Cleaning robot maintenance system and control method therefor

Abstract

The disclosure provides a cleaning robot maintenance system. The maintenance system includes a mop picking device and a first storage compartment, where the first storage compartment is configured to store at least two first sheet mops that are stacked; and the mop picking device is configured to pick a single first sheet mop from the first storage compartment, to connect the single first sheet mop and a mop board. Therefore, dirt is prevented from being left on a mop component of the cleaning robot and the base station during cleaning, thereby improving the user experience.

1 - 20 . (canceled) 
     
     
         21 . A cleaning robot maintenance system comprising:
 a base station configured to maintain a cleaning robot, where the base station comprises a first storage compartment, and the first storage compartment is configured to store at least two sheet mops that are stacked; and   a mop picking device configured to pick a single first sheet mop of the at least two sheet mops from the first storage compartment, to connect the single first sheet mop to a mop board.   
     
     
         22 . The cleaning robot maintenance system according to  claim 21 , wherein the mop picking device comprises the mop board, the mop board and the first storage compartment are configured to move relative to each other, so that the mop board extends into the first storage compartment to reach a mop connection position and to be connected to the first sheet mop. 
     
     
         23 . The cleaning robot maintenance system according to  claim 22 , wherein during connection of the mop board the first sheet mop, the first storage compartment does not move actively, and the mop board actively moves towards the first storage compartment and moves into the first storage compartment. 
     
     
         24 . The cleaning robot maintenance system according to  claim 22 , wherein the mop picking device further comprises a movable component configured to drive the mop board to move; and the mop board is detachably connected to the cleaning robot, and the mop board is separable from the cleaning robot to replace a mop, the separated mop board is configured to be driven by the movable component to extend into the first storage compartment. 
     
     
         25 . The cleaning robot maintenance system according to claim  26 , wherein the maintenance system comprises a mop board operating position, configured for the cleaning robot to separate the mop board, wherein the mop connection position or the first storage compartment is higher than the mop board operating position, to form a space for the cleaning robot to dock. 
     
     
         26 . The cleaning robot maintenance system according to  claim 22 , wherein the mop board is configured to pick the single first sheet mop from the first storage compartment in a direction perpendicular to a mopping side of the first sheet mop. 
     
     
         27 . The cleaning robot maintenance system according to  claim 22 , wherein the mop board is provided with a connection region used for connecting the first sheet mop, wherein the connection region comprises a pasting portion, and the first sheet mop is configured to be pasted to the pasting portion, to connect the mop board and the first sheet mop. 
     
     
         28 . The cleaning robot maintenance system according to  claim 27 , wherein the first storage compartment is provided with a friction component, wherein after the first sheet mop is pasted to the mop board, the friction component is configured to generate an action force for preventing the mop board from moving in a first direction, so that the single first sheet mop is configured to be pasted on the pasting portion of the mop board; and the first direction is a direction in which the mop board picks out the first sheet mop from the first storage compartment. 
     
     
         29 . The cleaning robot maintenance system according to  claim 27 , wherein the pasting portion comprises a first part in contact with the first sheet mop and a second part exposed outside the first sheet mop, where an angle formed between the first part and the first sheet mop is greater than or equal to 0 degrees and less than or equal to 15 degrees; and an angle formed between the second part and the first sheet mop is greater than 0 degrees and less than 90 degrees. 
     
     
         30 . The cleaning robot maintenance system according to  claim 21 , wherein the mop picking device further comprises a removal mechanism, and the mop board comprises a removal region, where the removal mechanism cooperates with the removal region to remove a second sheet mop of the at least two sheet mops from the mop board, and the removal region is not connected to the second sheet mop, wherein the removal mechanism is configured to apply an external force away from the mop board to the second sheet mop, and the second sheet mop is configured to fall under action of gravity or the external force after being separated from the mop board. 
     
     
         31 . The cleaning robot maintenance system according to  claim 30 , wherein the maintenance system further comprises a second storage compartment configured to receive the second sheet mop removed from the mop board, wherein the second storage compartment is configured to be provided on a moving path of the second sheet mop removed from the mop board, so that the second sheet mop is configured to fall into the second storage compartment. 
     
     
         32 . The cleaning robot maintenance system according to  claim 31 , wherein the removal mechanism is arranged on the second storage compartment. 
     
     
         33 . The cleaning robot maintenance system according to  claim 31 , wherein the first storage compartment and the second storage compartment are arranged in a vertical direction. 
     
     
         34 . A method for a cleaning robot maintenance system, the method comprising: providing a first storage compartment to store at least two sheet mops that are stacked; and picking a single first sheet mop of the at least two sheet mops from the first storage compartment by using a mop picking device, to connect the single first sheet mop to a mop board. 
     
     
         35 . The method according to  claim 34 , wherein the mop picking device comprises the mop board; and the picking a single first sheet mop from the first storage compartment by using the mop picking device comprises: controlling at least one of the mop board or the first storage compartment to move, so that the mop board extends into the first storage compartment and reaches a mop connection position and is connected to the first sheet mop. 
     
     
         36 . The method according to  claim 35 , wherein the mop picking device comprises a first movable mechanism, connected to the mop board; and the controlling at least one of the mop board or the first storage compartment to move comprises: driving, by using the first movable mechanism, the mop board to move towards the first storage compartment and extend into the first storage compartment. 
     
     
         37 . The method according to  claim 35 , wherein the mop picking device comprises a first movable mechanism, connected to the mop board; the system further comprises a third movable mechanism, connected to the first storage compartment; and the controlling at least one of the mop board or the first storage compartment to move comprises: driving, by using the first movable mechanism, the mop board to move and driving, by using the third movable mechanism, the first storage compartment to move. 
     
     
         38 . The method according to  claim 35 , wherein the mop picking device further comprises a first movable mechanism, configured to drive the mop board to move; the mop board is detachably connected to the cleaning robot; the mop board is separable from the cleaning robot; and the method further comprises: causing the mop board to be separated from the cleaning robot to replace a mop, and connecting the first movable mechanism and the separated mop board, to drive the mop board to extend into the first storage compartment by the first movable mechanism. 
     
     
         39 . The method according to  claim 34 , wherein the picking a single first sheet mop from the first storage compartment by using a mop picking device comprises:
 controlling the mop board to pick the single first sheet mop from the first storage compartment in a direction perpendicular to a mopping side of the first sheet mop.   
     
     
         40 . A method for replacing a mop of a cleaning robot, the method comprising:
 determining that a cleaning robot has returned to a base station; and   replacing a first sheet mop mounted on the cleaning robot with a second sheet mop in a first storage compartment,   wherein:
 the determining that the cleaning robot has returned to the base station comprises:
 determining that the cleaning robot reaches a mop board operating position; and 
 controlling the cleaning robot to remove a mop board; and 
 
   the replacing the first sheet mop mounted on the cleaning robot with the second sheet mop in the first storage compartment comprises:
 driving the mop board to move to a mop removal position, so as to remove the first sheet mop; 
 storing the first sheet mop into a second storage compartment to recycle the second sheet mop; 
 driving the mop board to move to a mop mounting position and extend into the first storage compartment; and 
 mounting the second sheet mop on the mop board.