WO2023078315A1 - 机器人清洁系统及其控制方法 - Google Patents

机器人清洁系统及其控制方法 Download PDF

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Publication number
WO2023078315A1
WO2023078315A1 PCT/CN2022/129379 CN2022129379W WO2023078315A1 WO 2023078315 A1 WO2023078315 A1 WO 2023078315A1 CN 2022129379 W CN2022129379 W CN 2022129379W WO 2023078315 A1 WO2023078315 A1 WO 2023078315A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
cleaning layer
mopping module
mopping
robot
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.)
Ceased
Application number
PCT/CN2022/129379
Other languages
English (en)
French (fr)
Inventor
张士松
钟红风
顾传祥
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.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou 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 Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Priority to CN202280055990.1A priority Critical patent/CN118076276A/zh
Priority to EP22889337.6A priority patent/EP4368091A4/en
Publication of WO2023078315A1 publication Critical patent/WO2023078315A1/zh
Priority to US18/653,649 priority patent/US20240277202A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • 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
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • 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
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • 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
    • 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
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to the technical field of intelligent equipment, in particular to a robot cleaning system and a control method thereof.
  • Robots can automatically perform pre-set related tasks according to the set procedures without human operation and intervention, which greatly saves people's time and brings life. convenient.
  • Cleaning robots with mopping functions can help people clean their homes. There is a mop at the bottom of the cleaning robot, which automatically walks in the room to perform mopping work, but the mop will become dirty after working for a period of time, affecting the cleaning effect. It is troublesome to clean or replace the mop manually.
  • some cleaning robots automatically clean the mop through the base station.
  • a cleaning tank is provided under the corresponding mop, and a cleaning roller and clean water are installed in the cleaning tank.
  • the cleaning roller rotates relative to the mop, and the mop is squeezed and cleaned by the rotation of the cleaning roller; or a cleaning tank is set There is a scraper, use the scraper to clean and squeeze the mop; after that, the sewage is recycled to the sewage tank.
  • the cleaning robot in the prior art reduces manual intervention by automatic water washing, the cleaning effect of the mop is not very satisfactory. After cleaning, there will be sewage residue on the mop and the base station; when cleaning the mop, the noise is relatively large, which affects user experience.
  • the object of the present invention is to provide a robot cleaning system that facilitates automatic replacement of mops.
  • a robot cleaning system comprising: a cleaning robot, a base station for the cleaning robot to dock;
  • the cleaning robot includes: a main body, which has a front end; a walking module, arranged on the main body, drives the cleaning robot to move on a working surface;
  • the mopping module includes a mopping base, and the mopping base is replaceable for the cleaning layer to form a cleaning surface, and the cleaning surface is used to clean the working surface;
  • the mopping module is movably connected to the On the main body, to switch between a first state and a second state; wherein in the first state, the cleaning surface is attached to the work surface, and in the second state, the cleaning surface is separated from the A working surface;
  • a drive module used to drive the mopping module to switch between the first state and the second state;
  • a control module at least used to control the drive module when the cleaning layer needs to be replaced Drive the mopping module to switch from the first state to the second state;
  • the robot cleaning system includes: a cleaning layer replacement mechanism; when the
  • the mopping base includes an abutment surface for abutting against the cleaning layer, and in the second state, the abutment surface forms an angle with the first direction, wherein the The first direction is an inbound direction of the cleaning robot.
  • the angle formed between the abutting surface and the first direction is greater than or equal to 30 degrees and less than or equal to 90 degrees.
  • the abutment surface is perpendicular to the first direction.
  • the angle between the abutment surface and the first direction is greater than or equal to 45 degrees and less than or equal to 60 degrees.
  • the cleaning layer replacement mechanism includes a cleaning layer removal mechanism arranged on the base station; the cleaning system includes a first transmission mechanism; The removed cleaning layer removal position; wherein, the cleaning layer removal mechanism is configured to pick up the cleaning layer on the mopping module at the cleaning layer removal position; the first transmission mechanism is configured to drive the cleaning layer At least one of the detachment mechanism and the mopping module moves so that the cleaning layer detachment mechanism and the mopping module generate relative displacements, so that the cleaning layer on the mopping module is separated from the mopping module.
  • the first transmission mechanism is at least configured to drive the mopping module to move during at least part of the process of separating the cleaning layer on the mopping module from the mopping module; wherein, During at least part of the process of separating the cleaning layer on the mopping module from the mopping module, the position of the cleaning layer removal mechanism is fixed.
  • the first transmission mechanism includes the walking module, and the walking module is at least configured to drive The cleaning robot moves toward the cleaning layer detachment mechanism, so that the mopping module and the cleaning layer detachment mechanism produce relative displacement; wherein, during at least part of the process of separating the cleaning layer on the mopping module from the mopping module , the position of the mopping module relative to the cleaning robot is fixed.
  • the first transmission mechanism includes a moving part, which is arranged on the cleaning robot and configured to at least partially separate the cleaning layer on the mopping module from the mopping module. , drive the mopping module to move towards the cleaning layer removal mechanism; wherein, during at least part of the process of separating the cleaning layer on the mopping module from the mopping module, the position of the cleaning robot is fixed .
  • the first transmission mechanism includes a first moving mechanism configured to drive the cleaning layer at least partly during the process of separating the cleaning layer on the mopping module from the mopping module.
  • the layer removal mechanism moves; wherein the cleaning robot and the mopping module are fixed in position during at least part of the process of separating the cleaning layer on the mopping module from the mopping module.
  • the mopping base is detachably connected to the cleaning layer; the mopping floor has a disassembly area; the cleaning layer detachment mechanism includes a hook;
  • the hook body and the mopping floor are at the cleaning layer removal position, the hook body cooperates with the removal area to remove the cleaning layer from the mopping module, wherein the removal area There is no interconnection with the cleaning layer.
  • the removal area includes a cloth removal slot configured for the hook body to pass through.
  • the cleaning layer replacement mechanism includes a dirty cloth box for storing the cleaning layer separated from the mopping module.
  • the dirty cloth box is arranged on the moving path of the cleaning layer separated from the mopping module, so that the cleaning layer falls into the dirty cloth box.
  • the removal position of the cleaning layer is located in the dirty cloth box.
  • the cleaning layer detachment mechanism is arranged on the dirty cloth box; the dirty cloth box has a first opening; the first opening is configured to allow the mopping module to extend in and When the mopping module leaves, the cleaning layer is left in the dirty cloth box.
  • the first opening of the dirty cloth box faces a second direction; wherein, the second direction is opposite to the first direction.
  • the first transmission mechanism includes a second moving mechanism, at least configured to drive the dirty cloth during at least part of the process of separating the cleaning layer on the mopping module from the mopping module.
  • the box moves so that the cleaning layer removal mechanism is displaced relative to the mopping module; wherein, during at least part of the separation process of the cleaning layer on the mopping module from the mopping module, the cleaning layer removal mechanism is relatively
  • the position of the dirty cloth box is fixed, the position of the cleaning robot is fixed, and the position of the mopping module relative to the cleaning robot is fixed.
  • the first transmission mechanism is at least configured to drive the mopping module to move during at least part of the process of separating the cleaning layer on the mopping module from the mopping module; wherein, During at least part of the process of separating the cleaning layer on the mopping module from the mopping module, the position of the dirty cloth box is fixed.
  • the first transmission mechanism includes the walking module, at least configured to drive the The cleaning robot moves toward the dirty cloth box, so that the mopping module is displaced relative to the cleaning layer removal mechanism; wherein, during at least part of the process of separating the cleaning layer on the mopping module from the mopping module, the The cleaning layer removal mechanism is fixed relative to the dirty cloth box, and the mopping module is fixed relative to the cleaning robot.
  • the first transmission mechanism includes a moving part, which is arranged on the cleaning robot and is configured to be at least partly in the process of separating the cleaning layer on the mopping module from the mopping module.
  • a moving part which is arranged on the cleaning robot and is configured to be at least partly in the process of separating the cleaning layer on the mopping module from the mopping module.
  • Drive the mopping module to move towards the dirty cloth box, so that the mopping module is displaced relative to the cleaning layer disassembly mechanism; wherein, the cleaning layer on the mopping module is separated from the mopping module
  • the position of the cleaning layer removal mechanism relative to the dirty cloth box is fixed, and the position of the cleaning robot is fixed.
  • the cleaning system has a cleaning layer removal position for removing the cleaning layer on the mopping module;
  • the cleaning layer replacement mechanism includes a cleaning layer removal mechanism arranged on the cleaning robot, configured In order to separate the cleaning layer on the mopping module from the mopping module at the cleaning layer removal position;
  • the cleaning system includes a motion mechanism configured to drive the cleaning layer removal mechanism to move, Make the cleaning layer removal mechanism and the mopping module produce relative displacement, so that the cleaning layer on the mopping module is separated from the mopping module; wherein, the cleaning layer on the mopping module is separated from the mopping module During at least part of the separation of the modules, the positions of the cleaning robot and the mopping module are fixed.
  • the cleaning layer detaching mechanism includes a turning member, and the turning member has an open state and a closed state; when the turning member is in the open state, the cleaning layer can be separated from the mopping module; When the turning member is in the closed state, the cleaning layer is installed on the mopping module; the moving mechanism includes a driving device configured to drive the turning member to switch from the closed state to the open state, thereby The cleaning layer on the mopping module is separated from the mopping module.
  • the cleaning layer replacement mechanism includes a dirty cloth box for storing the cleaning layer separated from the mopping module.
  • the dirty cloth box is arranged on the moving path of the cleaning layer separated from the mopping module, so that the cleaning layer falls into the dirty cloth box.
  • the removal position of the cleaning layer is located in the dirty cloth box.
  • the cleaning layer replacement mechanism includes a clean cloth box for accommodating the cleaning layer to be installed to the mopping module; the cleaning system has a cleaning layer installation position; the cleaning layer installation position is to The cleaning layer in the cleaning cloth box is installed at the position of the mopping module; the cleaning system includes a second transmission mechanism configured to drive at least one of the cleaning cloth box and the mopping module to move to reach The installation position of the cleaning layer is such that the cleaning layer in the clean cloth bin is installed on the mopping module.
  • the second transmission mechanism is at least configured to drive the mopping module to move during at least part of the process when the cleaning layer on the mopping module is installed on the mopping module; wherein, The cleaning layer on the mopping module is installed in at least part of the process of the mopping module, and the position of the cleaning cloth box is fixed.
  • the second transmission mechanism includes the walking module; at least configured to drive the cleaning robot during at least part of the process when the cleaning layer in the cleaning cloth box is installed on the mopping module Move to drive the mopping module to move towards the cleaning cloth box; wherein, during at least part of the process of installing the cleaning layer in the cleaning cloth box on the mopping module, the position of the cleaning cloth box is fixed, The position of the mopping module relative to the cleaning robot is fixed.
  • the second transmission mechanism includes a moving part, which is arranged on the cleaning robot and is at least configured to install at least part of the cleaning layer in the cleaning cloth box on the mopping module. , to drive the mopping module to move towards the cleaning cloth box; wherein, during at least part of the process in which the cleaning layer in the cleaning cloth box is installed on the mopping module, the cleaning robot and the cleaning cloth box The position is fixed.
  • the second transmission mechanism includes a third moving mechanism, at least configured to drive the cleaning cloth during at least part of the process when the cleaning layer in the cleaning cloth box is installed on the mopping module.
  • the box moves toward the mopping module; wherein, during at least part of the process of installing the cleaning layer in the cleaning cloth box on the mopping module, the positions of the cleaning robot and the mopping module are fixed.
  • the cleaning cloth box has a second opening; the second opening is configured to allow the mopping module to enter, so that the mopping module can install the cleaning layer.
  • the second opening of the cleaning cloth box faces a second direction; wherein, the second direction is opposite to the first direction.
  • the cleaning surface of the cleaning layer in the clean cloth box is parallel to the abutment surface; or, the angle formed between the cleaning surface of the cleaning layer in the clean cloth box and the first direction is equal to the abutment surface. The angle the boundary surface makes with the first direction.
  • the cleaning layer is a sheet-like mop; when there are at least two sheet-like mops, at least two sheets of the sheet-like mop are arranged in the cleaning cloth box in a stacked manner.
  • the mopping base has an adhesive area; the cleaning layer can be adhered to the adhesive area.
  • the cleaning cloth box is provided with a support portion configured to support the cleaning layer, so that the cleaning surface of the cleaning layer accommodated in the cleaning cloth box is at an angle to the first direction.
  • the driving mechanism drives the mopping module to lift a preset distance along a direction perpendicular to the working surface and then move toward the second state. Flip in one direction.
  • the base station includes: a platform for carrying the cleaning robot, the platform is provided with a first receiving tank, and the control module is configured to control the The driving module drives the mopping module to switch from the first state to the second state, and during at least part of the process of switching the mopping module from the first state to the second state, at least part of the mopping module It is accommodated in the first storage tank.
  • the cleaning system further includes: an in-position detection device configured to detect whether the cleaning layer removal mechanism and/or the mopping module have reached an alignment position; wherein, the alignment position refers to The position when the cleaning layer removal mechanism is aligned with the mopping module.
  • the cleaning system further includes: an in-position detection device configured to detect whether the dirty cloth box and/or the mopping module has reached an alignment position; wherein, the alignment position refers to the The position when the cleaning layer detachment mechanism and the mopping module are in the aligned state.
  • the cleaning system further includes: an in-position detection device configured to detect whether the cleaning cloth box and/or the mopping module have reached an alignment position; wherein, the alignment position refers to the The position when the cleaning cloth box and the mopping module are in the aligned state.
  • the cleaning system has a cleaning layer removal position that cooperates with the mopping module to remove the cleaning layer and a cleaning layer installation position for installing the cleaning layer;
  • the cleaning layer replacement mechanism includes: a dirty cloth box for accommodating the cleaning layer, a clean cloth box for accommodating the cleaning layer to be installed in the mopping module, and driving the dirty cloth box to move to a clean
  • the removal position of the cleaning layer and the installation position of the cleaning layer are the same preset position.
  • control module is at least configured to control the driving module to drive the mopping module to switch from the second state back to the first state after the replacement of the cleaning layer is completed.
  • the present disclosure also provides a control method of the robot cleaning system, which is applied to the above-mentioned robot cleaning system.
  • the method includes: when the cleaning layer needs to be replaced, the control module controls the driving module to drive the mopping module to switch from the first state to the second state. State: when the mopping module is in the second state, the cleaning layer replacement mechanism is operatively acting on the cleaning layer and/or the mopping base to replace the cleaning layer for the mopping module.
  • the robot cleaning system and its control method provided by the present invention can conveniently and automatically replace the mop when the cleaning robot has been working for a period of time and the mop becomes dirty.
  • the replacement of the mop is fast, quiet and does not cause damage to the environment or the base station. pollution, improve the reliability and work efficiency of the cleaning robot, and increase the user's satisfaction with the robot cleaning system.
  • Fig. 1 is a schematic diagram of a robot cleaning system provided by an embodiment of the present invention
  • Fig. 2 is a schematic diagram of the mopping module of the robot cleaning system provided in an embodiment of the present invention in the first state;
  • Fig. 3 is a schematic diagram of the mopping module of the robot cleaning system provided in an embodiment of the present invention in a second state;
  • Fig. 4 is a schematic diagram of the mopping module of the robot cleaning system provided in an embodiment of the present invention in a second state;
  • Fig. 5 is a schematic diagram of a cleaning robot in a robot cleaning system provided in an embodiment of the present invention when it is in a raised state;
  • Fig. 6 is a schematic diagram of a cleaning robot in a robot cleaning system provided in an embodiment of the present invention when it is in a raised state;
  • Fig. 7 is a schematic diagram of the mopping module of the robot cleaning system provided in an embodiment of the present invention returning to the base station in the second state;
  • Fig. 8 is a schematic diagram of a robot cleaning system picking up an old mop according to an embodiment of the present invention.
  • Fig. 9 is a schematic diagram of the robot cleaning system provided by an embodiment of the present invention exiting the dirty cloth box after removing the old mop;
  • Fig. 10 is a schematic diagram of a robot cleaning system acquiring a new mop according to an embodiment of the present invention.
  • Fig. 11 is a schematic diagram of the mopping module of the robot cleaning system in the first state in the base station according to an embodiment of the present invention
  • Fig. 12 is a schematic diagram of the mopping module of the robot cleaning system shown in Fig. 11 in a second state in the base station;
  • Fig. 13 is a schematic diagram of the robot cleaning system shown in Fig. 11 replacing the mop in the base station;
  • Fig. 14 is a schematic diagram of the dirty cloth box and the clean cloth box of the robot cleaning system provided at an angle according to an embodiment of the present invention
  • Fig. 15 is a schematic diagram of turning over the floor mopping module to the second state by the turning mechanism provided by an embodiment of the present invention
  • Fig. 16 is a schematic diagram of a turning mechanism provided by an embodiment of the present invention.
  • Fig. 17 is a schematic diagram of a driving mechanism provided by an embodiment of the present invention.
  • Fig. 18 is a schematic diagram of lifting the mopping module by the driving mechanism provided by an embodiment of the present invention.
  • Fig. 19 is a schematic diagram of turning over the mopping module by the driving mechanism provided by an embodiment of the present invention.
  • Fig. 20 is a schematic diagram of a robot cleaning system provided by the present invention.
  • Fig. 21 is a schematic diagram of a flipper provided in an embodiment of the present invention in a closed state
  • Fig. 22 is a schematic structural view of the flipper in an open state according to an embodiment of the present invention.
  • Fig. 23 is a schematic structural view of the flipper in another open state provided by an embodiment of the present invention.
  • Fig. 24 is a schematic structural view of the mopping base provided by an embodiment of the present invention when the cleaning layer is removed from the cleaning cloth box;
  • Fig. 25(a) is a schematic diagram of the cleaning layer removal mechanism provided by an embodiment of the present invention reaching the cleaning layer removal position;
  • Fig. 25(b) is a schematic diagram of removing the cleaning layer by the cleaning layer removal mechanism provided by an embodiment of the present invention.
  • Fig. 26(a) is a schematic diagram of the mopping module provided by an embodiment of the present invention moving toward the dirty cloth box and the turning member is in a closed state;
  • Fig. 26(b) is a schematic diagram of the driving device driving the turning member to open according to an embodiment of the present invention.
  • Figure 26(c) is a schematic diagram of the hook body provided by an embodiment of the present invention when the cleaning layer is removed;
  • Fig. 26(d) is a schematic diagram of the mopping module leaving the dirty cloth box provided by an embodiment of the present invention.
  • the fixed position mentioned in the present disclosure refers to non-active movement, so it can be understood as the position is constant or the position is basically constant, and the meaning of the position is basically constant, for example, the position is slightly changed due to the action of an external force).
  • the problem of how to maintain the cleaning robot with dragging function is to return the cleaning robot to the base station after the cleaning robot has been working for a period of time, and clean the cleaning robot through the automatic cleaning system set in the base station.
  • this automatic cleaning robot solution reduces manual intervention, the cleaning effect of the mop is not ideal, and there will be sewage residue on the mop and the base station after cleaning; in addition, when cleaning the mop, the noise is relatively large, affect user experience.
  • the present disclosure provides a robot cleaning system.
  • the mop can be replaced for the cleaning robot to achieve the purpose of cleaning the cleaning robot, which avoids the automatic cleaning process of the cleaning robot in the prior art , thereby avoiding the problems of sewage residue and noise generated during at least part of the cleaning process, and improving user experience.
  • the robot cleaning system includes: a cleaning robot and a base station for the cleaning robot to dock.
  • the above-mentioned cleaning robot includes: a main body, which has a front end; a walking module, which is arranged on the main body, and drives the cleaning robot to move on the working surface;
  • the cleaning layer can be replaced to form a cleaning surface, and the cleaning surface is used to clean the working surface, especially to clean the working surface when the cleaning robot is working;
  • the mopping module includes at least a first state and a second state , the mopping module is movably connected to the main body to switch between the first state and the second state; in the first state, the cleaning surface is attached to the working surface; in the second state, the cleaning surface is separated from the working surface
  • the driving module used to drive the mopping module to switch between the first state and the second state
  • the control module at least used to control the driving module to drive the mopping module to switch from the first state to the second state when the cleaning layer needs to be replaced. the second state;
  • control module can also control the driving module to drive the mopping module to switch from the first state to the second state.
  • the mopping module is set not to hinder the movement of the cleaning robot.
  • the cleaning system also includes: a cleaning layer replacement mechanism; when the mopping module is in the second state, the cleaning layer replacement mechanism is configured to operably act on the cleaning layer and/or the mopping base to replace the cleaning layer for the mopping module.
  • the cleaning layer replacement mechanism can be arranged on the cleaning robot, for example, the cleaning layer replacement mechanism includes a cleaning layer detachment mechanism for disassembling the cleaning layer such as a turning member arranged on the cleaning robot; it can also be arranged on the base station, such as The cleaning layer replacement mechanism is set on the hook body on the base station and other cleaning layer removal mechanisms for disassembling the cleaning layer; of course, a part can also be arranged on the cleaning robot, and a part is arranged on the base station.
  • the cleaning layer removal mechanism includes both The turning part on the base station also includes a hook body arranged on the base station; of course, in other embodiments, the cleaning layer replacement mechanism may also include a dirty cloth bin for storing dirty cloth and/or a clean cloth bin for new cloth, The dirty cloth warehouse and/or the clean cloth warehouse are arranged on the base station; and the cleaning layer removal mechanism is arranged on the cleaning robot or on the base station; it can be understood that the above-mentioned mechanisms with different functions can be arranged according to requirements (such as space layout) and the like This disclosure does not specifically limit it.
  • the above-mentioned replacement/replacement should be understood as including disassembly and installation, that is, the replacement of the cleaning layer (such as a mop) includes at least one of the disassembly and installation of the cleaning layer, for example, when the mopping base (such as mopping the floor) does not have a mop
  • changing the cleaning layer means installing an unused cleaning layer; if there is a cleaning layer on the mopping floor, changing the mopping cloth can include the removal of the cleaning layer on the mopping floor and the installation of an unused cleaning layer;
  • the cleaning layer usually refers to the used cleaning layer, that is, the dirty and unclean cleaning layer, while the unused cleaning layer usually refers to the new and clean cleaning layer.
  • the cleaning robot needs to replace the mop and can detect the dirtyness of the cleaning layer.
  • the degree of contamination, obtaining the elapsed working time of the cleaning robot using the cleaning layer or the cleaned cleaning area using the cleaning layer, or receiving a replacement instruction from the user, etc., will not be described in detail in this embodiment.
  • the removal and installation of the cleaning layer or the removal and installation of the cleaning layer can be determined according to user needs, or can be determined according to the program to detect whether the mopping floor has a cleaning layer when the cleaning robot needs to replace the mop. Do limited.
  • the cleaning layer replacement mechanism includes: a cleaning layer detaching mechanism for detaching the cleaning layer (such as mop paper).
  • the cleaning layer removal mechanism is arranged on the base station; further, the cleaning layer removal mechanism includes a hook body; the hook body is arranged on the base station.
  • the hook body can be arranged on the dirty cloth box; of course, in other embodiments, the hook body can also be arranged on the outside of the dirty cloth box, such as hook
  • the hook body is located between the mopping floor and the dirty cloth box, and the setting position of the hook body can be determined according to actual needs, so as to facilitate disassembly.
  • the mopping floor has a detachment area, and the detachment area can cooperate with the cleaning layer detachment mechanism to remove the cleaning layer from the mopping floor.
  • the dismounting area includes a cloth removal groove, and the outer edge of the mopping floor is recessed toward the inside of the mopping floor to form a cloth removal groove;
  • the cleaning layer removal mechanism includes a hook body; the hook body can cooperate with the cloth removal groove to remove the cleaning layer from the mop floor Remove the floor.
  • the cloth removal groove can be, for example, a dismounting through hole that cooperates with the hook body.
  • the cleaning layer has a part covering the cloth removal groove, and the hook body can pass through the cloth removal groove to hook the part of the cleaning layer covering the cloth removal groove, thereby removing the cleaning layer from the mopping floor.
  • the mopping module and the cleaning layer removal mechanism can move to the same preset position; on the other hand, the state of the mopping module and the cleaning layer removal mechanism needs to be Matching, such as the inclination angle of the removal area, needs to match the inclination angle of the cleaning layer removal mechanism.
  • the cleaning system includes a mop cleaning layer removal location configured to separate or remove the mopping floor from the cleaning layer.
  • the cleaning layer removal mechanism is configured to pick up the cleaning layer on the mopping module at the cleaning layer removal position. Picking up here can be understood as, for example, that the cleaning layer detaching mechanism is in contact with the cleaning layer and facilitates removal of the cleaning layer.
  • the hook body and the cloth removal groove can be in contact with each other, and then the two can be displaced to remove the cleaning layer from the mopping floor.
  • the hook body can pass through the cloth removal groove, hook the part of the cleaning layer covering the cloth removal groove, and then generate a further relative displacement through the two, thereby removing the cleaning layer from the mopping floor.
  • the cleaning system includes a first transmission mechanism configured to drive at least one of the cleaning layer detachment mechanism and the mopping module (especially the mopping floor) to move, so that the mopping module and the cleaning layer detachment mechanism generate Relative displacement, so that the cleaning layer on the mopping module is separated from the mopping module.
  • the first transmission mechanism is configured to drive at least one of the cleaning layer detachment mechanism and the mopping module (especially the mopping floor) to move to the cleaning layer detachment position;
  • at least one of the cleaning layer removal mechanism and the mopping module (especially the floor mopping module) is further driven to move, so that the cleaning layer on the mopping module is separated from the mopping module.
  • the first transmission mechanism can be, for example, a mechanical arm that drives the cleaning layer removal mechanism, a moving part (such as a telescopic mechanism) that drives the mopping module, a walking module that drives the cleaning robot to move and thus drives the mopping module, etc.
  • the cleaning layer removal position setting can be set according to requirements, for example, the mopping floor in the second state is just at the cleaning layer removal position; of course, the cleaning layer removal mechanism can be preset at the cleaning layer removal position, so that the When the movement of the first transmission mechanism is simplified.
  • the cleaning layer disassembly mechanism can be moved, and the mopping module (especially the mopping floor) cannot be moved; it can also be that the cleaning layer disassembly mechanism does not move, and the mopping module moves; It is also possible that the mopping module and the cleaning layer removal mechanism both move.
  • mopping module moves can be the passive movement that the motion of cleaning robot produces, also can drive the active motion that mopping module carries out by additionally arranging active motion mechanism (for example moving part); The active movement may also be a fixed position relative to the cleaning robot, and the passive movement is driven by the cleaning robot; this disclosure does not limit it.
