Patent Publication Number: US-2023148820-A1

Title: Cleaning Robot, Cleaning Module, Cleaning Assembly, Base and Cleaning System

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present disclosure claims the priority of the Chinese Patent Application No. 2021113632724, entitled as “Cleaning Robot, Cleaning Module, Cleaning Assembly, Base and Cleaning System” filed with the Chinese Patent Office on Nov. 17, 2021, the entire contents of which are incorporated by reference in this disclosure. 
     TECHNICAL FIELD 
     The present disclosure relates to the technical field of cleaning devices, and in particular, to a cleaning robot, a cleaning module, a cleaning assembly, a base, and a cleaning system. 
     BACKGROUND ART 
     The existing cleaning robot can carry a cleaning module (the cleaning module can be, for example, a water tank, a dust box, or a mopping and wiping part, etc.) for use, wherein when the cleaning module carried on the cleaning robot is to be replaced, the cleaning module carried on the cleaning robot is generally removed from the cleaning robot manually, and then the newly provided cleaning module is manually assembled on the cleaning robot, which process is cumbersome to operate and has low replacement efficiency. 
     SUMMARY 
     One purpose of the present disclosure is to propose a cleaning robot, which is simpler and time-saving to replace the cleaning module for the cleaning robot. 
     In order to solve the above-mentioned technical problems, the present disclosure uses the following technical solutions. 
     An embodiment of one aspect of the present disclosure provides a cleaning robot, which comprises: a robot apparatus, configured to carry a cleaning module; and a first replacement mechanism, configured to enable the robot apparatus to be loaded with the cleaning module, and enable the cleaning module carried on the robot apparatus to be replaced with the loaded cleaning module. 
     According to a technical solution of the present disclosure, the first replacement mechanism comprises: a first guide connecting structure, provided on the robot apparatus, wherein a loading portion and an unloading portion are provided on the first guide connecting structure, and the first guide connecting structure is configured to allow the cleaning module to be loaded to the robot apparatus along the loading portion, allow the cleaning module to be separated from the robot apparatus along the unloading portion, and allow the cleaning module to move relative to the robot apparatus along the first guide connecting structure. 
     According to a technical solution of the present disclosure, the first guide connecting structure comprises one of a push-pull track and a track adaptation part; and/or the first replacement mechanism comprises one first guide connecting structure or at least two first guide connecting structures provided at intervals. 
     According to a technical solution of the present disclosure, the cleaning robot further comprises: a first connecting structure, configured to be detachably connected to the cleaning module; the first connecting structure is provided in association with the first guide connecting structure to define a preset position, wherein when the cleaning module moves to the preset position along the first guide connecting structure, the first connecting structure is connected with the cleaning module, and when the cleaning module is separated from the preset position, the first connecting structure is detached from the cleaning module. 
     According to a technical solution of the present disclosure, the first connecting structure comprises at least one of a first fastening part and a first magnetic body. 
     According to a technical solution of the present disclosure, the cleaning robot further comprises: a recycling and feeding apparatus, configured to store the cleaning module, and feed the stored cleaning module to the first replacement mechanism, and recycle the cleaning module replaced through the first replacement mechanism. 
     An embodiment of another aspect of the present disclosure provides a cleaning module, which comprises: a body part; and a replacement adaptation structure, provided on the body part, and configured to cooperate with the cleaning robot, so that the cleaning module can be loaded to the cleaning robot and can replace the cleaning module carried on the cleaning robot. 
     According to a technical solution of the present disclosure, the replacement adaptation structure comprises a second guide connecting structure, the second guide connecting structure is provided on the body part, one end of the second guide connecting structure is provided with a first interface, and the other end thereof is provided with a second interface, the second guide connecting structure is configured to be loaded to the cleaning robot along the first interface and allow the cleaning module to move relative to the cleaning robot (i.e. allow the cleaning module to be movably attached to the cleaning robot), and the second interface is configured to allow the second guide connecting structure to be separated from the cleaning robot along the second interface; the second guide connecting structure comprises one of a push-pull track and a track adaptation part; the replacement adaptation structure comprises one second guide connecting structure or at least two second guide connecting structures provided at intervals; and the body part comprises one or a combination of more of a mopping and wiping part, a water tank, and a dust box. 
     According to a technical solution of the present disclosure, the cleaning module further comprises: a second connecting structure, configured to be detachably connected to the cleaning robot, wherein the second connecting structure comprises at least one of a second fastening part and a second magnetic body. 
     An embodiment of another aspect of the present disclosure provides a cleaning assembly, which comprises: a cleaning robot and a cleaning module; the cleaning robot is the cleaning robot described in any one of above-mentioned technical solutions, or the cleaning module is the cleaning module described in any one of above-mentioned technical solutions; and the cleaning module and the cleaning robot is movably attached to the cleaning robot, and through the relative movement between the cleaning module and the cleaning robot, the cleaning module can be loaded to the cleaning robot, and the cleaning module carried on the cleaning robot is replaced with the loaded cleaning module. 
     An embodiment of another aspect of the present disclosure provides a base, the base can allow the cleaning robot described in any one of above-mentioned technical solutions to park, wherein the base comprises: a recycling and feeding apparatus, configured to store a cleaning module, feed the stored cleaning module to the cleaning robot, and recycle the cleaning module replaced from the cleaning robot. 
