WO2025237371A1 - 清洁设备的清洁组件更换方法、装置、基站及存储介质 - Google Patents

清洁设备的清洁组件更换方法、装置、基站及存储介质

Info

Publication number
WO2025237371A1
WO2025237371A1 PCT/CN2025/095116 CN2025095116W WO2025237371A1 WO 2025237371 A1 WO2025237371 A1 WO 2025237371A1 CN 2025095116 W CN2025095116 W CN 2025095116W WO 2025237371 A1 WO2025237371 A1 WO 2025237371A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
component
lifting
assembly
cleaning device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/095116
Other languages
English (en)
French (fr)
Inventor
邢思玮
梁彬雄
陈家裕
米长
杨贤奇
段传林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Rockrobo Technology Co Ltd
Original Assignee
Beijing Rockrobo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Publication of WO2025237371A1 publication Critical patent/WO2025237371A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4025—Means for emptying
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/024—Emptying dust or waste liquid containers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Definitions

  • This disclosure relates to the field of self-propelled equipment technology, and more specifically, to a method, apparatus, base station, and storage medium for replacing cleaning components of a cleaning device.
  • the purpose of this disclosure is to provide a method, apparatus, base station, and storage medium for replacing cleaning components in a cleaning device, which can solve the problem of cleaning efficiency being affected by washing mops. Specifically:
  • This disclosure provides a method for replacing a cleaning component in a cleaning device, wherein the cleaning component includes a first cleaning component and a second cleaning component, and the method includes:
  • the lifting assembly disassembles the second cleaning assembly from the cleaning device
  • the lifting assembly moves the second cleaning assembly to the second position
  • the lifting assembly moves the first cleaning component to the first position, and in response to the cleaning device reaching the first position again, the lifting assembly assembles the first cleaning component onto the cleaning device.
  • the method further includes:
  • the second cleaning component moves from the second position to the third position, while the first cleaning component moves from the third position to the second position.
  • the method further includes:
  • the second cleaning component moves from the third position to the second position.
  • the method further includes:
  • the lifting assembly moves the second cleaning assembly from the second position to the first position
  • the washing cloth component In response to the second cleaning component reaching the first position, the washing cloth component initiates the cleaning of the second cleaning component.
  • the method further includes:
  • the lifting component moves the second cleaning component from the first position to the second position.
  • the method further includes:
  • the rotating component moves the second cleaning component from the second position to the third position;
  • the lifting component moves from the second position to the first position.
  • the second position and the third position are approximately on the same horizontal plane, and the height of the first position is lower in the vertical direction than the height of the second position and/or the height of the third position.
  • the second position and the third position are located above the cleaning device, and the first position is located below the cleaning device.
  • the method further includes:
  • the lifting component moves the second cleaning component from the first position to the third position;
  • the lifting assembly moves from the third position to the first position.
  • the second position, the first position, and the third position are arranged sequentially from top to bottom in the vertical direction.
  • the second position when the cleaning device reaches the first position, the second position is located above the cleaning device, and the first position and the third position are located below the cleaning device.
  • the lifting assembly includes a lifting motor, a first lifting module, a second lifting module, and a rope.
  • the rope connects the lifting motor, the first lifting module, and the second lifting module in series.
  • the lifting motor rotates in a first direction
  • the first lifting module and the second lifting module rise simultaneously via the rope.
  • the lifting motor rotates in a second direction
  • the first lifting module and the second lifting module descend simultaneously via the rope.
  • the rope in series with the lifting motor, the first lifting module, and the second lifting module, forms a roughly figure-eight structure.
  • the first lifting module and/or the second lifting module have a disassembly structure configured to remove the cleaning component from the cleaning device or to assemble the cleaning component into the cleaning device.
  • the cleaning component has an unlocking structure configured to allow the cleaning component to be assembled into the cleaning device under the action of the disassembly structure, or configured to allow the cleaning component to be detached from the cleaning device under the action of the disassembly structure.
  • This disclosure provides a cleaning component replacement device for a cleaning device, wherein the cleaning component includes a first cleaning component and a second cleaning component, and the replacement device includes:
  • a first control unit is configured to control a lifting assembly to detach the second cleaning assembly from the cleaning equipment in response to the cleaning equipment reaching a first position;
  • the second control unit is configured to control the lifting assembly to move the second cleaning assembly to the second position in response to the cleaning device leaving the first position;
  • the third control unit is configured to control the lifting assembly to move the first cleaning assembly to the first position, and in response to the cleaning device reaching the first position again, to control the lifting assembly to assemble the first cleaning assembly onto the cleaning device.
  • Some embodiments of this disclosure provide a base station, including a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, it implements the steps of the method described in any of the above embodiments.
  • Some embodiments of this disclosure provide a non-transitory computer-readable storage medium storing computer program instructions that, when invoked and executed by a processor, implement the steps of the method described in any of the above embodiments.
  • the cleaning component replacement method for cleaning equipment provided in this embodiment can automatically replace the cleaning components of the cleaning equipment. After the cleaning components are replaced, the cleaning equipment can continue to perform the cleaning task without waiting for the cleaning components to be cleaned before it can continue cleaning, which greatly improves the cleaning efficiency of the cleaning equipment.
  • Figure 1 is a flowchart of a cleaning component replacement method provided in some embodiments of this disclosure
  • Figure 2 is a schematic diagram of a cleaning component replacement method provided in some embodiments of this disclosure.
  • Figure 3 is another structural schematic diagram of a cleaning component replacement method provided in some embodiments of this disclosure.
  • Figure 4 is a flowchart of a cleaning component replacement method provided in some other embodiments of this disclosure.
  • Figure 5 is a flowchart of a cleaning component replacement method provided in some other embodiments of this disclosure.
  • Figure 6 is a flowchart of a cleaning component replacement method provided in some other embodiments of this disclosure.
  • Figure 7 is a flowchart of a cleaning component replacement method provided in some other embodiments of this disclosure.
  • Figure 8 is a schematic diagram of the lifting assembly in the rising state structure provided in some embodiments of this disclosure.
  • Figure 9 is a schematic diagram of the lifting assembly in a descending state according to some embodiments of this disclosure.
  • Figure 10 is a flowchart of a cleaning component replacement method provided in some embodiments of the present disclosure.
  • Figure 11(a) is a schematic diagram of the state of the cleaning equipment before returning to the base station according to some embodiments of the present disclosure
  • Figure 11(b) is a schematic diagram of the state of the cleaning equipment after it returns to the base station according to some embodiments of the present disclosure
  • Figure 11(c) is a schematic diagram of the state of the cleaning equipment after it leaves the base station, according to some embodiments of the present disclosure
  • Figure 11(d) is a schematic diagram of the second cleaning component in a raised state provided in some embodiments of this disclosure.
  • Figure 11(e) is a schematic diagram of the first cleaning component in an ascending state provided in some embodiments of the present disclosure.
  • Figure 11(f) is a schematic diagram showing the cleaning equipment returning to the base station state according to some embodiments of the present disclosure
  • Figure 11(g) is a schematic diagram of the cleaning equipment leaving the base station again according to some embodiments of the present disclosure.
  • Figure 11(h) is a schematic diagram of the cleaning state of the second cleaning component provided in some embodiments of this disclosure.
  • Figure 11(i) is a schematic diagram of the state of the second cleaning component after cleaning in some embodiments of this disclosure.
  • Figure 12 is a flowchart of a cleaning component replacement method provided in some embodiments of the present disclosure.
  • Figure 13 is a schematic diagram of the replacement device structure provided in some embodiments of this disclosure.
  • Figure 14 is a schematic diagram of the electronic structure of a base station provided in an embodiment of this disclosure.
  • Base station 100 lifting assembly 110, lifting motor 111, first lifting module 112, second lifting module 113, rope 114, multiple fixed pulleys 115, cleaning equipment 200, second cleaning assembly 210, first cleaning assembly 220, rotating assembly 300, first position (400, 400'), second position (500, 500'), and third position (600, 600').
