Robot cleaning system and control method thereof

Abstract

A robot cleaning system includes a cleaning robot, and a base station. The cleaning robot includes: a main body, a mover, and a mopping module, movably connected to the main body and including a replaceable cleaning layer. When the mopping module is in the first state, the cleaning layer is fitted to the working surface, and when it is in the second state, the cleaning layer is separated from the working surface, so that a working surface of the cleaning layer is exposed and is in contact with a cleaning layer removal mechanism. The cleaning robot also includes a driving mechanism configured to drive the mopping module to switch between the first state and the second state; and a controller configured to at least control the driving mechanism to drive the mopping module to switch from the first state to the second state when the cleaning layer needs to be replaced.

What is claimed is: 
     
         1 . A robot cleaning system comprising:
 a cleaning robot;   a base station; for the cleaning robot to stop; and   a cleaning layer replacement mechanism,   wherein:   the cleaning robot comprises:
 a main body comprising a front end; 
 a mover arranged on the main body and driving the cleaning robot to move on a working surface; 
 a mop comprising a mopping base, wherein the mopping base is for a cleaning layer to attach to form a cleaning surface, and the cleaning surface is configured to clean the working surface; the mop is movably connected to the main body to switch between a first state and a second state; and in the first state, the cleaning surface is fitted to the working surface, and in the second state, the cleaning surface is separated from the working surface; 
 a driver configured to drive the mop to switch between the first state and the second state; and 
 a controller configured to at least control the driver to drive the mop to switch from the first state to the second state when the cleaning layer needs to be replaced; and 
   when the mop 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 mop.   
     
     
         2 . The robot cleaning system according to  claim 1 , wherein the mopping base comprises an attachment surface attached to the cleaning layer, and in the second state, an angle is formed between the attachment surface and a first direction, wherein the first direction is an entrance direction of the cleaning robot. 
     
     
         3 . The robot cleaning system according to  claim 2 , wherein when the mop is in the second state, the angle formed between the attachment surface and the first direction is greater than or equal to 30 degrees and less than or equal to 90 degrees. 
     
     
         4 . The robot cleaning system according to  claim 2 , wherein:
 the cleaning layer replacement mechanism comprises a cleaning layer removal mechanism arranged on the base station;   the robot cleaning system further comprises a first transmission mechanism;   the robot cleaning system has a cleaning layer removal position for removing the cleaning layer on the mop;   the cleaning layer removal mechanism is configured to pick up the cleaning layer on the mop at the cleaning layer removal position; and   the first transmission mechanism is configured to drive at least one of the cleaning layer removal mechanism and the mop to move, so that the cleaning layer removal mechanism and the mop generate relative displacement, to separate the cleaning layer on the mop from the mop.   
     
     
         5 . The robot cleaning system according to  claim 4 , wherein:
 the first transmission mechanism is at least configured to drive the mop to move in at least part of a process of separating the cleaning layer on the mop from the mop; and   in the at least part of the process of separating the cleaning layer on the mop from the mop, a position of the cleaning layer removal mechanism is fixed.   
     
     
         6 . The robot cleaning system according to  claim 5 , wherein:
 the first transmission mechanism comprises the mover;   the mover is at least configured to drive the cleaning robot to move toward the cleaning layer removal mechanism in the at least part of the process of separating the cleaning layer on the mop from the mop, so that the mop and the cleaning layer removal mechanism generate the relative displacement; and   in the at least part of the process of separating the cleaning layer on the mop from the mop, a position of the mop relative to the cleaning robot is fixed.   
     
     
         7 . The robot cleaning system according to  claim 4 , wherein the cleaning layer replacement mechanism comprises a dirty mop box configured to accommodate the cleaning layer separated from the mop. 
     
     
         8 . The robot cleaning system according to  claim 7 , wherein the dirty mop box is arranged on a moving path of the cleaning layer separated from the mop, so that the cleaning layer falls into the dirty mop box. 
     