     According to a technical solution of the present disclosure, the recycling and feeding apparatus comprises: a second replacement mechanism, configured to replace the cleaning module stored in the recycling and feeding apparatus with the recycled cleaning module, wherein the cleaning module replaced through the second replacement mechanism is configured to be fed to the cleaning robot. 
     According to a technical solution of the present disclosure, the recycling and feeding apparatus comprises: a storage apparatus, configured to store the cleaning module; and a first transmission mechanism, configured to transfer the cleaning module between the storage apparatus and the first replacement mechanism. 
     According to a technical solution of the present disclosure, the recycling and feeding apparatus further comprises a second transmission mechanism, and one of the first transmission mechanism and the second transmission mechanism is configured to receive the cleaning module from the cleaning robot and transfer the cleaning module from the cleaning robot to the storage apparatus, and the other is configured to receive the cleaning module provided by the storage apparatus and transfer to the cleaning robot the cleaning module provided by the storage apparatus; the storage apparatus defines a first opening that opens in a downward position, the first transmission mechanism comprises a pushing mechanism and a lifting mechanism, the pushing mechanism is configured to receive the cleaning module from the cleaning robot, and drive the cleaning module from the cleaning robot to below the first opening, and the lifting mechanism is configured to transfer the cleaning module between the pushing mechanism and the first opening; and the second transmission mechanism is specifically configured to drive the cleaning module to move, and a movement of the cleaning module under the driving of the second transmission mechanism comprises a preset stroke, wherein when the cleaning module is at an initial position of the preset stroke, the cleaning module reaches the first replacement mechanism of the cleaning robot, and when the cleaning module moves from the initial position to an end position of the preset stroke, the cleaning module is loaded to the cleaning robot and replace the cleaning module carried on the robot apparatus. 
     According to a technical solution of the present disclosure, the storage apparatus comprises: a first storage unit, configured to store the cleaning module from the cleaning robot; and a second storage unit, configured to store the cleaning module for supplying to the cleaning robot. 
     According to a technical solution of the present disclosure, the storage apparatus further comprises: a channel, communicating with the first storage unit and the second storage unit; a driving part, configured to make a response, in response to an event of the cleaning module entering the first storage unit, to drive the cleaning module to move from the first storage unit along the channel to the second storage unit; and a weight response part, provided in the second storage unit, and configured to detect a weight of the cleaning module in the second storage unit, wherein when the weight of the cleaning module in the second storage unit is greater than or equal to a preset weight, the weight response part causes the second storage unit to discharge the cleaning module in response. 
     According to a technical solution of the present disclosure, the base further comprises: a cleaning apparatus, configured to perform cleaning processing on the cleaning module recycled in the recycling and feeding apparatus. 
     An embodiment of another aspect of the present disclosure provides a cleaning system, which comprises: a cleaning robot and a base, the cleaning robot is the cleaning robot described in any one of above-mentioned technical solutions, or the base is the base described in any one of above-mentioned technical solutions. 
     According to a technical solution of the present disclosure, the cleaning robot can move along a preset trajectory relative to the base, and through the cleaning robot moving along the preset trajectory relative to the base, it can provide a driving force for loading the cleaning module on the base to the cleaning robot and replacing the cleaning module carried on the cleaning robot with the loaded cleaning module. 
     In the present disclosure, the cleaning robot can carry the cleaning module for use, wherein a first replacement mechanism is provided on the cleaning robot, in this way, when the cleaning robot is loaded with a new cleaning module, the loaded new cleaning module will replace through the first replacement mechanism the old cleaning module originally carried on the cleaning robot, so that the assembling and disassembling of the cleaning modules on the cleaning robot can be performed synchronously, which is more convenient and time-saving for the cleaning robot to replace the cleaning module. 
     It is to be understood that the foregoing general description and the following detailed description are exemplary only and do not limit the present disclosure. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       The above and other objects, features and advantages of the present disclosure will become more apparent from the detailed description of embodiments thereof with reference to the drawings. 
         FIG.  1    is a structural schematic view of a cleaning robot according to an embodiment. 
         FIG.  2    is a schematic view of an enlarged structure of part A shown in  FIG.  1   . 
         FIG.  3    is a structural schematic view of the cleaning robot according to an embodiment. 
         FIG.  4    is a schematic view of an enlarged structure of part B shown in  FIG.  3   . 
         FIG.  5    is a structural schematic view of a cleaning module according to an embodiment. 
         FIG.  6    is a structural schematic view of the cleaning module according to an embodiment. 
         FIG.  7    is a structural schematic view of a base according to an embodiment. 
         FIG.  8    is a structural schematic view of a cleaning system according to an embodiment. 
     
    
    
     REFERENCE SIGNS IN DRAWINGS 
     cleaning robot  10 ; robot apparatus  110 ; first replacement mechanism  120 ; first guide connecting structure  122 ; loading portion  124 ; unloading portion  126 ; first connecting structure  130 ; first fastening part  132 ; first magnetic body  134 ; cleaning module  20 ; body part  210 ; replacement adaptation structure  220 ; second guide connecting structure  222 ; first interface  224 ; second interface  226 ; second connecting structure  230 ; second fastening part  232 ; second magnetic body  234 ; cleaning module N 0 ; cleaning module N 1 ; cleaning module N 2 ; cleaning module N 4 ; cleaning module N 5 ; base  30 ; recycling and feeding apparatus  300 ; storage apparatus  310 ; first storage unit  312 ; second storage unit  314 ; channel  3162 ; driving part  3164 ; weight response part  3168 ; support part  318 ; first transmission mechanism  320 ; pushing mechanism  322 ; lifting mechanism  324 ; second transmission mechanism  330 ; control system  340 ; detection part  350 . 