  • the cleaning equipment needs to be cleaned at the base station when the mop gets dirty. Cleaning often takes time, and the cleaning task can only be performed again after cleaning is completed. Therefore, the mop cleaning process reduces the cleaning efficiency of the cleaning equipment.
  • This disclosure provides a method for replacing a cleaning component of a cleaning device, the cleaning component including a first cleaning component and a second cleaning component, the method comprising: in response to the cleaning device reaching a first position, a lifting component disassembling the second cleaning component from the cleaning device; in response to the cleaning device leaving the first position, the lifting component moving the second cleaning component to a second position; the lifting component moving the first cleaning component to the first position; and in response to the cleaning device reaching the first position again, the lifting component assembling the first cleaning component into the cleaning device.
  • the cleaning component replacement method for cleaning equipment provided in this embodiment can automatically replace the cleaning components of the cleaning equipment. When the cleaning components are dirty, there is no need to clean them immediately.
  • the cleaning equipment can be replaced after the cleaning components are replaced, which greatly improves the cleaning efficiency of the cleaning equipment.
  • some embodiments of this disclosure provide a method for replacing a cleaning component in a cleaning device.
  • the cleaning component includes a first cleaning component and a second cleaning component.
  • the method includes the following steps:
  • Step S102 In response to the cleaning device reaching the first position, the lifting assembly disassembles the second cleaning assembly from the cleaning device;
  • Step S104 In response to the cleaning device leaving the first position, the lifting assembly moves the second cleaning assembly to the second position;
  • Step S106 The lifting assembly moves the first cleaning assembly to the first position. In response to the cleaning device reaching the first position again, the lifting assembly assembles the first cleaning assembly onto the cleaning device.
  • the cleaning device described in this disclosure can be a mopping robot, a sweeping and mopping robot, etc., and the cleaning device includes at least a moving platform and a cleaning module disposed at the bottom of the moving platform.
  • the moving platform can be configured to automatically move along a target direction on the operating surface.
  • the operating surface can be the surface to be cleaned by the cleaning device.
  • the cleaning device can be a mopping robot, in which case the automatic cleaning device works on the ground, and the ground is the operating surface; the cleaning device can also be a window cleaning robot, in which case the cleaning device works on the outer surface of the glass of a building, and the glass is the operating surface; the cleaning device can also be a pipe cleaning robot, in which case the cleaning device works on the inner surface of the pipe, and the inner surface of the pipe is the operating surface.
  • a mopping robot in which case the automatic cleaning device works on the ground, and the ground is the operating surface
  • the cleaning device can also be a window cleaning robot, in which case the cleaning device works on the outer surface of the glass of a building, and the glass is the operating surface
  • the cleaning device can also be a pipe cleaning robot, in which case the cleaning device works on the inner surface of the pipe, and the inner surface of the pipe is the operating surface.
  • the base station described in this disclosure is a device that can provide cleaning equipment with functions such as replacing cleaning components, washing mops, charging, and dust collection.
  • the base station typically has a base that protrudes from the base station body.
  • the base station typically includes components such as a dust collection chamber, a clean water tank, and a wastewater tank.
  • the base station and cleaning equipment are defined with reference to the base station: horizontal axis Y, front-back axis X, and central vertical axis Z.
  • the direction opposite to the arrow on the front-back axis X i.e., the direction in which the cleaning equipment enters the base station, is labeled "backward," and the direction in which the cleaning equipment leaves the base station, i.e., the direction in which the arrow on the front-back axis X, is labeled "forward.”
  • the horizontal axis Y is essentially along the width of the base station body; the direction opposite to the arrow on the horizontal axis Y is labeled "rightward,” and the direction in which the arrow on the horizontal axis Y, i.e., is labeled "leftward.”
  • the vertical axis Z extends vertically along the base station; the direction opposite to the arrow on the vertical axis Z is labeled "downward," and the direction in which the
  • the cleaning component of this disclosure includes a cleaning base plate and a cleaning mop disposed on the cleaning base plate.
  • the cleaning base plate is detachably disposed on the side of the cleaning device facing the surface to be cleaned, and the cleaning mop is disposed on the side of the cleaning base plate facing the surface to be cleaned.
  • the cleaning base plate has an unlocking structure, which allows the cleaning component to be assembled into the cleaning device or removed from the cleaning device under external force.
  • the specific structure of the unlocking structure is not limited, but may include springs, locking structures, etc.
  • the cleaning components described in this embodiment include a first cleaning component and a second cleaning component.
  • the first and second cleaning components have substantially the same structure.
  • the first cleaning component is defined as a clean or unused cleaning component, located in a base station or other replacement device in a ready-to-use state, used to replace the cleaning component already in use on the cleaning device.
  • the first cleaning component can be one, two, or more, for example, any number from one to six. Multiple first cleaning components are arranged in the base station or other replacement device according to certain rules, awaiting the execution of a replacement instruction.
  • the second cleaning component is defined as the cleaning component currently installed on the cleaning device. It can be performing a cleaning task or not yet performing a cleaning task.
  • the second cleaning component is in a state of being assembled into the cleaning device and awaiting use or already in use.
  • the lifecycle of the second cleaning component begins from its assembly into the cleaning device until it performs a cleaning task, is disassembled for cleaning, and returns to a ready-to-use state after cleaning.
  • the cleaning device 200 carries the second cleaning component 210 back to the base station 100 to replace the cleaning component.
  • the base station 100 will check whether the cleaning device 200 has returned to the predetermined position through sensors or other positioning devices.
  • the base station 100 controls the lifting component 110 to work through the control center.
  • the control center of the base station 100 removes the second cleaning component 210 from the cleaning device 200.
  • the cleaning component has an unlocking structure configured to assemble the cleaning component onto the cleaning device or remove the cleaning component from the cleaning device under the action of the lifting component 110.
  • the unlocking structure has elastic elements, locking elements, etc., which elastically open or close the locking mechanism under the action of the lifting component 110 to realize the separation and assembly of the cleaning component and the cleaning device.
  • the cleaning device 200 when the cleaning device 200 reaches the first position 400, the second position 500 and the third position 600 are located above the cleaning device 200, and the first position 400 is located below the cleaning device 200.
  • step S104 the control center of the base station 100 responds to the cleaning device 200 leaving the first position 400.
  • the cleaning device 200 is not equipped with the cleaning component.
  • the lifting component 110 moves the second cleaning component 210 to the second position 500.
  • the lifting component 110 can move up and down in the vertical direction.
  • the second cleaning component 210 can move freely in the vertical direction.
  • the lifting component 110 locks the two ends of the second cleaning component 210 and moves upward under the drive of the motor, so that the second cleaning component 210 moves to the second position 500.
  • the height of the first position 400 is lower in the vertical direction than the height of the second position 500.
  • the base station 100 has a rotating component 300, which is disposed directly above the first position 400.
  • the rotating component 300 can rotate freely in a horizontal plane under the drive of a motor.
  • the rotating component 300 has 2-8 latching positions, which are evenly distributed throughout the rotating component 300.
  • the rotating component 300 has 2, 3, or 4 latching positions, and each latching position can latch the cleaning component.
  • the following description uses a rotating component 300 with 2 latching positions as an example.
  • the second position 500 is located directly above the first position 400.
  • the second position 500 is idle before the lifting assembly 110 moves the second cleaning assembly 210 from the first position 400.
  • the second cleaning assembly 210 engages with the second position 500 of the rotating assembly 300.
  • the lifting assembly 110 separates from the second cleaning assembly 210, and the second cleaning assembly 210 is controlled by the rotating assembly 300.
  • the lifting assembly in response to the cleaning device leaving the first position, moves the second cleaning assembly to the second position, followed by the following steps:
  • Step S105 In response to the rotation of the rotating component, the second cleaning component moves from the second position to the third position, while the first cleaning component moves from the third position to the second position.
