manner, the mop docking position or the first storage compartment is higher than the mop plate operating position, so as to form a space for the cleaning robot to dock.

Optionally, as an implementation manner, before the step of connecting the first moving mechanism to the separated mopping board, the method further includes: pre-positioning the first moving mechanism and the mopping board by means of magnetic attraction.

Optionally, as an implementation, when the mop picking device includes a first moving mechanism connected to the mopping board; the maintenance system further includes a third moving mechanism connected to the first storage bin;

The step of controlling at least one movement of the mopping board and the first storage compartment includes:

The mopping board is driven to move by the first moving mechanism and the first storage bin is driven to move by the third moving mechanism.

Method 2. The mop picking device includes: a separation mechanism and/or a transfer mechanism,

separating a single piece of the first sheet-like mop from at least two pieces of the first sheet-like mop stacked in the first storage bin by a separation mechanism;

And/or, the single piece of the first sheet mop is transferred to the preset transfer position through the transfer mechanism, so that the mopping plate is connected with the single piece of the first sheet mop.

Optionally, as an implementation manner, the separation mechanism includes a paper suction device; the method includes:

The paper suction device is controlled to suck the first sheet mop at the mop suction position, wherein the mop suction position refers to the position where the paper suction device can suck out a single piece of the first sheet mop.

Optionally, as an implementation manner, the separation mechanism includes a fluid delivery device; the method includes:

Controlling the direction of the fluid delivery device to deliver the fluid to the first storage bin, so that the topmost first sheet-like mop is separated from at least two pieces of the first sheet-like mop.

Optionally, as an implementation manner, step S5820 may be performed through the following steps:

The mopping board is controlled to pick up a single piece of the first sheet mop from the first storage bin along a direction perpendicular to the mopping ground of the first sheet mop.

Optionally, as an implementation manner, the lower surface of the mopping board forms an angle with the mopping surface of the first sheet mopping cloth, and the angle is less than 90 degrees.

Optionally, as an embodiment, the mopping board is provided with a connection area for connecting the first sheet-like mopping cloth, and the connecting area includes a sticking part, and the first sheet-like mopping cloth can be adhered to the sticking part, so as to realize that the mopping board and Attachment of the first sheet mop.

Optionally, as an implementation manner, the mop picking device includes a first moving mechanism connected to the mop board; the method also includes:

After the first sheet-shaped mop is adhered to the mop board, control the first moving mechanism to drive the mop board to vibrate, so that the single first sheet-like mop is pasted on the sticking part of the mop board; The reciprocating motion in the first direction and the second direction; the first direction is the direction in which the mop board takes out the first sheet mop from the first storage bin, and the second direction is opposite to the first direction.

Optionally, as an implementation manner, the first storage bin is provided with a friction assembly; the method further includes:

After the first sheet-shaped mop is adhered to the mop board, when the mop board moves along the first direction, the friction assembly generates a reaction force, so that a single piece of the first sheet-like mop can be pasted on the sticking portion of the mop board; Wherein the first direction is the direction in which the mop board takes out the first sheet mop from the first storage bin.

Optionally, as an implementation manner, a partition assembly is also provided in the first storage bin, for creating a gap between two adjacent pieces of the first sheet mop.

Optionally, as an embodiment, the sticking part has a first part in contact with the first sheet mop and/or a second part exposed outside the first sheet mop; wherein, the first part is in contact with the first sheet mop. The included angle is greater than or equal to 0 degrees and less than or equal to 10 degrees; the included angle between the second part and the first sheet mop is greater than 0 degrees and less than 90 degrees.

Optionally, as an embodiment, the mopping board has a top, a bottom, and a side wall for connecting the top and the bottom, wherein the side wall is inclined from the bottom toward the top, and the sticking part is arranged on the inclined on the side wall.

Optionally, as an implementation manner, the area ratio of the sticking part to the first sheet-like mop is within a preset range, so that the mop plate can stick a single piece of the first sheet-like mop from the first sheet-like mop combination.

Optionally, as an implementation manner, the method also includes:

When the second sheet mop is installed on the mop board, the second sheet mop is separated from the mop board.

Optionally, as an implementation manner, the maintenance system includes a dismantling mechanism, and the mop plate includes a dismantling area; wherein there is no interconnection between the dismantling area and the second sheet mop;

The step of separating the second sheet mop from the mop board includes:

At least one movement of the removal mechanism and the mopping board is controlled to remove the second sheet mopping cloth from the mopping board.