  • the first transmission mechanism includes a first moving mechanism configured to drive the cleaning layer removal mechanism to move; during at least part of the process of separating the cleaning layer on the mopping module from the mopping module, The positions of the cleaning robot and the mopping module are fixed, and the first moving mechanism drives the cleaning layer removal mechanism to move, so that the cleaning layer removal mechanism generates a displacement relative to the mopping module.
  • the above-mentioned first moving mechanism is, for example, a mechanical arm that drives the cleaning layer removal mechanism to move.
  • the first transmission mechanism includes a moving part, which is arranged on the cleaning robot and is configured to drive the movement of the mopping module; when separating the cleaning layer on the mopping module from the mopping module, During at least part of the process, the cleaning robot and the cleaning layer removal mechanism are fixed in position, and the moving part drives the mopping module to move, so that the mopping module is displaced relative to the cleaning layer removal mechanism;
  • the first transmission mechanism includes the walking module, and during at least part of the process of separating the cleaning layer on the mopping module from the mopping module, the position of the cleaning layer removal mechanism is fixed.
  • the position of the mopping module is fixed relative to the cleaning robot; the walking module drives the cleaning robot to move, so that the mopping module generates a displacement relative to the cleaning layer removal mechanism, for example, the walking module drives the cleaning robot
  • the robot moves to the cleaning layer removal position, so that the cleaning layer removal mechanism picks up the cleaning layer on the mopping module at the cleaning layer removal position, and further, the walking module drives the cleaning robot to continue moving, so that the cleaning layer is removed
  • the mechanism removes the cleaning layer from the mopping module or the mopping floor to realize the separation of the cleaning layer and the mopping module.
  • the mopping module is driven by the movement of the cleaning robot, which simplifies the system structure and reduces the cost.
  • the cleaning layer removal mechanism is a hook body; the removal area includes a cloth removal slot, and at the cleaning layer removal position, the hook body can pass through the corresponding cloth removal slot.
  • hook bodies which are respectively arranged on two opposite side walls of the dirty cloth box; there are two cloth removal grooves, which are arranged on both sides of the mopping floor;
  • the line connecting the center of the cloth removal groove is parallel; or in other words, the line connecting the center of the hook body is parallel to the abutment surface of the mopping base or parallel to the cleaning surface of the cleaning layer.
  • the cleaning layer replacement mechanism includes a dirty cloth box for storing the cleaning layer separated from the mopping module.
  • the removed cleaning layer may be, for example, a used sheet mop or a dirty sheet mop.
  • the above-mentioned sheet-like mop may also be paper-based disposable mop paper.
  • Mode A The dirty cloth box is set on the moving path of the separated cleaning layer
  • Method B The removal position of the cleaning layer is located in the dirty cloth box
  • Mode C The cleaning layer removal mechanism is located on or inside the dirty cloth box.
  • the dirty cloth box is arranged on the moving path of the cleaning layer separated from the mopping module, so that the cleaning layer falls into the dirty cloth box.
  • the cleaning layer detachment mechanism (such as a hook body) is arranged on the dirty cloth box.
  • the cleaning layer detachment mechanism By installing the cleaning layer detachment mechanism on the dirty cloth box, the removed cleaning layer directly falls into the dirty cloth box.
  • the cleaning layer is disassembled in the dirty cloth box, and the cleaning layer can also be dropped into the dirty cloth box.
  • the interior of the dirty cloth box can also be provided with a maintenance part for supporting the removed cleaning layer, so that the removed cleaning layer can maintain the state when it is removed, and guide the path of removal;
  • the portion may be, for example, a step or a slope, which is not limited in this embodiment.
  • the separated cleaning layer can also be picked up and sent into the dirty cloth box by additionally setting a pick-up mechanism, or the separated cleaning layer can be manually picked up and put into the dirty cloth box.
  • the dirt cloth bin has a first opening configured to allow the mopping module to reach in and leave the cleaning layer in the dirt cloth bin when the mopping module exits.
  • the dirty cloth box includes a bottom and at least two opposite side walls, the side walls are connected to the bottom, the side walls and the bottom may form a first opening, wherein the first opening is opposite to the bottom.
  • the first opening of the dirty cloth box faces the second direction; wherein, the first direction is the entry direction of the cleaning robot, For example, the direction in which the cleaning robot points to the base station; the second direction is opposite to the first direction; that is, the second direction is the outbound direction of the cleaning robot, such as the direction in which the base station points to the cleaning robot or the direction in which the cleaning robot is away from the base station;
  • the first opening extends into the dirty cloth box and cooperates with the cleaning layer removal mechanism so that the mopping module leaves the first opening to leave the cleaning layer in the dirty cloth box.
  • the cleaning layer detachment position or the cleaning layer detachment mechanism is arranged at the first opening of the dirty cloth box.
  • the cleaning layer removal mechanism When the cleaning layer removal mechanism is arranged on the dirty cloth box (such as being arranged on the end of the side wall of the dirty cloth box away from the bottom) or in the dirty cloth box (such as being arranged at a preset position on the side wall of the dirty cloth box),
  • the movement of the cleaning layer removal mechanism can be realized by the movement of the dirty cloth box. Therefore, the relative displacement of the cleaning layer removal mechanism or the mopping module (especially the mopping floor) is as follows: the dirty cloth box moves, thereby driving the cleaning layer to be removed.
  • the mechanism moves passively, while the cleaning robot and mopping the floor do not move; the dirty cloth box does not move, and the cleaning layer removal mechanism does not move at this time, but the cleaning robot and/or mopping the floor move; the dirty cloth box moves, driving the cleaning layer removal mechanism passively moves, and at least one of the cleaning robot and the mopping also moves;
  • the first transmission mechanism includes a second moving mechanism configured to drive the dirty cloth box to move; at least part of the cleaning layer on the mopping module is separated from the mopping module During the process, the position of the cleaning layer removal mechanism is fixed relative to the dirty cloth box, the position of the cleaning robot is fixed, and the position of the mopping module is fixed relative to the cleaning robot; the second moving mechanism drives the dirty cloth The box moves, thereby driving the cleaning layer dismounting mechanism to move, so that the cleaning layer dismounting mechanism generates a displacement relative to the mopping module.
  • the second moving mechanism drives the dirty cloth box to move towards the mopping module, so that The floor mopping module stretches into the dirty cloth box through the first opening, and reaches a position in contact with the cleaning layer dismounting mechanism (such as the cleaning layer dismounting position), and by further moving, the cleaning layer is separated from the mopping module; then the second moving mechanism Drive the dirty cloth box to move in the opposite direction (direction away from the mopping module), so that the mopping module leaves the first opening, and when the mopping module leaves, the cleaning layer falls or has fallen into the dirty cloth box.
  • the cleaning layer dismounting mechanism such as the cleaning layer dismounting position
  • the second movement drives the dirty cloth box to move towards the mopping module, so that the mopping module reaches the position in contact with the cleaning layer removal mechanism, and through further movement, it extends into the dirty cloth box through the first opening, for example, moves to a distance of 0 from the bottom position, so that the cleaning layer is separated from the mopping module; then the second moving mechanism drives the dirty cloth box to move the preset distance in the opposite direction (direction away from the mopping module), and when the mopping module leaves the first opening, the cleaning layer falls into or has fallen into the dirty cloth bin.
  • the first transmission mechanism is at least configured to drive the mopping module to move during at least part of the process of separating the cleaning layer on the mopping module from the mopping module; wherein, During at least part of the separation of the cleaning layer on the mopping module from the mopping module, the position of the dirty cloth box is fixed.
  • the implementation of mopping module movement includes at least one of the following:
  • the first transmission mechanism includes the walking module
  • the position of the dirty cloth box is fixed, the position of the cleaning layer removal mechanism is fixed relative to the position of the dirty cloth box, and the mopping
  • the position of the floor module is fixed relative to the cleaning robot; the walking module drives the cleaning robot to move toward the dirty cloth box, thereby driving the mopping module to move, so that the mopping module and the cleaning layer removal mechanism produce relative displacement.
  • the first transmission mechanism includes a moving part, which is arranged on the cleaning robot and configured to drive the mopping module to move;
  • the position of the dirty cloth box is fixed, the position of the cleaning layer removal mechanism is fixed relative to the position of the dirty cloth box, and the cleaning The position of the robot is fixed; the moving part drives the mopping module to move towards the dirty cloth box, so that the mopping module and the cleaning layer removal mechanism generate relative displacement.
  • the kinematic relationship during disassembly is matched with the kinematic relationship during installation.
  • dismounting the mopping module moves and the dirty cloth box does not move;
  • the mopping module moves, and the clean cloth box does not move; or, when disassembled, the mopping module does not move, and the dirty cloth box moves; during installation, the mopping module does not move, and the clean cloth box moves.
  • the first transmission mechanism when disassembled, includes a moving part, which is arranged on the cleaning robot, and during at least part of the process of separating the cleaning layer on the mopping module from the mopping module, the The moving part drives the mopping module to move towards the dirty cloth box (or the cleaning layer removal mechanism), so that the mopping module and the dirty cloth box (or the cleaning layer removal mechanism) produce relative displacement; then during installation, the second transmission
  • the mechanism includes a moving part, which is arranged on the cleaning robot. During at least part of the process of installing the cleaning layer in the cleaning cloth box on the mopping module, the moving part drives the mopping module toward the clean The cloth box moves; making the mopping module and the clean cloth box produce relative displacement.
  • the first transmission mechanism includes a moving part, which is arranged on the cleaning robot, and connects the cleaning layer on the mopping module with the mopping module During at least part of the separation process, the moving part drives the mopping module to move towards the dirty cloth box, so that the mopping module and the cleaning layer removal mechanism produce relative displacement; wherein, the cleaning layer on the mopping module During at least part of the process of separating from the mopping module, the position of the dirty cloth box is fixed, the position of the cleaning layer removal mechanism is fixed relative to the dirty cloth box, and the position of the mopping module is fixed relative to the cleaning robot During installation, the second transmission mechanism includes a moving part, which is arranged on the cleaning robot, and the cleaning layer in the cleaning cloth box is installed in at least part of the process of the mopping module, and the moving part drives the The mopping module moves towards the cleaning cloth box; the mopping module and the cleaning cloth box produce relative displacement; wherein, during at least part of the process where
  • the first transmission mechanism when disassembled, includes a walking module, which is arranged on the cleaning robot, and during at least part of the process of separating the cleaning layer on the mopping module from the mopping module, The walking module drives the cleaning robot to move, thereby driving the mopping module to move towards the dirty cloth box (or the cleaning layer disassembly mechanism), so that the mopping module and the dirty cloth box (or the cleaning layer disassembly mechanism) produce relative displacement; Then during installation, the second transmission mechanism includes the walking module, and during at least part of the process of installing the cleaning layer in the cleaning cloth box on the mopping module, the walking module drives the cleaning robot to move, thereby driving the The mopping module moves toward the clean cloth box, so that the mopping module and the clean cloth box generate relative displacement. .
  • the first transmission mechanism includes a walking module, which is arranged on the cleaning robot, and connects the cleaning layer on the mopping module with the mopping module During at least part of the separation process, the walking module drives the cleaning robot to move, thereby driving the mopping module to move towards the dirty cloth box; wherein, the cleaning layer on the mopping module is separated from the mopping module During at least part of the process, the position of the cleaning layer removal mechanism is fixed relative to the dirty cloth box, and the position of the mopping module is fixed relative to the cleaning robot.
  • the second transmission mechanism includes the walking module, and drives the cleaning robot to move during at least part of the process of installing the cleaning layer in the cleaning cloth box on the mopping module, thereby driving the mopping module Moving towards the clean cloth box; during at least part of the process in which the cleaning layer in the clean cloth box is installed on the mopping module, the position of the mopping module relative to the cleaning robot is fixed, and the clean cloth The position of the box is fixed.
  • the first transmission mechanism when disassembled, includes a second moving mechanism, at least configured to drive the The dirty cloth box moves so that the cleaning layer removal mechanism is displaced relative to the mopping module; wherein, during at least part of the process of separating the cleaning layer on the mopping module from the mopping module, the cleaning layer removal mechanism is relatively The position of the dirty cloth box is fixed, the position of the cleaning robot is fixed, and the position of the mopping module relative to the cleaning robot is fixed.
  • the second transmission mechanism includes a third moving mechanism, which is at least configured to drive the cleaning cloth box toward The mopping module moves; wherein, during at least part of the process of installing the cleaning layer in the cleaning cloth box on the mopping module, the positions of the cleaning robot and the mopping module are fixed.
  • the kinematic relationship during disassembly may not match the kinematic relationship during installation.
  • the mopping module moves, but the dirty cloth box does not move; when installing, the mopping module does not move.
  • the mopping module does not move, and the dirty cloth box moves; when installing, the mopping module moves, but the clean cloth box does not move; at this time, the difficulty of control increases and the number of moving mechanisms increases. , is not conducive to cost reduction.
  • the process of separating the cleaning layer on the mopping module from the mopping module at least includes a process in which at least one of the dirty cloth box (or cleaning layer removal mechanism) and the mopping module moves to the cleaning layer removal position , the process of contacting the cleaning layer on the mopping module with the cleaning layer detachment mechanism, the process of further displacement between the cleaning layer detachment mechanism and the cleaning layer on the mopping module, etc.
  • the process of installing the cleaning layer in the cleaning cloth box on the mopping module at least includes at least one of the cleaning cloth box or the mopping module moving to the installation position of the cleaning layer, the cleaning layer and the mopping module.
  • the base station also includes an in-position detection device configured to obtain the position of the mopping floor, the cleaning layer removal mechanism or the dirty cloth box, so as to determine whether the mopping floor, the cleaning layer removal mechanism Or whether the dirty cloth box is moved in place so as to realize the removal of the mopped floor;
  • the in-position detection device includes, for example, a position sensor group or a limit mechanism.
  • the base station includes: a first position detection device configured to detect whether the dirty cloth box has reached the cleaning layer removal position, so as to determine whether to perform subsequent cleaning layer removal operations.
  • the dirty cloth box when the dirty cloth box (or the cleaning layer removal mechanism provided thereon) is not in alignment with the mopping module, the dirty cloth box is configured to be driven by the second moving mechanism Move down to the alignment position corresponding to the alignment state, so that the cleaning layer removal mechanism and the mopping module are in the alignment state.
  • the alignment position can be realized by a sensor or a limit mechanism on the base station.
  • the above-mentioned moving part can be a telescopic mechanism, which can drive the mopping module (especially the mopping base) to perform stretching and contraction movements; further, the telescopic mechanism can be a telescopic rod, which has a simple structure Easy to implement.
  • the moving part can also be a manipulator or other mechanical mechanism, as long as it can drive the mopping module to move, which is not limited in this embodiment.
  • the cleaning layer replacement mechanism includes a cleaning layer detachment mechanism, the cleaning layer detachment mechanism is arranged on the cleaning robot, and is configured to drag the The cleaning layer on the floor module is separated from the mopping module; further, the cleaning layer detaching mechanism includes an overturning member 500, which is arranged on the cleaning robot.
  • the turning member 500 is set on the mopping module (especially the mopping base 1011 ).
  • the turning member may be a clamping mechanism, wherein the clamping mechanism may be, for example, a mechanical claw.
  • the turning member 500 has an open state and a closed state.
  • the cleaning layer 101 can be separated from the mopping module; when the turning member 500 is in the closed state, The cleaning layer is installed on the mopping module.
  • the flipping member when the flipping member is in the open state, the flipping member forms a first angle with the attachment surface; when the flipping member is in the closed state, the flipping member forms a second angle with the attachment surface; The first angle is different from the second angle.
  • the cleaning system includes a movement mechanism configured to drive the cleaning layer detachment mechanism (for example, the turning member 500 ) to move, so that the cleaning layer detachment mechanism and the cleaning layer detachment mechanism
  • the mopping module generates relative displacement so that the cleaning layer on the mopping module is separated from the mopping module; wherein, during at least part of the process of separating the cleaning layer on the mopping module from the mopping module , the positions of the cleaning robot and the mopping module are fixed.
  • the moving mechanism may be, for example, a driving device 601 that drives the opening and closing of the flipping member, so that the flipping member is switched between an open state and a closed state.
  • the driving device 601 includes a driving motor, for example, and the driving motor drives the flipping member 500 to rotate around the shaft 602. .
  • the motion mechanism includes a driving device 601 configured to drive the turning member 500 to switch from the closed state to the open state, thereby mopping the floor
  • the cleaning layer 101 on the module is separated from the mopping module (especially the mopping base 1011 ).
  • the mopping base (such as a mopping floor) has a detachment area that can cooperate with a cleaning layer detachment mechanism to remove the cleaning layer from the mopping floor.
  • the motion mechanism includes a driving device 601, and the driving device 601 is configured to drive the turning member 500 to switch from the open state to the closed state, so that the clean cloth box 402
  • the inner cleaning layer 101 is installed on the mopping module (especially the mopping base 1011).
  • the cleaning system includes a cleaning layer removal position for removing the cleaning layer on the mopping module; further, the cleaning layer removal mechanism is configured to separate the cleaning layer from the mopping module at the cleaning layer removal position. The mopping module is separated.
  • the cleaning robot includes a first transmission mechanism for driving the mopping module to move, thereby driving The cleaning layer removal mechanism moves to the cleaning layer removal position.
  • the first transmission mechanism includes a moving part, which is arranged on the cleaning robot and is configured to drive the mopping module to move to the cleaning layer removal position, so that the cleaning layer removal mechanism moves to the cleaning layer removal position, and then further passes the moving mechanism Drive the movement of the cleaning layer disassembly mechanism to realize the separation of the cleaning layer and the mopping module.
  • the first transmission mechanism includes a walking module, which is configured to drive the mopping module to move to the cleaning layer removal position, so that the cleaning layer removal mechanism moves to the cleaning layer removal position, and then the movement mechanism further drives the cleaning layer removal mechanism to open. Separation of the cleaning layer from the mopping module.
  • the mopping module is driven by the movement of the cleaning robot, which simplifies the system structure and reduces the cost.
  • the setting of the removal position of the cleaning layer can be set according to requirements.
  • the mopping floor in the second state is just at the removal position of the cleaning layer.
  • the cleaning layer separates the cleaning layer from the mopping module.
  • the mopping module can be provided with a button to control the switch of the turning member, and the opening and closing of the turning member can be realized through manual or automatic control.
  • the cleaning layer replacement mechanism includes a dirty cloth box 403 for storing the cleaning layer 101 separated from the mopping module.
  • the dirty cloth box is arranged on the moving path of the cleaning layer separated from the mopping module, so that the cleaning layer falls into the dirty cloth box.
  • Method B The removal position of the cleaning layer is located in the dirty cloth box
  • the cleaning layer detachment position is set in the dirty cloth box, so that the cleaning layer detachment mechanism (such as a turning member) is disassembled at the cleaning layer detachment position, and the cleaning layer can also be dropped into the dirty cloth box.
  • the cleaning layer detachment mechanism such as a turning member
  • the first transmission mechanism is at least configured to drive the mopping module to move to the cleaning layer removal position; wherein, at least when the first transmission mechanism drives the mopping module to the cleaning layer removal position During part of the process, the position of the dirty cloth bin is fixed.
  • the first transmission mechanism includes a walking module; during at least part of the movement of the mopping module to the cleaning layer removal position, the position of the dirty cloth box is fixed, and the position of the cleaning layer removal mechanism is relatively fixed relative to the mopping module.
  • the position of the mopping module is fixed relative to the cleaning robot; the walking module drives the cleaning robot to move toward the dirty cloth box, thereby driving the mopping module to move, so that the cleaning layer removal mechanism moves to the cleaning layer removal position.
  • the first transmission mechanism includes a moving part, which is arranged on the cleaning robot and configured to drive the mopping module to move;
  • the moving part drives the mopping module to move towards the dirty cloth box, so that the cleaning The layer removal mechanism moves to the cleaning layer removal position.
  • Mode C The cleaning layer removal mechanism is in the dirty cloth box.
  • the cleaning layer detachment mechanism in the second state is just in the dirty cloth box; of course, in another embodiment, when the cleaning layer detachment mechanism is not in the dirty cloth box, the cleaning layer is detached A mechanism (such as a flipper) extends into the dirty cloth bin.
  • the cleaning layer disassembly mechanism extends into the dirty cloth box
  • the mopping module especially the mopping floor
  • the cleaning layer disassembly mechanism on it do not move
  • the dirty cloth box does not move
  • the mopping module moves (thereby driving the cleaning layer removal mechanism on it to move); it can also be that the mopping module and the dirty cloth box all move.
  • mopping module moves can be the passive movement that the motion of cleaning robot produces, also can drive the active motion that mopping module carries out by additionally setting active movement mechanism (for example moving part);
  • active movement mechanism for example moving part
  • mopping module can be relatively cleaning robot
  • the active movement may also be a fixed position relative to the cleaning robot, and the passive movement is driven by the cleaning robot; this disclosure does not limit it.
  • the first transmission mechanism includes a second moving mechanism configured to drive the dirty cloth box to move; during at least part of the process when the cleaning layer removal mechanism on the mopping module extends into the dirty cloth box, the cleaning robot and the mopping module
  • the position is fixed, and the position of the cleaning layer removal mechanism on the mopping module is also fixed.
  • the first moving mechanism drives the dirty cloth box to move, so that the cleaning layer removal mechanism extends into the dirty cloth box; the cleaning layer removal mechanism extends into the dirty cloth box
  • the cleaning layer removal mechanism moves relative to the mopping module under the drive of the moving mechanism (such as a driving device), and switches from the closed state to the open state, thereby removing the cleaning layer from the mopping module.
  • the removed cleaning layer Dropped into the Dirty Cloth Chest.
  • the above-mentioned second moving mechanism includes, for example, guide rails and driving motors that drive the movement of the dirty cloth box.
  • the first transmission mechanism includes a moving part, which is arranged on the cleaning robot and is configured to drive the movement of the mopping module; during at least part of the process when the cleaning layer removal mechanism extends into the dirty cloth box, the cleaning robot and the dirty cloth box are fixed in position , the moving part drives the mopping module to move, thereby driving the cleaning layer removal mechanism on the mopping module to extend into the dirty cloth box.
  • the first transmission mechanism includes a walking module, and during at least part of the process when the cleaning layer removal mechanism extends into the dirty cloth box, the position of the dirty cloth box is fixed, and the position of the mopping module is fixed relative to the cleaning robot;
  • the walking module drives the cleaning robot to move, and drives the mopping module to move, so that the cleaning layer removal mechanism on the mopping module extends into the dirty cloth box.
  • the mopping module is driven by the movement of the cleaning robot, which simplifies the system structure and reduces the cost.
  • the dirty cloth box has a first opening configured to allow the mopping module to enter and leave the cleaning layer in the dirty cloth box when the mopping module leaves.
  • the dirty cloth box includes a bottom and at least two opposite side walls, the side walls are connected to the bottom, the side walls and the bottom can form a first opening, wherein the first opening is opposite to the bottom.
  • the movement mechanism drives the cleaning layer dismounting mechanism (such as the flipper) to switch from the closed state to the open state, so that the cleaning layer is separated from the mopping module, and the cleaning layer is left in the dirty cloth box when the mopping module leaves the first opening.
  • the cleaning layer removal position is set at a position close to the bottom of the dirty cloth box.
  • the base station In order to determine whether the mopping floor, the cleaning layer removal mechanism or the dirty cloth box have reached the designated position, further, the base station also includes an in-position detection device configured to obtain the position of the mopping floor, the cleaning layer removal mechanism or the dirty cloth box, so as to determine whether the mopping floor, cleaning layer removal mechanism or the dirty cloth box Whether the cleaning layer removal mechanism or the dirty cloth box is moved in place to realize the removal of the cleaning layer;
  • the in-position detection device includes, for example, a position sensor group or a limit mechanism.
  • the base station includes: an in-position detection device for detecting whether the mopping floor has reached the cleaning layer removal position, so as to determine whether to perform a subsequent cleaning layer removal operation.
  • the mopping board when the mopping floor (or the cleaning layer removal mechanism provided thereon) is not in alignment with the dirty cloth box, the mopping board is configured to move under the drive of the first transmission mechanism to the alignment position corresponding to the alignment state, so that the cleaning layer removal mechanism is aligned with the mopping module.
  • the alignment position can be realized by a sensor or a limit mechanism on the cleaning robot or the base station.
  • the mopping base 1011 in order to improve the firmness of the cleaning layer and prevent it from falling off during the movement of the cleaning robot or mopping the floor, further, the mopping base 1011 includes Paste area capable of bonding the cleaning layer.
  • the turning member 500 in order to improve the firmness of the cleaning layer, has an adhesive surface capable of bonding the cleaning layer.
  • the removal area includes a cloth removal groove, and the outer edge of the mopping floor is recessed to the inside of the mopping floor to form a cloth removal groove;
  • the cleaning layer removal mechanism includes a hook body 404 arranged on the base station (especially the dirty cloth box 403); the hook body Can be used in conjunction with the cloth removal channel to remove the cleaning layer from the mopped floor.
  • the cloth removal groove may be, for example, a disassembly through hole matched with the hook body.
  • the cleaning layer has a part covering the cloth removal groove
  • the hook body can pass through the cloth removal groove, and hook the part of the cleaning layer covered in the cloth removal groove, so as to remove the cleaning layer from the mopping floor. Mopping the floor in the paste area can improve the reliability of removal.
  • the cleaning layer removal mechanism also includes a hook body arranged on the base station (especially the dirty cloth box).
  • the movement mechanism drives the cleaning layer removal mechanism (such as the flipper) arranged on the cleaning robot (especially the mopping module), so that the flipper is in an open state; for example, the hook body 404
  • the movement mechanism (such as the driving device 601) drives the cleaning layer removal mechanism (such as flipper 500), so that the flipper is in an open state; then the cleaning layer 101 is operated to complete subsequent removal by the hook body 404 on the dirty cloth box, so that the cleaning layer 101 falls into the dirty cloth box 403.
  • the cleaning layer detaching mechanism includes a hook disposed on the base station
  • the process of detaching the cleaning layer by the hook body can refer to the relevant discussions above, and will not be repeated here.
  • the cleaning layer removal mechanism can also be a manipulator or other mechanisms in addition to the above-mentioned hooks (such as paper removal hooks) and flippers (such as clamping mechanisms), as long as the cloth can be removed.
  • the mopping base is provided with a connection area for connecting the cleaning layer
  • a connection area for connecting the cleaning layer is provided on the cleaning layer detachment mechanism on the cleaning robot.
  • the mopping base (such as a mopping floor) is provided with a connecting area for connecting the cleaning layer.
  • the connecting area includes an adhesive area, to which the cleaning layer can be adhered; specifically, the adhesive area includes an adhesive portion, to which the cleaning layer can be adhered, so as to realize the connection between the mopping floor and the cleaning layer.