  • step S105 the control center of the base station 100 controls the rotating component 300 to rotate, the second cleaning component 210 moves from the second position 500 to the third position 600, and at the same time, the first cleaning component 220 moves from the third position 600 to the second position 500.
  • the second position 500 and the third position 600 are approximately on the same horizontal plane, both located on the lower surface of the rotating component 300.
  • the rotating component 300 may have 1, 2, or 3 third positions 600.
  • the rotating component 300 has 1 third position 600
  • the third position 600 and the second position 500 can be symmetrical, as shown in Figures 2-3. In this case, after the rotating component 300 rotates 180 degrees, the third position 600 and the second position 500 interchange.
  • the rotating component 300 When the rotating component 300 has 2 third positions 600, after the rotating component 300 rotates 120 degrees, one of the third positions 600 reaches the second position 500. When the rotating component 300 has 3 third positions 600, after the rotating component 300 rotates 90 degrees, one of the third positions 600 reaches the second position 500, and so on.
  • This application uses a single third position 600 as an example for illustration. After the control center of base station 100 controls the rotating component 300 to rotate, the second cleaning component 210 moves from the second position 500 to the third position 600. At this time, since the third position 600 has the first cleaning component 220, after rotation, the first cleaning component 220 moves to the second position 500.
  • step S106 the lifting assembly moves the first cleaning assembly to the first position, and in response to the cleaning device reaching the first position again, the lifting assembly assembles the first cleaning assembly onto the cleaning device.
  • the clean first cleaning component 220 moves from the third position 600 to the second position 500.
  • the lifting component 110 engages both ends of the clean first cleaning component 220, and simultaneously, the first cleaning component 220 disengages from the rotating component 300.
  • the cleaning device 200 receives a control command from the base station 100, and the cleaning device 200 returns to the first position 400.
  • the lifting component 110 then assembles the first cleaning component 220 onto the cleaning device 200.
  • the cleaning device 200 has completed the cleaning component replacement and can leave the base station to continue cleaning the surface to be cleaned. Therefore, this embodiment of the present disclosure can automatically replace the cleaning components of the cleaning device. After replacing the cleaning components, the cleaning device can continue performing the cleaning task immediately, without waiting for the cleaning components to finish cleaning, greatly improving the cleaning efficiency of the cleaning device.
  • the method further includes the following steps:
  • Step S108 In response to the rotation of the rotating component, the second cleaning component moves from the third position to the second position.
  • step S108 after the cleaning equipment 200 replaces the cleaning component, the base station 100 control center controls the rotating component 300 to rotate, causing the dirty second cleaning component 210 to rotate from the third position 600 to the second position 500 after a certain angle, ready for cleaning. It can be understood that this step S108 can be performed immediately after the lifting component 110 removes the first cleaning component 220 from the rotating component 300, without waiting for the first cleaning component 220 to be assembled back into the cleaning equipment 200, thus improving cleaning efficiency.
  • the method further includes the following steps:
  • Step S110 The cleaning device leaves the first position again, and the lifting assembly moves the second cleaning assembly from the second position to the first position;
  • Step S112 In response to the second cleaning component reaching the first position, the washing cloth component starts cleaning the second cleaning component.
  • the base station control center controls the lifting assembly 110 to move the second cleaning assembly 210 from the second position 500 to the first position 400; and controls the washing cloth assembly to start cleaning the second cleaning assembly 210.
  • the method further includes the following steps:
  • Step S114 In response to the completion of cleaning by the second cleaning component, the lifting component moves the second cleaning component from the first position to the second position.
  • the method further includes the following steps:
  • Step S116 In response to the second cleaning component reaching the second position, the rotating component moves the second cleaning component from the second position to the third position; and/or, the lifting component moves from the second position to the first position.
  • steps S114 and S116 after the second cleaning component 210 has finished cleaning, the lifting component 110 abuts against both ends of the second cleaning component 210, moving the second cleaning component 210 from the first position 400 to the second position 500. Then, the base station control center controls the rotating component 300 to rotate, and the rotating component 300 moves the second cleaning component 210 from the second position 500 to the third position 600; at this time, the second cleaning component 210 is clean and ready for use, while the second position 500 is in an empty, ready-to-receive state. Optionally, the lifting component 110 returns from the second position 500 to the first position 400. This completes a cycle of disassembly, replacement, cleaning, and return of a cleaning component, awaiting the execution of the next cycle.
  • Steps S108-S116 above are steps for cleaning the second cleaning component 210. These steps are not necessarily present during the replacement of the cleaning component. For example, when the rotating component 300 has multiple clean first cleaning components 220, it is not necessary to perform the cleaning action every time the cleaning component is replaced, or the cleaning action can be performed sequentially after multiple replacements. For example, when the rotating component 300 has three third positions 600 and one second position 500, each time a dirty second cleaning component 210 is received, it is stored in one third position 600. When the third position 600 is full of second cleaning components 210, the lifting component 110 sequentially moves the second cleaning components 210 to the first position 400 for cleaning, and after cleaning, moves them to the third position 600 for later use.
  • the lifting assembly 110 includes a lifting motor 111, a first lifting module 112, a second lifting module 113, a rope 114, and a plurality of fixed pulleys 115.
  • the rope 114 connects the lifting motor 111, the first lifting module 112, and the second lifting module 113 in series via the plurality of fixed pulleys 115.
  • the rope connecting the lifting motor, the first lifting module, and the second lifting module in series forms an approximate figure-eight structure.
  • the first lifting module 112 and the second lifting module 113 have a disassembly and assembly structure.
  • This disassembly and assembly structure may include, for example, a concave-convex structure or a positioning structure.
  • the disassembly and assembly structure can detach the cleaning component from the cleaning device or assemble the cleaning component into the cleaning device. This disclosure does not impose specific limitations on the disassembly and assembly structure, as long as it enables disassembly and assembly.
  • unlocking can be achieved by pushing against the unlocking structure (e.g., a spring or a locking structure) of the cleaning component.
  • the unlocking structure e.g., a spring or a locking structure
  • FIG. 10 Other embodiments of this disclosure provide a method for replacing a cleaning component of a cleaning device, as shown in FIG10.
  • the cleaning component includes a first cleaning component and a second cleaning component, which are described above and will not be repeated here.
  • the method includes the following steps:
  • Step S202 In response to the cleaning device reaching the first position, the lifting assembly disassembles the second cleaning assembly from the cleaning device;
  • Step S204 In response to the cleaning device leaving the first position, the lifting assembly moves the second cleaning assembly to the second position;
  • Step S206 The lifting assembly moves the first cleaning assembly to the first position. In response to the cleaning device reaching the first position again, the lifting assembly assembles the first cleaning assembly onto the cleaning device.
  • Figures 11(a)-11(i) provide illustrative diagrams of the replacement of cleaning components in the cleaning equipment according to this embodiment.
  • the positions from top to bottom in the vertical direction are the second position 500', the first position 400', and the third position 600'.
  • the first position 400' is a cleaning position, where the cleaning component can clean the cleaning component located at the first position 400'.
  • the first position 400' is also a disassembly/reassembly position, where the cleaning component can be disassembled/reassembled after the cleaning equipment 200 reaches the first position 400'.
  • the clean first cleaning component 220 is located at the third position 600' below the base station and is in a waiting state.
  • the second cleaning component 210 on the cleaning equipment 200 also reaches the first position 400'.
  • the first position 400' is directly above the third position 600', and the lifting component 110 disassembles the second cleaning component 210 from the cleaning equipment 200.
  • the cleaning equipment 200 leaves the base station, as shown in Figure 11(c).
  • the second cleaning component 210 is located at the first position 400', and the first cleaning component 220 is located at the third position 600' below the second cleaning component 210.
  • the second cleaning component 210 is first raised to the second position 500' using the lifting component 110, as shown in Figure 11(d), to expose the clean first cleaning component 220.
  • the clean first cleaning component 220 is further raised to the first position 400' using the lifting component 110, as shown in Figure 11(e).