     DETAILED DESCRIPTION OF EMBODIMENTS 
     Although the present disclosure may readily be embodied in different forms of embodiment, only some of the embodiments are shown in the drawings and will be described in detail in the present disclosure, and simultaneously, it can be understood that this specification should be regarded as an exemplary illustration of the principles of the present disclosure, and is not intended to limit the present disclosure to that described herein. 
     Thus, a feature indicated in the present disclosure will be used to describe one of the features of an embodiment of the present disclosure without implying that every embodiment of the present disclosure must have the stated feature. Furthermore, it should be noted that this specification describes a number of features. Although some features may be combined together to illustrate possible system designs, these features may also be used in other combinations not explicitly stated. Thus, unless otherwise stated, the combinations described are not intended to limit it. 
     In the embodiments shown in the drawings, direction indications (such as m0, m01, m02, m1, etc.) / position indications (such as S1, S2, z0, z1, etc.) are used to explain that the structure and movement of the various elements in the present disclosure are not absolute but relative. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the positions of these elements changes, the indications of these directions change accordingly. 
     Exemplary embodiments will now be described more fully with reference to the drawings. However, exemplary embodiments can be embodied in various forms and should not be construed as limited to the examples set forth herein; on the contrary, these exemplary embodiments are provided so that the description of the present disclosure will be thorough and complete, and will fully convey the concept of exemplary embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference signs in the drawings denote the same or similar parts, and thus their repeated descriptions will be omitted. 
     The preferred embodiments of the present disclosure will be further described in detail below with reference to the drawings of the present specification. 
     Referring to  FIG.  1   ,  FIG.  1    is a structural schematic view of a cleaning robot according to an embodiment of the present disclosure. 
     An embodiment of one aspect of the present disclosure provides a cleaning robot  10 , wherein the cleaning robot  10  may be, for example, a household or commercial floor mopping robot, vacuum cleaner, steam mop, etc., which is used for performing the cleaning and dust collecting on a target environment or a target area. 
     In the above, as shown in  FIG.  1   , the cleaning robot  10  includes a robot apparatus  110  and a first replacement mechanism  120 . 
     The cleaning module  20  can be carried on the robot apparatus  110 . It can be understood that, for the cleaning robot  10  capable of carrying the cleaning module  20 , the robot apparatus  110  may be specifically understood as a component or apparatus of the cleaning robot  10  for carrying the cleaning module  20 . For example, for a floor mopping robot, the robot apparatus  110  is specifically, for example, a movable body of the floor mopping robot, and the movable body can carry a mopping and wiping part and perform the mopping and wiping on the target area or target environment for cleaning through movement. For another example, for a vacuum cleaner, the robot apparatus  110  can be specifically, for example, a suction head, and the suction head can carry a brush head or a mopping and wiping part and can perform through the movement a cleaning or a mopping and wiping on the target area or target environment for cleaning. For another example, for a steam mop, the robot apparatus  110  may be specially, for example, a mop body, the mop body can carry a cleaning module  20  such as a water tank or a mopping and wiping part, and can perform through the movement a mopping and wiping on the target area or target environment for cleaning. 
     A first replacement mechanism  120  is configured to enable the robot apparatus  110  to be loaded with the cleaning module  20 , and enable a cleaning module  20  carried on the robot apparatus  110  to be replaced with the loaded cleaning module  20 . In this way, when a new cleaning module  20  is loaded to the cleaning robot  10 , the loaded new cleaning module  20  replaces through the first replacement mechanism  120  the old cleaning module  20  originally carried on the cleaning robot  10 , so that the assembling and disassembling of cleaning modules  20  on the cleaning robot  10  can be performed synchronously, which is more convenient and time-saving for the cleaning robot  10  to replace the cleaning module  20 . 
     Specifically, for example, a cleaning module  20  being carried on the robot apparatus  110  is taken as an example for illustration. As shown in  FIG.  1   , it is achieved through the first replacement mechanism  120 : when a new cleaning module  20  is loaded to the robot apparatus  110 , the new cleaning module  20  will gradually occupy the connection or position of the old cleaning module  20  on the robot apparatus  110  as the proceeding of loading process, so that the old cleaning module  20  whose connection or position is occupied is gradually removed from the robot apparatus  110 , and when the new cleaning module  20  completely occupies the connection or position of the old cleaning module  20  on the robot apparatus  110 , the new cleaning module  20  replaces the old cleaning module  20  to occupy the connection or position thereof on the robot apparatus  110 , so as to be carried on the robot apparatus  110 , while the old cleaning module  20  is separated from the robot apparatus  110  as the connection or position is occupied, thus achieving the replacement of the old cleaning module 20with the new cleaning module  20 . 
     It can be understood that, for the case that multiple cleaning modules  20  can be carried on the robot apparatus  110  at the same time, it can be correspondingly understood that, through the first replacement mechanism  120 : when a preset number (such as 1, 2, 3, 4, etc.) of new cleaning modules  20  are loaded, a preset number (such as 1, 2, 3, 4, etc.) of the old cleaning modules  20  are correspondingly replaced. 