  • the sticking area can be, for example, a Velcro.
  • a cleaning area for connecting the cleaning layer can be set on the turning member
  • the turning member has an adhesive surface capable of adhering the cleaning medium, and the connection area includes the adhesive surface.
  • both the turning member and the mopping base can be provided with a cleaning area connected to the cleaning layer.
  • the cleaning system of the present application (especially the cleaning layer replacement mechanism) includes a cloth box configured to accommodate the cleaning layer to be installed on the mopping module.
  • the cleaning layer is a sheet-like mop; when there are at least two sheet-like mops, at least two sheets of the sheet-like mop are arranged in the cleaning cloth box in a stacked manner.
  • 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.
  • the connection position will be adjusted adaptively to connect with the corresponding cleaning layer, that is, the cleaning layer can have different placement positions, and the mopping floor can have different positions.
  • the connection position corresponds to the placement position, so that the corresponding cleaning layer can be taken out; preferably, the cleaning layer is completely overlapped when stacked.
  • the occupied space of the cleaning layer can be saved, for example, the cleaning cloth can be reduced
  • the size of the box since the cleaning layer can be connected at the same position every time, it is simple and convenient to take the cleaning layer every time.
  • a cleaning layer installation position can be preset, and the mopping module and the cleaning cloth box move to the installation position to facilitate docking;
  • the state of the mopping module and the clean cloth box needs to match, for example, the inclination angle of the mopping module (when connected to the unused cleaning layer, for example, in the second state) relative to the direction of the station, and the state of the clean cloth box.
  • the opening orientation of the cloth box and the inclination angle of the cleaning layer in the clean cloth box need to match.
  • the cleaning system includes a cleaning deck mounting location configured to mount the cleaning deck to a mopped floor.
  • the mopping floor is configured to be connected with the cleaning layer on the cleaning cloth box at the installation position of the cleaning layer.
  • the mopping floor can be in contact with the cleaning layer to install the cleaning layer on the mopping floor.
  • the layer is more firmly installed on the mop floor.
  • the cleaning layer includes a cleaning layer dismounting mechanism arranged on the cleaning robot, for example, when a flipping member is arranged on the mopping module, in order to install the cleaning layer on the mopping floor, mopping the floor or
  • the turning part is provided with a connecting area connecting the cleaning layer; when considering that the mopping floor or the turning part is not provided with a connecting area connecting the cleaning layer, in order to fix the cleaning layer on the mopping floor, when the cleaning layer is in contact with the mopping floor or in the cleaning layer
  • the moving mechanism (such as a driving device) drives the cleaning layer dismounting mechanism (especially the turning piece) that is arranged on the cleaning robot (especially the mopping base) to move, so that the cleaning layer removing mechanism (especially the turning piece) is switched to closed state, thereby installing the cleaning layer on the mopping module.
  • the mopping floor is provided with a connection area (such as a pasting area) connecting the cleaning layer or the flipper is provided with a connection area (such as an adhesive surface) connecting the cleaning layer; after the mopping floor can be in contact with the cleaning layer; after the mopping floor can be in contact with the cleaning layer
  • a connection area such as a pasting area
  • the cleaning layer can also be achieved by the following methods: when the mopping floor or the turning piece is in contact with the cleaning layer or When the cleaning layer is installed in the position, the moving mechanism (such as a driving device) drives the cleaning layer dismounting mechanism (especially the turning piece) that is arranged on the cleaning robot (especially the mopping base) to move, so that the cleaning layer removing mechanism (especially the turning piece) ) to the closed state, at this time, the cleaning layer removal mechanism can also play the role of installation or fixing.
  • the movement mechanism drives the cleaning layer dismounting mechanism (especially the overturning piece) arranged on the cleaning robot (especially the mopping base) to move, so that the cleaning layer demounting mechanism (especially the overturning piece)
  • the clean cloth box has an operating space for the movement of the cleaning layer's disassembly mechanism; or, after the cleaning layer is connected to the mopping module, outside the clean cloth box, the movement mechanism Drive the cleaning layer removal mechanism (especially the flipper) on the cleaning robot (especially the mopping base) to move, so that the cleaning layer removal mechanism (especially the flipper) is switched to the closed state to improve the firmness of the cleaning layer.
  • the cleaning system includes a second transmission mechanism, which is configured to drive at least one of the cleaning cloth box and the mopping module (especially the mopping floor) to move, so that a relative displacement occurs between the mopping floor and the cleaning cloth box, so that The cleaning layer on the mopping module is installed on the mopping module.
  • the second transmission mechanism is configured to drive at least one of the cleaning cloth box and the mopping module (especially mopping the floor) to move to the installation position of the cleaning layer, so that the cleaning layer in the cleaning cloth bin is installed on the cleaning layer. Mop the floor module; and when the mop floor and the clean cloth box are located at the installation position of the cleaning layer, at least one of the clean cloth box and the mop module (especially the mop floor) is driven to move further, so that the cleaning in the clean cloth box Layers are mounted to the mopping module.
  • the cleaning cloth box and the mopping module especially mopping the floor
  • the installation position of the cleaning layer can be set according to requirements, for example, the mopping floor in the second state is just at the installation position of the cleaning layer; of course, the cleaning cloth box can be preset at the installation position of the cleaning layer, so that The movement of the second transmission mechanism is simplified.
  • the cloth box can be moved, and the mopping module (especially the floor mopping) can’t be moved;
  • the ground module moves; it is also possible that both the mopping module and the cleaning cloth box move.
  • mopping module moves can be the passive motion that the motion of cleaning robot produces, also can drive the active motion that mopping module carries out by additionally arranging active moving mechanism (for example moving part); Active movement; it can also be fixed relative to the cleaning robot, driven by the cleaning robot to perform passive movement; this disclosure does not limit it.
  • the second transmission mechanism includes a third moving mechanism configured to drive the movement of the cleaning cloth box; when the cleaning layer in the cleaning cloth box is installed on the mopping module During at least part of the process, the positions of the cleaning robot and the mopping module are fixed, and the third moving mechanism drives the cloth cleaning box to move, so that the cloth cleaning box is displaced relative to the mopping module.
  • the second transmission mechanism includes a moving part, which is arranged on the cleaning robot and is configured to drive the movement of the mopping module; when the cleaning layer in the cleaning cloth box is installed on the During at least part of the process of the mopping module, the cleaning robot and the cloth cleaning box are fixed in position, and the moving part drives the mopping module to move, so that the mopping module is displaced relative to the cloth cleaning box.
  • the second transmission mechanism includes the walking module, and during at least part of the process of installing the cleaning layer of the cleaning cloth box on the mopping module, the position of the cleaning cloth box is fixed, so The position of the mopping module relative to the cleaning robot is fixed; the walking module drives the cleaning robot to move, so that the mopping module generates a displacement relative to the cleaning cloth box, for example, the walking module drives the cleaning robot to move to
  • the installation position of the cleaning layer is such that the mopping module is connected to the cleaning layer in the cleaning cloth box at the installation position of the cleaning layer; Interaction force is generated to realize the stability of the connection between the cleaning layer and the mopping module.
  • the mopping module is driven by the movement of the cleaning robot, which simplifies the system structure and reduces the cost.
  • the base station also includes an in-position detection device configured to obtain the position of the mopping floor or the cleaning cloth box, so as to determine whether the mopping floor or the cleaning cloth box has moved in place, so as to realize cleaning layer installation;
  • the base station includes: a second in-position detection device configured to detect whether the clean cloth box has reached the installation position of the cleaning layer, so as to determine whether to perform a subsequent installation operation of the cleaning layer.
  • the mopping base (such as mopping the floor) includes a connection surface or an abutment surface, the connection surface is located on the lower surface of the mopping base, and is configured to connect the cleaning layer;
  • the cleaning layer (such as mop or mop paper) has a cleaning surface and a non-cleaning surface, wherein the cleaning surface is used to perform cleaning work when it is in contact with the ground, and the non-cleaning surface is the side that is connected/adhered to the mopping floor or the non-cleaning surface is used for cleaning. Face the opposite side.
  • the connecting surface or abutting surface of the mopping base and the cleaning surface of the cleaning layer in the cleaning cloth box are configured to be parallel to each other or, before the mopping floor is connected with the cleaning surface of the cleaning layer in the cleaning cloth box, the angle between the cleaning surface of the cleaning layer in the cleaning cloth box and the first direction is equal to the connecting surface of the mopping base body (or The angle formed by the contact surface) and the first direction.
  • the first direction refers to a direction in which the cleaning robot points to the base station, for example, the direction is a horizontal direction parallel to a horizontal plane.
  • the connecting surface (or abutment surface) of the mopping floor is parallel to the cleaning surface of the cleaning layer in the clean cloth box; or in other words, in the second state, the cleaning of the cleaning layer in the clean cloth box
  • the angle formed between the surface and the first direction is equal to the angle formed between the connecting surface (or abutting surface) of the mopping floor and the first direction, wherein the first direction is the direction in which the cleaning robot points to the base station.
  • the placement angle of the cleaning layer in the clean cloth box matches the angle of mopping the floor in the second state.
  • the angle formed between the surface and the first direction is also any value greater than or equal to 30 degrees and less than or equal to 90 degrees; on the contrary, the angle formed between the cleaning surface of the cleaning layer in the cleaning cloth box and the first direction is greater than or equal to 30 degrees.
  • the control module is at least configured to control the driving module to drive the mopping module to switch from the first state to the In the second state, the angle formed between the connecting surface of the mopping floor and the first direction is also any value greater than or equal to 30 degrees and less than or equal to 90 degrees.
  • the connecting surface of the mopping module is perpendicular to the first direction; the cleaning surface of the cleaning layer in the cleaning cloth box is aligned with the first The direction is vertical, that is to say, in the clean cloth box, the cleaning layer is placed vertically;
  • a support part is provided in the cleaning cloth box for supporting the cleaning layer, so that the cleaning layer accommodated in the cleaning cloth box
  • the cleaning surface is at an angle to the first direction.
  • the cleaning surface of the cleaning layer accommodated in the cloth box is at an angle greater than or equal to 30 degrees and less than or equal to 90 degrees with the first direction;
  • the support part includes a fixing device, It is configured to fix the cleaning layer so that the cleaning surface of the cleaning layer accommodated in the cleaning cloth box is at right angles to the first direction.
  • the value of the angle between the cleaning surface of the cleaning layer in the cleaning cloth box and the first direction is Any value greater than or equal to 45 degrees and less than or equal to 60 degrees; correspondingly, when the mopping module is in the second state, the angle between the connecting surface of the mopping module and the first direction is also greater than or equal to Any value equal to 45 degrees and less than or equal to 60 degrees.
  • support parts such as slopes or steps can be provided in the clean cloth box to assist in maintaining the state of the cleaning layer, and at the same time can guide the user to place the cleaning layer.
  • the slope or steps are especially suitable for the storage of the clean cloth box.
  • the cleaning surface of the cleaning layer is placed at an acute angle to the first direction, for example, the value of the acute angle is greater than or equal to 30 degrees and less than or equal to 60 degrees.
  • the mopping floor when the mopping floor is docked with the cleaning layer, the mopping floor needs to be able to reach into the clean cloth box.
  • the cleaning cloth box has a second opening configured to allow the mopping module to protrude.
  • the clean cloth box includes a bottom and at least two opposite side walls, the side wall of the clean cloth box is connected with the bottom of the clean cloth box, the side wall of the clean cloth box and the bottom of the clean cloth box can form a second opening, wherein the clean cloth box
  • the second opening of the cloth box is opposite to the bottom of the clean cloth box, in other words, the clean cloth box has a bottom opposite to the second opening, and the opening of the clean cloth box points to the direction of the bottom and the working surface (or horizontal plane) parallel, and the second opening faces the cleaning robot or the mopping module.
  • the second opening of the cleaning cloth box faces the second direction; wherein, the first direction is the direction in which the cleaning robot points to the base station; The second direction is opposite to the first direction; that is, the second direction is the direction in which the base station points to the cleaning robot or the direction in which the cleaning robot is away from the base station; so that the mopping module can extend into the clean cloth box through the second opening, and connect with the clean cloth box.
  • the cleaning layer is connected to install the cleaning layer on the mop module.
  • the cleaning system can also include an alignment position.
  • an alignment position For example, when the waiting position of the dirty cloth box is not aligned with the alignment position, it is also necessary to move the dirty cloth box from the first waiting position to be aligned with the mopping module.
  • the alignment position of the alignment is carried out, and its in-position detection is carried out, wherein the alignment position refers to the position when the cleaning layer removal mechanism or the dirty cloth box and the mopping module are in alignment.
  • the second waiting position is set at the alignment position, which can simplify the operation steps of the dirty cloth box.
  • the dirty cloth box is reset (moved back to the second waiting position), and its in-position detection is carried out by the in-position detection device, so as to get ready for the next replacement.
  • the clean cloth box After the cleaning layer is installed, the clean cloth box needs to be reset (moved to the first waiting position), and its in-position detection is carried out by the in-position detection device.
  • the above-mentioned in-position detection device includes one or more sensors, which can be used to detect the corresponding parts (such as dirty cloth box, clean cloth box, mopping floor, cleaning layer disassembly mechanism, etc.) respectively, so as to complete the cleaning. layer replacement.
  • the corresponding parts such as dirty cloth box, clean cloth box, mopping floor, cleaning layer disassembly mechanism, etc.
  • the mopping module is adjusted back to the first state, so as to clean the clean floor.
  • control module is at least configured to control the driving module to drive the mopping module to switch from the second state back to the first state after the replacement of the cleaning layer is completed.
  • the driving mechanism can be, for example, an overturning mechanism (such as a pivoting mechanism), and by turning over the mopping module, the mopping module Toggle between the first state and the second state.
  • the turning mechanism includes a rotating rod 2011 and a rotating motor 2011 for driving the rotating rod 2011 to rotate around the rotating shaft 2013. One end of the rotating rod is connected to the mopping module, and the other end of the rotating rod is connected to the output shaft of the rotating motor.
  • an angle is formed between the abutment surface (or connection surface) and the first direction, wherein the first direction is a direction in which the cleaning robot points to the base station.
  • the angle formed between the abutment surface (or connection surface) and the first direction is greater than 0 degrees and less than or equal to 90 degrees.
  • the angle formed between the cleaning connection surface of the cleaning layer of the mopping module and the first direction is greater than or equal to 30 degrees, and less than or equal to 90 degrees.
  • the abutment surface (or connecting surface) of the mopping base is perpendicular to the first direction; that is, in the second state
  • the angle formed between the abutment surface (or connection surface) and the first direction is equal to 90 degrees.
  • the angle between the abutment surface (or connection surface) and the first direction Greater than or equal to 45 degrees, and less than or equal to 60 degrees.
  • the angle between the connecting surface of the mopping module and the first direction can be realized through the turning mechanism.
  • slopes or steps can be set in the clean cloth bin to guide the placement of the cleaning layer.
  • the driving mechanism 200 can be a lifting mechanism, for example, by lifting and lowering the mopping module, the mopping module is moved between the first state and the second state. switch.
  • the mopping module After the mopping module is lifted, reserve space for the dirty cloth box (or clean cloth box), so that the dirty cloth box (or clean cloth box) can be moved to the bottom of the mopping module in the second state, so that the mopping module can extend into the Dirty cloth box (or clean cloth box) to realize the disassembly (or installation) of the cleaning layer; that is, the height of the lift is sufficient to allow the dirty cloth box and the clean cloth box to enter;
  • the cleaning robot enters the station and stops at the docking position
  • the lifting mechanism drives the floor-mopping module to rise, the floor-mopping module switches to the second state, the dirty cloth box moves to the set position (dismounting position) from the second waiting position, and then the floor-mopping module descends vertically (such as by lifting Mechanism descends downward) into the dirty cloth box, cooperates with the cleaning layer removal mechanism on the dirty cloth box (moves to the bottom of the dirty cloth box for a certain distance, and then moves to the opening of the dirty cloth box), and the mopping module
  • the cleaning layer on the top is peeled off, and the cleaning layer falls into the dirty cloth box under the action of gravity; the mopping module returns to the raised position (the position in the second state);
  • the dirty cloth box is reset to make room for the clean cloth box
  • the clean cloth box moves from the first waiting position to the set position, and the floor mopping module descends vertically (for example, it can be lowered by a lifting mechanism) and stretches into the clean cloth box, and is connected with the cleaning layer on the clean cloth box;
  • the mopping module returns to the raised position (the position in the second state) again.
  • the cleaning cloth box is reset, the mopping module is lowered (it can be realized by the lifting mechanism), and the mopping module is switched from the second state to the first state;
  • the cleaning robot goes out.
  • the removal and installation of the cleaning layer is done in the vertical direction.
  • the driving mechanism includes, for example, a lifting mechanism 202 and an overturning mechanism 201, that is, the driving mechanism can either lift the mopping module 100 or turn over the mopping module;
  • the mopping module is first lifted by the lifting mechanism, and then the mopping module is turned over by the turning mechanism, or the mopping module can be turned over by the turning mechanism first, and then the mopping module is lifted by the lifting mechanism; lifting and turning can be Set according to actual requirements, which is not limited in this embodiment.
  • the overturning mechanism is driven by a motor to overturn, and the overturning mechanism can also be linked with the lifting mechanism;
  • the lifting mechanism can be a wire rope traction mechanism or other linear moving mechanisms, which is not limited in this embodiment; It can be other forms of mechanical structures, as long as it can be turned over, and this embodiment will not go into details;
  • the driving mechanism can also include the above-mentioned moving parts to expand and contract the mopping module; the driving module enables the mopping module to have multi-directional movement capabilities, which is conducive to improving the flexibility of the mopping module replacement and the adaptability to complex environments .
  • the base station includes: a platform for carrying the cleaning robot, the platform is provided with a first receiving tank, and the control module is configured to When the cleaning robot walks to the docking position, the driving module is controlled to drive the mopping module to switch from the first state to the second state, and at least part of the process of switching the mopping module from the first state to the second state Wherein, at least part of the mopping module is accommodated in the first accommodation slot.
  • Space is provided for turning over by setting the first receiving groove.
  • the driving mechanism drives the mopping module to lift the mopping module along a direction perpendicular to the working surface Flip towards the first direction or towards the outside of the cleaning robot (for example, the direction of the base station) after a distance.
  • the driving mechanism drives the mopping module to switch to the second state , align the mopping module with the clean cloth box or the dirty cloth box, without having to set up a moving mechanism that drives the mopping module to actively align with the mopping module (helping to reduce the volume of the cleaning robot), that is, through the corresponding moving mechanism Drive the clean cloth box (driven by the third moving mechanism) or the dirty cloth box (driven by the second moving mechanism) to the corresponding position (such as the installation position of the cleaning layer or the removal position of the cleaning layer) to achieve alignment, and then through the transmission mechanism
  • the replacement of the cleaning layer is realized by further driving the movement of the clean cloth box or the dirty cloth box or by the movement of the cleaning robot (that is, the movement of the cleaning robot driven by the walking module).
  • the installation position of the cleaning layer and the removal position of the cleaning layer are the same position (called the alignment position or the replacement position of the cleaning layer).
  • the installation of the new (or clean) clean layer, or the removal of the old (or dirty) clean layer are the same position (called the alignment position or the replacement position of the cleaning layer).
  • the clean cloth box has a first waiting position
  • the dirty cloth box has a second waiting position, wherein the first waiting position is different from the second waiting position .
  • the second moving mechanism or the third moving mechanism can move in the horizontal direction (left and right) or in the vertical direction (up and down).
  • the specific realization structure of the second moving mechanism or the third moving mechanism is, for example, set by The guide rail (horizontal guide rail) and the driving mechanism are used to realize the movement in the corresponding direction, which will not be described in detail in this embodiment.
  • the base station is equipped with a control unit as the control center to obtain corresponding information, such as the detection information of the sensor group (detecting whether the cleaning robot is docked in place, whether the dirty cloth box is in place, whether the clean cloth box is in place, etc.) to control the corresponding mechanism
  • the control unit can be used to control the movement of the second moving mechanism to drive the dirty cloth box; control the third moving mechanism to drive the movement of the clean cloth box, etc.
  • the arrangement positions of the dirty cloth box and the clean cloth box for example, the second waiting position where the dirty cloth box is located and the second The mopping module in the state is in the alignment state, that is, the second waiting position and the cleaning layer replacement position are on the same horizontal line, and the mopping module and the dirty cloth box are respectively located on both sides of the cleaning layer replacement position;
  • the first waiting position where the clean cloth box is located is on the same vertical line as the cleaning layer replacement position, and the first waiting position is above the cleaning layer replacement position.
  • the dirty cloth box only needs to move in the horizontal direction (that is, the second moving mechanism only moves in the horizontal direction) to realize the detachment of the cleaning layer; and the clean cloth box only needs to move in the vertical direction (that is, the third moving mechanism).
  • the installation of the cleaning layer can be realized by the mechanism only moving in the vertical direction; the complexity of the setting and replacement operation of the moving mechanism is simplified.
  • the first waiting position where the cleaning cloth box is located is in alignment with the mopping module in the second state, that is, the first waiting position and the cleaning layer replacement position are on the same horizontal line On the top, the mopping module and the cleaning cloth box are respectively located on both sides of the cleaning layer replacement position;
  • the second waiting position where the dirty cloth box is located is on the same vertical line as the cleaning layer replacement position, and the second waiting position is above the cleaning layer replacement position.
  • the dirty cloth box only needs to move vertically (that is, the second moving mechanism only moves in the vertical direction) to realize the detachment of the cleaning layer; and the clean cloth box only needs to move horizontally (that is, the third The moving mechanism only moves in the horizontal direction) to realize the installation of the cleaning layer; it simplifies the setting of the moving mechanism and the complexity of the replacement operation.
  • the dirty cloth box and the clean cloth box are arranged up and down, and the dirty cloth box is above the clean cloth box, and the dirty cloth box and the clean cloth box only move up and down in the vertical direction.
  • the second moving mechanism It is the same as the third moving mechanism (for example, vertical guide rail); the mopping module (or mopping floor) only moves in the horizontal direction under the drive of the cleaning robot, and can also realize the disassembly and replacement of the cleaning layer.
  • the third moving mechanism for example, vertical guide rail
  • the mopping module or mopping floor
  • the robot cleaning system has a cleaning layer removal position for cleaning layer removal and a cleaning layer installation position for cleaning layer installation in cooperation with the mopping module;
  • the cleaning layer replacement mechanism includes: for accommodating the cleaning layer
  • the dirty cloth box of the first layer is used to accommodate the clean cloth box of the cleaning layer to be installed on the mopping module, the cleaning layer disassembly mechanism and the second moving mechanism for driving the movement of the dirty cloth box are used to drive the The third moving mechanism for the movement of the cleaning cloth box;
  • the cleaning layer dismounting mechanism is used to grab the cleaning layer on the mopping module at the cleaning layer dismounting position.
  • the removal position of the cleaning layer and the installation position of the cleaning layer are the same preset position.
  • the cleaning layer removal mechanism is arranged at the opening of the dirty cloth box
  • the opening of the dirty cloth box and the opening of the clean cloth box face the connecting surface of the mopping floor at preset positions, so as to allow the mopping floor to extend in.
  • the second waiting position where the dirty cloth box is located is in alignment with the mopping module in the second state, that is, the second waiting position is on the same level as the cleaning layer replacement position, and the mopping module and the dirty The cloth boxes are respectively located on both sides of the cleaning layer replacement position; the first waiting position where the clean cloth box is located is on the same vertical line as the cleaning layer replacement position, and the first waiting position is above the cleaning layer replacement position;
  • the replacement process of the cleaning layer mainly includes:
  • the cleaning robot When the cleaning layer needs to be replaced, the cleaning robot returns to the base station and stops at the parking position;
  • the control module controls the driving module to drive the mopping module to switch from the first state to the second state
  • the second moving mechanism drives the dirty cloth box to move to a preset position
  • the cleaning layer removal mechanism grabs the cleaning layer on the mopping module
  • the walking module drives the cleaning robot to walk a distance in a direction close to the preset position, and separates the cleaning layer on the mopping module from the mopping module;
  • the walking module drives the cleaning robot back to the parking position
  • the second moving mechanism drives the dirty cloth box to leave the preset position; for example, return to the second waiting position;
  • the third moving mechanism drives the cloth box to move to the preset position
  • the walking module drives the cleaning robot to move towards the clean cloth box, so that the mopping module is connected to the cleaning layer in the clean cloth box.
  • the walking module drives the cleaning robot back to the parking position
  • the control module controls the driving module to drive the mopping module to switch from the second state to the first state.
  • the present application provides a method for controlling a robot cleaning system, including:
  • the main engine enters the station and stays at the docking position
  • the host drives the floor mopping movement, so that the mopping floor is switched from the first state to the second state;
  • the host (abbreviation of the cleaning robot) drives the floor mopping movement, so that the mopping floor is adjusted back to the first state; the host leaves the station.
  • the installation location and the removal location are the same location.
  • the above-mentioned relative motion can be realized by mopping the floor and the box (referring to the clean cloth box or the dirty cloth box) does not move, or the box moves and the mopping floor does not move; Both of them move; among them, mopping the floor can be the movement of the host, thereby driving the mopping of the floor; or a movement mechanism can be set on the host to drive the mopping of the floor;
  • steps 8 and 9 is adjustable and can be carried out simultaneously or successively;
  • the base station includes a platform for carrying the cleaning robot, and the height of the working position of the cleaning layer replacement mechanism is the height of the platform.
  • the dirty cloth box and the clean cloth box are arranged at the base station, arranged up and down, and occupy less space than the left and right arrangements.
  • Fig. 1 and Fig. 20 are schematic diagrams of a robot cleaning system provided by an embodiment of the present invention.
  • the robot cleaning system includes: a cleaning robot 1100, and a base station 1400 for the cleaning robot to dock. Please refer to FIG.
  • the cleaning robot 1100 includes: a main body 10, which has a front end; a walking module 300, which is arranged on the main body 10, and drives the cleaning robot 1100 to walk on the working surface; a mopping module 100, which is movably connected to On the main body, a replaceable cleaning layer 101 is included, and the cleaning layer 101 has a cleaning surface configured to clean the working surface; the mopping module 100 has a connecting surface configured to connect the cleaning layer; the mopping module 100 Including at least a first state and a second state, in the first state, the cleaning layer 101 adheres to the working surface, in the second state, the cleaning layer 101 is separated from the working surface; the driving mechanism 200, is used to drive the mopping module 100 to switch between the first state and the second state; the control module is at least used to control the driving mechanism 200 to drive the cleaning layer 101 when the cleaning layer 101 needs to be replaced.
  • the mopping module 100 transforms from the first state to the second state.