  • the cleaning device 200 is notified that it can enter the base station 100 to replace the cleaning component, as shown in Figure 11(f).
  • the cleaning device 200 re-enters the base station, and the lifting component 110 assembles the clean first cleaning component 220 onto the cleaning device 200. Then, the cleaning device 200 leaves the base station to continue cleaning, as shown in Figure 11(g). The entire process only involves the disassembly and assembly of the cleaning component. The cleaning device enters and exits the base station twice, resulting in high efficiency and avoiding the waiting time for cleaning the cleaning component.
  • the method further includes the following method steps:
  • Step S208 The cleaning device leaves the first position again, and the lifting assembly moves the second cleaning assembly from the second position to the first position;
  • Step S210 In response to the second cleaning component reaching the first position, the washing cloth component starts cleaning the second cleaning component.
  • the method further includes the following method steps:
  • Step S212 In response to the completion of cleaning by the second cleaning component, the lifting component moves the second cleaning component from the first position to the third position; and/or
  • the lifting assembly moves from the third position to the first position.
  • the lifting assembly 110 lowers the second cleaning assembly 210 to the first position 400'. Subsequently, the base station control center controls the cleaning assembly to clean the second cleaning assembly 210. After cleaning, the lifting assembly 110 lowers the second cleaning assembly 210 to the third position 600', waiting for the next replacement, as shown in Figure 11(i).
  • the cleaning component replacement method for the cleaning equipment provided in this embodiment can automatically replace the cleaning components of the cleaning equipment. After the cleaning components are replaced, the cleaning equipment can continue to perform the cleaning task without waiting for the cleaning components to finish cleaning, which greatly improves the cleaning efficiency of the cleaning equipment.
  • the cleaning component includes a first cleaning component and a second cleaning component, as shown in FIG13.
  • the replacement device includes:
  • the first control unit 1302 is configured to control the lifting assembly to disassemble the second cleaning assembly from the cleaning equipment in response to the cleaning equipment reaching a first position;
  • the second control unit 1304 is configured to control the lifting assembly to move the second cleaning assembly to the second position in response to the cleaning device leaving the first position.
  • the third control unit 1306 is configured to control the lifting assembly to move the first cleaning assembly to the first position, and in response to the cleaning device reaching the first position again, control the lifting assembly to assemble the first cleaning assembly onto the cleaning device.
  • the second control unit 1304 is further configured to control the second cleaning component to move from the second position to the third position in response to the rotation of the rotating component, while simultaneously controlling the first cleaning component to move from the third position to the second position.
  • the third control unit 1306 is further configured to control the second cleaning component to move from a third position to a second position in response to the rotation of the rotating component.
  • the third control unit 1306 is further configured to, when the cleaning device leaves the first position again, control the lifting assembly to move the second cleaning component from the second position to the first position; and in response to the second cleaning component reaching the first position, control the washing cloth assembly to start cleaning the second cleaning component.
  • the third control unit 1306 is further configured to control the lifting component to move the second cleaning component from the first position to the second position in response to the completion of cleaning by the second cleaning component.