     It can be understood that the new and old described herein do not intend to limit the difference between the new and old cleaning modules  20 , but are a popular expression used to easily distinguish the change in the positional relationship between the two cleaning modules  20 . The structures of new cleaning module  20  and old cleaning module  20  are the same, and they only have different identities or names or states with different usage scenarios. Those skilled in the art can also use other expressions based on different expression habits to call the new cleaning module  20  or the old cleaning module  20 , for example, the first cleaning module  20  is used instead of the new cleaning module  20 , the second cleaning module  20  is used instead of the old cleaning module  20 , and so on. 
     In some embodiments, as shown in  FIG.  2   , the first replacement mechanism  120  includes a first guide connecting structure  122 , a first guide connecting structure  122  is provided on the robot apparatus  110 , wherein a loading portion  124  and an unloading portion  126  are provided on the first guide connecting structure  122 , and the first guide connecting structure  122  is configured to allow the cleaning module  20  to be loaded to the robot apparatus  110  along the loading portion  124 , allow the cleaning module  20  to be separated from the robot apparatus  110  along the unloading portion  126 , and allow the cleaning module  20  to move relative to the robot apparatus  110  along the first guide connecting structure  122 . 
     In this way, as shown in  FIG.  2   , the relationship between the cleaning module  20  and the first guide connecting structure  122  can be realized as the following (taking the movement process in a m0 direction as an example for illustration): after the cleaning module  20  is loaded from the loading portion  124  to the robot apparatus  110  in a m01 direction, it can continue to move relative to the robot apparatus  110  in the m0 direction through the guide of first guide connecting structure  122 , and finally is separated from the robot apparatus  110  from the unloading portion  126  in the m01 direction. 
     In this way, when the old cleaning module  20  is originally carried on the robot apparatus  110 , during the process that the loaded new cleaning module  20  is loaded to the robot apparatus  110  in the m01 direction and moves along the first guide connecting structure  122 , the old cleaning module  20  originally carried on the robot apparatus  110  based on the first guide connecting structure  122  will be pushed out from the position of the unloading portion  126  in a m02 direction, so as to achieve the replacement of the cleaning module  20 , which has the advantages of simple structure, convenient assembly, and simple and convenient operation. 
     Optionally, the first guide connecting structure  122  includes one of a push-pull track and a track adaptation part (the track adaptation part is specifically, for example, a support seat, a bearing, a sliding block, etc. that can be adapted to the push-pull track). 
     Optionally, as shown in  FIG.  2   , the first replacement mechanism  120  includes two first guide connecting structures  122  provided at intervals. In this way, the relative movement between the cleaning module  20  and the robot apparatus  110  is smoother and more stable. 
     Of course, the present design is not limited to this, and in other embodiments, one first guide connecting structure  122  or three or more first guide connecting structures  122  provided at intervals may also be provided. 
     In some embodiments, as shown in  FIG.  2   , the cleaning robot  10  further includes a first connecting structure  130 , and the first connecting structure  130  is configured to be detachably connected with the cleaning module  20 . In this way, when the cleaning module  20  is carried on the robot apparatus  110 , it can be firmer and more stable, and it is not easy to be loosened during the operation of the robot apparatus  110 . 
     Optionally, the first connecting structure  130  may be specifically provided on the robot apparatus  110 , or may be also provided on the first guide connecting structure  122 . 
     In some specific embodiments, the first connecting structure  130  is provided in association with the first guide connecting structure  122  to define a preset position, wherein when the cleaning module  20  moves to the preset position along the first guide connecting structure  122 , the first connecting structure  130  is connected with the cleaning module  20 , and when the cleaning module  20  is separated from the preset position, the first connecting structure  130  is detached from the cleaning module  20 . 
     In this way, in the process that the new cleaning module  20  moves along the first guide connecting structure  122  to gradually occupy the preset position, the old cleaning module  20  will be driven to be separated from the preset position, thus realizing that the connection between the new cleaning module  20  and the first connecting structure  130  is synchronized with the disassembly of the old cleaning module  20  and the first connecting structure  130 , making the replacement process smoother, and guaranteeing the efficiency and reliability of the replacement of the cleaning module  20 . 
     Optionally, the first connecting structure  130  comprises at least one of a first fastening part  132  and a first magnetic body  134 . 
     In a specific embodiment, as shown in  FIG.  1    and  FIG.  2   , the first replacement mechanism  120  includes a first guide connecting structure  122 . The first guide connecting structure  122  is specifically a push-pull track. Two push-pull tracks are provided, and the two push-pull tracks are provided on the bottom surface of the machine body apparatus at an interval. 
     Two ends of the two push-pull tracks have structures that can allow the loading or detachment of the cleaning module  20 , so that one end is used as the loading portion  124  for the loading of the cleaning module  20 , and the other end is used as the unloading portion  126  for the unloading of the cleaning module  20 , during the replacement process. 
     A first fastening part  132  is provided at the position between the two ends of the push-pull track, the first fastening part  132  is specifically a latch fastener, which is used for being snapped with the cleaning module  20  when the cleaning module  20  is located in a preset position, and relieving the fastening connection with the cleaning module  20  when the cleaning module  20  is separated from the preset position. 
     Optionally, the first fastening part  132  is closer to the unloading portion  126  than the loading portion  124 . 