  • the main body 10 forms a basic outline of the cleaning robot, such as a circular, D-shaped, square, etc. outline, which has a front end so as to define a forward direction.
  • the walking module 300 includes a driving motor and at least one driving wheel, and the driving wheel is driven by the driving motor so as to drive the cleaning robot to move.
  • the walking module 300 can drive the cleaning robot to move autonomously under the control of the control module.
  • the multiple driving wheels may be driven by one driving motor, or may be driven by driving motors respectively connected thereto, which is not limited in the present invention.
  • the mopping module 100 includes a mopping floor and a replaceable cleaning layer 101 , and the mopping floor and the cleaning layer 101 are detachably connected.
  • the cleaning layer 101 used by the cleaning robot 1100 can be a device with a cleaning function, such as a sponge, a rag, a cleaning paper, a mop, a mop paper (i.e. a paper mop), etc.; the cleaning layer 101 can be disposable, such as a disposable Mop paper; the cleaning layer 101 can also be used repeatedly, such as a mop that can be used repeatedly by cleaning; the cleaning layer 101 can be sheet, such as a sheet mop, or roll, such as a roll mop, wherein The sheet mop can be understood as a piece of mop that can be used directly after cutting; the roll mop can be understood as a film-like mop; it should be pointed out that the roll mop can be unfolded and cut to obtain a sheet mop.
  • the cleaning layer 101 is a sheet-like mop, preferably, the sheet-like mop is disposable mop paper.
  • the mopped floor and the cleaning layer 101 are detachably connected by bonding, where the bonding methods include but are not limited to magic stickers, magnetic stickers, and the like.
  • the control module is a common control module in the field of automatic robots.
  • the control module is arranged inside the main body and is not shown in the figure. It can be associated with the driving mechanism 200 through electrical connection or electrical signal connection.
  • the control module can include embedded digital signal processor (Digital Signal Processor, DSP), microprocessor (MicroProcessor Unit, MPU), specific integrated circuit (Application Specific Integrated Circuit, ASIC), programmable logic device (Programmable Logic Device, PLD ) System on Chip (SOC), Central Processing Unit (Central Processing Unit, CPU) or Field Programmable Gate Array (Field Programmable Gate Array, FPGA), etc.
  • the control module can control the operation of the cleaning robot 1100 according to preset conditions or according to instructions received by the cleaning robot 1100 .
  • control module can control the walking module to walk according to a preset walking path in the working area of the cleaning robot 1100. While the walking module drives the cleaning robot 1100 to walk, the mopping module performs the mopping work, so that the surface of the working area Stains are treated cleanly. The walking module drives the cleaning robot 1100 to walk along a preset path.
  • the control module can control the cleaning robot 1100 to stop working, and control the walking module to walk, so that the walking module drives the cleaning robot 1100 to leave the working area and return
  • the base station performs maintenance work; when the mopping module needs to be cleaned or replaced, the control module can control the cleaning robot 1100 to clean or replace the mopping module according to a preset method, or replace the consumables of the mopping module; the control module can also be based on user Or the fulfillment of specific conditions, to perform the preset operations above.
  • the working mode or walking path of the cleaning robot 1100 can be set in advance in the control module, and the control module controls the walking module or other modules to execute.
  • the cleaning layer used by the cleaning robot 1100 can be a variety of devices with cleaning functions, such as rags, mops, cleaning paper, etc., but is not limited thereto; Mop the surface of the module, but not limited thereto.
  • the first state refers to the working state of the cleaning robot 1100
  • the cleaning layer 101 of the mopping module 100 is attached to the working surface , and while the cleaning robot 1100 is walking, it drives the cleaning layer to rub against the working surface to wipe off and take away the stains on the working surface.
  • the second state refers to the non-working state of the cleaning robot 1100 or the state in which the cleaning robot 1100 needs to replace the cleaning layer 101.
  • the cleaning layer 101 is at least partly separated from the working surface, for example, at least partly without contact or completely disengage from the work surface.
  • the cleaning layer 101 can be only coated on the surface (such as the connection surface) of the mopping module at the joint of the working surface, or it can be a plurality of surfaces covering the mopping module, so that it can be cleaned from left to right, up and down and The cleaning operation is carried out in front of the cleaning robot in the moving direction.
  • the driving mechanism 200 can be electric or other power forms, and can drive the mopping module 100 to move or rotate in a preset direction, and the driving mechanism 200 and the mopping module 100 can be connected by a general transmission component.
  • the walking module 300 when working, the walking module 300 is started, driving the cleaning robot 1100 to walk on the working surface, the cleaning layer 101 of the mopping module 100 is attached to the working surface, and the cleaning layer 101 rubs against the working surface to take away the needs of the working surface to be cleaned clean substance.
  • the cleaning robot 1100 works for a period of time, by detecting the degree of contamination of the cleaning layer 101, when the cleaning layer 101 is seriously polluted and cannot effectively remove the substances on the working surface, the cleaning layer 101 of the cleaning robot 1100 needs to be replaced.
  • the floor mopping module 100 is changed from the first state to the second state, and at this time, the cleaning layer 101 is automatically replaced manually or in cooperation with the smart base station.
  • the cleaning layer 101 In the second state, the cleaning layer 101 needs to form a certain disassembly space with the working surface, so that the working surface of the cleaning layer 101 is exposed, so that the cleaning layer detachment mechanism can contact the cleaning layer 101 .
  • the cleaning layer 101 can only be lifted vertically.
  • the plane where the cleaning layer 101 is located is set at an angle to the working surface.
  • the mopping module 100 rotates towards a preset direction, so that the angle between the plane where the cleaning layer 101 is located and the working surface can be any value between 0° and 90°.
  • the cleaning layer 101 may stay at any position within the angle range according to actual conditions. There is an angle between the plane where the cleaning layer 101 is located and the working surface, which can facilitate automatic or manual replacement of the cleaning layer.
  • the driving mechanism 200 drives the mopping module 100 to lift along the direction perpendicular to the working surface, and drives the The mopping module 100 is flipped to the outside of the main body.
  • the mopping module 100 in order to facilitate the replacement of the cleaning layer 101, it is necessary to convert the mopping module 100 into a second state that is convenient for replacement, and there are many different conversion methods for the second state.
  • the mopping module 100 driven by the driving mechanism, the mopping module 100 is displaced upwards in the direction perpendicular to the working surface to reach a lifting state, so that the close contact between the cleaning layer and the working surface is separated, and manual or Automatic equipment can easily remove the cleaning layer from the mopping module or install a new cleaning layer.
  • the floor mopping module 100 is driven by the driving mechanism 200, and is turned directly towards a preset direction, so that the cleaning layer is at least partially out of close contact with the working surface, preferably, mopping the floor
  • the module 100 is flipped toward the outside of the cleaning robot, especially toward the rear of the cleaning robot's walking direction.
  • the surface on which the cleaning layer is located faces to the rear of the cleaning robot's walking direction.
  • the second state is a state in which the mopping module 100 is flipped to the outside of the main body, and there is an angle greater than 0 degrees between the cleaning layer and the working surface, which may be 90 degrees in this specific embodiment.
  • the drive mechanism 200 In the second state, manual or intelligent automatic replacement of the cleaning layer 101 is convenient.
  • the drive mechanism 200 in order to prevent at least part of the mopping module 100 from the first state to the second state during at least part of the process, being interfered by the working surface, causing the transformation to be blocked, it is necessary for the drive mechanism 200 to drive the mopping module 100 along a direction perpendicular to the working surface.
  • the direction of the surface is lifted, and the mopping module 100 is driven to turn over to the outside of the main body 10 .
  • the direction perpendicular to the working surface represents a point-to-point displacement, and does not represent a motion track.
  • the cleaning layer 101 of the mopping module is away from the working surface; then the mopping module 100 is driven by the driving mechanism 200 to turn over to the outside of the main body 10 to reach the second state.
  • the traveling mechanism 300 is used to lift the main body 10 as a whole, so that the cleaning layer 101 is away from the working surface and reaches the second state. Furthermore, after the main body 10 is fully lifted, the mopping module 100 is driven by the drive mechanism 200 to turn over towards the outside of the main body 10 to reach the second state; finally the traveling mechanism 300 lowers the main body.
  • the main body 10 can keep tilting forward and backward at any angle, and it only needs to keep the balance through the counterweight and keep the cleaning layer away from the working surface.
  • the traveling mechanism 300 is provided with at least 3 traveling wheel parts, which are arranged front and back. At this time, the front part of the main body is lifted by the traveling wheel parts at the front of the cleaning direction, so that the cleaning layer 101 can reach the second level away from the working surface. state.
  • the technical solution provided by this embodiment avoids the interference of the ground on the movement track of the mopping module during at least part of the process of switching the mopping module from the first state to the second state, making the state transition of the mopping module more reliable and faster , not easily damaged.
  • the driving mechanism 200 includes a linear transmission mechanism, and the linear transmission mechanism includes a common guide rail, a gear meshing mechanism, or a chain transmission mechanism, and is used to drive the mopping floor loaded with the cleaning layer to move in a linear direction.
  • the driving mechanism 200 also includes a pivot mechanism, through which the mopping floor loaded with the cleaning layer is driven to pivot around the pivot axis. Furthermore, the cleaning layer can be displaced up and down along with the mopping floor in a direction perpendicular to the working surface, and the mopping floor can also be turned over to the outside of the main body.
  • the driving mechanism may include a motor and a transmission member, and the transmission member may be a gear, a chain, etc.; the transmission member is driven by the motor to provide power.
  • the base station 1400 of the robot cleaning system of the present invention includes: a platform 401 for carrying the cleaning robot, a dirty cloth box 403 for accommodating the cleaning layer, and accommodating the mopping module 100 to be installed.
  • the clean cloth box 402 of the cleaning layer and the lifting mechanism are used to drive the dirty cloth box 403 and the clean cloth box 402 to move along a direction perpendicular to the working surface.
  • the dirty cloth box 403 and the clean cloth box 402 are stacked up and down in the direction perpendicular to the platform 401; the lifting mechanism is fixedly connected with the dirty cloth box 403 and the clean cloth box 402 respectively;
  • the box 403 and the clean cloth box 402 move up and down under the drive of the lifting mechanism.
  • the dirty cloth box 403 and the clean cloth box 402 are provided with openings for the cleaning layer to pass through when replacing the cleaning layer.
  • the opening here can facilitate access to the dirty cleaning layer and the clean cleaning layer; the opening can also be matched with the mopping module, so that the mopping module and the cleaning layer can pass in and out through the opening.
  • Described elevating mechanism comprises motor and transmission element (transmission element can be transmission chain or transmission belt) 407, and described transmission element 407 reciprocates up and down under the drive of described motor; Described dirty cloth case 403 and clean cloth case 402 and The transmission element 407 is fixedly connected, and is driven by the transmission element 407 to move up and down.
  • the motor and the transmission element 407 are connected through the transmission gear 408 , the motor drives the transmission gear 408 to rotate, and the transmission gear 408 drives the transmission element 407 to reciprocate.
  • the base station 1400 includes a cleaning layer detachment mechanism.
  • the cleaning layer detachment mechanism is used to maintain the cleaning layer, and the cleaning robot moves in a direction away from the cleaning layer detachment mechanism to move the cleaning layer The cleaning layer is peeled off from the mopping module.
  • At least one cleaning layer removal mechanism is provided inside or at the opening of the dirty cloth box 403, and the cleaning layer removal mechanism is used to remove the cleaning layer of the cleaning robot. Detach from the surface of the mopping module.
  • the cleaning layer removal mechanism includes a hook body 404, an elastic member 406 and a track 405, the track 405 is fixed at the opening of the dirty cloth box 403, and the hook body 404 reciprocates in the track 405 Displacement, the elastic member 406 is telescopically displaced in the track 405, and the hook body 404 resets under the support of the elastic member 406; the surface of the hook body 404 facing the outside of the dirty cloth box 403 is an inclined plane.
  • the floor mopping module replaced the cleaning layer
  • the floor mopping module pressed against the hook body 404, because the surface of the hook body 404 facing the outside of the dirty cloth box 403 was an inclined plane.
  • the hook body 404 retracts into the track 405.
  • the hook body 404 pops out and resets under the action of the elastic member 406.
  • the hook body 404 is hooked and locked under the action of the elastic member 406 and remains stationary, so that the cleaning layer 101 is separated from the mopping module 100 .
  • the hook body In order to better separate the cleaning layer from the mopping module, it is necessary to provide a depression or groove matching the hook body on the module and behind the cleaning layer at the front of the mopping module along the direction in which the cleaning robot advances; Before the cleaning layer is separated from the mopping module, the hook body first enters the depression or groove and appears behind the cleaning layer 101. At this time, when the mopping module 100 is retreating, the hook body can catch the cleaning layer 101.
  • the plane where the cleaning layer 101 is located is perpendicular to the working surface.
  • This vertical way can make it easier for the mopping module to enter and exit the dirty cloth box 403 and the clean cloth box 402, reducing the interference between the mopping module 100 and the openings of the dirty cloth box 403 and the clean cloth box 402, and at the same time, it is also convenient for the first hook The body or the second hook body 404 hooks the cleaning layer to facilitate the separation of the cleaning layer 101 from the mopping module.
  • the base station 1400 includes: a cleaning layer detachment mechanism, which is movably arranged on the base station; when replacing the cleaning layer, the cleaning layer detachment mechanism keeps the cleaning layer and faces away from the moving in the direction of the mopping module to peel off the cleaning layer from the mopping module.
  • the cleaning layer removal mechanism includes a hook body and an elastic member, and the hook body is elastically connected to the dirty cloth box through the elastic member; Reset under the action of an elastic member.
  • This cleaning layer removal mechanism is similar to an elastic door hinge, so that the first hook has the ability to rotate elastically.
  • the mopping module resists the hook body and rotates into the dirty cloth box. After the cleaning layer slides over the hook body, the hook body resets under the action of the elastic member.
  • the cleaning and mopping module retreats, the first One hook body is locked and kept stationary, hooking the dirty cleaning layer, so that the cleaning layer is separated from the mopping module.
  • the mopping module When the cleaning robot needs to replace the cleaning layer 101, the mopping module reaches the second state under the drive of the driving mechanism, and starts to return for the first time.
  • the dirty cloth box 403 In the initial state, the dirty cloth box 403 is mopping the floor when the cleaning robot returns. At the position corresponding to the module, the mopping module and the cleaning layer 101 enter the first opening, and the dirty cleaning layer 101 is kept in the dirty cloth box 403 . Afterwards, start to return for the second time. At this time, the clean cloth box 402 is driven by the lifting mechanism to transport the clean cloth box 402 to the position corresponding to the mopping module. When the cleaning robot returns for the second time, clean the cleaning layer Take it out and install it on the mopping module.
  • the driving module drives The mopping module moves to a position corresponding to the dirty cloth box, and when the cleaning layer is installed, the driving module drives the mopping module to move to a position corresponding to the clean cloth box.
  • the dirty cloth box 403 and the clean cloth box 402 are stacked up and down along a direction perpendicular to the working surface.
  • the dirty cloth box and the clean cloth box are set at an angle ⁇ , and the preferred range of the angle ⁇ can be any value between 0-90 degrees.
  • the driving module drives the mopping module to pivot to a position corresponding to the dirty cloth box, and when the cleaning layer is installed, the driving module drives the mopping module to pivot Go to the location corresponding to said clean cloth box.
  • the mopping module does not rotate, and the dirty cloth box 403 and the clean cloth box 402 are arranged on a rotating shaft arranged on the base station. Open, and leave the dirty and clean layer; Exit the first opening; Rotate the dirty cloth box and the clean cloth box, rotate the clean cloth box 402 to the matching position where the second state of the mopping module is, and the mopping module enters the clean cloth box 402 For the second opening, install a clean cleaning layer.
  • the base station 1400 of the robot cleaning system of the present invention includes: a platform 401 carrying the cleaning robot, the platform 401 is provided with a first storage tank 601, and the mopping module 100 is converted from the first state to the second During at least part of the state, at least part of it is stored in the first storage slot.
  • the cleaning robot continuously cleans until it reaches the base station to replace the cleaning layer 101, and the cleaning layer 101 is always in the first state, it is necessary to make the cleaning layer 101 change from the first state to the second state.
  • state during at least a part of the conversion process, there may be mutual interference between the cleaning layer 101 and the platform 401 , so that the conversion is hindered.
  • the first storage tank 601 provides a solution.
  • the mopping module moves to the top of the first storage tank 601, providing a space for the mopping module to rotate. The part that interferes will pass through the void of the first containment tank.
  • the technical solution provided by this embodiment avoids the interference of the ground on the movement track of the mopping module during at least part of the process of switching the mopping module from the first state to the second state, making the state transition of the mopping module more reliable and faster , not easily damaged.
  • a sensor may also be set on the base station for sensing the position of the cleaning robot.
  • the cleaning robot when the cleaning robot enters the base station for the first time and is sensed by the sensor when passing through the detection position of the platform 401 of the base station, the cleaning robot will penetrate the mopping module into the first opening of the dirty cloth box, and the cleaning layer on the surface of the mopping module will Withstand the second hook body 404, because the surface of the second hook body 404 facing the outside of the dirty cloth box 403 is an inclined plane; under the action of the applied force of the cleaning layer on the inclined plane, the second hook body 405 retracts into the track 406, After the cleaning layer slides over the second hook body 404, the second hook body 404 pops up and resets under the action of the second elastic member 405, falls into or passes through the groove or depression on the cleaning layer 101, and when the cleaning robot retreats, it is The sensor senses, and at the same time the second hook body 404 is locked and kept still under the action of the second elastic member 405, and the second hook body 404 just hooks the dirty cleaning layer directly, so that the cleaning layer is separated from the surface of the mo
  • the cleaning robot enters the maintenance base station again and is sensed by the sensor for the second time.
  • the lifting mechanism of the base station 1400 starts, and the motor starts to drive the transmission gear, which in turn drives the transmission chain or belt to move upwards, driving The dirty cloth box 403 and the clean cloth box 402 move upwards, the second opening of the clean cloth box 402 moves to the matching position of the mopping module, the mopping module extends into the second opening, and the cleaning layer is adsorbed on the surface of the mopping module, Then exit.
  • the sensor detects that the cleaning robot exits the maintenance base station for the second time
  • the lifting mechanism is turned on, the motor is started, and the drive chain or the drive belt is driven downward to reset.
  • the base station further includes a charging interface, which is used to supplement electric energy at the base station while the cleaning robot is replacing the cleaning layer, or after the cleaning robot completes the replacement of the cleaning layer.
  • a charging interface which is used to supplement electric energy at the base station while the cleaning robot is replacing the cleaning layer, or after the cleaning robot completes the replacement of the cleaning layer.
  • the charging port can be used to charge the cleaning robot, and the charging port can be located at the bottom or side of the base station, but not at the position where the dirty cloth box and the clean cloth box are located. It can prevent the cleaning robot from interfering with the dirty cloth box and the clean cloth box when charging, and complete the supplement of electric energy while the cleaning robot replaces the cleaning layer.
  • the base station includes a charging interface; a dirty cloth box for removing the cleaning layer from the mopping module and storing the removed cleaning layer; a clean cloth box for accommodating the cleaning layer to be installed on the mopping module;
  • the dirty cloth box or the clean cloth box is transported to a delivery mechanism at a preset position; when the cleaning layer is replaced, the dirty cloth box or the clean cloth box at least partially covers the charging interface; the cleaning layer
  • the conveying mechanism conveys the dirty cloth box or the clean cloth box to a position where the charging interface is not covered.
  • the charging port can be used to charge the cleaning robot, and the charging port is set at the tail of the cleaning robot and any position of the base station, such as a position covered by a dirty cloth box or a clean cloth box.
  • the dirty cloth box or the clean cloth box is moved to the corresponding position of the mopping module of the cleaning robot to complete the cleaning layer replacement action.
  • the dirty cloth box or the clean cloth box is moved to the side of the base station or other positions that do not block the charging port, exposing the position of the charging interface for the cleaning robot to charge.
  • the cleaning robot provided by the present invention can achieve the effect of convenient replacement of the cleaning layer through the control of the mopping module; or through the cooperation of the cleaning robot and the base station, it can automatically recover the dirty cleaning layer and provide a clean cleaning layer; Therefore, the mop can be replaced automatically and conveniently, which is fast, quiet and will not cause pollution to the environment or the base station, improves the reliability and work efficiency of the cleaning robot, and increases the user's satisfaction with the robot cleaning system.