  • the third control unit 1306 is further configured to, in response to the second cleaning component reaching the second position, control the rotating component to move the second cleaning component from the second position to the third position; and/or control the lifting component to move from the second position to the first position.
  • the third control unit 1306 is further configured to, in response to the second cleaning component completing cleaning, move the second cleaning component from the first position to the third position; and/or control the lifting component to move from the third position to the first position.
  • This disclosure provides a base station in some embodiments, including a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, it implements the steps of the method described in any of the above embodiments.
  • Some embodiments of this disclosure provide a non-transitory computer-readable storage medium storing computer program instructions that, when invoked and executed by a processor, implement the steps of the method described in any of the above embodiments.
  • the base station may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1402 or a program loaded from a storage device 1408 into a random access memory (RAM) 1403.
  • the RAM 1403 also stores various programs and data required for base station operation.
  • the processing device 1401, ROM 1402, and RAM 1403 are interconnected via a bus 1404.
  • An input/output (I/O) interface 1405 is also connected to the bus 1404.
  • I/O interface 1405 input devices 1406 including, for example, touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1407 including, for example, liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1408 including, for example, hard disk; and communication devices 1409.
  • input devices 1406 including, for example, touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.
  • output devices 1407 including, for example, liquid crystal display (LCD), speaker, vibrator, etc.
  • storage devices 1408 including, for example, hard disk
  • communication devices 1409 allows the base station to communicate wirelessly or wiredly with other devices to exchange data.
  • each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function.
  • the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.
  • each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

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Abstract

一种清洁设备的清洁组件更换方法、装置、基站及存储介质，清洁组件包括第一清洁组件和第二清洁组件。方法包括：响应于清洁设备到达第一位置，升降组件从清洁设备拆卸第二清洁组件（S102）；响应于清洁设备离开第一位置，升降组件将第二清洁组件移动至第二位置（S104）；升降组件将第一清洁组件移动至第一位置，响应于清洁设备再次到达第一位置，升降组件将第一清洁组件装配于清洁设备（S106）。清洁组件更换方法能够对清洁设备的清洁组件进行自动更换，清洁设备更换完清洁组件后即可继续执行清洁任务，而不需要等待清洁组件清洗完毕后才能继续进行清洁，提高了清洁设备的清洁效率。

Description

清洁设备的清洁组件更换方法、装置、基站及存储介质
相关申请的交叉引用
本申请要求于2024年5月16日递交的中国专利申请号为202410612552.1的优先权，在此全文引用上述中国专利申请公开的内容以作为本公开的一部分。
技术领域
本公开涉及自行走设备技术领域，具体而言，涉及一种清洁设备的清洁组件更换方法、装置、基站及存储介质。
背景技术
近年来，随着自动清洁设备的普及，自动清洁设备的功能也越来越多，特别是集扫地、吸尘、拖地、除尘、拖布清洗等多种功能于一体的自动清洁设备的应用也越来越多。
现有技术中，通过基站对自动清洁设备进行自动的集尘以及拖布清洗，清洁设备的拖布脏了以后需要到基站对拖布进行清洗，然后才能进行继续清洁任务，清洗过程较长，影响了清洁效率。
发明内容
本公开的目的在于提供一种清洁设备的清洁组件更换方法、装置、基站及存储介质，能够解决清洗拖布影响清洁效率的问题。具体如下：
本公开一些实施例提供一种清洁设备的清洁组件更换方法，所述清洁组件包括第一清洁组件和第二清洁组件，所述方法包括：
响应于所述清洁设备到达第一位置，升降组件从所述清洁设备拆卸所述第二清洁组件；
响应于所述清洁设备离开第一位置，所述升降组件将所述第二清洁组件移动至第二位置；
所述升降组件将所述第一清洁组件移动至所述第一位置，响应于所述清洁设备再次到达第一位置，所述升降组件将所述第一清洁组件装配于所述清洁设备。
在一些实施例中，在所述升降组件将所述第二清洁组件移动至第二位置之后，所述方法还包括：
响应于旋转组件的旋转，所述第二清洁组件由第二位置移动至第三位置，同时，所述第一清洁组件由第三位置移动至第二位置。
在一些实施例中，所述方法还包括：
响应于旋转组件的旋转，所述第二清洁组件由第三位置移动至第二位置。
在一些实施例中，所述方法还包括：
所述清洁设备再次离开第一位置，所述升降组件将所述第二清洁组件由所述第二位置移动至所述第一位置；
响应于所述第二清洁组件到达所述第一位置，洗布组件启动清洗所述第二清洁组件。
在一些实施例中，所述方法还包括：
响应于所述第二清洁组件清洗完毕，所述升降组件将所述第二清洁组件由所述第一位置移动至所述第二位置。
在一些实施例中，所述方法还包括：
响应于所述第二清洁组件到达所述第二位置，所述旋转组件将所述第二清洁组件由所述第二位置移动至所述第三位置；和/或
所述升降组件由所述第二位置移动至所述第一位置。
在一些实施例中，所述第二位置和所述第三位置大致处于同一水平面，所述第一位置的高度在竖直方向上低于所述第二位置的高度和/或所述第三位置的高度。
在一些实施例中，在所述清洁设备到达第一位置状态下，所述第二位置和所述第三位置位于所述清洁设备上方，所述第一位置位于所述清洁设备下方。
在一些实施例中，所述方法还包括：
响应于所述第二清洁组件清洗完毕，所述升降组件将所述第二清洁组件由所述第一位置移动至所述第三位置；和/或
所述升降组件由所述第三位置移动至所述第一位置。
在一些实施例中，所述第二位置、所述第一位置和所述第三位置在竖直方向上由上到下依次设置。
在一些实施例中，在所述清洁设备到达第一位置状态下，所述第二位置位于所述清洁设备上方，所述第一位置和所述第三位置位于所述清洁设备下方。
在一些实施例中，所述升降组件包括升降电机、第一升降模组、第二升降模组以及绳索，所述绳索串联所述升降电机、第一升降模组以及第二升降模组，当所述升降电机沿第一方向旋转时，通过所述绳索带动所述第一升降模组和所述第二升降模组同时上升；当所述升降电机沿第二方向旋转时，通过所述绳索带动所述第一升降模组和所述第二升降模组同时下降。
在一些实施例中，所述绳索串联所述升降电机、第一升降模组以及第二升降模组后形成大致为“8”字型结构。
在一些实施例中，所述第一升降模组和/或第二升降模组具有拆装结构，配置为将所述清洁组件从所述清洁设备拆下或将所述清洁组件装配到所述清洁设备。