Optionally, as an implementation manner, the step of separating the second sheet mop from the mop board includes:

The second sheet mop is removed along the removal direction by the removal mechanism; wherein the removal direction is not parallel to the mopping ground or the mop board of the second sheet mop.

Apply an external force away from the mop board to the second sheet mop through the disassembly mechanism, so that the second sheet mop separated from the mop board falls under its own gravity or external force, thereby removing the second sheet mop from the mop board .

Optionally, as an implementation manner, during the process of removing the second sheet mop from the mopping board, the cleaning robot moves inactively, and the mopping board or the removal mechanism actively moves.

Optionally, as an implementation manner, the maintenance system further includes a second storage compartment for receiving the second sheet mop separated from the mop board;

The step of separating the second sheet mop from the mop board includes:

Apply an external force away from the mop plate to the second sheet mop through the disassembly mechanism to separate the second sheet mop from the mop plate, so that the second sheet mop separated from the mop plate falls under its own gravity or external force Fall into the second containment compartment.

Optionally, as an implementation manner, the removal mechanism is arranged on the second storage bin.

Optionally, as an embodiment, the maintenance system includes a second moving mechanism connected to the second storage bin; the removal mechanism is installed at a preset mop removal position, and the mop removal position is located outside the second storage bin; the method include:

The second storage bin is driven by the second moving mechanism to move to the mop removal position to receive the second sheet mop separated from the mop board.

Optionally, as an embodiment, the disassembly area includes a cloth removal groove, and the outer edge of the mopping board is recessed to the inside of the mopping board to form a cloth removal groove.

Optionally, as an implementation manner, the mopping board includes at least a first state and a second state, wherein, in the first state, the mopping board is in a mopping position; in the second state, the The mopping board is in the non-mopping position;

Optionally, as an implementation manner, the mop removal position or the second storage bin is higher than the mop board operating position to form a space for the cleaning robot to dock.

Optionally, as an implementation manner, the first storage bin and the second storage bin are vertically arranged up and down.

Optionally, as an implementation manner, the first storage bin is located above the second storage bin.

It should be noted that, in order to save space, for details not described in the above control method, please refer to the system, and details will not be repeated here.

It should be understood that in various embodiments of the present disclosure, mechanisms or components with similar functions and structures use the same numbers.

It should be understood that the term "and/or" in this article is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and/or B may mean: A exists alone, and A and B exist at the same time , there are three cases of B alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

It should be understood that in various embodiments of the present disclosure, the sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, rather than by the embodiments of the present disclosure. The implementation process constitutes any limitation.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

In the above embodiments, all or part of them may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, all or part of the processes or functions according to the embodiments of the present disclosure will be generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center via wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be read by a computer, or a data storage device such as a server or a data center integrated with one or more available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital versatile disc (Digital Video Disc, DVD)) or a semiconductor medium (for example, a solid state disk (Solid State Disk, SSD) )Wait.

The above is only a specific implementation of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope of the present disclosure. should fall within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be determined by the protection scope of the claims.

Claims

A cleaning robot maintenance system, characterized in that the maintenance system includes:

The base station is used to maintain the cleaning robot; the base station includes a first storage bin, and the first storage bin is configured to store at least two pieces of the first sheet mop arranged in a stacked manner;