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Abstract

本发明提供一种机器人清洁系统；该机器人清洁系统包括清洁机器人以及供清洁机器人停靠的基站；清洁机器人包括：主体；行走模块，设置于主体上，带动清洁机器人在工作表面行走；拖地模块，可移动的连接于主体上，包括可更换的清洁层，拖地模块至少包括第一状态和第二状态，在第一状态下，清洁层贴合工作表面，在第二状态下，清洁层脱离于工作表面以使所述清洁层的工作面暴露并与清洁层拆卸机构接触；驱动机构，用于驱动拖地模块在第一状态和第二状态之间转换；控制模块，至少用于当清洁层需要更换时，控制驱动机构驱动拖地模块从第一状态转化为第二状态。本发明的清洁机器人具有智能拖地模块、能够方便清洁层的更换。

Description

机器人清洁系统及其控制方法 技术领域
本发明涉及智能设备技术领域，尤其涉及一种机器人清洁系统及其控制方法。
背景技术
随着科学技术的发展，智能的机器人为人们所熟知，机器人可以根据设置的程序自动执行预先设置的相关任务，无须人为的操作与干预，极大地节省了人们的时间，给生活都带来了便利。
具有拖地功能的清洁机器人能够帮助人们进行家居清洁工作。清洁机器人底部设置有拖布，在房间内自动行走执行拖地工作，但工作一段时间后拖布会变脏，影响清洁效果，需要人工对拖布进行清洗或更换，较为麻烦。
现有技术中，有的清洁机器人通过基站自动清洗拖布。如基站上清洁机器人停靠位置，对应拖布的下方设置有清洁槽，清洁槽内设置有清洁滚筒和清水，清洁滚筒相对拖布转动，利用清洁滚筒转动对拖布进行挤压式清洁；或者清洁槽内设置有刮板，利用刮板对拖布进行清洗并挤干；之后将污水回收至污水箱。
现有技术中的清洁器机器人，自动水洗的方案虽然减少了人工干预，但拖布的清洁效果并非十分理想，清洗过后拖布和基站也会有污水残留；在清洗拖布时，噪音也比较大，影响用户体验。
发明内容
有鉴于此，本发明的目的在于提供一种便于自动更换拖布的机器人清洁系统。
为解决上述问题，本发明提供的技术方案是：
一种机器人清洁系统，包括：清洁机器人、供清洁机器人停靠的基站；所述清洁机器人包括：主体，其具有前端；行走模块，设置于所述主体上，带动所述清洁机器人在工作表面移动；拖地模块，包括拖地基体，所述拖地基体供清洁层可替换的抵附形成清洁面，所述清洁面用于对工作表面进行清洁；所述拖地模块可活动的连接于所述主体上，以在第一状态和第二状态之间切换；其中，在所述第一状态下，所述清洁面贴合工作表面，在所述第二状态下，所述清洁面脱离所述工作表面；驱动模块，用于驱动所述拖地模块在所述第一状态和所述第二状态之间转换；控制模块，至少用于当所述清洁层需要更换时，控制所述驱动模块驱动所述拖地模块从所述第一状态切换至所述第二状态；所述机器人清洁系统包括：清洁层替换机构；所述拖地模块处于第二状态时，所述清洁层替换机构被配置为可操作地作用于所述清洁层，以为所述拖地模块更换所述清洁层。
在一个实施例中，所述拖地基体包括用于与清洁层抵附的抵附面，在所述第二状态下，所述抵附面与第一方向之间成角度，其中，所述第一方向为清洁机器人的进站方向。
在一个实施例中，所述拖地模块处于第二状态时，所述抵附面与所述第一方向之间所成的角度大于等于30度，且小于等于90度。
在一个实施例中，所述拖地模块处于第二状态时，所述抵附面垂直于所述第一方向。
在一个实施例中，所述拖地模块处于第二状态时，所述抵附面与所述第一方向之间呈的角度大于等于45度,且小于等于60度。
在一个实施例中，所述清洁层替换机构包括设置于所述基站上的清洁层拆卸机构；所述清洁系统包括第一传动机构；所述清洁系统具有用于将拖地模块上的清洁层拆除的清洁层拆卸位置；其中，所述清洁层拆卸机构被配置为在所述清洁层拆卸位置拾取所述拖地模块上的清洁层；所述第一传动机构被配置为带动所述清洁层拆卸机构和所述拖地模块中的至少一个移动，使得清洁层拆卸机构与拖地模块产生相对位移，以便于所述拖地模块上的清洁层与所述拖地模块分离。
在一个实施例中，所述第一传动机构至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述拖地模块运动；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构的位置固定。
在一个实施例中，所述第一传动机构包括所述行走模块，所述行走模块至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述清洁机器人朝向所述清洁层拆卸机构移动，使得拖地模块与清洁层拆卸机构产生相对位移；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述拖地模块相对于所述清洁机器人的位置固定。
在一个实施例中，所述第一传动机构包括移动件，设置于所述清洁机器人上，至少被配置为在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述拖地模块朝向所述清洁层拆卸机构移动；其中，在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁机器人的位置固定。
在一个实施例中，所述第一传动机构包括第一移动机构，至少被配置为在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述清洁层拆卸机构运动；其中，在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁机器人和所述拖地模块的位置固定。
在一个实施例中，所述拖地基体与所述清洁层以能够拆卸地方式连接；所述拖地板具有拆卸区域；所述清洁层拆卸机构包括钩体；
在所述钩体与所述拖地板位于所述清洁层拆卸位置时，所述钩体与所述拆卸区域配合，以将所述清洁层从所述拖地模块上拆除，其中所述拆卸区域与所述清洁层之间无相互连接。
在一个实施例中，所述拆卸区域包括脱布槽，被配置为供所述钩体穿过。
在一个实施例中，所述清洁层替换机构包括脏布箱，用于收容从所述拖地模块分离下来的所述清洁层。
在一个实施例中，所述脏布箱设置在从拖地模块分离下来的所述清洁层的移动路径上，以使得所述清洁层落入所述脏布箱。
在一个实施例中，所述清洁层拆卸位置位于所述脏布箱内。
在一个实施例中，所述清洁层拆卸机构设置于所述脏布箱上；所述脏布箱具有第一开口；所述第一开口被配置为允许所述拖地模块伸入并在所述拖地模块离开时将所述清洁层留在所述脏布箱。
在一个实施例中，在所述清洁层拆卸位置，所述脏布箱的第一开口朝向第二方向；其中，所述第二方向与所述第一方向相反的方向。
在一个实施例中，所述第一传动机构包括第二移动机构，至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述脏布箱移动，使得清洁层拆卸机构相对于拖地模块产生位移；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构相对于所述脏布箱的位置固定，所述清洁机器人的位置固定，所述拖地模块相对于所述清洁机器人的位置固定。
在一个实施例中，所述第一传动机构至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述拖地模块运动；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述脏布箱的位置固定。
在一个实施例中，所述第一传动机构包括所述行走模块，至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述所述清洁机器人朝向脏布箱移动，使得所述拖地模块相对于清洁层拆卸机构产生位移；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构相对所述脏布箱位置固定，所述拖地模块相对于所述清洁机器人位置固定。
在一个实施例中，所述第一传动机构包括移动件，设置于所述清洁机器人上，至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述所述拖地模块朝向脏布箱移动，使得所述拖地模块相对于清洁层拆卸机构产生位移；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构相对于所述脏布箱的位置固定，所述清洁机器人的位置固定。
在一个实施例中，所述清洁系统具有用于将拖地模块上的清洁层拆除的清洁层拆卸位置；所述清洁层替换机构包括设置在所述清洁机器人上的清洁层拆卸机构，被配置为在所述清洁层拆卸位置将所述拖地模块上的清洁层与所述拖地模块分离；所述清洁系统包括运动机构，所述运动机构被配置为带动所述清洁层拆卸机构运动，使得清洁层拆卸机构与所述拖地模块产生相对位移，以便所述拖地模块上的清洁层与所述拖地模块分离；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁机器人和所述拖地模块的位置固定。
在一个实施例中，所述清洁层拆卸机构包括翻转件，所述翻转件具有打开状态和闭合状态；所述翻转件处于打开状态时，所述清洁层可从所述拖地模块上分离；所述翻转件处于闭合状态时，所述清洁层安装于所述拖地模块；所述运动机构包括驱动装置，所述驱动装置被配置为驱动所述翻转件从闭合状态切换到打开状态，从而使得所述拖地模块上的清洁层与所述拖地模块分离。
在一个实施例中，所述清洁层替换机构包括脏布箱，用于收容从所述拖地模块分离下来的所述清洁层。
在一个实施例中，所述脏布箱设置在从拖地模块分离下来的所述清洁层的移动路径上，以使得所述清洁层落入所述脏布箱。
在一个实施例中，所述清洁层拆卸位置位于所述脏布箱内。
在一个实施例中，所述清洁层替换机构包括净布箱，用于收容待安装至所述拖地模块的清洁层；所述清洁系统具有清洁层安装位置；所述清洁层安装位置为将净布箱内的清洁层安装于所述拖地模块的位置；所述清洁系统包括第二传动机构，被配置为带动所述净布箱和所述拖地模块中的至少一个移动，以到达所述清洁层安装位置，以便所述净布仓内的清洁层安装于所述拖地模块。
在一个实施例中，所述第二传动机构至少被配置为在所述拖地模块上的清洁层安装于所述拖地模块的至少部分过程中，带动所述拖地模块运动；其中，在所述拖地模块上的清洁层安装于所述拖地模块的至少部分过程中，所述净布箱的位置固定。
在一个实施例中，所述第二传动机构包括所述行走模块；至少被配置为在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，带动所述清洁机器人移动，带动所述拖地模块朝向所述净布 箱移动；其中，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述净布箱的位置固定，所述拖地模块相对于所述清洁机器人的位置固定。
在一个实施例中，所述第二传动机构包括移动件，设置于所述清洁机器人上，至少被配置为在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，带动所述拖地模块朝向所述净布箱运动；其中，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述清洁机器人和所述净布箱的位置固定。
在一个实施例中，所述第二传动机构包括第三移动机构，至少被配置为在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，带动所述净布箱朝向所述拖地模块移动；其中，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述清洁机器人和所述拖地模块的位置固定。
在一个实施例中，所述净布箱具有第二开口；所述第二开口被配置为允许所述拖地模块伸入，以便所述拖布模块安装所述清洁层。
在一个实施例中，在所述清洁层安装位置，所述净布箱的第二开口朝向第二方向；其中，所述第二方向为与所述第一方向相反的方向。
在一个实施例中，所述净布箱内清洁层的清洁面与所述抵附面平行；或者，所述净布箱内清洁层的清洁面与第一方向所成的角度等于所述抵附面与第一方向所成的角度。
在一个实施例中，所述清洁层为片状拖布；所述片状拖布为至少两片时，至少两片所述片状拖布通过叠放的方式排布在所述净布箱内。
在一个实施例中，所述拖地基座具有粘贴区域；所述清洁层可黏附于所述粘贴区域。
在一个实施例中，所述净布箱内设有支撑部，被配置为对所述清洁层进行支撑，使得所述净布箱收容的清洁层的清洁面与第一方向成角度。
在一个实施例中，所述拖地模块从第一状态转化为第二状态时，所述驱动机构驱动所述拖地模块沿垂直于所述工作表面的方向抬升预设距离后朝向所述第一方向翻转。
在一个实施例中，所述基站包括：承载所述清洁机器人的地台，所述地台设置有第一收容槽，所述控制模块被配置为在所述清洁机器人行走到停靠位置时控制所述驱动模块驱动所述拖地模块从所述第一状态切换到所述第二状态，所述拖地模块从第一状态切换为第二状态的至少部分过程中，至少部分所述拖地模块收容于所述第一收容槽内。
在一个实施例中，所述清洁系统还包括：到位检测装置，被配置为检测所述清洁层拆卸机构和/或所述拖地模块是否到达对准位置；其中，所述对准位置是指所述清洁层拆卸机构与拖地模块处于对准状态时的位置。
在一个实施例中，所述清洁系统还包括：到位检测装置，被配置为检测所述脏布箱和/或所述拖地模块是否到达对准位置；其中，所述对准位置是指所述清洁层拆卸机构与拖地模块处于对准状态时的位置。
在一个实施例中，所述清洁系统还包括：到位检测装置，被配置为检测所述净布箱和/或所述拖地模块是否到达对准位置；其中，所述对准位置是指所述净布箱与拖地模块处于对准状态时的位置。
在一个实施例中，所述清洁系统具有配合于所述拖地模块进行清洁层拆卸的清洁层拆卸位置和清洁层安装的清洁层安装位置；
所述清洁层替换机构包括：用于收容所述清洁层的脏布箱，用于收容待安装至所述拖地模块的清洁层的净布箱，用于带动所述脏布箱运动至清洁层拆卸位置的第二移动机构以及用于带动所述净布箱运动至所述清洁层安装位置的第三移动机构，清洁层拆卸机构；所述清洁层拆卸机构用于在清洁层拆卸位置抓取所述拖地模块上的清洁层。
在一个实施例中，所述清洁层拆卸位置和所述清洁层安装位置为同一个预设位置。
在一个实施例中，所述控制模块至少被配置为当所述清洁层更换完成后，控制所述驱动模块驱动所述拖地模块从所述第二状态切换回所述第一状态。
本公开还提供一种机器人清洁系统的控制方法，应用于上述的机器人清洁系统，该方法包括：当清洁层需要更换时，通过控制模块控制驱动模块驱动拖地模块从第一状态切换至第二状态；当所述拖地模块处于第二状态时，通过清洁层替换机构可操作地作用于所述清洁层和/或拖地基体，以为所述拖地模块更换所述清洁层。
与现有技术相比，本发明提供的机器人清洁系统及其控制方法，在清洁机器人工作一段时间拖布变脏时，能够方便的自动更换拖布，更换拖布快捷、安静且不会造成环境或基站的污染，提高了清洁机器人的可靠性及工作效率，增加用户对机器人清洁系统的使用满意度。
附图说明
为了更清楚地说明本发明或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，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。
图1是本发明一实施方式提供的机器人清洁系统的示意图；
图2是本发明一实施方式提供的机器人清洁系统的拖地模块在第一状态时的示意图；
图3是本发明一实施方式提供的机器人清洁系统的拖地模块在第二状态时的示意图；
图4是本发明一实施方式提供的机器人清洁系统的拖地模块在第二状态时的示意图；
图5是本发明一实施方式提供的机器人清洁系统的清洁机器人在抬升状态时的示意图；
图6是本发明一实施方式提供的机器人清洁系统的清洁机器人在抬升状态时的示意图；
图7是本本发明一实施方式提供的机器人清洁系统的拖地模块在第二状态时返回基站的示意图；
图8是本发明一实施方式提供的机器人清洁系统摘取旧拖布的示意图；
图9是本发明一实施方式提供的机器人清洁系统取下旧拖布后退出脏布箱的示意图；
图10是本发明一实施方式提供的机器人清洁系统获取新拖布的示意图；
图11是本发明一实施方式提供的机器人清洁系统的拖地模块在第一状态时在基站中的示意图；
图12是图11所示的机器人清洁系统的拖地模块在第二状态时在基站中的示意图；
图13是图11所示的的机器人清洁系统在基站内更换拖布的示意图；
图14是本发明一实施方式提供的机器人清洁系统脏布箱和净布箱呈角度设置的示意图；
图15是本发明一实施方式提供的翻转机构使得拖地模块翻转到第二状态的示意图；
图16是本发明一实施方式提供的翻转机构的示意图；
图17是本发明一实施方式提供的驱动机构的示意图；
图18是本发明一实施方式提供的驱动机构将拖地模块抬升的示意图；
图19是本发明一实施方式提供的驱动机构将拖地模块翻转的示意图；
图20是本发明提供的一种机器人清洁系统的示意图；
图21是本发明一实施方式提供的翻转件处于闭合状态时的示意图；
图22是本发明一实施方式提供的翻转件处于一种打开状态时的结构示意图；
图23是本发明一实施方式提供的翻转件处于另一种打开状态时的结构示意图；
图24是本发明一实施方式提供的拖地基体去净布箱取清洁层时的结构示意图；
图25(a)是本发明一实施方式提供的清洁层拆卸机构到达清洁层拆除位置的示意图；
图25(b)是本发明一实施方式提供的清洁层拆卸机构将清洁层拆除的示意图；
图26(a)是本发明一实施方式提供的拖地模块向脏布箱运动且翻转件处于闭合状态的示意图；
图26(b)是本发明一实施方式提供的驱动装置驱动翻转件打开的示意图；
图26(c)是本发明一实施方式提供的钩体拆除清洁层时的示意图；
图26(d)是本发明一实施方式提供的拖地模块离开脏布箱的示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明进一步详细说明。
需要说明的是，除非另外定义，本发明实施例使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本发明实施例中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。“包括”或者“包含”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。“上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。
另，本公开所提及的位置固定是指非主动运动，因此可以理解为位置不变或位置基本不变，位置基本不变的含义例如由于受外力作用导致的位置略微改变)。
目前，现有技术中针对具有拖擦功能的清洁机器人如何维护的问题，都是在清洁机器人工作一段时间后，令清洁机器人回到基站，通过基站中设置的自动清洗系统对清洁机器人进行清洗。然而，这种自动清洗清洁机器人的方案，虽然减少了人工干预，但拖布的清洁效果并不理想，且清洗过后拖布和基站也会有污水残留；此外，在清洗拖布时，噪音也比较大，影响用户体验。
有鉴于此，本公开提供了一种机器人清洁系统，当清洁机器人回到基站后，可以为清洁机器人更换拖布，以达到清洁清洁机器人的目的，免除了现有技术中对清洁机器人自动清洗的过程，从而避免了在清洗至少部分过程中所产生的污水残留和噪音问题，提高了用户体验。
该机器人清洁系统包括：清洁机器人、供清洁机器人停靠的基站。
上述的清洁机器人包括：主体，其具有前端；行走模块，设置于主体上，带动清洁机器人在工作表面移动；拖地模块，包括拖地基体，拖地基体例如可以是拖布板，该拖地基体供清洁层可替换的抵附形成清洁面，清洁面用于对工作表面进行清洁，尤其是在清洁机器人工作时对工作表面进行清洁；其中，该拖地模块至少包括第一状态和第二状态，拖地模块可活动的连接于所述主体上，以在第一状态和第二状态之间切换；在第一状态下，清洁面贴合工作表面；在第二状态下，清洁面脱离工作表面；驱动模块，用于驱动拖地模块在第一状态和第二状态之间转换；控制模块，至少用于当清洁层需要更 换时，控制驱动模块驱动拖地模块从第一状态切换至所述第二状态；
当然，在其它实施例中，当清洁机器人处于越障、地毯清洁、回归基站等其他场景时，控制模块也可以控制所述驱动模块驱动所述拖地模块从所述第一状态切换至所述第二状态。其中，在第二状态下，拖地模块被设置为不阻碍清洁机器人的移动。
该清洁系统还包括：清洁层替换机构；拖地模块处于第二状态时，该清洁层替换机构被配置为可操作地作用于清洁层和/或拖地基体，以为拖地模块更换清洁层。
应当指出的是，清洁层替换机构可以设置在清洁机器人上，例如清洁层替换机构包括设置在清洁机器人上的翻转件等用于拆卸清洁层的清洁层拆卸机构；也可以设置在基站上，例如清洁层替换机构设置在基站上的钩体等用于拆卸清洁层的清洁层拆卸机构；当然还可以一部分设置在清洁机器人上，一部分设置在基站上，例如清洁层拆卸机构既包括设置在清洁机器人上的翻转件，又包括设置在基站上的钩体；当然，在其他实施例，清洁层替换机构例如还可以包括用于收容脏布的脏布仓和/或收容新布的净布仓，脏布仓和/或净布仓设置在基站上；而清洁层拆卸机构设置在清洁机器人或者设置在基站上；可以理解的是，上述不同功能的机构可以根据需求(例如空间布局)等进行设置对此本公开不做具体限定。
需要说明的是，上述的更换/替换应理解为包括拆卸和安装，即清洁层(如拖布)的更换包括清洁层的拆卸和安装的至少一个，例如当拖地基体(例如拖地板)无拖布时，此时更换清洁层表示安装未使用的清洁层；如果拖地板上有清洁层时，更换拖布可包括拖地板上的清洁层的拆卸以及未使用的清洁层的安装；其中拖地板上的清洁层通常是指使用过的清洁层，即脏的、不干净的清洁层，而未使用的清洁层通常是指新的、干净的清洁层，清洁机器人需要更换拖布可以通过检测清洁层的脏污程度、获取清洁机器人使用清洁层的已工作时间或使用清洁层的清洁过的清洁面积、或者接收到用户的更换指令等方式来确定，对此本实施例不作过多赘述。此外，清洁层的拆卸、安装或者清洁层的拆卸和安装均可以根据用户需求确定，也可以在清洁机器人需要更换拖布时，根据程序检测拖地板是否具有清洁层来确定，对此本实施例不做限定。
下面以拖地基体为拖地板，分别对拖地模块(尤其是拖地板)上清洁层的拆卸和清洁层的安装进行论述：
1、清洁层的拆卸：
为了实现拖地板与清洁层的拆卸，清洁层替换机构包括：用于拆卸清洁层(如拖布纸)的清洁层拆卸机构。
在一个实施例中，清洁层拆卸机构设置在基站上；进一步的，清洁层拆卸机构包括钩体；钩体设置在基站上。
例如，当清洁层拆卸机构包括下文所述的脏布箱时，该钩体可以设置在脏布箱上；当然，在其他实施例中，钩体也可以设置在脏布箱的外部，例如钩体位于拖地板与脏布箱之间，钩体的设置位置可以根据实际需求确定，以便于拆卸为准。
在一个实施例中，拖地板具有拆卸区域，拆卸区域可与清洁层拆卸机构相互配合，从而将清洁层从拖地板上拆除。
在一个实施例中，拆卸区域与清洁层之间无相互连接作用。
进一步的，拆卸区域包括有脱布槽，拖地板的外边缘向拖地板内部凹陷形成脱布槽；清洁层拆卸机构包括钩体；钩体可与脱布槽相互配合，以将清洁层从拖地板上拆除。其中，脱布槽例如可以是与 钩体配合的拆卸通孔。
其中，清洁层具有覆盖脱布槽的部分，钩体可穿过脱布槽，钩住清洁层覆盖在脱布槽的部分，从而将清洁层从拖地板上拆除。
考虑到拆卸区域与清洁层拆卸机构如何配合拆卸的问题，一方面，拖地模块和清洁层拆卸机构可以运动到同一个预设位置；另一方面，拖地模块与清洁层拆卸机构的状态需要匹配，例如拆卸区域的倾斜角度，与清洁层拆卸机构的倾斜角度需要匹配。
针对第一方面，
在一个实施例中，清洁系统包括拖清洁层拆卸位置，被配置为将拖地板与清洁层分离或拆除。清洁层拆卸机构被配置为在所述清洁层拆卸位置拾取所述拖地模块上的清洁层。这里的拾取例如可理解为清洁层拆卸机构与清洁层接触，且有利于将清洁层取下。
例如，在钩体与拖地板位于清洁层拆卸位置时，钩体可与脱布槽相互接触，再通过两者产生位移，以将清洁层从拖地板上拆除。具体的，在清洁层拆卸位置，钩体可穿过脱布槽，钩住清洁层覆盖在脱布槽的部分，然后通过两者产生进一步相对位移，从而将清洁层从拖地板上拆除。
为了使拖地板和清洁层拆卸机构之间可产生相对位移，例如使拖地板和清洁层拆卸机构的至少一个到达清洁层拆卸位置、在清洁层拆卸位置产生进一步相对位移等，在一个实施例中，清洁系统包括第一传动机构，该第一传动机构被配置为带动清洁层拆卸机构和拖地模块(尤其是拖地板)中的至少一个移动，使拖地模块和清洁层拆卸机构之间产生相对位移，以便于所述拖地模块上的清洁层与所述拖地模块分离。
例如，第一传动机构被配置为带动清洁层拆卸机构和拖地模块(尤其是拖地板)中的至少一个移动，到达所述清洁层拆卸位置；并在拖地板和清洁层拆卸机构位于清洁层拆卸位置时，进一步带动清洁层拆卸机构和拖地模块(尤其是拖地板)中的至少一个移动，使得所述拖地模块上的清洁层与所述拖地模块分离。
其中，第一传动机构例如可以是带动清洁层拆卸机构运动的机械臂，带动拖地模块移动的移动件(例如伸缩机构)，带动清洁机器人移动从而带动拖地模块移动的行走模块等。
需要指出的是，清洁层拆卸位置设置可以根据需求设定，例如处于第二状态下的拖地板恰好位于清洁层拆卸位置；当然，清洁层拆卸机构可以预先设置在清洁层拆卸位置，这样在拆卸时第一传动机构的运动简化。
针对于清洁层拆卸机构或者拖地板产生相对位移的方式，可以是清洁层拆卸机构动、拖地模块(尤其是拖地板)不动；也可以是清洁层拆卸机构不动，拖地模块动；还可以是，拖地模块和清洁层拆卸机构均动。其中，拖地模块动，可以是清洁机器人的运动产生的被动运动，也可以通过额外设置主动运动机构(例如移动件)来带动拖地模块进行的主动运动；即拖地模块可以相对于清洁机器人主动运动，也可以是相对于清洁机器人位置固定，由清洁机器人带动进行被动运动；对此本公开不做限定。
例如，所述第一传动机构包括第一移动机构，被配置为带动所述清洁层拆卸机构运动；在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁机器人和所述拖地模块位置固定，所述第一移动机构带动所述清洁层拆卸机构移动，使得清洁层拆卸机构相对于拖地模块产生位移。
上述的第一移动机构例如是带动清洁层拆卸机构运动的机械臂。
又如，所述第一传动机构包括移动件，设置于所述清洁机器人上，被配置为带动所述拖地模块运动；在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁机器人和所述清 洁层拆卸机构位置固定，所述移动件带动所述拖地模块移动，使得拖地模块相对于所述清洁层拆卸机构产生位移；
当然，在其他实施例中，第一传动机构包括所述行走模块，在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构位置固定，所述拖地模块相对于所述清洁机器人位置固定；所述行走模块带动所述清洁机器人移动，使得所述拖地模块相对于所述清洁层拆卸机构产生位移，例如行走模块带动所述清洁机器人移动至所述清洁层拆卸位置，使得清洁层拆卸机构在所述清洁层拆卸位置拾取所述拖地模块上的清洁层，进一步的，行走模块带动所述清洁机器人继续移动，使得清洁层拆卸机构将清洁层从拖地模块或拖地板上取下，实现清洁层与拖地模块的分离。
通过清洁机器人运动，从而带动拖地模块运动，简化了系统结构，降低了成本。
针对第二方面，