在一些实施例中，所述清洁组件具有解锁结构，配置为在所述拆装结构的作用下使所述清洁组件装配到所述清洁设备，或配置为在所述拆装结构的作用下使所述清洁组件从所述清洁设备拆下。
本公开一些实施例提供一种清洁设备的清洁组件更换装置，所述清洁组件包括第一清洁组件和第二清洁组件，所述更换装置包括：
第一控制单元，配置为响应于所述清洁设备到达第一位置，控制升降组件从所述清洁设备拆卸所述第二清洁组件；
第二控制单元，配置为响应于所述清洁设备离开第一位置，控制所述升降组件将所述第二清洁组件移动至第二位置；
第三控制单元，配置为控制所述升降组件将所述第一清洁组件移动至所述第一位置，响应于所述清洁设备再次到达第一位置，控制所述升降组件将所述第一清洁组件装配于所述清洁设备。
本公开一些实施例提供一种基站，包括处理器和存储器，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现如上任一实施例所述的方法步骤。
本公开一些实施例提供一种非瞬时性计算机可读存储介质，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如上任一实施例所述的方法步骤。
本公开实施例的上述方案可以有以下有益效果：
本公开实施例提供的清洁设备的清洁组件更换方法，能够对清洁设备的清洁组件进行自动更换，清洁设备更换完清洁组件后即可继续执行清洁任务，而不需要等待清洁组件清洗完毕后才能继续进行清洁，大大提高了清洁设备的清洁效率。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1为本公开一些实施例提供的清洁组件更换方法流程图；
图2为本公开一些实施例提供的清洁组件更换方法的结构示意图；
图3为本公开一些实施例提供的清洁组件更换方法的另一结构示意图；
图4为本公开另一些实施例提供的清洁组件更换方法流程图；
图5为本公开另一些实施例提供的清洁组件更换方法流程图；
图6为本公开另一些实施例提供的清洁组件更换方法流程图；
图7为本公开另一些实施例提供的清洁组件更换方法流程图；
图8为本公开一些实施例提供的升降组件上升状态结构示意图；
图9为本公开一些实施例提供的升降组件下降状态结构示意图；
图10为本公开再一些实施例提供的清洁组件更换方法流程图；
图11(a)为本公开再一些实施例提供的清洁设备回到基站前状态示意图；
图11(b)为本公开再一些实施例提供的清洁设备回到基站后状态示意图；
图11(c)为本公开再一些实施例提供的清洁设备离开基站后状态示意图；
图11(d)为本公开再一些实施例提供的第二清洁组件上升状态示意图；
图11(e)为本公开再一些实施例提供的第一清洁组件上升状态示意图；
图11(f)为本公开再一些实施例提供的清洁设备再次回到基站状态示意图；
图11(g)为本公开再一些实施例提供的清洁设备再次离开基站状态示意图；
图11(h)为本公开再一些实施例提供的第二清洁组件清洗状态示意图；
图11(i)为本公开再一些实施例提供的第二清洁组件清洗完毕状态示意图；
图12为本公开再一些实施例提供的清洁组件更换方法流程图；
图13为本公开一些实施例提供的更换装置结构示意图；
图14为本公开实施例提供的基站的电子结构示意图。
附图标记说明：
基站100、升降组件110、升降电机111、第一升降模组112、第二升降模组113、绳
索114、多个定滑轮115、清洁设备200、第二清洁组件210、第一清洁组件220、旋转组件300、第一位置(400，400’)、第二位置(500，500’)、所述第三位置(600，600’)。
具体实施方式
为了使本公开的技术方案和技术效果更加清楚，下面将结合附图对本公开作进一步地详细描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。
在本公开实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。
清洁设备在执行清洁任务过程中或执行清洁任务后，当清洁设备的拖布脏了以后需要到基站进行清洗，清洗往往需要花费一定的时间，清洗完毕后才能再次执行清洁任务，因此，拖布的清洗过程降低了清洁设备的清洁效率。
本公开提供一种清洁设备的清洁组件更换方法，所述清洁组件包括第一清洁组件和第二清洁组件，所述方法包括：响应于所述清洁设备到达第一位置，升降组件从所述清洁设备拆卸所述第二清洁组件；响应于所述清洁设备离开第一位置，所述升降组件将所述第二清洁组件移动至第二位置；所述升降组件将所述第一清洁组件移动至所述第一位置，响应于所述清洁设备再次到达第一位置，所述升降组件将所述第一清洁组件装配于所述清洁设备。
本公开实施例提供的清洁设备的清洁组件更换方法，能够对清洁设备的清洁组件进行自动更换，当清洁组件脏了以后，无需当时清洗，可以进行清洁组件的更换，清洁设备更换完清洁组件后即可继续执行清洁任务，大大提高了清洁设备的清洁效率。
下面结合附图详细说明本公开的可选实施例。
如图1所示，本公开一些实施例提供一种清洁设备的清洁组件更换方法，所述清洁组件包括第一清洁组件和第二清洁组件，所述方法包括如下步骤：
步骤S102：响应于所述清洁设备到达第一位置，升降组件从所述清洁设备拆卸所述第二清洁组件；
步骤S104：响应于所述清洁设备离开第一位置，所述升降组件将所述第二清洁组件移动至第二位置；
步骤S106：所述升降组件将所述第一清洁组件移动至所述第一位置，响应于所述清洁设备再次到达第一位置，所述升降组件将所述第一清洁组件装配于所述清洁设备。
本公开所述的清洁设备可以是拖地机器人，也可以是扫拖一体机器人等，该清洁设备至少包含移动平台和设置于移动平台底部的清洁模组。移动平台可以被配置为在操作面上自动沿着目标方向移动。所述操作面可以为清洁设备待清洁的表面。在一些实施例中，清洁设备可以为拖地机器人，则自动清洁设备在地面上工作，所述地面为所述操作面；清洁设备也可以是擦窗机器人，则清洁设备在建筑的玻璃外表面工作，所述玻璃为所述操作面；清洁设备也可以是管道清洁机器人，则清洁设备在管道的内表面工作，所述管道内表面为所述操作面。本公开中下面的描述以拖地机器人为例进行说明。
在一些实施例中，本公开所述的基站为能够给清洁设备提供更换清洁组件、清洗拖布、充电、集尘等功能的设备，基站通常具有底座，底座突出于基站本体，基站通常包括集尘仓、净水箱、污水箱等部件。
为了更加清楚地描述基站和清洁设备的行为，以基站为准进行如下方向定义：横向轴Y、前后轴X及中心垂直轴Z。沿着前后轴X的箭头相反的方向即清洁设备进入基站的方向标示为“后向”，且沿着前后轴X的箭头方向即清洁设备离开基站的方向标示为“前向”。横向轴Y实质上是沿着由基站本体宽度的方向，沿着横向轴Y的箭头相反的方向标示为“右向”，且沿着横向轴Y的箭头方向标示为“左向”。垂直轴Z为沿基站竖直方向延伸，沿着垂直轴Z的箭头相反的方向标示为“向下”，且沿着垂直轴Z的箭头方向标示为“向上”。
在一些实施例中，本公开所述的清洁组件包括清洁基板和设置于清洁基板上的清洁拖布，清洁基板可拆卸的设置于清洁设备朝向待清洁表面的一侧，清洁拖布设置于清洁基板朝向待清洁表面的一侧，清洁基板具有解锁结构，解锁结构可以使清洁组件装配于清洁设备，也可以在外力作用下从清洁设备拆下，对解锁结构的具体结构不做限定，例如包括弹簧、卡止结构等。
本公开实施例所述清洁组件包括第一清洁组件和第二清洁组件，第一清洁组件和第二清洁组件具有基本相同的结构，其中，第一清洁组件定义为干净的或未使用的清洁组件，其位于基站或其他更换装置中处于待使用状态，用于替换清洁设备上已使用的清洁组件，其中，第一清洁组件可以是1个、2个或多个，例如可以为1-6个中的任意数量，多个第一清洁组件以一定规则设置于基站或其他更换装置中，等待执行被更换的指令。第二清洁组件定义为当前清洁设备上安装的清洁组件，其可以为正在执行清洁任务，也可以为还未执行清洁任务，通常第二清洁组件处于已装配于清洁设备等待使用或已使用的状态。作为一种示例，第二清洁组件的生命周期从清洁组件装配到清洁设备开始，一直到其执行清洁任务，被拆卸下来清洗，清洗完毕后转变为待使用状态结束。
在一些实施例中，如图2-图3所示，清洁设备200携带第二清洁组件210回到基站100更换清洁组件，基站100会通过传感器或其他定位设备检查清洁设备200是否回到预定位置，当第二清洁组件210到达第一位置400，其中第一位置400可以为基站对清洁组件进行清洗的清洗槽或与清洗槽相当的位置，基站100通过控制中心控制升降组件110工作，如步骤S102中所述，基站100的控制中心响应于所述清洁设备200到达第一位置400，升降组件110从所述清洁设备200拆卸所述第二清洁组件210。
在一些实施例中，所述清洁组件具有解锁结构，解锁结构配置为在升降组件110的作用下把所述清洁组件装配到所述清洁设备上，或将所述清洁组件从所述清洁设备拆下来，作为一种示例，解锁结构具有弹性件、卡止件等，在升降组件110的作用下弹性打开或关闭卡止，实现清洁组件与清洁设备的分离与装配。
在一些实施例中，在所述清洁设备200到达第一位置400状态下，所述第二位置500和所述第三位置600位于所述清洁设备200上方，所述第一位置400位于所述清洁设备200下方。
在步骤S104中，基站100的控制中心响应于所述清洁设备200离开第一位置400，此时，清洁设备200未装配清洁组件，所述升降组件110将所述第二清洁组件210移动至第二位置500；其中，升降组件110能够沿竖直方向上下移动，清洁设备离开基站后，第二清洁组件210在竖直方向可以自由移动，此时，升降组件110卡止第二清洁组件210的两端，并在电机的驱动下向上移动，使第二清洁组件210移动至第二位置500。
在一些实施例中，所述第一位置400的高度在竖直方向上低于所述第二位置500的高度。基站100具有旋转组件300，旋转组件300设置于所述第一位置400的正上方，旋转组件300能够在电机的驱动下在水平面内自由转动，旋转组件300具有2-8个卡接位置，多个卡接位置均匀的分布于旋转组件300，例如旋转组件300具有2个、3个或4个卡接位置，每一个卡接位置都可以卡接所述清洁组件。下面以旋转组件300具有2个卡接位置为例进行说明。