The mop pick-up device is used to pick up a single piece of the first sheet mop from the first storage compartment, so as to connect the single piece of the first sheet mop to the mop board.
The maintenance system according to claim 1, wherein the mopping device comprises the mopping board, and the mopping board and the first storage bin are configured to be capable of relative movement, so that the mopping board can Extending into the first storage compartment, and reaching the docking position of the mop to engage with the first sheet mop.
The maintenance system according to claim 2, characterized in that, during the engagement process of the mopping board and the first sheet-shaped mopping cloth, the first storage bin moves involuntarily, and the mopping board moves toward the second An accommodating bin actively moves and extends into the first accommodating bin.
The maintenance system according to claim 3, wherein the mopping board is installed on the cleaning robot; during the process of engaging the mopping board with the first sheet mop, the cleaning robot is inactive The mopping board actively moves toward the first storage bin relative to the cleaning robot.
The maintenance system according to claim 2, characterized in that, during the engagement process of the mopping board and the first sheet-shaped mopping cloth, both the first storage bin and the mopping board actively move.
The maintenance system according to claim 2, wherein the mopping device further includes a moving assembly for driving the mopping board to move; the mopping board is connected to the cleaning robot in a detachable manner, so The mopping board can be separated from the cleaning robot, so that when the cleaning robot needs to replace the mopping cloth, the separated mopping board can be driven by the moving assembly to extend into the first storage compartment.
The maintenance system according to claim 6, characterized in that the maintenance system comprises a mopping plate operating position configured to allow the cleaning robot to separate the mopping plate.
The maintenance system according to claim 7, characterized in that, the mop docking position or the first storage compartment is higher than the mop board operating position to form a space for the cleaning robot to dock.
The maintenance system according to claim 2, wherein the mopping board is used to pick up a single piece of mopping cloth from the first storage bin along a direction perpendicular to the mopping ground of the first piece of mopping cloth. Describe the first sheet mop.
The maintenance system according to claim 9, wherein the lower surface of the mopping board forms an angle less than 90 degrees with the mopping surface of the first sheet-like mopping cloth.
The maintenance system according to claim 10, characterized in that, the value range of the angle between the lower surface of the mopping board and the mopping surface of the first sheet-like mopping cloth is greater than or equal to 0 degrees and less than or equal to 35 degrees.
The maintenance system according to claim 9, wherein the first storage compartment has a bottom for carrying the mopping surface of the first sheet mop, wherein the bottom is at an angle to the horizontal plane, and the angle is greater than Equal to 0 degrees and less than or equal to 45 degrees.
The maintenance system according to claim 2, wherein the mopping board is provided with a connection area for connecting the first sheet mop, the connection area includes an adhesive part, and the first sheet mop can be glued Attached to the sticking part, so as to realize the connection between the mopping board and the first sheet mopping cloth.
The maintenance system according to claim 13, wherein the mop picking device comprises a first moving mechanism, which is used to drive the mop board to vibrate after the first piece of mop is adhered to the mop board , so that a single piece of the first sheet-like mop is pasted on the sticking part of the mop board; wherein the shaking refers to the reciprocating motion of the mop board along the first direction and the second direction; the first The direction is the direction in which the mopping board takes out the first sheet-like mopping cloth from the first storage compartment, and the second direction is opposite to the first direction.
The maintenance system according to claim 13, wherein the first storage chamber is provided with a friction assembly, and after the first sheet mop is adhered to the mop board, the friction assembly is used to create an obstacle The active force of the movement of the mopping board along the first direction enables a single piece of the first sheet mop to be pasted on the sticking part of the mopping board; wherein the first direction is when the mopping board moves from the first A storage bin takes out the direction of the first sheet mop.
The maintenance system according to claim 13, characterized in that, a partition assembly is further arranged in the first storage bin, for creating a gap between two adjacent pieces of the first sheet mop.
The maintenance system according to claim 13, wherein the sticking part has a first part in contact with the first sheet mop and/or a second part exposed outside the first sheet mop; wherein , the angle formed by the first part and the first sheet mop is greater than or equal to 0 degrees and less than or equal to 15 degrees; the angle formed by the second part and the first sheet mop is greater than 0 degrees, and less than 90 degrees.
The maintenance system according to claim 17, wherein the mopping board has a top, a bottom, and a side wall for connecting the top and the bottom, wherein the side wall is inclined from the bottom toward the top, The sticking portion has a second portion exposed to the first sheet mop, and the second portion of the sticking portion is disposed on the inclined side wall.
The maintenance system according to claim 17, wherein the area ratio of the sticking part to the first sheet mop is within a preset range, so that the mop board can be combined from the first sheet mop Adhesively take a single piece of the first sheet mop.
The maintenance system according to claim 1, wherein the mop picking device comprises: a separation mechanism for separating a single mop from at least two pieces of the first mop stacked in the first storage bin The first sheet-like mop is such that the mop board is connected to the separated single piece of the first sheet-like mop.
The maintenance system according to claim 20, wherein the mop picking device further comprises:

The transfer mechanism is used to transfer the separated single piece of the first sheet-shaped mop to a preset transfer position, so that the mopping plate is connected with the single piece of the first sheet-shaped mop.
The maintenance system according to claim 20, wherein the separation mechanism comprises a paper suction device for suctioning the first sheet mop at a mop suction position, wherein the mop suction position refers to the paper suction device The position where a single piece of the first sheet mop can be sucked out.
The maintenance system according to claim 20, wherein the separation mechanism includes a fluid delivery device for delivering fluid to the top surfaces of at least two stacked first sheet-like mops such that the topmost The first sheet mop is separated from at least two of said first sheet mops.
The maintenance system according to claim 1, wherein the mop picking device further comprises a removal mechanism, the mop board includes a removal area; the paper removal mechanism cooperates with the removal area to remove the second sheet The mop is removed from the mop plate, wherein there is no interconnection between the removal area and the second sheet of mop.
The maintenance system according to claim 24, wherein the removal mechanism is configured to remove the second sheet mop along a removal direction; wherein the removal direction is the same as the mopping surface of the second sheet mop Or the mopping board forms an acute angle, a right angle or an obtuse angle.
The maintenance system according to claim 24, wherein the detachment mechanism is configured to apply an external force to the second sheet-shaped mopping cloth away from the mopping board, and the second sheet-shaped mopping cloth separated from the mopping board The mop falls under its own gravity or external force.
The maintenance system according to claim 24, characterized in that, during the process of removing the second mop sheet from the mop board, the cleaning robot moves inactively, and the mop board or the removal mechanism actively moves.
The maintenance system according to claim 24, characterized in that, the maintenance system further comprises a second storage compartment for receiving the second sheet mop removed from the mop board.
The maintenance system according to claim 28, wherein the second storage compartment is configured to be arranged on the moving path of the second sheet mop removed from the mop board, so that the second sheet mop falls into the The second storage compartment.
The maintenance system according to claim 28, wherein the removal mechanism is arranged on the second storage bin.
The maintenance system according to claim 28, wherein the removal mechanism is installed at a preset mop removal position, and the mop removal position is located outside the second storage compartment, and the removal mechanism is used for In the mop removal position, the second sheet mop is removed from the mop board and received by the second storage compartment.
The maintenance system according to claim 31, characterized in that the maintenance system includes a mopping plate operating position configured to allow the cleaning robot to separate the mopping plate;

The mop removal position or the second storage bin is higher than the mop board operating position to form a space for the cleaning robot to dock.
The maintenance system according to claim 24, wherein the removal area includes a cloth removal groove, and the outer edge of the mopping board is recessed toward the inside of the mopping board to form the cloth removal groove.
The maintenance system according to claim 24, wherein the mopping board includes at least a first state and a second state, wherein, in the first state, the mopping board is in a mopping position; In the second state, the mopping board is in a non-mopping position;

Wherein, the non-mopping position is higher than the mopping position, so as to provide an operation space for dismounting the second sheet mopping cloth or installing the first sheet mopping cloth.
The method according to claim 28, wherein the first storage bin and the second storage bin are vertically arranged vertically.
A control method for a cleaning robot maintenance system, characterized in that the method comprises:

A first storage bin is provided for storing at least two first sheet mops arranged in a stacked manner;

A single piece of the first sheet mop is picked up from the first storage bin by the mop picking device, so as to connect the single piece of the first sheet mop to the mop board.
The method according to claim 36, wherein the mopping device comprises the mopping board;

The step of picking up a single piece of the first sheet-shaped mop from the first storage bin by the mop picking device includes:

At least one movement of the mopping board and the first storage bin is controlled, so that the mopping board can extend into the first storage bin and reach a docking position of the mopping cloth to engage with the first sheet-like mopping cloth.
The method according to claim 37, wherein the mopping device comprises a first moving mechanism connected to the mopping board;

The step of controlling at least one movement of the mopping board and the first storage compartment includes:

The mopping board is driven by the first moving mechanism to move toward the first storage compartment and extend into the first storage compartment.
The method according to claim 38, characterized in that, the mopping board is mounted on the cleaning robot; during the engagement process of the mopping board and the first mopping sheet, the cleaning robot does not actively move , the mopping board actively moves toward the first storage compartment relative to the cleaning robot.
The method according to claim 37, wherein the mop picking device includes a first moving mechanism connected to the mopping board; the maintenance system further includes a third moving mechanism connected to the first storage bin ;

The step of controlling at least one movement of the mopping board and the first storage compartment includes:

The mopping board is driven to move by the first moving mechanism and the first storage compartment is driven to move by the third moving mechanism.
The method according to claim 37, wherein the mopping device further comprises a first moving mechanism for driving the mopping board to move; the mopping board is connected to the cleaning robot in a detachable manner; The mopping board can be separated from the cleaning robot;

The method also includes:

When the cleaning robot needs to replace the mop, the mop plate is separated from the cleaning robot, and the first moving mechanism is connected to the separated mop plate, so that the mop plate can be driven by the first moving mechanism. The mopping board extends into the first storage bin.
The method according to claim 41, characterized in that, before the step of connecting the first moving mechanism to the separated mopping board, the method further comprises:

The first moving mechanism and the mopping board are pre-positioned by means of magnetic attraction.
The method according to claim 41, wherein the maintenance system includes a mopping plate operating position configured to allow the cleaning robot to separate the mopping plate;

The method also includes:

When it is determined that the cleaning robot reaches the operation position of the mopping board, the mopping board is separated from the cleaning robot.
The maintenance system according to claim 43, characterized in that, the mop docking position or the first storage compartment is higher than the mop plate operating position to form a space for the cleaning robot to dock.
The method according to claim 36, characterized in that, the step of picking up a single piece of the first sheet mop from the first storage bin by a mop picking device comprises:

The mopping board is controlled to pick up a single piece of the first sheet mop from the first storage bin along a direction perpendicular to the mopping ground of the first sheet mop.
The method according to claim 45, characterized in that, the lower surface of the mopping board forms an angle with the mopping surface of the first sheet mopping cloth, and the angle is less than 90 degrees.
The method according to claim 37, wherein the mopping board is provided with a connection area for connecting the first sheet mop, the connection area includes an adhesive part, and the first sheet mop can be adhered on the sticking part, so as to realize the connection between the mopping board and the first sheet mopping cloth.
The method according to claim 47, characterized in that, the mopping device comprises a first moving mechanism connected to the mopping board;

The method also includes:

After the first sheet-like mop is adhered to the mop board, control the first moving mechanism to drive the mop board to vibrate, so that a single piece of the first sheet-like mop is pasted on the sticking part of the mop board above; wherein the shaking refers to the reciprocating motion of the mopping board along the first direction and the second direction; the first direction is that the mopping board takes out the first sheet from the first storage bin The direction of the mop, the second direction is opposite to the first direction.
The method according to claim 47, characterized in that, the first storage chamber is provided with a friction assembly;

The method also includes:

After the first sheet-shaped mop is adhered to the mop board, when the mop board moves in the first direction, a reaction force is generated by the friction assembly, so that a single piece of the first sheet-like mop can be attached to the mop board. The sticking part of the mopping board; wherein the first direction is the direction in which the mopping board takes out the first sheet mop from the first storage compartment.
The method according to claim 47, characterized in that, a partition assembly is further provided in the first storage compartment for creating a gap between two adjacent pieces of the first sheet mop.
The method according to claim 47, wherein the sticking part has a first part in contact with the first sheet mop and/or a second part exposed to the first sheet mop; wherein, The angle formed by the first part and the first sheet mop is greater than or equal to 0 degrees and less than or equal to 10 degrees; the angle formed by the second part and the first sheet mop is greater than 0 degrees , and less than 90 degrees.
The method according to claim 47, wherein the mopping board has a top, a bottom, and a side wall connecting the top and the bottom, wherein the side wall is inclined from the bottom toward the top, so The sticking part is arranged on the inclined side wall.
The method according to claim 47, wherein the area ratio of the sticking part to the first sheet mop is within a preset range, so that the mop board can be removed from the first sheet mop combination. Adhere to the first sheet-like mop in a single piece.
The method according to claim 36, wherein the mop picking device comprises: a separation mechanism;

The methods include:

A single piece of the first sheet-shaped mop is separated from at least two pieces of the first sheet-shaped mop stacked in the first storage bin by a separation mechanism, so that the mop plate and the separated single piece of the first Sheet mop attached.
The method according to claim 54, wherein the mop picking device comprises: a transfer mechanism;

The methods include:

The single piece of the first sheet mop is transferred to a preset transfer position through the transfer mechanism, so that the mopping plate is connected with the single piece of the first sheet mop.
The method of claim 54, wherein the separating mechanism comprises: a paper suction device;

The methods include:

Controlling the paper suction device to suck the first sheet mop at the mop suction position, wherein the mop suction position refers to the position where the paper suction device can suck out a single piece of the first sheet mop.
The method of claim 54, wherein the separating mechanism comprises: a fluid delivery device;

The methods include:

The direction of the fluid conveying device is controlled to convey the fluid to the first storage compartment, so that the topmost first sheet-shaped mop is separated from at least two pieces of the first sheet-shaped mop.
The method of claim 36, further comprising:

When the second sheet mop is installed on the mop board, the second sheet mop is separated from the mop board.
The method of claim 58, wherein the maintenance system includes a removal mechanism, and the mop plate includes a removal area; wherein there is no interconnection between the removal area and the second sheet mop;

The step of separating the second sheet mop from the mop board includes:

Controlling the movement of at least one of the removal mechanism and the mopping board to remove the second sheet mopping cloth from the mopping board.
The maintenance system according to claim 58, wherein the step of separating the second mop sheet from the mop board comprises:

The second sheet mop is removed along a removal direction by the removal mechanism; wherein the removal direction forms an acute angle, a right angle or an obtuse angle with the mopping surface of the second sheet mop or the mop board.
The maintenance system according to claim 60, wherein the step of separating the second sheet mop from the mop board comprises:

An external force away from the mop plate is applied to the second sheet mop by the dismounting mechanism, so that the second sheet mop separated from the mop plate falls under its own gravity or an external force, so that the second The flaky mop is removed from the mop plate.
The maintenance system according to claim 58, characterized in that, during the process of removing the second mop sheet from the mop board, the cleaning robot moves inactively, and the mop board or the removal mechanism actively moves.
The method according to claim 59, wherein the maintenance system further comprises a second storage compartment for receiving the second sheet mop separated from the mop board;

The step of separating the second sheet mop from the mop board includes:

Apply an external force away from the mopping board to the second sheet-like mop through the dismounting mechanism to separate the second sheet-like mop from the mopping board, so that the second sheet-like mopping cloth after being separated from the mopping board is on its own Fall into the second storage compartment under the action of gravity or external force.
The method of claim 63, wherein the removal mechanism is disposed on the second containment bin.
The method according to claim 63, wherein the maintenance system includes a second moving mechanism connected to the second storage bin; the removal mechanism is installed at a preset mop removal position, and the mop removal position located outside the second containment compartment;

The methods include:

The second storage compartment is driven by the second moving mechanism to move to the mop removal position, so as to receive the second sheet mop separated from the mop plate.
The method according to claim 59, characterized in that the removal area includes a cloth removal groove, and the outer edge of the mopping board is recessed toward the interior of the mopping board to form the cloth removal groove.
The method according to claim 58, wherein the mopping board includes at least a first state and a second state, wherein, in the first state, the mopping board is in a mopping position; in the second state In the second state, the mopping board is in a non-mopping position;

Wherein, the non-mopping position is higher than the mopping position, so as to provide an operation space for the disassembly of the second sheet mop or the installation of the first sheet mop.
The method according to claim 65, characterized in that, the mop removal position or the second storage bin is higher than the mop plate operating position, so as to form a space for the cleaning robot to dock.
The method according to claim 63, wherein the first storage bin and the second storage bin are vertically arranged vertically.
The method of claim 69, wherein the first containment bin is located above the second containment bin.
A mop replacement method for a cleaning robot, characterized in that it comprises:

Confirm that the cleaning robot has returned to the base station;

Control the mop picking device to replace the second sheet mop installed on the cleaning robot with the first sheet mop in the first storage compartment.
The method of claim 71, wherein the step of determining that the cleaning robot has returned to the base station comprises:

It is determined that the cleaning robot has reached the mopping plate operation position, and the cleaning robot is controlled to remove the mopping plate.
The method according to claim 72, wherein the mopping device comprises a first moving mechanism for driving the mopping board to move;

The step of controlling the mop picking device to replace the second sheet mop installed on the cleaning robot with the first sheet mop in the first storage compartment includes:

Control the first moving mechanism to drive the mop plate to move to the mop removal position, so as to remove the second sheet mop and store it in the second storage bin for recovering the second sheet mop;

Control the first moving mechanism to drive the mopping board to move to the mopping cloth installation position, and extend into the first storage bin, and install the first sheet mopping cloth to the mopping board.