     In another specific embodiment, as shown in  FIG.  3    and  FIG.  4   , compared with the above-mentioned specific embodiments, the differences include that: the specific structure and composition of the first connecting structure  130  are different. 
     In this specific embodiment, the first connecting structure  130  includes two first fastening parts  132  and a first magnetic body  134 , the two first fastening parts  132  are provided at an interval in an extension direction of the push-pull track, and the first magnetic body  134  is located between the two first fastening parts  132 . 
     More specifically, the first fastening part  132  includes two spring fastening parts, and the two spring fastening parts define a fastening groove therebetween. When the cleaning module  20  moves to the preset position along the push-pull track, two fastening grooves are in one-to-one fastening with two spring fastening parts on the cleaning module  20 , and the first magnetic body  134  is magnetically connected to (in magnetic suction connection with) the second magnetic body  234  on the cleaning module  20 ; when the cleaning module  20  is separated from the preset position, the fastening grooves are separated from the spring fastening parts, and the first magnetic body  134  and the second magnetic body  234  are dislocated. 
     In some embodiments, the cleaning robot  10  further includes a recycling and feeding apparatus  300 , and the recycling and feeding apparatus  300  is configured to store the cleaning module  20 , feed the stored cleaning module  20  to the first replacement mechanism  120 , and recycle the cleaning module  20  replaced through the first replacement mechanism  120 . In this way, there is no need to manually replace the cleaning module  20 , which has a better use experience, and enables more intelligent product, and the cleaning robot  10  can replace and recycle the cleaning module  20  in situ by itself, and the cleaning robot  10  does not need to return to the base  30  to replace the cleaning module  20 , which is more conducive to the cleaning efficiency of the cleaning robot  10 , and based on the first replacement mechanism  120 , replacement between the new and old cleaning modules  20  can be achieved in the form of taking-over, the structure is simpler, the volume and weight of the cleaning robot  10  will not be increased too much, the cleaning robot  10  can automatically replace the cleaning module  20  more efficiently, and the replacement steps are fewer and simpler, which not only satisfy the automatic replacement function, but also facilitates the simplification of the control program of the cleaning robot  10 . 
     For a more detailed description of the structure of the recycling and feeding apparatus  300 , corresponding understanding can be performed with reference to the description of the recycling and feeding apparatus  300  in other embodiments below, which will not be repeated herein. 
     Referring to  FIG.  5   ,  FIG.  5    is a structural schematic view of the cleaning module  20  according to an embodiment of the present disclosure. 
     An embodiment of an aspect of the present disclosure provides a cleaning module  20 , which can be carried on the cleaning robot  10  described in any one of the above embodiments for use. 
     Specifically, the cleaning module  20  includes a body part  210  and a replacement adaptation structure  220 , wherein the replacement adaptation structure  220  is provided on the body part  210 , and configured to cooperate with the cleaning robot  10 , so that the cleaning module  20  can be loaded to the cleaning robot  10  and can replace the cleaning module  20  carried on the cleaning robot  10 . 
     In this way, when a new cleaning module  20  is loaded to the cleaning robot  10 , the loaded new cleaning module  20  can replace the old cleaning module  20  originally carried on the cleaning robot  10  through the cooperation of the replacement adaptation structure  220  with the cleaning robot  10 . In this way, the cleaning modules  20  on the cleaning robot  10  can be assembled and disassembled synchronously, and the replacement of the cleaning module  20  on the cleaning robot  10  is simpler, more convenient and time-saving. 
     In the above, it can be understood that the cleaning module  20  provided in this embodiment can be used as the new cleaning module  20  mentioned above to replace the old cleaning module  20 , and can also be the old cleaning module  20  and can be replaced by a new cleaning module  20 . 
     In some embodiments, as shown in  FIG.  5   , the replacement adaptation structure  220  comprises a second guide connecting structure  222 , the second guide connecting structure  222  is provided on the body part  210 , one end of the second guide connecting structure  222  is provided with a first interface  224 , and the other end thereof is provided with a second interface  226 , the second guide connecting structure  222  is configured to be loaded to the cleaning robot  10  along the first interface  224  and allow the cleaning module  20  to be movably attached to the cleaning robot  10 , and the second interface  226  is configured to allow the second guide connecting structure  222  to be separated from the cleaning robot  10  along the second interface  226 . 
     In this way, in the scene that the cleaning module  20  is used as the new cleaning module  20 , the second guide connecting structure  222  can cooperate with the cleaning robot  10  along the first interface  224 , so that the second guide connecting structure  222  can be combined on the cleaning robot  10 , so as to meet the use as the new cleaning module  20 . In the scene that the cleaning module  20  is used as the old cleaning module  20 , the cleaning module  20  can be pushed by the loaded cleaning module  20  along the second guide connecting structure  222 , so that the second guide connecting structure  222  can be gradually separated from the cleaning robot  10  along the second interface  226 , so as to meet the use as the old cleaning module  20 . Therefore, the cleaning module  20  and the cleaning robot  10  can be assembled and disassembled in a form of taking-over, which is convenient and efficient to assemble and disassemble, and has the advantages of simple structure and convenient operation. 
     Optionally, the second guide connecting structure  222  comprises one of a push-pull track and a track adaptation part (the track adaptation part is specifically, for example, a support seat, a bearing, a sliding block, etc. that can be adapted to the push-pull track). 