在一些实施例中，第二位置500位于第一位置400的正上方，在升降组件110将第二清洁组件210从第一位置400移动上来之前，该第二位置500为闲置状态，当升降组件110将第二清洁组件210从第一位置400竖直向上移动至第二位置500后，第二清洁组件210卡接于旋转组件300的第二位置500，此后，升降组件110与第二清洁组件210分离，第二清洁组件210接受旋转组件300的控制。
在一些实施例中，如图4所示，所述响应于所述清洁设备离开第一位置，所述升降组件将所述第二清洁组件移动至第二位置，之后包括如下步骤：
步骤S105：响应于旋转组件的旋转，所述第二清洁组件由第二位置移动至第三位置，同时，所述第一清洁组件由第三位置移动至第二位置。
在步骤S105中，基站100的控制中心控制旋转组件300旋转，所述第二清洁组件210由第二位置500移动至第三位置600，同时，所述第一清洁组件220由第三位置600移动至第二位置500。其中，第二位置500和所述第三位置600大致处于同一水平面，均处于旋转组件300的下表面，第三位置600可以具有1-7个，多个第三位置600均匀的分布于旋转组件300的下表面，例如旋转组件300具有1个、2个或3个第三位置600，当旋转组件300具有1个第三位置600时，第三位置600和第二位置500可以为对称结构，如图2-3所示，此时，旋转组件300旋转180度后第三位置600和第二位置500互换；当旋转组件300具有2个第三位置600时，旋转组件300旋转120度后其中1个第三位置600到达第二位置500；当旋转组件300具有3个第三位置600时，旋转组件300旋转90度后其中1个第三位置600到达第二位置500；以此类推，本申请以具有1个第三位置600为例进行说明。基站100的控制中心控制旋转组件300旋转后，所述第二清洁组件210由第二位置500移动至第三位置600，此时，由于第三位置600具有第一清洁组件220，经过旋转后，第一清洁组件220移动至第二位置500。
在步骤S106中，所述升降组件将所述第一清洁组件移动至所述第一位置，响应于所述清洁设备再次到达第一位置，所述升降组件将所述第一清洁组件装配于所述清洁设备。
通过旋转组件300的旋转，干净的所述第一清洁组件220由第三位置600移动至第二位置500，此时，控制升降组件110卡接住干净的所述第一清洁组件220的两端，同时，第一清洁组件220与旋转组件300脱离，随着升降组件110的下降，所述升降组件110将所述第一清洁组件220移动至所述第一位置400。此后，清洁设备200接收到基站100的控制指令，清洁设备200再次到达第一位置400，所述升降组件110将所述第一清洁组件220装配于所述清洁设备200。此时，清洁设备200更换清洁组件完毕，可以驶离基站对待清洁表面继续清洁。可见，本公开实施例能够对清洁设备的清洁组件进行自动更换，清洁设备更换完清洁组件后即可继续执行清洁任务，而不需要等待清洁组件清洗完毕后才能继续进行清洁，大大提高了清洁设备的清洁效率。
在一些实施例中，如图5所示，所述方法还包括如下步骤：
步骤S108：响应于旋转组件的旋转，所述第二清洁组件由第三位置移动至第二位置。
在步骤S108中，当清洁设备200更换完清洁组件后，基站100控制中心控制旋转组件300旋转，使脏了的所述第二清洁组件210由第三位置600旋转一定角度后移动至第二位置500，做好清洗准备。可以理解的，该步骤S108可以在所述升降组件110将所述第一清洁组件220从旋转组件300移走之后即可执行，不必等到第一清洁组件220装配到清洁设备200之后进行，可以更加提高清洁效率。
在一些实施例中，如图6所示，所述方法还包括如下步骤：
步骤S110：所述清洁设备再次离开第一位置，所述升降组件将所述第二清洁组件由所述第二位置移动至所述第一位置；
步骤S112：响应于所述第二清洁组件到达所述第一位置，洗布组件启动清洗所述第二清洁组件。
通过步骤S110和步骤S112，可以理解，清洁设备200离开基站100后，基站控制中心控制升降组件110将第二清洁组件210由所述第二位置500移动至所述第一位置400；并控制洗布组件启动清洗所述第二清洁组件210。
在一些实施例中，如图7所示，所述方法还包括如下步骤：
步骤S114：响应于所述第二清洁组件清洗完毕，所述升降组件将所述第二清洁组件由所述第一位置移动至所述第二位置。
在一些实施例中，所述方法还包括如下步骤：
步骤S116：响应于所述第二清洁组件到达所述第二位置，所述旋转组件将所述第二清洁组件由所述第二位置移动至所述第三位置；和/或，所述升降组件由所述第二位置移动至所述第一位置。
在步骤S114和步骤S116中，当所述第二清洁组件210清洗完毕后，所述升降组件110抵接第二清洁组件210的两端，将所述第二清洁组件210由所述第一位置400移动至所述第二位置500。然后，基站控制中心控制旋转组件300旋转，所述旋转组件300将所述第二清洁组件210由所述第二位置500移动至所述第三位置600；此时，第二清洁组件210清洗干净且处于待使用状态，同时，第二位置500处于空置的待接收状态。可选的，所述升降组件110由所述第二位置500归位至所述第一位置400。如此，完成一个清洁组件的拆装、更换、清洗、归位的循环，等待下一个循环的执行。
如上步骤S108-步骤S116为对第二清洁组件210清洗的步骤，该些步骤并不必然存在于清洁组件的更换过程中，例如，当旋转组件300具有多个干净的第一清洁组件220时，可以不必每次更换完清洁组件都执行清洗动作，也可以多次更换完后再顺次执行清洗动作。例如，当旋转组件300具有3个第三位置600和1个第二位置500，每次接收1个脏了的第二清洁组件210后存储于1个第三位置600，当第三位置600存满第二清洁组件210后，升降组件110顺次将第二清洁组件210移动至第一位置400进行清洗，清洗完后将其移动至第三位置600备用。
在一些实施例中，如图8-图9所示，所述升降组件110包括升降电机111、第一升降模组112、第二升降模组113、绳索114以及多个定滑轮115，所述绳索114通过多个定滑轮115串联所述升降电机111、第一升降模组112以及第二升降模组113，可选的，所述绳索串联所述升降电机、第一升降模组以及第二升降模组后形成大致为“8”字型结构。当所述升降电机111沿第一方向旋转时，例如顺时针旋转，升降电机111通过所述绳索114带动所述第一升降模组112和所述第二升降模组113同时上升；当所述升降电机111沿第二方向旋转时，例如逆时针旋转，通过所述绳索114带动所述第一升降模组112和所述第二升降模组113同时下降。
在一些实施例中，所述第一升降模组112、第二升降模组113具有拆装结构，拆装结构例如包括凹凸结构、定位结构等，拆装结构能够将所述清洁组件从所述清洁设备拆下或将所述清洁组件装配到所述清洁设备。本公开实施例对拆装结构不做具体限制，以能够实现拆装为准，例如，通过设置1个或几个电机控制拆装结构的凹凸结构移动，与清洁组件的解锁结构(例如弹簧、卡止结构)推抵后即可实现解锁。
本公开另一些实施例提供一种清洁设备的清洁组件更换方法，如图10所示，所述清洁组件包括第一清洁组件和第二清洁组件，第一清洁组件和第二清洁组件如上所述，在此不做赘述，所述方法包括如下步骤：
步骤S202：响应于所述清洁设备到达第一位置，升降组件从所述清洁设备拆卸所述第二清洁组件；
步骤S204：响应于所述清洁设备离开第一位置，所述升降组件将所述第二清洁组件移动至第二位置；
步骤S206：所述升降组件将所述第一清洁组件移动至所述第一位置，响应于所述清洁设备再次到达第一位置，所述升降组件将所述第一清洁组件装配于所述清洁设备。
在一些实施例中，图11(a)-图11(i)给出本实施例中清洁设备更换清洁组件的说明性示意图，如图11(a)-图11(i)所示，在竖直方向上由上到下依次为第二位置500’、所述第一位置400’和所述第三位置600’。其中，在所述清洁设备200到达第一位置400’状态下，所述第二位置500’位于所述清洁设备200上方，所述第一位置400’和所述第三位置600’位于所述清洁设备200下方。第一位置400’为清洗位置，清洗组件可以对位于第一位置400’的清洁组件清洗，第一位置400’也为拆装位置，清洁设备200到达第一位置400’后可以实现清洁组件的拆装。
如图11(a)所示，清洁设备回到基站前，干净的第一清洁组件220位于基站下方的第三位置600’，处于等待状态。如图11(b)所示，当清洁设备回到基站后，响应于所述清洁设备200到达第一位置400’，清洁设备200上的第二清洁组件210也到达第一位置400’，此时，第一位置400’位于第三位置600’的正上方，升降组件110从所述清洁设备200拆卸所述第二清洁组件210；之后，清洁设备200离开基站，如图11(c)所示，此时，第二清洁组件210位于第一位置400’，第一清洁组件220位于第二清洁组件210下方的第三位置600’。为了尽快的将干净的第一清洁组件220装配到清洁设备200上，先通过升降组件110将第二清洁组件210抬升到第二位置500’，如图11(d)所示，以便将干净的第一清洁组件220暴露出来，此后，进一步通过升降组件110将干净的第一清洁组件220抬升到第一位置400’，如图11(e)所示。然后，通知清洁设备200可以进入基站100更换清洁组件，如图11(f)所示，清洁设备200再次进入基站，升降组件110将干净的第一清洁组件220装配到清洁设备200，然后清洁设备200离开基站继续进行清洁，如图11(g)所示，整个过程只是执行了清洁组件的拆卸和装配动作，清洁设备配合进出基站2次，效率较高，避免了等待清洗清洁组件的过程。
在一些实施例中，如图12所示，所述方法还包括如下方法步骤：
步骤S208：所述清洁设备再次离开第一位置，所述升降组件将所述第二清洁组件由所述第二位置移动至所述第一位置；
步骤S210：响应于所述第二清洁组件到达所述第一位置，洗布组件启动清洗所述第二清洁组件。
在一些实施例中，所述方法还包括如下方法步骤：
步骤S212：响应于所述第二清洁组件清洗完毕，所述升降组件将所述第二清洁组件由所述第一位置移动至所述第三位置；和/或