     
         9 . The robot cleaning system according to  claim 7 , wherein:
 the cleaning layer removal mechanism is arranged on the dirty mop box;   the dirty mop box is provided with a first opening; and   the first opening is configured to allow the mop to extend into and allow the cleaning layer to be left in the dirty mop box when the mop leaves.   
     
     
         10 . The robot cleaning system according to  claim 2 , wherein:
 the cleaning layer replacement mechanism comprises a clean mop box configured to accommodate a cleaning layer to be mounted on the mop;   the robot cleaning system has a cleaning layer mounting position; the cleaning layer mounting position is a position at which the cleaning layer in the clean mop box is mounted on the mop; and   the robot cleaning system comprises a second transmission mechanism configured to drive at least one of the clean mop box and the mop to move, to reach the cleaning layer mounting position, so as to mount the cleaning layer in the clean mop box on the mop.   
     
     
         11 . The robot cleaning system according to  claim 10 , wherein:
 the second transmission mechanism is at least configured to drive the mop to move in at least a part of a process of mounting the cleaning layer in the clean mop box on the mop; and   in the at least part of the process of mounting the cleaning layer in the clean mop box on the mop, a position of the clean mop box is fixed.   
     
     
         12 . The robot cleaning system according to  claim 11 , wherein:
 the second transmission mechanism comprises the mover at least configured to drive the cleaning robot to move to drive the mop to move toward the clean mop box in the at least part of the process of mounting the cleaning layer in the clean mop box on the mop; and   in the at least part of the process of mounting the cleaning layer in the clean mop box on the mop, a position of the mop relative to the cleaning robot is fixed.   
     
     
         13 . The robot cleaning system according to  claim 10 , wherein:
 the clean mop box is provided with a second opening; and   the second opening is configured to allow the mop to extend into, to mount the cleaning layer on the mop.   
     
     
         14 . The robot cleaning system according to  claim 13 , wherein:
 the second opening faces a second direction at least at the cleaning layer mounting position; and   the second direction is a direction opposite to the first direction.   
     
     
         15 . The robot cleaning system according to  claim 10 , wherein the mopping base has an adhesion region; and the cleaning layer is adherable to the adhesion region. 
     
     
         16 . The robot cleaning system according to  claim 2 , wherein when the mop is switched from the first state to the second state, the driver drives the mop to lift by a preset distance in a direction perpendicular to the working surface and then flip toward the first direction. 
     
     
         17 . The robot cleaning system according to  claim 4 , wherein:
 the robot cleaning system further comprises: an in-place detection apparatus configured to detect whether the cleaning layer removal mechanism and/or the mop reaches an alignment position; and   the alignment position is a position when the cleaning layer removal mechanism and the mop are in an alignment state.   
     
     
         18 . The robot cleaning system according to  claim 10 , wherein:
 the robot cleaning system further comprises: an in-place detection apparatus configured to detect whether the clean mop box and/or the mop reaches an alignment position; and   the alignment position is a position when the clean mop box and the mop is in an alignment state.   
     
     
         19 . The robot cleaning system according to  claim 2 , wherein:
 the robot cleaning system has a cleaning layer removal position and a cleaning layer mounting position that cooperate with the mop for removing the cleaning layer and mounting the cleaning layer;   the cleaning layer replacement mechanism comprises: a dirty mop box configured to accommodate the cleaning layer, a clean mop box configured to accommodate a cleaning layer to be mounted on the mop, a second movable mechanism configured to drive the dirty mop box to move to the cleaning layer removal position, a third movable mechanism configured to drive the clean mop box to move to the cleaning layer mounting position, and a cleaning layer removal mechanism; and   the cleaning layer removal mechanism is configured to separate the cleaning layer on the mop from the mop at the cleaning layer removal position.   
     
     
         20 . The robot cleaning system according to  claim 1 , wherein the controller is at least configured to control the driver to drive the mop to switch from the second state back to the first state after replacement of the cleaning layer is completed.