在一个实施例中，清洁层拆卸机构为钩体；拆卸区域包括脱布槽，且在清洁层拆卸位置，钩体能够穿过对应的脱布槽。
进一步的，钩体为两个，分别设置在脏布箱的两个相对的侧壁上；脱布槽为两个，设置在拖地板的两侧；其中，两钩体中心的连线与两脱布槽中心的连线平行；或者说，钩体中心的连线平行于拖地基体的抵附面或者平行于清洁层的清洁面。
考虑到拆除的清洁层的回收问题，在一个实施例中，所述清洁层替换机构包括脏布箱，用于收容从所述拖地模块分离下来的所述清洁层。
其中，拆除的清洁层例如可以是已使用的片状拖布，或者脏的片状拖布。另外，在一些实施例中，上述片状拖布也可以是纸质的一次性拖布纸。
为了确保拆除的清洁层能够准确落入脏布箱的问题，可以通过以下方式的至少一种实现：
方式A：脏布箱设置在分离的清洁层的移动路径上；
方式B：清洁层拆卸位置位于脏布箱内；
方式C：清洁层拆卸机构位于脏布箱上或脏布箱内。
因此，在一个实施例中，脏布箱设置在从拖地模块分离下来的所述清洁层的移动路径上，以使得清洁层落入所述脏布箱。
在另一实施例中，清洁层拆卸机构(例如钩体)设置于脏布箱上。
通过将清洁层拆卸机构安装在脏布箱上，使得拆除的清洁层直接落入脏布箱内。
在又一实施例中，清洁层拆卸位置设置在脏布箱内，也可以使得清洁层落入脏布箱内。
需要指出的是，在一个实施例中，脏布箱的内部也可以设置有用于支撑拆除的清洁层的维持部，使得拆除的清洁层能够维持拆除时的状态，同时引导拆除的路径；该维持部例如可以是台阶或斜坡，对此本实施例不做限定。
当然，在其他实施例中，还可以通过通过额外设置一个拾取机构将分离的清洁层拾取并送入脏布箱，或者人为将分离的清洁层拾取并放入脏布箱。
在一个实施例中，脏布箱具有第一开口，第一开口被配置为允许拖地模块伸入并在拖地模块离开时将清洁层留在脏布箱。例如脏布箱包括底部和至少两个相对的侧壁，侧壁与底部相连，侧壁和底部可形成第一开口，其中，第一开口与底部相对。
可以理解的是，在所述清洁层拆卸位置或者在拖地模块处于第二状态时，所述脏布箱的第一开口朝向第二方向；其中，第一方向为清洁机器人的进站方向，例如清洁机器人指向基站的方向；第二方 向与第一方向相反；即第二方向为清洁机器人的出站方向，例如基站指向清洁机器人的方向或者清洁机器人远离基站的方向；使得拖地模块可以经第一开口伸入脏布箱，并与清洁层拆卸机构相互配合，使得拖地模块离开第一开口时将清洁层留在脏布箱。
为了回收更多的清洁层，进一步的，清洁层拆卸位置或清洁层拆卸机构设置于脏布箱的第一开口处。
当清洁层拆卸机构设置在脏布箱上(例如设置在脏布箱的侧壁远离底部的一端上)或脏布箱内(例如设置在脏布箱的侧壁上的预设位置)时，清洁层拆卸机构的运动便可以通过脏布箱的运动来实现，因此，清洁层拆卸机构或者拖地模块(尤其是拖地板)产生相对位移的方式有：脏布箱动，从而带动清洁层拆卸机构被动运动，而清洁机器人和拖地板不动；脏布箱不动，此时清洁层拆卸机构也不动，而清洁机器人和/或拖地板动；脏布箱动，带动清洁层拆卸机构被动运动，而清洁机器人和拖地板的至少一个也动；
因此，在一个实施例中，第一传动机构包括第二移动机构，被配置为带动所述脏布箱运动；在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构相对所述脏布箱位置固定，所述清洁机器人位置固定，所述拖地模块相对于所述清洁机器人位置固定；所述第二移动机构带动所述脏布箱移动，从而带动清洁层拆卸机构运动，使得清洁层拆卸机构相对于拖地模块产生位移。
例如，当清洁层拆卸机构安装在脏布箱的侧壁的距离开口预设距离的位置处，且与底部有一定距离时，第二移动机构带动所述脏布箱朝向拖地模块移动，使得拖地模块经第一开口伸入脏布箱，并到达与清洁层拆卸机构接触的位置(例如清洁层拆卸位置)，并通过进一步移动，使得清洁层与拖地模块分离；然后第二移动机构带动所述脏布箱反方向(远离拖地模块的方向)移动，使得拖地模块离开第一开口，在拖地模块离开时，清洁层落入或已落入脏布箱。
又如，当清洁层拆卸机构安装在脏布箱的第一开口处(即安装在侧壁的远离底部的一端，与第一开口的距离为0或基本为0的位置)时，第二移动机构带动所述脏布箱朝向拖地模块移动，使得拖地模块到达与清洁层拆卸机构接触的位置，并通过进一步移动，经第一开口伸入脏布箱，例如移动到与底部距离为0的位置，使得清洁层与拖地模块分离；然后第二移动机构带动所述脏布箱反方向(远离拖地模块的方向)移动预设距离，拖地模块离开第一开口时，清洁层落入或已落入脏布箱。
在另一个实施例中，所述第一传动机构至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述拖地模块运动；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述脏布箱的位置固定。
拖地模块运动的实现方式至少包括如下的一种：
例如，所述第一传动机构包括所述行走模块；
在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述脏布箱位置固定，所述清洁层拆卸机构相对所述脏布箱位置固定，所述拖地模块相对于所述清洁机器人位置固定；所述行走模块带动所述所述清洁机器人朝向脏布箱移动，从而带动拖地模块移动，使得所述拖地模块与清洁层拆卸机构产生相对位移。
又如，在其他实施例中，所述第一传动机构包括移动件，设置于所述清洁机器人上，被配置为带动所述拖地模块运动；
在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述脏布箱位置固定，所 述清洁层拆卸机构相对所述脏布箱位置固定，所述清洁机器人位置固定；所述移动件带动所述所述拖地模块朝向脏布箱移动，使得拖地模块与清洁层拆卸机构产生相对位移。
需要指出的是，以上仅是实现清洁层拆卸机构或者拖地模块产生相对位移的方式列举，不应理解为对本公开的限制。
为了使清洁层的更换过程程序化、简单化，在一个实施例中，拆卸时的运动关系与安装时的运动关系是匹配的，在拆卸时，拖地模块动，脏布箱不动；在安装时，拖地模块动，净布箱不动；或者，在拆卸时，拖地模块不动，脏布箱动；在安装时，拖地模块不动，净布箱动。
在一个实施例中，拆卸时，第一传动机构包括移动件，设置于所述清洁机器人上，在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述移动件带动所述所述拖地模块朝向脏布箱(或清洁层拆卸机构)移动，使得拖地模块与脏布箱(或清洁层拆卸机构)产生相对位移；则安装时，第二传动机构包括移动件，设置于所述清洁机器人上，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述移动件带动所述所述拖地模块朝向净布箱移动；使得拖地模块与净布箱产生相对位移。
以清洁层拆卸机构设置在脏布箱上为例，拆卸时，第一传动机构包括移动件，设置于所述清洁机器人上，在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述移动件带动所述所述拖地模块朝向脏布箱移动，使得拖地模块与清洁层拆卸机构产生相对位移；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述脏布箱的位置固定，所述清洁层拆卸机构相对所述脏布箱位置固定，所述拖地模块相对于所述清洁机器人位置固定；安装时，第二传动机构包括移动件，设置于所述清洁机器人上，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述移动件带动所述所述拖地模块朝向净布箱移动；使得拖地模块与净布箱产生相对位移；其中，在净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述清洁机器人和所述净布箱的位置固定。
在另一实施例中，拆卸时，第一传动机构包括行走模块，设置于所述清洁机器人上，在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述行走模块带动清洁机器人移动，从而带动所述所述拖地模块朝向脏布箱(或清洁层拆卸机构)移动，使得拖地模块与脏布箱(或清洁层拆卸机构)产生相对位移；则安装时，第二传动机构包括所述行走模块，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，行走模块带动所述清洁机器人移动，从而带动所述拖地模块朝向净布箱移动，使得拖地模块与净布箱产生相对位移。。
以清洁层拆卸机构设置在脏布箱上为例，拆卸时，第一传动机构包括行走模块，设置于所述清洁机器人上，在将所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述行走模块带动清洁机器人移动，从而带动所述所述拖地模块朝向脏布箱移动；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构相对所述脏布箱位置固定，所述拖地模块相对于所述清洁机器人位置固定。
安装时，所述第二传动机构包括所述行走模块，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，带动清洁机器人移动，进而带动所述拖地模块朝向所述净布箱运动；在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述拖地模块相对于所述清洁机器人的位置固定，所述净布箱的位置固定。
在又一实施例中，拆卸时，第一传动机构包括第二移动机构，至少被配置为在所述拖地模块上的 清洁层与所述拖地模块分离的至少部分过程中，带动所述脏布箱移动，使得清洁层拆卸机构相对于拖地模块产生位移；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构相对于所述脏布箱的位置固定，所述清洁机器人的位置固定，所述拖地模块相对于所述清洁机器人的位置固定。
则安装时，所述第二传动机构包括第三移动机构，至少被配置为在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，带动所述净布箱朝向所述拖地模块移动；其中，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述清洁机器人和所述拖地模块的位置固定。
当然，在其他实施例中，拆卸时的运动关系与安装时的运动关系也可以是不匹配的，例如在拆卸时，拖地模块动，脏布箱不动；在安装时，拖地模块不动，净布箱动；或者，在拆卸时，拖地模块不动，脏布箱动；在安装时，拖地模块动，净布箱不动；此时导致控制难度加大，运动机构增多，不利于降本。
需要说明的是，所述拖地模块上的清洁层与所述拖地模块分离的过程至少包括脏布箱(或清洁层拆卸机构)和拖地模块的至少一个移动到清洁层拆卸位置的过程、拖地模块上的清洁层与清洁层拆卸机构接触的过程、清洁层拆卸机构与拖地模块上的清洁层产生进一步位移的过程等。
需要指出的是，所述净布箱内的清洁层安装于所述拖地模块的过程至少包括净布箱或拖地模块的至少一个移动到清洁层安装位置的过程、清洁层与拖地模块接触的过程、清洁层与拖地模块产生进一步作用力的过程等。
为了确定清洁层拆卸机构或者拖地板是否到达指定位置，进一步的，基站还包括到位检测装置，配置为获取拖地板、清洁层拆卸机构或者脏布箱的位置，以判断拖地板、清洁层拆卸机构或者脏布箱是否移动到位，以便实现拖地板的拆卸；
在一个实施例中，到位检测装置例如包括位置传感器组或者限位机构。
例如，以脏布箱可以移动为例，所述基站包括：第一到位检测装置，被配置为检测所述脏布箱是否到达清洁层拆卸位置，以便确定是否执行后续的清洁层的拆卸操作。
又如，当脏布箱(或者其上设置的所述清洁层拆卸机构)与所述拖地模块未处于对准状态时，所述脏布箱被配置为在所述第二移动机构的带动下移动到与所述对准状态所对应的对准位置，以使所述清洁层拆卸机构与拖地模块处于对准状态。其中，对准位置可以通过通过基站上的传感器或限位机构实现。
在一个实施例中，上述的移动件例如可以为伸缩机构，可带动拖地模块(尤其是拖地基体)进行伸长和收缩运动；进一步的，伸缩机构例如可以是伸缩杆，这种结构简单易于实现。
需要说明的是，除了上述的伸缩机构外，移动件还可以是机械手或其它机械机构，只要能够带动拖地模块进行移动即可，对此本实施例不做限定。
为了实现清洁层的拆卸，在另一实施例中，参照图21和图22,所述清洁层替换机构包括清洁层拆卸机构，清洁层拆卸机构设置在清洁机器人上，被配置为将所述拖地模块上的清洁层与所述拖地模块分离；进一步的，清洁层拆卸机构包括翻转件500，翻转件设置在清洁机器人上。
在一个实施例中，翻转件500设置在拖地模块(尤其是拖地基体1011)上。
在一个实施例中，翻转件可以是夹持机构，其中夹持机构例如可以是机械爪。
在一个实施例中，翻转件500具有打开状态和闭合状态，所述翻转件处于打开状态时，所述清洁 层101可从所述拖地模块上分离；所述翻转件500处于闭合状态时，所述清洁层安装于所述拖地模块。
应当指出的是，当所述翻转件处于打开状态时，翻转件与附接面成第一角度；当所述翻转件处于闭合状态时，翻转件与附接面成第二角度；所述第一角度与第二角度不同。
在一个实施例中，参照图21和图22,所述清洁系统包括运动机构，所述运动机构被配置为带动所述清洁层拆卸机构(例如翻转件500)运动，使得清洁层拆卸机构与所述拖地模块产生相对位移，以便所述拖地模块上的清洁层与所述拖地模块分离；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁机器人和所述拖地模块的位置固定。
其中，运动机构例如可以为驱动翻转件开闭的驱动装置601，以使翻转件在打开状态和关闭状态之间切换,驱动装置601例如包括驱动马达,驱动马达驱动翻转件500绕轴602进行转动。
例如，为了实现清洁层的拆除，参照图25(a)和图25(b),运动机构包括驱动装置601，驱动装置被配置为驱动翻转件500从闭合状态切换到打开状态，从而使得拖地模块上的清洁层101与拖地模块(尤其是拖地基体1011)分离。
在一个实施例中，拖地基体(例如拖地板)具有拆卸区域，拆卸区域可与清洁层拆卸机构相互配合，从而将清洁层从拖地板上拆除。
又如,为了实现清洁层的安装,按照图24和图21的顺序,运动机构包括驱动装置601，驱动装置601被配置为驱动翻转件500从打开状态切换到关闭状态，从而使得净布箱402内的清洁层101安装于拖地模块(尤其是拖地基体1011)。
在一个实施例中，拆卸区域与清洁层之间无相互连接作用。
在一个实施例中，翻转件处于闭合状态时，向拆卸区域施加作用力，以使得清洁层安装在拖地模块上；翻转件处于打开状态时，翻转件脱离拆卸区域，从而将清洁层与拖地模块分离。
在一个实施例中，清洁系统包括清洁层拆卸位置，用于将拖地模块上的清洁层拆除；进一步的，清洁层拆卸机构被配置为在清洁层拆卸位置将拖地模块上的清洁层与拖地模块分离。
当清洁层拆卸机构不在清洁层拆卸位置时，针对清洁层拆卸机构如何到达清洁层拆卸位置的问题，在一个实施例中，清洁机器人包括用于带动拖地模块运动的第一传动机构，从而带动清洁层拆卸机构向清洁层拆卸位置运动。
例如，第一传动机构包括移动件，设置于所述清洁机器人上，被配置为带动拖地模块运动到清洁层拆卸位置，从而使得清洁层拆卸机构运动到清洁层拆卸位置，然后进一步通过运动机构带动清洁层拆卸机构运动实现清洁层与拖地模块的分离。
又如，第一传动机构包括行走模块，被配置为带动拖地模块运动到清洁层拆卸位置，从而使得清洁层拆卸机构运动到清洁层拆卸位置，再通过运动机构进一步驱动清洁层拆卸机构打开实现清洁层与拖地模块的分离。
通过清洁机器人运动，从而带动拖地模块运动，简化了系统结构，降低了成本。
需要指出的是，清洁层拆卸位置设置可以根据需求设定，例如处于第二状态下的拖地板恰好位于清洁层拆卸位置，此时控制模块可控制翻转件从闭合状态切换至打开状态，从而释放清洁层，使得清洁层与拖地模块分离。当然，在其他实施例中，拖地模块上可以设置控制翻转件开关的按钮，通过人工或自动控制，实现翻转件的打开和关闭，对此不作过多赘述。
考虑到拆除的清洁层的回收问题，在一个实施例中，所述清洁层替换机构包括脏布箱403，用于收容从拖地模块分离下来的所述清洁层101。
为了确保拆除的清洁层能够准确落入脏布箱的问题，可以通过以下方式的至少一种实现：
方式A：脏布箱设置在分离的清洁层的脱落路径上；
因此，在一个实施例中，脏布箱设置在从拖地模块分离下来的所述清洁层的移动路径上，以使得清洁层落入脏布箱。
方式B：清洁层拆卸位置位于脏布箱内；
故，在一个实施例中，清洁层拆卸位置设置在脏布箱内，使清洁层拆卸机构(如翻转件)在清洁层拆卸位置拆卸，也可以使得清洁层落入脏布箱内。
考虑到当清洁层拆卸机构(例如翻转件)未在清洁层拆卸位置时，此时需要将清洁层拆卸机构移动到清洁层拆卸位置，针对于如何将清洁层拆卸机构移动到清洁层拆卸位置的问题，在一个实施例中，所述第一传动机构至少被配置为带动所述拖地模块运动到清洁层拆卸位置；其中，在第一传动机构带动拖地模块运动到清洁层拆卸位置的至少部分过程中，脏布箱的位置固定。
具体的，拖地模块运动的实现方式有以下几种：
例如，第一传动机构包括行走模块；在拖地模块运动到清洁层拆卸位置的至少部分过程中，脏布箱位置固定，所述清洁层拆卸机构相对所述拖地模快位置固定，所述拖地模块相对于所述清洁机器人位置固定；所述行走模块带动所述所述清洁机器人朝向脏布箱移动，从而带动拖地模块移动，使得清洁层拆卸机构运动到清洁层拆卸位置。
又如，在其他实施例中，所述第一传动机构包括移动件，设置于所述清洁机器人上，被配置为带动所述拖地模块运动；
在拖地模块运动到清洁层拆卸位置的至少部分过程中，所述脏布箱位置固定，所述清洁机器人的位置固定；所述移动件带动所述拖地模块朝向脏布箱移动，使得清洁层拆卸机构运动至清洁层拆卸位置。
需要指出的是，以上仅是实现清洁层拆卸机构移动至清洁层拆卸位置的方式列举，不应理解为对本公开的限制。
方式C：清洁层拆卸机构处于脏布箱内。
所以，在一个实施例中，处于第二状态的清洁层拆卸机构恰好处于脏布箱内；当然，在另一实施例中，当清洁层拆卸机构未处于脏布箱内时，使清洁层拆卸机构(例如翻转件)伸入脏布箱内。
针对清洁层拆卸机构如何伸入脏布箱的问题，可以是脏布箱动、拖地模块(尤其是拖地板)及其上的清洁层拆卸机构不动；也可以是脏布箱不动，拖地模块动(从而带动其上的清洁层拆卸机构动)；还可以是，拖地模块和脏布箱均动。其中，拖地模块动，可以是清洁机器人的运动产生的被动运动，也可以通过额外设置主动运动机构(例如移动件)来带动拖地模块进行的主动运动；即拖地模块可以相对于清洁机器人主动运动，也可以是相对于清洁机器人位置固定，由清洁机器人带动进行被动运动；对此本公开不做限定。
例如，所述第一传动机构包括第二移动机构，被配置为带动脏布箱运动；在拖地模块上的清洁层拆卸机构伸入脏布箱的至少部分过程中，清洁机器人和拖地模块位置固定，拖地模块上的清洁层拆卸机构的位置也固定，第一移动机构带动所述脏布箱移动，使得清洁层拆卸机构伸入脏布箱；在清洁层拆卸机构伸入脏布箱的情况下，清洁层拆卸机构在运动机构(如驱动装置)的驱动下，相对于拖地模块运动，从闭合状态切换为打开状态，从而将清洁层自拖地模块上拆除，拆除的清洁层掉落到脏布箱内。
上述的第二移动机构例如包括带动脏布箱运动的导轨和驱动电机等。
又如，第一传动机构包括移动件，设置于清洁机器人上，被配置为带动拖地模块运动；在清洁层拆卸机构伸入脏布箱的至少部分过程中，清洁机器人和脏布箱位置固定，移动件带动拖地模块移动，从而带动拖地模块上的清洁层拆卸机构伸入脏布箱。
当然，在其他实施例中，第一传动机构包括行走模块，在清洁层拆卸机构伸入脏布箱的至少部分过程中，所述脏布箱位置固定，拖地模块相对于清洁机器人位置固定；行走模块带动清洁机器人移动，带动拖地模块移动，从而拖地模块上的清洁层拆卸机构伸入脏布箱。
通过清洁机器人运动，从而带动拖地模块运动，简化了系统结构，降低了成本。
当然，在其他实施例中，还可以通过通过额外设置一个拾取机构将分离的清洁层拾取并送入脏布箱，或者人为将分离的清洁层拾取并放入脏布箱，或者，当无脏布箱时，可以人为将分离的清洁层手动回收。
可以理解的是，脏布箱具有第一开口，第一开口被配置为允许拖地模块伸入，并在拖地模块离开时将清洁层留在脏布箱。在一个实施例中，例如脏布箱包括底部和至少两个相对的侧壁，侧壁与底部相连，侧壁和底部可形成第一开口，其中，第一开口与底部相对。
可以理解的是，在清洁层拆卸位置或者在拖地模块处于第二状态时，所述脏布箱的第一开口朝向第二方向，使得拖地模块可以经第一开口伸入脏布箱，此时，运动机构带动清洁层拆卸机构(如翻转件)由闭合状态切换到打开状态，使得清洁层脱离拖地模块，实现了拖地模块离开第一开口时将清洁层留在脏布箱的效果。
为了回收更多的清洁层，进一步的，清洁层拆卸位置设于靠近脏布箱的底部的位置。
为了确定拖地板、清洁层拆卸机构或者脏布箱是否到达指定位置，进一步的，基站还包括到位检测装置，配置为获取拖地板、清洁层拆卸机构或者脏布箱的位置，以判断拖地板、清洁层拆卸机构或者脏布箱是否移动到位，以便实现清洁层的拆卸；
在一个实施例中，到位检测装置例如包括位置传感器组或者限位机构。
例如，以拖地板可以移动为例，所述基站包括：用于检测所述拖地板是否到达清洁层拆卸位置的到位检测装置，以便确定是否执行后续的清洁层的拆卸操作。
又如，当拖地板(或者其上设置的所述清洁层拆卸机构)与所述脏布箱未处于对准状态时，所述拖布板被配置为在所述第一传动机构的带动下移动到与对准状态所对应的对准位置，以使所述清洁层拆卸机构与拖地模块对准。其中，对准位置可以通过清洁机器人或基站上的传感器或限位机构实现。
参照图26(a)至图26(d),在一个实施例中，为了提高清洁层的牢固性，防止在诸如清洁机器人或拖地板的移动的过程中脱落，进一步的，拖地基体1011包括能够粘接清洁层的粘贴区域。
当然，在其他实施例中，为了提高清洁层的牢固性，所述翻转件500具有能够粘接清洁层的粘接面。
进一步的，拆卸区域包括有脱布槽，拖地板的外边缘向拖地板内部凹陷形成脱布槽；清洁层拆卸机构包括设置在基站(尤其是脏布箱403)上的钩体404；钩体可与脱布槽相互配合，以将清洁层从拖地板上拆除。其中，脱布槽例如可以是与钩体配合的拆卸通孔。
其中，清洁层具有覆盖脱布槽的部分，钩体可穿过脱布槽，钩住清洁层覆盖在脱布槽的部分，从而将清洁层从拖地板上拆除，该钩体尤其适用于具有粘贴区域的拖地板，能够提高拆除的可靠性。
需要指出的是，清洁层拆卸机构还包括设置在基站(尤其是脏布箱)上的钩体，拖地基体包括能够粘接清洁层的粘贴区域时，在一个实施例中，在钩体作用于清洁层或者钩体与清洁层接触之前，运动机构带动设置在清洁机器人(尤其是拖地模块)上的清洁层拆卸机构(如翻转件)，使得翻转件处于打开状态；例如，钩体404设置在脏布箱403的开口处时，在拖地模块伸入脏布箱之前，运动机构(例如驱动装置601)带动设置在清洁机器人(尤其是拖地模块)上的清洁层拆卸机构(如翻转件500)，使得翻转件处于打开状态；然后在通过脏布箱上的钩体404对清洁层101操作以完成后续拆除，使得清洁层101落入脏布箱403内。
另外，当清洁层拆卸机构包括设置在基站上的钩体时的钩体拆卸清洁层的过程可参考上文相关论述，此处不做过多赘述。
当然，在其它实施例中，清洁层拆卸机构除了上述的钩体(例如拆纸钩)、翻转件(例如夹持机构)外，还可以是机械手或其他机构，只要能实现拆布即可。
2、清洁层的安装
为了实现拖地板与清洁层的连接，可以通过以下方式的至少一种实现：
1)拖地基体设置用于连接清洁层的连接区域；
2)在位于清洁机器人上的清洁层拆卸机构设置用于连接清洁层的连接区域。
因此，在一个实施例中，所述拖地基体(如拖地板)设置有用于连接清洁层的连接区域。
进一步的，连接区域包括粘贴区域，清洁层可黏附于所述粘贴区域；具体的，粘贴区域包括粘贴部，清洁层可粘附于该粘贴部，以实现拖地板与清洁层的连接。该粘贴区域例如可以是魔术贴。
又如，在另一个实施例中，清洁层拆卸机构为翻转件时，翻转件上可设置用于连接清洁层的清洁区域；
进一步的，翻转件具有能够粘接清洁介质的粘接面，连接区域包括该粘接面。
当然，在其他实施例中，清洁层拆卸机构为翻转件时，翻转件和拖地基体均可设置连接清洁层的清洁区域。
考虑到清洁层的存放问题，在一个实施例中，本申请的清洁系统(尤其是清洁层替换机构)包括净布箱，被配置为收容待安装至所述拖地模块的清洁层。
在一个实施例中，清洁层为片状拖布；当片状拖布为至少两片时，至少两片所述片状拖布通过叠放的方式排布在所述净布箱内。
需要指出的是，本文提及的“叠放”可以是部分重叠，也可以是完全重叠，即当第一片状拖布为至少两片时，第一片状拖布在排布时至少部分重叠。可以理解的是，当部分重叠放置时拖地板在连接清洁层时，会适应性的调整连接位置，以与对应的清洁层连接，即清洁层可以有不同的摆放位置，拖地板可以具有不同的连接位置，该连接位置与摆放位置对应，以便于将相应的清洁层取出；优选的，清洁层在叠放时是完全重叠的，一方面节省清洁层的占用空间，例如可以缩小净布箱的大小，另一方面，由于每次可以在同一位置连接清洁层，每次取清洁层简单方便。
考虑到拖地模块(尤其是拖地板)与净布箱的对准问题，一方面，可预先设置一个清洁层安装位置，拖地模块和净布箱运动到该安装位置，以方便对接；另一方面，拖地模块与净布箱的状态需要匹配，例如拖地模块(在与未使用的清洁层连接时，例如处于第二状态时)相对于进站方向的倾斜角度等状态，与净布箱的开口朝向、净布箱内的清洁层的倾斜角度等状态需要匹配。
针对第一方面：
在一个实施例中，清洁系统包括清洁层安装位置，被配置为将清洁层安装于拖地板。换言之，拖地板被配置为在清洁层安装位置与净布箱上的清洁层进行连接。
例如，在净布箱与拖地板位于清洁层安装位置时，拖地板可与清洁层相互接触，以将清洁层安装在拖地板上，进一步的，并通过两者产生的相互作用力，将清洁层较牢固地安装在拖地板上。
需要指出的是，在一个实施例中，清洁层包括设置在清洁机器人上的清洁层拆卸机构，例如设置在拖地模块上的翻转件时，为了将清洁层安装在拖地板上，拖地板或翻转件设置连接清洁层的连接区域；考虑到拖地板或者翻转件均未设置连接清洁层的连接区域时，为了将清洁层固定安装在拖地板上，在清洁层与拖地板接触或在清洁层安装位置时，运动机构(例如驱动装置)带动设置在清洁机器人(尤其是拖地基体)上的清洁层拆卸机构(尤其是翻转件)运动，使清洁层拆卸机构(尤其是翻转件)切换到闭合状态，从而将清洁层安装到拖地模块上。
当然，在其他实施例中，例如拖地板设有连接清洁层的连接区域(如粘贴区域)或翻转件设置连接清洁层的连接区域(如粘接面)；拖地板可与清洁层相互接触后，除了通过进一步对清洁层施加垂直于清洁面的作用力来将清洁层较牢固地安装在拖地板上的方式外，还可以通过下述方式实现：在拖地板或翻转件与清洁层接触或在清洁层安装位置时，运动机构(例如驱动装置)带动设置在清洁机器人(尤其是拖地基体)上的清洁层拆卸机构(尤其是翻转件)运动，使清洁层拆卸机构(尤其是翻转件)切换到闭合状态，此时，清洁层拆卸机构还能起到安装或固定的作用。
进一步的，在一个实施例中，在运动机构对带动设置在清洁机器人(尤其是拖地基体)上的清洁层拆卸机构(尤其是翻转件)运动，使清洁层拆卸机构(尤其是翻转件)切换到闭合状态的至少部分过程中，所述净布箱具有为清洁层的拆卸机构的运动的操作空间；或者，在清洁层与拖地模块连接之后，在净布箱外部，所述运动机构带动设置在清洁机器人(尤其是拖地基体)上的清洁层拆卸机构(尤其是翻转件)运动，使清洁层拆卸机构(尤其是翻转件)切换到闭合状态，以提高清洁层的牢固性。