     Optionally, as shown in  FIG.  5   , the replacement adaptation structure  220  includes two second guide connecting structures  222  provided at an interval. In this way, the relative movement between the cleaning module  20  and the robot apparatus  110  is smoother and more stable. 
     Of course, the present design is not limited to this, and in other embodiments, one second guide connecting structure  222  or three or more second guide connecting structures  222  provided at intervals may also be provided. 
     In some embodiments, optionally, the body part  210  includes one or a combination of more of a mopping and wiping part, a water tank, and a dust box. 
     In some embodiments, as shown in  FIG.  5   , the cleaning module  20  further includes a second connecting structure  230 , and the second connecting structure  230  is configured to be detachably connected with the cleaning robot  10 . In this way, when the cleaning module  20  is carried on the robot apparatus  110 , it can be firmer and more stable, and is not easily loosened during the operation of the robot apparatus  110 . 
     Optionally, the second connecting structure  230  may be specifically provided on the body part  210 , or may also be provided on the second guide connecting structure  222 . 
     In some specific embodiments, the second connecting structure  230  is adapted to the first connecting structure  130  of the cleaning robot  10 . When the cleaning module  20  moves to the preset position along the second guide connecting structure  222 , the second connecting structure  230  is connected with the first connecting structure  130  of the cleaning robot  10 . When the cleaning module  20  is separated from the preset position, the second connecting structure  230  is disassembled from the first connecting structure  130  of the cleaning robot  10 . 
     Optionally, the second connecting structure  230  includes at least one of the second fastening part  232  and the second magnetic body  234 . 
     In one specific embodiment, as shown in  FIG.  5   , the replacement adaptation structure  220  includes a second guide connecting structure  222 . The second guide connecting structure  222  is specifically a track adaptation part, the track adaptation part is specifically, for example, a support seat, a bearing, a sliding block, etc. that can be adapted to a push-pull track. Two track adaptation parts are provided, and the two track adaptation parts are provided on the bottom surface of the body part  210  at an interval. 
     Two ends of the two track adaptation parts are in a structure that can allow the loading or detachment of the cleaning module  20 , so that during the process of replacement, one end serves as the first interface  224  for enabling the cleaning module  20  to be docked and loaded to the cleaning robot  10 , and the other end serves as the second interface  226  for enabling the cleaning module  20  to be unloaded from the cleaning robot  10 . 
     A second fastening part  232  is provided at the position between the two ends of the track adaptation part, the second fastening part  232  is specifically a latch fastener, which is used for being snapped with the cleaning robot  10  when the cleaning module  20  is located in a preset position, and relieving the fastening connection with the cleaning robot  10  when the cleaning module  20  is separated from the preset position. 
     Optionally, the second fastening part  232  is closer to the second interface  226  than the first interface  224 . 
     In another specific embodiment, as shown in  FIG.  6   , compared with the above-mentioned specific embodiments, the differences include that: the specific structure and composition of the second connecting structure  230  are different. 
     In this specific embodiment, the second connecting structure  230  includes two second fastening parts  132  and a second magnetic body  234 , the two second fastening parts  232  are provided at an interval in an extension direction of the track adaptation part, and the second magnetic body  234  is located between the two second fastening parts  232 . 
     More specifically, the second fastening part  232  includes a spring fastening part. When the cleaning module  20  moves to the preset position along the push-pull track, two spring fastening parts are snapped/fastened with two fastening grooves on the cleaning robot  10 , and the second magnetic body  234  is magnetically connected to the first magnetic body  134  on the cleaning robot  10 ; when the cleaning module  20  is separated from the preset position, the spring fastening parts is released/separated from the fastening grooves, and the first magnetic body  134  and the second magnetic body  234  are dislocated. 
     An embodiment of another aspect of the present disclosure provides a cleaning assembly (specifically, it can be understood with reference to  FIG.  1    and  FIG.  3   ), which comprises a cleaning robot  10  and a cleaning module  20 . 
     In the above, the cleaning robot  10  is the cleaning robot  10  according to any one of above-mentioned technical solutions, or the cleaning module  20  is the cleaning module  20  according to any one of above-mentioned technical solutions; and the cleaning module  20  is movably attached to the cleaning robot the cleaning robot  10 , and through the relative movement between the cleaning module  20  and the cleaning robot  10 , the cleaning module  20  can be loaded to the cleaning robot  10 , and the cleaning module  20  carried on the cleaning robot  10  is replaced with the loaded cleaning module  20 . 
     A Specific Embodiment 
     As shown in  FIG.  1   , this specific embodiment provides a cleaning assembly, which includes a cleaning robot  10  and a cleaning module  20 . As shown in  FIG.  2    and  FIG.  5   , a push-pull track is provided on one of the cleaning robot  10  and the cleaning module  20 , and a track adaptation part is provided on the other. The track adaptation part can be matched with (cooperate with) the push-pull track, so that the cleaning module  20  is connected to the cleaning robot  10  and can slide relative to the cleaning robot  10 . The two ends of the push-pull track and the two ends of the track adaptation part are respectively open, so that the track adaptation part can slide into the push-pull track or leave the push-pull track from the end of the push-pull track. 
     A movable lock component is provided between the track adaptation part and the push-pull track (it can be understood with reference to the first fastening part  132  and the second fastening part  232 ). The cleaning module  20  make the track adaptation part slide into the push-pull track along a straight line through a pushing force provided by the recycling and feeding apparatus  300 , or a pushing force provided by the user manually. The movable lock component on the track adaptation part is combined with the movable lock component on the push-pull track, so that the cleaning module  20  is placed on the cleaning robot  10 . 