所述升降组件由所述第三位置移动至所述第一位置。
如图11(h)所示，清洁设备200离开基站后，升降组件110将第二清洁组件210下降到第一位置400’，随后，基站控制中心控制清洗组件对第二清洁组件210进行清洗。清洗完毕后，升降组件110将第二清洁组件210下降到第三位置600’，等待下次更换使用，如图11(i)所示。
本实施例所述升降组件110的结构及升降原理如图8-9所示，具体参见如上实施例所述，在此不做赘述。
本实施例提供的清洁设备的清洁组件更换方法，能够对清洁设备的清洁组件进行自动更换，清洁设备更换完清洁组件后即可继续执行清洁任务，而不需要等待清洁组件清洗完毕后才能继续进行清洁，大大提高了清洁设备的清洁效率。
本公开一些实施例提供一种清洁设备的清洁组件更换装置，更换装置用于执行如上所述的更换方法，技术效果和技术原理参见如上实施例所述，在此不做赘述，所述清洁组件包括第一清洁组件和第二清洁组件，如图13所示，所述更换装置包括：
第一控制单元1302，配置为响应于所述清洁设备到达第一位置，控制升降组件从所述清洁设备拆卸所述第二清洁组件；
第二控制单元1304，配置为响应于所述清洁设备离开第一位置，控制所述升降组件将所述第二清洁组件移动至第二位置；
第三控制单元1306，配置为控制所述升降组件将所述第一清洁组件移动至所述第一位置，响应于所述清洁设备再次到达第一位置，控制所述升降组件将所述第一清洁组件装配于所述清洁设备。
在一些实施例中，第二控制单元1304还配置为，响应于旋转组件的旋转，控制所述第二清洁组件由第二位置移动至第三位置，同时，控制所述第一清洁组件由第三位置移动至第二位置。
在一些实施例中，第三控制单元1306还配置为，响应于旋转组件的旋转，控制所述第二清洁组件由第三位置移动至第二位置。
在一些实施例中，第三控制单元1306还配置为，所述清洁设备再次离开第一位置，控制所述升降组件将所述第二清洁组件由所述第二位置移动至所述第一位置；响应于所述第二清洁组件到达所述第一位置，控制洗布组件启动清洗所述第二清洁组件。
在一些实施例中，第三控制单元1306还配置为，响应于所述第二清洁组件清洗完毕，控制所述升降组件将所述第二清洁组件由所述第一位置移动至所述第二位置。
在一些实施例中，第三控制单元1306还配置为，响应于所述第二清洁组件到达所述第二位置，控制所述旋转组件将所述第二清洁组件由所述第二位置移动至所述第三位置；和/或，控制所述升降组件由所述第二位置移动至所述第一位置。
在一些实施例中，第三控制单元1306还配置为，响应于所述第二清洁组件清洗完毕，所述升降组件将所述第二清洁组件由所述第一位置移动至所述第三位置；和/或，控制所述升降组件由所述第三位置移动至所述第一位置。
本公开一些实施例提供一种基站，包括处理器和存储器，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现如上任一实施例所述的方法步骤。
本公开一些实施例提供一种非瞬时性计算机可读存储介质，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如上任一实施例所述的方法步骤。
如图14所示，基站可以包括处理装置(例如中央处理器、图形处理器等)1401，其可以根据存储在只读存储器(ROM)1402中的程序或者从存储装置1408加载到随机访问存储器(RAM)1403中的程序而执行各种适当的动作和处理。在RAM 1403中，还存储有基站操作所需的各种程序和数据。处理装置1401、ROM 1402以及RAM 1403通过总线1404彼此相连。输入/输出(I/O)接口1405也连接至总线1404。
通常，以下装置可以连接至I/O接口1405：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、加速度计、陀螺仪等的输入装置1406；包括例如液晶显示器(LCD)、扬声器、振动器等的输出装置1407；包括例如硬盘等的存储装置1408；以及通信装置1409。通信装置1409可以允许基站与其他设备进行无线或有线通信以交换数据。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
最后应说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的系统或装置而言，由于其与实施例公开的方法相对应，所以描述比较简单，相关之处参见方法部分说明即可。
以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。

Claims (18)

  1. 一种清洁设备的清洁组件更换方法，所述清洁组件包括第一清洁组件和第二清洁组件，其特征在于，所述方法包括：
    响应于所述清洁设备到达第一位置，升降组件从所述清洁设备拆卸所述第二清洁组件；
    响应于所述清洁设备离开所述第一位置，所述升降组件将所述第二清洁组件移动至第二位置；
    所述升降组件将所述第一清洁组件移动至所述第一位置，响应于所述清洁设备再次到达第一位置，所述升降组件将所述第一清洁组件装配于所述清洁设备。
  2. 根据权利要求1所述的方法，其特征在于，在所述升降组件将所述第二清洁组件移动至所述第二位置之后，所述方法还包括：
    响应于旋转组件的旋转，所述第二清洁组件由所述第二位置移动至第三位置，同时，所述第一清洁组件由所述第三位置移动至所述第二位置。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    响应于所述旋转组件的旋转，所述第二清洁组件由所述第三位置移动至所述第二位置。
  4. 根据权利要求1或3所述的方法，其特征在于，所述方法还包括：
    所述清洁设备再次离开所述第一位置，所述升降组件将所述第二清洁组件由所述第二位置移动至所述第一位置；
    响应于所述第二清洁组件到达所述第一位置，洗布组件启动清洗所述第二清洁组件。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    响应于所述第二清洁组件清洗完毕，所述升降组件将所述第二清洁组件由所述第一位置移动至所述第二位置。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    响应于所述第二清洁组件到达所述第二位置，所述旋转组件将所述第二清洁组件由所述第二位置移动至所述第三位置；和/或
    所述升降组件由所述第二位置移动至所述第一位置。
  7. 根据权利要求2-6任意一项所述的方法，其特征在于，所述第二位置和所述第三位置大致处于同一水平面，所述第一位置的高度在竖直方向上低于所述第二位置的高度和/或所述第三位置的高度。
  8. 根据权利要求7所述的方法，其特征在于，在所述清洁设备到达所述第一位置状态下，所述第二位置和所述第三位置位于所述清洁设备上方，所述第一位置位于所述清洁设备下方。
  9. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    响应于所述第二清洁组件清洗完毕，所述升降组件将所述第二清洁组件由所述第一位置移动至所述第三位置；和/或
    所述升降组件由所述第三位置移动至所述第一位置。
  10. 根据权利要求9所述的方法，其特征在于，所述第二位置、所述第一位置和所述第三位置在竖直方向上由上到下依次设置。
  11. 根据权利要求10所述的方法，其特征在于，在所述清洁设备到达所述第一位置状态下，所述第二位置位于所述清洁设备上方，所述第一位置和所述第三位置位于所述清洁设备下方。
  12. 根据权利要求1-3、5-6、8-11任意一项所述的方法，其特征在于，所述升降组件包括升降电机、第一升降模组、第二升降模组以及绳索，所述绳索串联所述升降电机、所述第一升降模组以及所述第二升降模组，当所述升降电机沿第一方向旋转时，通过所述绳索带动所述第一升降模组和所述第二升降模组同时上升；当所述升降电机沿第二方向旋转时，通过所述绳索带动所述第一升降模组和所述第二升降模组同时下降。
  13. 根据权利要求12所述的方法，其特征在于，所述绳索串联所述升降电机、所述第一升降模组以及所述第二升降模组后形成大致为“8”字型结构。
  14. 根据权利要求12所述的方法，其特征在于，所述第一升降模组和/或第二升降模组具有拆装结构，配置为将所述清洁组件从所述清洁设备拆下或将所述清洁组件装配到所述清洁设备。
  15. 根据权利要求14所述的方法，其特征在于，所述清洁组件具有解锁结构，配置为在所述拆装结构的作用下使所述清洁组件装配到所述清洁设备，或配置为在所述拆装结构的作用下使所述清洁组件从所述清洁设备拆下。
  16. 一种清洁设备的清洁组件更换装置，所述清洁组件包括第一清洁组件和第二清洁组件，其特征在于，所述更换装置包括：
    第一控制单元，配置为响应于所述清洁设备到达第一位置，控制升降组件从所述清洁设备拆卸所述第二清洁组件；
    第二控制单元，配置为响应于所述清洁设备离开所述第一位置，控制所述升降组件将所述第二清洁组件移动至第二位置；
    第三控制单元，配置为控制所述升降组件将所述第一清洁组件移动至所述第一位置，响应于所述清洁设备再次到达第一位置，控制所述升降组件将所述第一清洁组件装配于所述清洁设备。
  17. 一种基站，包括处理器和存储器，其特征在于，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现如权利要求1-15任一所述的方法步骤。
  18. 一种非瞬时性计算机可读存储介质，其特征在于，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如权利要求1-15任一所述的方法步骤。
PCT/CN2025/095116 2024-05-16 2025-05-15 清洁设备的清洁组件更换方法、装置、基站及存储介质 Pending WO2025237371A1 (zh)

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