为了使拖地板和净布箱之间可产生相对位移，例如使拖地板和净布箱的至少一个到达清洁层安装位置、在清洁层安装位置进一步产生相互作用力等，在一个实施例中，清洁系统包括第二传动机构，该第二传动机构被配置为带动净布箱和拖地模块(尤其是拖地板)中的至少一个移动，使拖地板和净布箱之间产生相对位移，以便于所述拖地模块上的清洁层安装于所述拖地模块。
例如第二传动机构被配置为带动净布箱和拖地模块(尤其是拖地板)中的至少一个移动，以到达所述清洁层安装位置，以便所述净布仓内的清洁层安装于所述拖地模块；并在拖地板和净布箱位于清洁层安装位置时，带动净布箱和拖地模块(尤其是拖地板)中的至少一个进一步移动，使得所述净布箱内的清洁层安装于所述拖地模块。
需要指出的是，清洁层安装位置设置可以根据需求设定，例如处于第二状态下的拖地板恰好位于清洁层安装位置；当然，净布箱可以预先设置在清洁层安装位置，这样在安装时第二传动机构的运动简化。
针对于净布箱和拖地板产生相对位移的实现方式，主要有以下几种：可以是净布箱动、拖地模块(尤其是拖地板)不动；也可以是净布箱不动，拖地模块动；还可以是，拖地模块和净布箱均动。其中，拖地模块动，可以是清洁机器人的运动产生的被动运动，也可以通过额外设置主动移动机构(例如移动件)来带动拖地模块进行的主动运动；即拖地模块可以相对于清洁机器人主动运动；也可以是相对于清洁机器人位置固定，由清洁机器人带动进行被动运动；对此本公开不做限定。
因此，在一个实施例中，所述第二传动机构包括第三移动机构，被配置为带动所述净布箱运动；在将所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述清洁机器人和所述拖地模块位置固定，所述第三移动机构带动所述净布箱移动，使得净布箱相对于拖地模块产生位移。
在另一个实施例中，所述第二传动机构包括移动件，设置于所述清洁机器人上，被配置为带动所述拖地模块运动；在将所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述清洁机器人和所述净布箱位置固定，所述移动件带动所述拖地模块移动，使得拖地模块相对于所述净布箱产生位移。
当然，在其他实施例中，第二传动机构包括所述行走模块，在将所述净布箱的清洁层安装于所述拖地模块的至少部分过程中，所述净布箱位置固定，所述拖地模块相对于所述清洁机器人位置固定；所述行走模块带动所述清洁机器人移动，使得所述拖地模块相对于所述净布箱产生位移，例如行走模块带动所述清洁机器人移动至所述清洁层安装位置，使得所述拖地模块在所述清洁层安装位置连接至净布箱内的清洁层；进一步的，行走模块带动所述清洁机器人继续移动，使得拖地模块对清洁层产生相互作用力，实现清洁层与拖地模块连接的稳固性。
通过清洁机器人运动，从而带动拖地模块运动，简化了系统结构，降低了成本。
为了确定净布箱或者拖地板是否到达指定位置，进一步的，基站还包括到位检测装置，配置为获取拖地板或者净布箱的位置，以判断拖地板或者净布箱是否移动到位，以便实现清洁层的安装；
例如，以净布箱可以移动为例，所述基站包括：第二到位检测装置，被配置为检测所述净布箱是否到达清洁层安装位置，以便确定是否执行后续的清洁层的安装操作。
针对第二方面：
在一个实施例中，拖地基体(例如拖地板)包括连接面或抵附面，连接面位于拖地基体的下表面，被配置为清洁层连接；
清洁层(例如拖布或拖布纸)具有清洁面和非清洁面，其中清洁面与地面接触时用于执行清洁工作，非清洁面为与拖地板连接/抵附的一面或者非清洁面为与清洁面相对的一面。
在一个实施例中，在拖地板与净布箱内的清洁层的清洁面连接之前，所述拖地基体的连接面或抵附面与净布箱内清洁层的清洁面被配置为相互平行；或者，在拖地板与净布箱内的清洁层的清洁面连接之前，所述净布箱内清洁层的清洁面与第一方向所成的角度等于所述拖地基体的连接面(或抵附面)与第一方向所成的角度。其中第一方向是指清洁机器人指向基站的方向，例如该方向为平行于水平面的水平方向。
例如，在第二状态下，拖地板的连接面(或抵附面)与净布箱内清洁层的清洁面相互平行；或者说，在第二状态下，净布箱内的清洁层的清洁面与第一方向之间成的角度与所述拖地板的连接面(或抵附面)与第一方向所成的角度相等，其中，第一方向为清洁机器人指向基站的方向。
也就是说，在更换清洁层时，净布箱内清洁层的摆放角度与在第二状态下的拖地板的角度是匹配的。
比如，在所述第二状态下，所述拖地板的连接面与第一方向之间成的角度为大于等于30度，且小于等于90度的任意值时；净布箱内清洁层的清洁面与第一方向之间成的角度也为大于等于30度，且小于等于90度的任意值；反之，净布箱内清洁层的清洁面与第一方向之间成的角度为大于等于30度，且小于等于90度的任意值时，则控制模块，至少被配置为当所述清洁层需要更换时，控制所述驱动模块驱动所述拖地模块从所述第一状态切换至所述第二状态，使得拖地板的连接面与第一方向之间成的 角度也为大于等于30度，且小于等于90度的任意值。为方便清洁层的安装，在一个实施例中，所述拖地模块处于第二状态时，所述拖地模块的连接面垂直于第一方向；净布箱内清洁层的清洁面与第一方向垂直，也就是说，净布箱内，清洁层为竖直放置；
考虑到清洁层倾斜放置受重力的作用不易维持，进一步的，在一个实施例中，净布箱内设置有支撑部，用于对清洁层进行支撑，使得所述净布箱收容的清洁层的清洁面与第一方向呈角度，例如净布箱收容的清洁层的清洁面与第一方向呈一取值在大于等于30度，小于等于90度的角度；又如，支撑部包括固定装置，被配置为对所述清洁层进行固定，使得所述净布箱收容的清洁层的清洁面与第一方向呈直角。
考虑到重力因素,为了便于净布箱内的清洁层的状态维持，同时减少硬件设计成本和复杂度；进一步的，净布箱内清洁层的清洁面与第一方向成的角度的取值为大于等于45度,且小于等于60度的任意值；相应的，所述拖地模块处于第二状态时，所述拖地模块的连接面与所述第一方向之间呈的角度也为大于等于45度,且小于等于60度的任意值。
当然，其他实施例中，可以在净布箱内设置斜坡或台阶等支撑部，用于辅助维持清洁层的状态，同时可以引导用户对清洁层的放置，斜坡或台阶尤其适用于净布箱收容的清洁层的清洁面与第一方向呈锐角的放置，例如锐角的取值在大于等于30度，小于等于60度的角度。
此外，在拖地板与清洁层对接时，拖地板需要能够伸入净布箱内。
在一个实施例中，净布箱具有第二开口，第二开口被配置为允许拖地模块伸入。例如净布箱包括底部和至少两个相对的侧壁，净布箱的侧壁与净布箱的底部相连，净布箱的侧壁和净布箱的底部可形成第二开口，其中，净布箱的第二开口与净布箱的底部相对，换言之，所述净布箱具有与所述第二开口相对的底部，所述净布箱的开口指向底部的方向与工作表面(或水平面)平行，且所述第二开口朝向所述清洁机器人或所述拖地模块。
可以理解的是，在所述清洁层安装位置或者在拖地模块处于第二状态时，所述净布箱的第二开口朝向第二方向；其中，第一方向为清洁机器人指向基站的方向；第二方向与第一方向相反；即第二方向为基站指向清洁机器人的方向或者清洁机器人远离基站的方向；使得拖地模块可以经第二开口伸入净布箱，并与净布箱内的清洁层连接，以将所述清洁层安装在所述拖布模块上。
需要指出的是，清洁系统还可以包括对准位置，例如当脏布箱的待工作位与对准位置未对准时，还需要将脏布箱从第一待工作位移动到与拖地模块对准的对准位置，并对其进行到位检测，其中，所述对准位置是指所述清洁层拆卸机构或者脏布箱与拖地模块处于对准状态时的位置。
当然，通常第二待工作位是设置在对准位置的，这样可以简化脏布箱的操作步骤，此时在执行清洁层拆卸之前，若脏布箱未处于第二待工作位时，还需要将脏布箱移动到第二待工作位，并通过到位检测装置对其进行到位检测；
以及，当清洁层拆卸完成后，将脏布箱复位(移回到第二待工作位)，并通过到位检测装置对其进行到位检测，从而为下一次更换作好准备。
类似地，当清洁层安装开始前，若净布箱未处于第一待工作位时，还需要将脏布箱移动到第一待工作位，并对其进行到位检测。
当清洁层安装完成之后，需要将净布箱复位(移动到第一待工作位)，并通过到位检测装置对其进行到位检测。
需要指出的是，上述的到位检测装置包括一个或多个传感器，可用于分别对相应的部件(如脏布 箱、净布箱、拖地板、清洁层拆卸机构等)进行到位检测，以便完成清洁层的更换。
进一步的，当清洁机器人完成清洁层的更换后，将拖地模块调回第一状态，以便对清洁地面进行清洁。
在一个实施例中，控制模块，至少用于当所述清洁层更换完成之后，控制所述驱动模块驱动所述拖地模块从所述第二状态切换回所述第一状态。
针对于如何使得拖地模块的状态切换，在一个实施例中，参照图15、图16，驱动机构例如可以是翻转机构(例如枢转机构)，通过对拖地模块进行翻转，使得拖地模块在第一状态和第二状态之间进行切换。其中翻转机构包括旋转杆2011和用于驱动旋转杆2011绕旋转轴2013旋转的旋转马达2011，旋转杆的一端连接拖地模块，旋转杆另一端连接旋转马达的输出轴。
在一个实施例中，进一步的，在第二状态下，抵附面(或连接面)与第一方向之间成角度，其中，第一方向为清洁机器人指向基站的方向。
例如，拖地模块处于第二状态时，抵附面(或连接面)与第一方向之间所成的角度大于0度，且小于等于90度。
从清洁层的拆卸和安装角度出发，进一步的，拖地模块处于第二状态时，拖地模块清洁层的清洁连接面与第一方向之间所成的角度大于等于30度，且小于等于90度。
为方便清洁层的拆卸和安装，所述拖地模块处于第二状态时，所述拖地基体的抵附面(或连接面)垂直于所述第一方向；也就是说，在第二状态下，抵附面(或连接面)与第一方向之间所成的角度等于90度。
考虑到重力因素对清洁层的安装和拆卸的影响,同时减少硬件设计成本和复杂度；在一个实施例中，所述抵附面(或连接面)与所述第一方向之间呈的角度大于等于45度,且小于等于60度。
可以理解的是，可以通过翻转机构实现拖地模块的连接面与第一方向之间成角度。
当然，在其他实施例中，可以在净布仓内设置斜坡或台阶，引导清洁层的放置。
针对于如何使得拖地模块的状态切换，在另一个实施例中，驱动机构200例如可以是抬升机构，通过对拖地模块进行升降，使得拖地模块在第一状态和第二状态之间进行切换。
以拆卸位置和安装位置为同一个设定位置，且该设定位置位于抬升后的拖地模块的下方为例对清洁层的更换进行简要说明：
拖地模块抬升后，为脏布箱(或净布箱)预留空间，使得脏布箱(或净布箱)可以移动到处于第二状态的拖地模块的下方，以便拖地模块伸入脏布箱(或净布箱)以实现清洁层的拆卸(或安装)；即抬升的高度满足能够使得脏布箱和净布箱进入；
在一个实施例中，清洁机器人进站，停靠在停靠位；
抬升机构带动拖地模块上升，拖地模块切换到第二状态，脏布箱由第二待工作位移动到设定位置(拆卸位置)，然后拖地模块沿竖直方向下降(例如可通过抬升机构向下降落)伸入脏布箱，与脏布箱上的清洁层拆卸机构相互配合(先向脏布箱的底部运动一段距离，然后再向脏布箱的开口运动)，将拖地模块上的清洁层剥离，清洁层在重力的作用下落入脏布箱内；拖地模块回到抬升位置(第二状态下的位置)；
脏布箱复位，为净布箱让出位置；
净布箱由第一待工作位移动到设定位置，拖地模块沿竖直方向下降(例如可通过抬升机构向下降落)伸入净布箱，并与净布箱上的清洁层相连；拖地模块再次回到抬升位置(第二状态下的位置)。
净布箱复位，拖地模块下降(可通过抬升机构向下降落实现)，拖地模块从第二状态切换回第一状态；
清洁机器人出站。
上述至少部分过程中，清洁层的拆卸和安装在竖直方向上完成。
当然，在其他实施例中，参照图17至图19，驱动机构例如包括抬升机构202和翻转机构201，即驱动机构既可以对拖地模块100进行抬升，也可以对拖地模块进行翻转；可以先通过抬升机构对拖地模块进行抬升后再通过翻转机构对拖地模块进行翻转，也可以先通过翻转机构对拖地模块进行翻转后再通过抬升机构对拖地模块进行抬升；抬升和翻转可以根据实际需求设置，对此本实施例不做限定。其中，翻转机构由电机驱动进行翻转，翻转机构还可以与抬升机构进行联动；抬升机构可以是钢丝绳牵引机构也可以是其它线形移动机构，对此本实施例不做限定；同样的，翻转机构还可以是其它形式的机械结构，只要能够实现翻转即可，对此本实施例不做过多赘述；
此外，驱动机构还可以包括上述的移动件，以便对拖地模快进行伸缩；驱动模块使得拖地模块具有多方向运动能力，有利于提高拖地模块更换的灵活性和对复杂环境的适应性。
为了防止翻转时产生受阻的问题，在一个实施例中，所述基站包括：承载所述清洁机器人的地台，所述地台设置有第一收容槽，所述控制模块被配置为在所述清洁机器人行走到停靠位置时控制所述驱动模块驱动所述拖地模块从所述第一状态切换到所述第二状态，所述拖地模块从第一状态切换为第二状态的至少部分过程中，至少部分所述拖地模块收容于所述第一收容槽内。
通过设置第一收容槽为翻转提供空间。
为了提供翻转空间，在另一个实施例中，所述拖地模块从第一状态转化为第二状态时，所述驱动机构驱动所述拖地模块沿垂直于所述工作表面的方向抬升预设距离后朝向第一方向或朝向清洁机器人的外侧(例如基站方向)进行翻转。
通过翻转前上升一段距离后再翻转，从而避免翻转受阻的问题。
为了降低拖布更换操作的复杂度，例如以较少的运动机构来实现更换，同时减少运动机构占用清洁机器人的体积和成本，在一个实施例中，驱动机构驱动拖地模块切换至第二状态后，由净布箱或脏布箱去对准拖地模块，而无须再设置带动拖地模块主动对准拖地模块的运动机构(有利于减小清洁机器人的体积)，即通过相应的移动机构带动净布箱(由第三移动机构带动)或脏布箱(由第二移动机构带动)运动到相应的位置(例如清洁层安装位置或清洁层拆卸位置)实现对准后，然后通过传动机构进一步带动净布箱或脏布箱运动或者通过清洁机器人的运动(即通过行走模块带动清洁机器人运动)来实现清洁层的更换。
在一个实施例中，清洁层安装位置和清洁层拆卸位置为同一位置(称对准位置或清洁层更换位置)，此时，净布箱或脏布箱均可移动到该位置，以实现新的(或干净的)清洁层的安装，或，旧的(或脏的)清洁层的拆卸。
为了避免净布箱和脏布箱的运动受阻，相应的，净布箱具有第一待工作位，脏布箱具有第二待工作位，其中，第一待工作位与第二待工作位不同。
需要指出的是，由于清洁层安装位置和清洁层拆卸位置为同一位置，因此当清洁层更换操作既包括清洁层的拆卸又包括清洁层的安装时；当清洁层的拆卸完成后或者执行行清洁层安装之前，脏布箱需要复位操作，例如脏布箱回到第二待工作位，以为清洁层的安装提供操作空间。
此外，第二移动机构或第三移动机构既可以沿水平方向(左右)移动，也可以沿竖直方向(上下) 移动，第二移动机构或第三移动机构具体的实现结构例如通过设置相应的导轨(水平导轨)和驱动机构来实现相应方向的移动，对此本实施例不做赘述。
应当指出的是，基站设置有控制单元，作为控制中枢获取相应的信息，例如传感器组的检测信息(检测是否清洁机器人是否停靠到位，脏布箱是否到位，净布箱是否到位等)控制相应机构执行对应的动作，例如控制单元可用于控制第二移动机构带动脏布箱的运动；控制第三移动机构带动净布箱的运动等。
为了减少脏布箱和净布箱运动路径的复杂度，在一个实施例中，通过脏布箱和净布箱的布置位置来实现，例如脏布箱所处的第二待工作位与第二状态下的拖地模块处于对准状态，即，第二待工作位与清洁层更换位置处于同一水平线上，拖地模块和脏布箱分别位于清洁层更换位置的两侧；
净布箱所处的第一待工作位与清洁层更换位置处于同一竖直线上，且第一待工作位处于清洁层更换位置的上方。
此时，脏布箱仅需要具有水平方向的移动(即第二移动机构仅在水平方向移动)即可实现清洁层的拆卸；而净布箱仅需要具有竖直方向的移动(即第三移动机构仅在竖直方向移动)即可实现清洁层的安装；简化了移动机构的设置和更换操作的复杂度。
又如，在另一实施例中，净布箱所处的第一待工作位与第二状态下的拖地模块处于对准状态，即，第一待工作位与清洁层更换位置处于同一水平线上，拖地模块和净布箱分别位于清洁层更换位置的两侧；
脏布箱所处的第二待工作位与清洁层更换位置处于同一竖直线上，且第二待工作位处于清洁层更换位置的上方。
此时，脏布箱仅要具有竖直方向的移动(即第二移动机构仅在竖直方向移动)即可实现清洁层的拆卸；而净布箱仅要具有水平方向的移动(即第三移动机构仅在水平方向移动)即可实现清洁层的安装；简化了移动机构的设置以及更换操作的复杂度。
当然，在其它实施例中，脏布箱和净布箱上下布置，且脏布箱在净布箱的上方，脏布箱和净布箱仅沿竖直方向上下运动，此时第二移动机构和第三移动机构为同一个(例如竖直导轨)；拖地模块(或拖地板)在清洁机器人的带动下仅沿水平方向运动，也可以实现清洁层的拆卸和更换，具体可参照图7和图12，这里不做赘述；
在一个实施例中，机器人清洁系统具有配合于所述拖地模块进行清洁层拆卸的清洁层拆卸位置和清洁层安装的清洁层安装位置；所述清洁层替换机构包括：用于收容所述清洁层的脏布箱，用于收容待安装至所述拖地模块的清洁层的净布箱，清洁层拆卸机构以及用于带动所述脏布箱运动的第二移动机构，用于带动所述净布箱运动的第三移动机构；所述清洁层拆卸机构用于在清洁层拆卸位置抓取所述拖地模块上的清洁层。
进一步的，所述清洁层拆卸位置和所述清洁层安装位置为同一个预设位置。
进一步的，清洁层拆卸机构设置在脏布箱的开口处；
进一步的，脏布箱的开口和净布箱的开口在预设位置朝向拖地板的连接面，以允许拖地板伸入。
进一步的，脏布箱所处的第二待工作位与第二状态下的拖地模块处于对准状态，即，第二待工作位与清洁层更换位置处于同一水平线上，拖地模块和脏布箱分别位于清洁层更换位置的两侧；净布箱所处的第一待工作位与清洁层更换位置处于同一竖直线上，且第一待工作位处于清洁层更换位置的上方；
其中，清洁层的更换过程主要包括：
当所述清洁层需要更换时，清洁机器人回到基站，停靠在停靠位上；
控制模块控制所述驱动模块驱动所述拖地模块从所述第一状态切换至所述第二状态；
第二移动机构带动所述脏布箱运动到预设位置；
清洁层拆卸机构抓取拖地模块上的清洁层；
行走模块带动清洁机器人朝向靠近预设位置的方向行走一距离，将拖地模块上的清洁层与拖地模块分离；
行走模块带动清洁机器人回到停靠位；
第二移动机构带动脏布箱离开预设位置；例如回到第二待工作位；
第三移动机构带动净布箱运动到预设位置；
行走模块带动清洁机器人朝向净布箱运动，使得拖地模块连接净布箱内的清洁层。
行走模块带动清洁机器人回到停靠位；
控制模块控制所述驱动模块驱动所述拖地模块从所述第二状态切换至所述第一状态。
在一个实施例中，以清洁层为拖布为例，本申请提供了一种机器人清洁系统的控制方法，包括：
1、主机进站，停留在停靠位；
2、主机驱动拖地板运动，使拖地板从第一状态切换到第二状态；
3、将脏布箱运动到拖布拆卸位置，其中，拖地板与脏布箱的开口是对准的；
4、通过拖地板与脏布箱上的拆纸钩(钩体)相对运动(先靠近,后远离)，将拖地板上的脏布拆除；例如在拆卸的至少部分过程中，脏布箱非主动运动，清洁机器人带动拖地模块主动朝向脏布箱运动以及远离脏布箱运动，从而实现拆卸。
5、拆除的脏布落入脏布箱内；
6、移动脏布箱到非工作位(如第二待工作位)，为净布箱留出操作空间；
7、将净布箱移到拖布安装位置，其中净布箱的开口与拖地板是对准的；
8、通过拖地板和净布箱的相对运动，使得新布安装到拖地板上
9、将净布箱移动复位；将脏布箱移动复位；
10、主机(清洁机器人的简称)驱动拖地板运动，使拖地板调回到第一状态；主机出站。
进一步的，安装位置和拆卸位置是同一个位置。
需要说明的是，上述的相对运动的实现可以是拖地板动，箱(指净布箱或脏布箱)不动，也可以是，箱动，拖地板不动；或者，拖地板、箱两者都动；其中，拖地板动可以是主机运动，从而带动拖地板动；也可以是主机上再设置一个运动机构，带动拖地板动；
上述步骤8、9的顺序可调，可同时进行，也可以分别先后进行；
对此不应理解为对本公开的限制。
为了为清洁层的更换提供操作空间，在一个实施例中，所述基站包括用于承载所述清洁机器人的地台，所述清洁层替换机构的工作位置的高度所述地台的高度。
针对脏布箱和净布箱的摆放，在一个实施例中，脏布箱和净布箱设置在基站，上下布置，相对于左右布置占用空间小。
为了便于理解，下面结合附图对本公开进行说明如下：
请参见图1和图20，是本发明一实施方式提供的机器人清洁系统的示意图，机器人清洁系统包 括：清洁机器人1100，以及供清洁机器人停靠的基站1400。请一并参见图9，清洁机器人1100包括：主体10，其具有前端；行走模块300，设置于所述主体10上，带动清洁机器人1100在工作表面行走；拖地模块100，可移动的连接于所述主体上，包括可更换的清洁层101，清洁层101具有清洁面，被配置为对工作表面进行清洁；拖地模块100具有连接面，被配置为连接清洁层；所述拖地模块100至少包括第一状态和第二状态，在所述第一状态下，所述清洁层101贴合工作表面，在所述第二状态下，所述清洁层101脱离于工作表面；驱动机构200，用于驱动所述拖地模块100在所述第一状态和所述第二状态之间转换；控制模块，至少用于当所述清洁层101需要更换时，控制所述驱动机构200驱动所述拖地模块100从所述第一状态转化为所述第二状态。
其中，主体10形成了清洁机器人的基本轮廓，例如圆形、D型、方形等轮廓，其具有前端，以便定义前进方向。
行走模块300包括驱动电机以及至少一个驱动轮，驱动轮由驱动电机驱动，从而带动清洁机器人移动。行走模块300可以在控制模块的控制下带动清洁机器人进行自主运动。需要指出的是，多个驱动轮可以由一个驱动电机驱动，也可以由分别与其连接的驱动电机驱动，对此本发明不做限定。
拖地模块100包括拖地板和可更换的清洁层101，拖地板与清洁层101之间可拆卸连接。
清洁机器人1100所用的清洁层101可以是具有洁净功能的器件，例如海绵、抹布、、清洁纸、拖布、拖布纸(即纸质的拖布)等；清洁层101可以是一次性的，例如一次性拖布纸；清洁层101也可以是反复使用的，例如可通过清洗从而反复使用的拖布；清洁层101可以是片状的，例如片状拖布，也可以是卷式的，例如卷式拖布，其中片状拖布可以理解为经过裁切后可以直接使用的拖布片；而卷式拖布可以理解为呈胶卷状的拖布；需要指出的是，卷式拖布可以通过展开、裁切得到片状的拖布。在一个示例中，清洁层101是片状拖布，优选的，该片状拖布是一次性拖布纸。
在一个示例中，拖地板和清洁层101之间通过粘结的方式可拆卸连接，其中粘结的实现方式包括但不限于魔术贴、磁贴等。
控制模块为自动机器人领域常见的控制模块，控制模块设置在所述主体的内部，图中未标出，其可以通过电连接或电信号连接的方式与驱动机构200相关联。控制模块可以包括嵌入式数字信号处理器(Digital Signal Processor，DSP)、微处理器(MicroProcessor Unit，MPU)、特定集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑器件(Programmable Logic Device，PLD)芯上系统(System on Chip，SOC)、中央处理器(Central Processing Unit，CPU)或者现场可编程门阵列(Field Programmable Gate Array，FPGA)等。所述控制模块可根据预设条件或根据清洁机器人1100接收到的指令控制清洁机器人1100的工作。具体地，控制模块可以控制行走模块在清洁机器人1100的工作区域内按照预设的行走路径行走，在行走模块带动清洁机器人1100行走的同时，拖地模块执行拖地工作，从而将工作区域表面的污渍处理干净。行走模块带动清洁机器人1100沿预设路径行走，当拖地模块完成清洁工作时，控制模块可以控制清洁机器人1100停止工作，并控制行走模块的行走，使得行走模块带动清洁机器人1100离开工作区域，返回基站进行维护工作；当拖地模块需要清洁或更换时，控制模块可以控制清洁机器人1100按照预先设定的方式清洁或者更换拖地模块，或者更换拖地模块的耗材；控制模块也可以基于使用者或者特定情况的满足，来执行预先设定的上述操作。清洁机器人1100的工作方式或者行走路径可提前在控制模块中设定，并由控制模块控制行走模块或者其他模块进行执行。
清洁机器人1100所用的清洁层可以是多种具有洁净功能的器件，例如抹布、拖布、清洁纸等，但不限于此；所述清洁层通过魔术贴或磁贴等可拆卸的方式固定于所述拖地模块表面上，但不限于此。
具体的，本发明一具体实施方式中，请参见图2，所述的第一状态是指清洁机器人1100的工作状态，在此状态下，拖地模块100的清洁层101与工作表面相贴合，并且在清洁机器人1100行走的同时，带动清洁层和工作表面摩擦，将工作表面的污渍擦下并带走。所述的第二状态是指清洁机器人1100的非工作状态或者清洁机器人1100需要进行清洁层101更换作业的状态，在此状态下，清洁层101至少部分脱离于所述工作表面，例如至少部分没有接触或者是完全脱离于工作表面。
清洁层101可以是只包覆于工作表面相接处的拖地模块的表面(例如连接面)，也可以是包覆拖地模块的多个表面，方便在清洁的时候能够在左右、上下及清洁机器人运动方向上的前方进行清洁作业。
驱动机构200可以是电动或者其他动力形式，能够带动所述拖地模块100沿预先设定的方向移动或转动，驱动机构200与拖地模块100之间可以通过一般传动部件进行传动关联。
具体的，在工作时，行走模块300启动，带动清洁机器人1100在工作表面行走，拖地模块100的清洁层101与工作表面贴合，清洁层101与工作表面摩擦带走工作表面的需要被清洁干净的物质。清洁机器人1100工作一段时间后，通过检测清洁层101的被污染程度，当清洁层101因被污染严重无法有效带走工作表面的物质，这时需要对清洁机器人1100的清洁层101进行更换。拖地模块100从第一状态变更为第二状态，这时通过人工或配合智能基站自动对清洁层101进行更换。
在第二状态下，清洁层101需要与工作表面形成一定的拆卸空间，使得清洁层101的工作面暴露，从而清洁层拆卸机构才能与清洁层101接触。清洁层101可以仅仅是垂直抬升，优选的，为了与清洁层拆卸机构更好的配合，清洁层101所在平面与所述工作表面呈角度设置。
具体的，在本实施方式中，拖地模块100朝向预先设定的方向转动，使得清洁层101所在平面与所述工作表面的角度设置可以是0°到90°之间的任意数值。在作业至少部分过程中，根据实际情况，清洁层101可以停留在该角度范围内的任意位置。清洁层101所在平面与工作表面之间存在角度，能够便于自动或手动更换清洁层。
请参见图3及图4，所述拖地模块从第一状态转化为第二状态时，所述驱动机构200驱动所述拖地模块100沿垂直于所述工作表面的方向抬升，以及驱动所述拖地模块100向所述主体外侧翻转。
具体的，为方便对清洁层101进行更换，需要将拖地模块100转换为方便更换的第二状态，第二状态有多种不同的转化方式。本发明提供的一种实施方式中，拖地模块100在驱动机构的带动下，在垂直与工作表面的方向上向上位移，达到提升状态，使得清洁层与工作表面的密切接触被分开，人工或者自动设备能够便利的从拖地模块上取下清洁层或者安装上新的清洁层。
本发明提供的另一种实施方式中，拖地模块100在驱动机构200的带动下，直接朝向预先设定的方向翻转，使得清洁层至少部分脱离与工作表面的密切接触，优选的，拖地模块100朝向清洁机器人的外侧翻转，特别是朝向清洁机器人行走方向的后部翻转，第二状态下，清洁层所在表面朝向清洁机器人行走方向的后方。第二状态为拖地模块100向主体外侧翻转的状态，清洁层与工作表面之间存在大于0度的角度，在本具体实施方式中，可以为90度。