     When it needs to be replaced with a new cleaning module  20 , the new cleaning module  20  is advanced from the fitting docking position of the cleaning robot  10 , so that the track adaptation part between the new cleaning module  20  and the cleaning robot  10  cooperates with the push-pull track, and the old cleaning module  20  on the cleaning robot  10  is replaced by sliding between the track adaptation part and the push-pull track. 
     A Specific Embodiment 
     As shown in  FIG.  3   , this specific embodiment provides a cleaning assembly, which includes a cleaning robot  10  and a cleaning module  20 . As shown in  FIG.  4    and  FIG.  6   , a push-pull track is provided on one of the cleaning robot  10  and the cleaning module  20 , and the track adaptation part is provided on the other. The differences from the above-mentioned specific embodiments include the following. 
     In this specific embodiment, two fastening grooves defined by the spring fastening parts are provided at an interval on the push-pull track in an extending direction, the first magnetic body  134  is provided between the two fastening grooves, and two spring fastening parts are provided at an interval on the track adaptation part in an extending direction, and a second magnetic body  234  is provided between the two spring fastening parts. 
     The implementation is as follows: the cleaning module  20  is driven by the pushing force provided by the recycling and feeding apparatus  300  or user, so that the track adaptation structure on the cleaning module  20  slides into the push-pull track on the cleaning robot  10  along a straight line. When the cleaning module  20  moves to the preset position along the push-pull track, the second magnetic body  234  (e.g., the negative-polarity magnetic component) on the track adaptation structure and the first magnetic body  134  (e.g., the positive-polarity magnetic component) on the push-pull track are combined with each other under the action of magnetic force, and the track adaptation structure and the push-pull track are snapped with each other through the spring fastening parts and the spring fastening parts, so that the cleaning module  20  and the cleaning robot  10  are tightly combined with each other, in this way, the cleaning module  20  of the cleaning robot  10  will not fall off during the cleaning work. 
     When the new cleaning module  20  is driven by the pushing force provided by the recycling and feeding apparatus  300  or user, so that the track adaptation structure on the new cleaning module  20  slides into the push-pull track on the cleaning robot  10  along a straight line, the new cleaning module  20  can be assembled on the cleaning robot  10  with reference to the above-mentioned process, and during the assembly process of the new cleaning module  20  and the cleaning robot  10 , the following are performed synchronously: the old cleaning module  20  moves away from the preset position under the action of pushing force provided by the new cleaning module  20 , so that the spring fastening parts and the spring fastening parts between the old cleaning module  20  and the cleaning robot  10  are automatically disconnected and the acting force of the magnetic component is released, and the old cleaning module  20  is pushed, in a straight line, out from the push-pull track by the new cleaning module  20 , so that the old cleaning module  20  is separated from the cleaning robot  10 , thus, the new cleaning module  20  can replace the old cleaning module  20 . 
     Referring to  FIG.  7   ,  FIG.  7    is a structural schematic view of the base  30  according to an embodiment of the present disclosure. 
     An embodiment of another aspect of the present disclosure provides a base  30 , the base  30  can be allow the cleaning robot  10  described in any one of the above technical solutions to park. In the above, the base  30  is provided with a recycling and feeding apparatus  300 , the recycling and feeding apparatus  300  is configured to store the cleaning module  20 , and feed the stored cleaning module  20  to the cleaning robot  10 , and recycle the cleaning module  20  replaced from the cleaning robot  10 . 
     In this way, when the cleaning module  20  of the cleaning robot  10  needs to be replaced, it can return to the position of the base  30 , and the cleaning module  20  is fed to the cleaning robot  10  through the recycling and feed apparatus  300 , so that the cleaning robot  10  is loaded with the cleaning module  20  from the base  30 , and the old cleaning module  20  on the cleaning robot  10  is replaced by the loaded cleaning module  20 . In the above, the replaced cleaning module  20  is recycled by the base  30 . In this way, there is no need for the user to manually operate to replace the cleaning module  20 , and there is no need for the user to recycle or manually supply the cleaning module  20 , and the use experience of product is better. In addition, the recycling and feeding apparatus  300  is provided on the base  30 , so that the load of the cleaning robot  10  is not additionally increased, and the energy efficiency of the product is higher. 
     In some embodiments, the recycling and feeding apparatus  300  includes a second replacement mechanism, the second replacement mechanism is configured to replace the cleaning module  20  stored in the recycling and feeding apparatus  300  with the recycled cleaning module  20 , wherein the cleaning module  20  replaced through the second replacement mechanism is configured to be fed to the cleaning robot  10 . 
     The second replacement mechanism replaces the stored cleaning module  20  with the recycled cleaning modules  20 , so as to facilitate the management of the quantity of the cleaning module  20 . 
     In some embodiments, as shown in  FIG.  7   , the recycling and feeding apparatus  300  includes a storage apparatus  310  and a first transmission mechanism  320 , wherein the storage apparatus  310  is configured to store the cleaning module  20 ; the first transmission mechanism  320  is configured to transfer the cleaning modules  20  between the storage apparatus  310  and the first replacement mechanism  120 . 