在第二状态下，方便对清洁层101进行人工或智能自动更换。同时，为防止拖地模块100从第一状态向第二状态转化的至少部分过程中，受工作表面的干涉，导致转化受阻，需要驱动机构200驱动所述拖地模块100沿垂直于所述工作表面的方向抬升，以及驱动所述拖地模块100向所述主体10外侧翻转。这里的垂直于所述工作表面的方向表示的是点对点的位移，不代表运动轨迹。
拖地模块的清洁层101远离工作表面；然后拖地模块100在驱动机构200的带动下向主体10外 的方向翻转，达到第二状态。
本发明提供的另一具体实施方式中，请参见图5和图6，使用行走机构300将主体10整体顶升，使得清洁层101远离工作表面，达到第二状态。进一步的，在主体10整体顶升后，所述拖地模块100在驱动机构200的带动下向主体10外侧的方向翻转，达到第二状态；最后行走机构300下降主体。这里的主体10可以保持向前后任意角度倾斜，只需要通过配重保持平衡并保证清洁层远离工作表面即可。
进一步的，行走机构300设有至少3个行走轮部，呈前后设置，此时，通过清洁方向前部的行走轮部将主体前部顶升，使得清洁层101远离工作表面也可以达到第二状态。本实施方式提供的技术方案，避免了拖地模块在从第一状态切换至第二状态的至少部分过程中，地面对拖地模块运动轨迹的干涉，使得拖地模块状态的转换更加可靠快捷，不易损坏。
在本发明的上述具体实施方式中，驱动机构200包括直线传输机构，直线传输机构包括常见的导轨，齿轮啮合机构，或者链条传送机构，用于驱动装载有清洁层的拖地板在直线方向上移动。驱动机构200还包括枢转机构，通过枢转机构，驱动装载有清洁层的拖地板围绕枢转轴进行枢转。进而，能够使得清洁层随着拖地板在垂直与工作表面的方向上上下位移，还能够使得拖地板向所述主体外侧翻转。在本发明的上述具体实施方式中，驱动机构可以包括电机及传动件，所述传动件可以为齿轮、链条等等；所述传动件在所述电机的驱动下，为所述拖地板移动提供动力。
进一步的，本发明的机器人清洁系统的所述基站1400包括：承载所述清洁机器人的地台401，用于收容所述清洁层的脏布箱403，收容待安装至所述拖地模块100的清洁层的净布箱402，以及升降机构，用于带动所述脏布箱403和所述净布箱402沿垂直于所述工作表面的方向运动。所述脏布箱403和净布箱402在垂直于所述地台401的方向上上下堆叠；所述升降机构与所述脏布箱403和净布箱402分别相固定连接；所述脏布箱403和净布箱402在所述升降机构的带动下上下位移。所述脏布箱403及所述净布箱402上设置有开口，用于更换所述清洁层时，供所述清洁层通过。这里的开口可以方便存取脏清洁层和干净清洁层；所述开口也可以与拖地模块相匹配，方便拖地模块及清洁层从开口中进出。
所述升降机构包括电机及传动元件(传动元件可以为传动链或传动带)407，所述传动元件407在所述电机的带动下做上下往复运动；所述脏布箱403和净布箱402与所述传动元件407固定连接，并在所述传动元件407的带动下做上下往复位移。在本具体实施方式中，电机与传动元件407通过传动齿轮408相连接，电机带动传动齿轮408旋转，进而传动齿轮408带动传动元件407进行往复移动。
进一步的，基站1400包括清洁层拆卸机构，更换所述清洁层时，所述清洁层拆卸机构用于保持所述清洁层，所述清洁机器人朝向远离所述清洁层拆卸机构的方向移动，将所述清洁层从所述拖地模块剥离。
请参见图7至图10，在一具体实施方式中，所述脏布箱403的内部或开口处设置至少1个的清洁层拆卸机构，所述清洁层拆卸机构用于将清洁机器人的清洁层与拖地模块表面相脱离。
具体的，所述清洁层拆卸机构包括钩体404、弹性件406和轨道405，所述轨道405固定设在所述脏布箱403的开口处，所述钩体404在所述轨道405内往复位移，所述弹性件406在所述轨道405内伸缩位移，所述钩体404在所弹性件406的支撑下复位；所述钩体404迎向脏布箱403外部的面为斜面。
当拖地模块进行清洁层替换时，拖地模块抵压钩体404，因钩体404迎向脏布箱403外部的面为 斜面。在斜面受到清洁层的施加力的作用下，钩体404向轨道405内回缩，清洁层滑过钩体404后，钩体404在弹性件406的作用下弹出复位，当清洁机器人后退时，钩体404在弹性件406的作用下被勾住锁止保持不动，使得清洁层101与拖地模块100脱离。
为了更好地使得清洁层与拖地模块分离，需要在拖地模块上沿清洁机器人前进的方向的前部，在模块上、在清洁层的后方开设与钩体相匹配的凹陷或凹槽；当清洁层与拖地模块脱离前，钩体先进入凹陷或凹槽，出现在清洁层101的后方，这时拖地模块100在后退时，钩体能够勾住清洁层101。
优选的，所述拖地模块100处于第二状态时，所述清洁层101所在平面垂直于所述工作表面。这种垂直的方式能够更方便拖地模块进出脏布箱403和净布箱402，减少拖地模块100与脏布箱403和净布箱402的开口间的干涉，同时，也方便第一钩体或第二钩体404钩取清洁层，方便清洁层101脱离拖地模块。
所述基站1400包括：清洁层拆卸机构，所述清洁层拆卸机构可移动的设置于所述基站上；更换所述清洁层时，所述清洁层拆卸机构保持所述清洁层并朝向远离所述拖地模块的方向移动，将所述清洁层从所述拖地模块剥离。
可选的，所述清洁层拆卸机构包括钩体和弹性件，所述钩体与所述脏布箱通过所述弹性件弹性连接；所述钩体单向脏布箱内旋转，并在第一弹性件的作用下复位。
这种的清洁层拆卸机构类似弹性门铰链，使得第一钩体具有弹性转动的能力。当清洁机器人进行清洁层更换时，拖地模块顶住钩体向脏布箱内旋转，清洁层滑过钩体后，钩体在弹性件的作用下复位，当清拖地模块后退时，第一钩体锁止保持不动，勾住脏清洁层，使得清洁层与拖地模块脱离。
清洁机器人需要更换清洁层101时，所述拖地模块在驱动机构的带动下达到第二状态，启动第一次返回，在初始状态下，所述脏布箱403处于清洁机器人返回时，拖地模块对应的位置上，拖地模块及清洁层101进入第一开口，并将脏的清洁层101留存在脏布箱403中。之后，启动第二次返回，此时净布箱402在升降机构的驱动下，将净布箱402运输到与拖地模块对应的位置上，在清洁机器人二次返回时，将干净的清洁层取出，并安装至拖地模块上。
在一个可选的实施方式中，在拆卸及安装所述清洁层101时，所述净布箱402及所述脏布箱403不产生移动，在拆卸所述清洁层时，所述驱动模块驱动所述拖地模块移动至与所述脏布箱对应的位置，安装所述清洁层时，所述驱动模块驱动所述拖地模块移动至与所述净布箱对应的位置。
在一个可选的实施方式中，所述脏布箱403与所述净布箱402沿垂直于所述工作表面的方向上下堆叠设置。
具体的，请一并参见图14，所述脏布箱与所述净布箱之间呈角度α设置，优选的α角的范围可以在0-90度之间的任意值。在拆卸所述清洁层101时，所述驱动模块驱动所述拖地模块枢转至与所述脏布箱对应的位置，安装所述清洁层时，所述驱动模块驱动所述拖地模块枢转至与所述净布箱对应的位置。
可选择的，拖地模块不转动，脏布箱403和净布箱402设在于一设置在基站上的旋转轴上，当需要更换清洁层时，拖地模块先进入脏布箱403的第一开口，并留下脏清洁层；退出第一开口；脏布箱和净布箱旋转，将净布箱402旋转至拖地模块第二状态所在的匹配位置，拖地模块进入净布箱402的第二开口，安装干净的清洁层。
本发明提供的另一实施方式中，请参见图11至图13。本发明的机器人清洁系统的所述基站1400包括：承载所述清洁机器人的地台401，所述地台401设置有第一收容槽601，所述拖地模块100从第 一状态转化为第二状态的至少部分过程中，至少部分收容于所述第一收容槽内。
在本实施方式中，尤其是当清洁机器人连续清洁直至到达基站进行清洁层101更换时，清洁层101一直处于第一状态的情况下，这时需要使得清洁层101由第一状态转化为第二状态，在转化的至少部分过程中可能会出现清洁层101与地台401出现相互干涉，使得转化受阻。而第一收容槽601则给出了一个解决方案，这时拖地模块运动到第一收容槽601的上方，给出了拖地模块旋转的空间，拖地模块100原先可能会被地台401干涉的那部分会通过第一收容槽的空缺处。本实施方式提供的技术方案，避免了拖地模块在从第一状态切换至第二状态的至少部分过程中，地面对拖地模块运动轨迹的干涉，使得拖地模块状态的转换更加可靠快捷，不易损坏。
在一个进一步的具体实施方式中，所述基站上还可以设置传感器，用于感知清洁机器人的位置。
具体的，当清洁机器人第一次进入基站，进过基站的地台401的检测位置时被传感器感知，清洁机器人将拖地模块深入脏布箱的第一开口内，拖地模块表面的清洁层顶住第二钩体404，因第二钩体404迎向脏布箱403外部的面为斜面；在斜面受到清洁层的施加力的作用下，第二钩体405向轨道406内回缩，清洁层滑过第二钩体404后，第二钩体404在第二弹性件405的作用下弹出复位，落入或穿过清洁层101上面的凹槽或凹陷，当清洁机器人后退时，被传感器感知，同时第二钩体404在第二弹性件405的作用下锁止保持不动，第二钩体404正好直接勾住脏清洁层，使得清洁层与拖地模块表面脱离。完成脏清洁层的自动脱离和收取；
当要安装干净的清洁层时，清洁机器人再次进行入维护基站，被传感器第二次感知，这时基站1400的升降机构启动，电机启动，带动传动齿轮，进而带动传动链或传动带向上位移，带动脏布箱403和净布箱402向上位移，净布箱402的第二开口移动至拖地模块匹配的位置，拖地模块伸入第二开口，将清洁层吸附到拖地模块的表面上，然后退出。当传感器检测到清洁机器人第二次退出维护基站时，升降机构开启，电机启动，带动传动链或传动带向下复位。
进一步的，所述基站还包括充电接口，充电接口用于在清洁机器人更换清洁层的同时，或者在清洁机器人完成清洁层的更换后，能够在基站进行电能的补充。在可选的实施方式中，更换所述清洁层时，所述充电接口与所述拖地模块，在垂直于所述清洁机器人进入基站方向的平面上的投影无重叠区域。
具体的，所述充电口可用于对清洁机器人充电，该充电口的位置可以设在基站底部或者侧部，但不设置在脏布箱和净布箱所在的位置。可以防止充电时清洁机器人与脏布箱和净布箱的干涉，在清洁机器人更换清洁层的同时，完成电能的补充。
可选的，所述基站包括充电接口；从所述拖地模块拆卸清洁层并收容拆下的清洁层的脏布箱；收容待安装至所述拖地模块的清洁层的净布箱；将所述脏布箱或所述净布箱输送至预先设定的位置的输送机构；更换所述清洁层时，所述脏布箱或净布箱至少部分遮蔽所述充电接口；所述清洁层更换完成时，所述输送机构将所述脏布箱或净布箱输送至不遮蔽所述充电接口的位置。
具体的，所述充电口可用于对清洁机器人充电，充电接口设在清洁机器人尾部位置及基站的任意位置，例如被脏布箱或净布箱遮盖的位置。在进行清洁层的更换时，脏布箱或净布箱被移动至清洁机器人拖地模块对应的位置，完成清洁层的更换动作。清洁层的更换完成后，脏布箱或净布箱被移动至基站的侧面或其他不遮挡充电机口的位置，露出充电接口的位置以供清洁机器人进行充电。
综上所述，本发明提供的清洁机器人，能够通过对拖地模块的控制，实现清洁层方便更换的效果；或者通过清洁机器人和基站的配合，能够自动回收脏清洁层和提供干净清洁层；从而能够方便的自动 更换拖布，更换拖布快捷、安静且不会造成环境或基站的污染，提高了清洁机器人的可靠性及工作效率，增加用户对机器人清洁系统的使用满意度。
所属领域的普通技术人员应当理解：以上任何实施例的讨论仅为示例性的，并非旨在暗示本公开的范围(包括权利要求)被限于这些例子；在本公开的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本公开实施例的不同方面的许多其它变化，为了简明它们没有在细节中提供。
本公开实施例旨在涵盖落入所附权利要求的宽泛范围之内的所有这样的替换、修改和变型。因此，凡在本公开实施例的精神和原则之内，所做的任何省略、修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (46)

  1. 一种机器人清洁系统，包括：清洁机器人、供清洁机器人停靠的基站；其特征在于：
    所述清洁机器人包括：
    主体，其具有前端；
    行走模块，设置于所述主体上，带动所述清洁机器人在工作表面移动；
    拖地模块，包括拖地基体，所述拖地基体供清洁层可替换的抵附形成清洁面，所述清洁面用于对工作表面进行清洁；所述拖地模块可活动的连接于所述主体上，以在第一状态和第二状态之间切换；其中，在所述第一状态下，所述清洁面贴合工作表面，在所述第二状态下，所述清洁面脱离所述工作表面；
    驱动模块，用于驱动所述拖地模块在所述第一状态和所述第二状态之间切换；
    控制模块，至少用于当所述清洁层需要更换时，控制所述驱动模块驱动所述拖地模块从所述第一状态切换至所述第二状态；
    所述机器人清洁系统包括：
    清洁层替换机构；
    所述拖地模块处于第二状态时，所述清洁层替换机构被配置为可操作地作用于所述清洁层和/或拖地基体，以为所述拖地模块更换所述清洁层。
  2. 根据权利要求1所述的机器人清洁系统，其特征在于，所述拖地基体包括用于与清洁层抵附的抵附面，在所述第二状态下，所述抵附面与第一方向之间成角度；其中所述第一方向为清洁机器人的进站方向。
  3. 根据权利要求2所述的机器人清洁系统，其特征在于，所述拖地模块处于第二状态时，所述抵附面与所述第一方向之间所成的角度大于等于30度，且小于等于90度。
  4. 根据权利要求3所述的机器人清洁系统，其特征在于，所述拖地模块处于第二状态时，所述抵附面垂直于所述第一方向。
  5. 根据权利要求3所述的机器人清洁系统，其特征在于，所述拖地模块处于第二状态时，所述抵附面与所述第一方向之间呈的角度大于等于45度,且小于等于60度。
  6. 根据权利要求2所述的机器人清洁系统，其特征在于，所述清洁层替换机构包括设置在所述基站上的清洁层拆卸机构；
    所述清洁系统包括第一传动机构；所述清洁系统具有用于将拖地模块上的清洁层拆除的清洁层拆卸位置；其中，
    所述清洁层拆卸机构被配置为在所述清洁层拆卸位置拾取所述拖地模块上的清洁层；
    所述第一传动机构被配置为带动所述清洁层拆卸机构和所述拖地模块中的至少一个移动，使得清洁层拆卸机构与拖地模块产生相对位移，以便所述拖地模块上的清洁层与所述拖地模块分离。
  7. 根据权利要求6所述的机器人清洁系统，其特征在于，所述第一传动机构至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述拖地模块运动；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构的位置固定。
  8. 根据权利要求7所述的机器人清洁系统，其特征在于，所述第一传动机构包括所述行走模块，所述行走模块至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述清洁机器人朝向所述清洁层拆卸机构移动，使得拖地模块与清洁层拆卸机构产生相对位移；其中， 在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述拖地模块相对于所述清洁机器人的位置固定。
  9. 根据权利要求7所述的机器人清洁系统，其特征在于，所述第一传动机构包括移动件，设置于所述清洁机器人上，至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述拖地模块朝向所述清洁层拆卸机构移动；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁机器人的位置固定。
  10. 根据权利要求6所述的机器人清洁系统，其特征在于，所述第一传动机构包括第一移动机构，至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述清洁层拆卸机构移动；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁机器人和所述拖地模块的位置固定。
  11. 根据权利要求6所述的机器人清洁系统，其特征在于，所述拖地基体与所述清洁层以能够拆卸地方式连接；所述拖地基体具有拆卸区域；所述清洁层拆卸机构包括钩体；
    在所述钩体与所述拖地基体位于所述清洁层拆卸位置时，所述钩体与所述拆卸区域配合，以将所述清洁层从所述拖地模块上拆除，其中所述拆卸区域与所述清洁层之间无相互连接。
  12. 根据权利要求11所述的机器人清洁系统，其特征在于，所述拆卸区域包括脱布槽，被配置为供所述钩体穿过。
  13. 根据权利要求6所述的机器人清洁系统，其特征在于，所述清洁层替换机构包括脏布箱，用于收容从所述拖地模块分离下来的所述清洁层。
  14. 根据权利要求13所述的机器人清洁系统，其特征在于，所述脏布箱设置在从拖地模块分离下来的所述清洁层的移动路径上，以使得所述清洁层落入所述脏布箱。
  15. 根据权利要求14所述的机器人清洁系统，其特征在于，所述清洁层拆卸位置位于所述脏布箱内。
  16. 根据权利要求13至15任意一项所述的机器人清洁系统，其特征在于，所述清洁层拆卸机构设置于所述脏布箱上；
    所述脏布箱具有第一开口；所述第一开口被配置为允许所述拖地模块伸入并在所述拖地模块离开时将所述清洁层留在所述脏布箱。
  17. 根据权利要求16所述的机器人清洁系统，其特征在于，至少在所述清洁层拆卸位置，所述脏布箱的第一开口朝向第二方向；其中，所述第二方向为与第一方向相反的方向。
  18. 根据权利要求16所述的机器人清洁系统，其特征在于，所述第一传动机构包括第二移动机构，至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述脏布箱移动，使得清洁层拆卸机构相对于拖地模块产生位移；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构相对于所述脏布箱的位置固定，所述清洁机器人的位置固定，所述拖地模块相对于所述清洁机器人的位置固定。
  19. 根据权利要求16所述的机器人清洁系统，其特征在于，所述第一传动机构至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述拖地模块运动；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述脏布箱的位置固定。
  20. 根据权利要求19所述的机器人清洁系统，其特征在于，所述第一传动机构包括所述行走模块， 至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述所述清洁机器人朝向脏布箱移动，使得所述拖地模块相对于清洁层拆卸机构产生位移；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构相对所述脏布箱位置固定，所述拖地模块相对于所述清洁机器人位置固定。
  21. 根据权利要求19所述的机器人清洁系统，其特征在于，所述第一传动机构包括移动件，设置于所述清洁机器人上，至少被配置为在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，带动所述所述拖地模块朝向脏布箱移动，使得所述拖地模块相对于清洁层拆卸机构产生位移；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁层拆卸机构相对于所述脏布箱的位置固定，所述清洁机器人的位置固定。
  22. 根据权利要求2所述的机器人清洁系统，其特征在于，所述清洁系统具有用于将拖地模块上的清洁层拆除的清洁层拆卸位置；
    所述清洁层替换机构包括设置在所述清洁机器人上的清洁层拆卸机构，被配置为在所述清洁层拆卸位置将所述拖地模块上的清洁层与所述拖地模块分离；
    所述清洁系统包括运动机构，所述运动机构被配置为带动所述清洁层拆卸机构运动，使得清洁层拆卸机构与所述拖地模块产生相对位移，以便所述拖地模块上的清洁层与所述拖地模块分离；其中，在所述拖地模块上的清洁层与所述拖地模块分离的至少部分过程中，所述清洁机器人和所述拖地模块的位置固定。
  23. 根据权利要求22所述的机器人清洁系统，其特征在于，所述清洁层拆卸机构包括翻转件，所述翻转件具有打开状态和闭合状态；所述翻转件处于打开状态时，所述清洁层可从所述拖地模块上分离；所述翻转件处于闭合状态时，所述清洁层安装于所述拖地模块；
    所述运动机构包括驱动装置，所述驱动装置被配置为驱动所述翻转件从闭合状态切换到打开状态，从而使得所述拖地模块上的清洁层与所述拖地模块分离。
  24. 根据权利要求22或23所述的机器人清洁系统，其特征在于，所述清洁层替换机构包括脏布箱，用于收容从所述拖地模块分离下来的所述清洁层。
  25. 根据权利要求24所述的机器人清洁系统，其特征在于，所述脏布箱设置在从拖地模块分离下来的所述清洁层的移动路径上，以使得所述清洁层落入所述脏布箱。
  26. 根据权利要求25所述的机器人清洁系统，其特征在于，所述清洁层拆卸位置位于所述脏布箱内。
  27. 根据权利要求2所述的机器人清洁系统，其特征在于，所述清洁层替换机构包括净布箱，用于收容待安装至所述拖地模块的清洁层；
    所述清洁系统具有清洁层安装位置；所述清洁层安装位置为将净布箱内的清洁层安装于所述拖地模块的位置；
    所述清洁系统包括第二传动机构，被配置为带动所述净布箱和所述拖地模块中的至少一个移动，以到达所述清洁层安装位置，以便所述净布仓内的清洁层安装于所述拖地模块。
  28. 根据权利要求27所述的机器人清洁系统，其特征在于，所述第二传动机构至少被配置为在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，带动所述拖地模块运动；其中，在所述 拖地模块上的清洁层安装于所述拖地模块的至少部分过程中，所述净布箱的位置固定。
  29. 根据权利要求28所述的机器人清洁系统，其特征在于，所述第二传动机构包括所述行走模块，至少被配置为在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，带动所述清洁机器人移动，带动所述拖地模块朝向所述净布箱移动；其中，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述拖地模块相对于所述清洁机器人的位置固定。
  30. 根据权利要求28所述的机器人清洁系统，其特征在于，所述第二传动机构包括移动件，设置于所述清洁机器人上，至少被配置为在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，带动所述拖地模块朝向所述净布箱运动；其中，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述清洁机器人的位置固定。
  31. 根据权利要求27所述的机器人清洁系统，其特征在于，所述第二传动机构包括第三移动机构，至少被配置为在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，带动所述净布箱朝向所述拖地模块移动；其中，在所述净布箱内的清洁层安装于所述拖地模块的至少部分过程中，所述清洁机器人和所述拖地模块的位置固定。
  32. 根据权利要求27所述的机器人清洁系统，其特征在于，所述净布箱具有第二开口；
    所述第二开口被配置为允许所述拖地模块伸入，以便所述拖布模块安装所述清洁层。
  33. 根据权利要求27所述的机器人清洁系统，其特征在于，至少在在所述清洁层安装位置，所述净布箱的第二开口朝向第二方向；其中，所述第二方向为与第一方向相反的方向。
  34. 根据权利要求27所述的机器人清洁系统，其特征在于，所述净布箱内清洁层的清洁面与所述抵附面平行；或者，所述净布箱内清洁层的清洁面与第一方向所成的角度等于所述抵附面与第一方向所成的角度。
  35. 根据权利要求27所述的机器人清洁系统，其特征在于，所述清洁层为片状拖布；
    所述片状拖布为至少两片时，至少两片所述片状拖布通过叠放的方式排布在所述净布箱内。
  36. 根据权利要求27所述的机器人清洁系统，其特征在于，所述拖地基体具有粘贴区域；所述清洁层可黏附于所述粘贴区域。
  37. 根据权利要求27或34所述的机器人清洁系统，其特征在于，所述净布箱内设有支撑部，被配置为对所述清洁层进行支撑，使得所述净布箱收容的清洁层的清洁面与第一方向成角度。
  38. 根据权利要求2所述的机器人清洁系统，其特征在于，所述拖地模块从第一状态转化为第二状态时，所述驱动机构驱动所述拖地模块沿垂直于所述工作表面的方向抬升预设距离后朝向所述第一方向翻转。
  39. 根据权利要求2所述的机器人清洁系统，其特征在于，所述基站包括：承载所述清洁机器人的地台，所述地台设置有第一收容槽，所述控制模块被配置为在所述清洁机器人行走到停靠位置时控制所述驱动模块驱动所述拖地模块从所述第一状态切换到所述第二状态，所述拖地模块从第一状态切换为第二状态的至少部分过程中，至少部分所述拖地模块收容于所述第一收容槽内。
  40. 根据权利要求6所述的机器人清洁系统，其特征在于，所述清洁系统还包括：到位检测装置，被配置为检测所述清洁层拆卸机构和/或所述拖地模块是否到达对准位置；其中，所述对准位置是指所述清洁层拆卸机构与拖地模块处于对准状态时的位置。
  41. 根据权利要求16所述的机器人清洁系统，其特征在于，所述清洁系统还包括：到位检测装置，被配置为检测所述脏布箱和/或所述拖地模块是否到达对准位置；其中，所述对准位置是指所述清洁层拆卸机构与拖地模块处于对准状态时的位置。
  42. 根据权利要求27所述的机器人清洁系统，其特征在于，所述清洁系统还包括：到位检测装置，被配置为检测所述净布箱和/或所述拖地模块是否到达对准位置；其中，所述对准位置是指所述净布箱与拖地模块处于对准状态时的位置。
  43. 根据权利要求2所述的机器人清洁系统，其特征在于，所述清洁系统具有配合于所述拖地模块进行清洁层拆卸的清洁层拆卸位置和清洁层安装的清洁层安装位置；
    所述清洁层替换机构包括：用于收容所述清洁层的脏布箱，用于收容待安装至所述拖地模块的清洁层的净布箱，用于带动所述脏布箱运动至清洁层拆卸位置的第二移动机构以及用于带动所述净布箱运动至所述清洁层安装位置的第三移动机构，清洁层拆卸机构；所述清洁层拆卸机构用于在清洁层拆卸位置将所述拖地模块上的清洁层自拖地模块上拆离。
  44. 根据权利要求43所述的机器人清洁系统，其特征在于，所述清洁层拆卸位置和所述清洁层安装位置为同一个预设位置。
  45. 根据权利要求1所述的机器人清洁系统，其特征在于，所述控制模块至少被配置为当所述清洁层更换完成后，控制所述驱动模块驱动所述拖地模块从所述第二状态切换回所述第一状态。
  46. 一种机器人清洁系统的控制方法，应用于如权利要求1所述的机器人清洁系统，其特征在于，所述方法包括：
    当清洁层需要更换时，通过控制模块控制驱动模块驱动拖地模块从第一状态切换至第二状态；
    当所述拖地模块处于第二状态时，通过清洁层替换机构可操作地作用于所述清洁层和/或拖地基体，以为所述拖地模块更换所述清洁层。
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