     Further, as shown in  FIG.  7   , the recycling and feeding apparatus  300  further includes a second transmission mechanism  330 , and one of the first transmission mechanism  320  and the second transmission mechanism  330  is configured to receive the cleaning module  20  from the cleaning robot  10 , and transfer the cleaning module  20  from the cleaning robot  10  to the storage apparatus  310 , and the other is configured to receive the cleaning module  20  provided by the storage apparatus  310  and transfer the cleaning module  20  provided by the storage apparatus  310  to the cleaning robot  10 . In this way, the dual-channel  3162  structure including the first transmission mechanism  320  and the second transmission mechanism  330  is formed, which is more conducive to the continuity of the recycling and feeding apparatus  300  for feeding and recycling the cleaning module  20 , enables better coordination and matching with the replacement cleaning module  20  at the cleaning robot  10 , and is also beneficial for more abundant usage scenarios, such as one base  30  adapting to multiple cleaning robots  10 . 
     In a certain embodiment, as shown in  FIG.  7   , the storage apparatus  310  defines a first opening that opens in a downward position (i.e. the first opening facing downward), the first transmission mechanism  320  includes a pushing mechanism  322  and a lifting mechanism  324 , the pushing mechanism  322  is configured to receive the cleaning module  20  from the cleaning robot  10 , and drive the cleaning module  20  from the cleaning robot  10  to below the first opening, the lifting mechanism  324  is configured to transfer the cleaning module  20  between the pushing mechanism  322  and the first opening. The storage apparatus  310  stores the recycled cleaning modules  20  from bottom to top, so that the risk of the cleaning modules  20  being subjected to contamination in the storage apparatus  310  can be greatly reduced. 
     In a certain embodiment, as shown in  FIG.  8   , the second transmission mechanism  330  is specifically configured to drive the cleaning module  20  to move, and the movement of the cleaning module  20  under the driving of the second transmission mechanism  330  includes a preset stroke z, wherein when the cleaning module  20  is at the initial position z0 of the preset stroke, the cleaning module  20  roughly reaches the first replacement mechanism  120  of the cleaning robot  10 , and when the cleaning module  20  moves from the initial position to the end position z1 of the preset stroke, the cleaning module  20  is loaded to the cleaning robot  10  and replaces the cleaning module  20  carried on the robot apparatus  110 , so that the power for replacing the cleaning module  20  on the cleaning robot  10  is provided by the base  30 , in this way, it can reduce the power consumption output of the cleaning robot  10 , and is conductive to improving the working endurance capability of the cleaning robot  10 . 
     Of course, according to specific requirements, in other embodiments, it is also possible to enable, through the movement of the cleaning robot  10  relative to the base  30 , that the power for replacing the cleaning module  20  on the cleaning robot  10  is provided by the cleaning robot  10 . 
     In a certain embodiment, as shown in  FIG.  7   , the storage apparatus  310  includes a first storage unit  312  and a second storage unit  314 , wherein the first storage unit  312  is configured to be able to store the cleaning module  20  from the cleaning robot  10 , and the second storage unit  314  is configured to be able to store the cleaning module  20  and supply the stored cleaning module to the cleaning robot  10 . In this way, the clean cleaning module  20  and the dirty cleaning module  20  can be stored in partitions, thereby reducing cross-contamination between the cleaning modules  20  and making it more convenient for the user to perform centralized processing of the cleaning modules  20  in the storage apparatus  310  in partitions. 
     In a certain embodiment, as shown in  FIG.  7   , the storage apparatus  310  is provided with a second replacement mechanism. More specifically, the second displacement mechanism includes a channel  3162 , a drive part  3164  and a weight response part  3168 . 
     Specifically, the channel  3162  communicates with the first storage unit  312  and the second storage unit  314 ; the driving part  3164  is configured to make a response, in response to an event of the cleaning module  20  entering the first storage unit  312 , to drive the cleaning module  20  to move from the first storage unit  312  along the channel  3162  to the second storage unit  314 ; and the weight response part  3168  is provided in the second storage unit  314 , and configured to detect a weight of the cleaning module  20  in the second storage unit  314 , and when the weight of the cleaning module  20  in the second storage unit  314  is greater than or equal to a preset weight, the weight response part  3168  causes the second storage unit  314  to discharge the cleaning module  20  in response. 
     In this way, it is possible to replace the clean cleaning module  20  in the storage apparatus  310  with the recycled cleaning module  20  at the storage apparatus  310 , so as to facilitate the management of the quantity of the cleaning modules  20 . 
     Optionally, the base  30  further includes a cleaning apparatus, and the cleaning apparatus is configured to perform clean processing on the cleaning module  20  recycled in the recycling and feeding device  300 . For example, the cleaning apparatus includes a water spraying device or a spraying device or the like, wherein by spraying the cleaning liquid on the cleaning module  20  recycled in the storage apparatus  310 , the cleaning module  20  is cleaned and stored in the storage apparatus  310 . In this way, the base  30  forms a one-stop service for the cleaning robot  10  to recycle, clean and supply the cleaning module  20 , which further reduces user intervention requirements, makes the product more intelligent, and lowers the cost of use. 
     As a further example, as shown in  FIG.  7   , the cleaning apparatus (not shown in the figure) is configured to perform cleaning processing on the cleaning module  20  in the first storage unit  312 . 
     In some embodiments, the base  30  is further provided with a detection part  350 . The detection part  350  is configured to perform in-position detection on the cleaning robot  10 . 
     A Specific Embodiment 
     As shown in  FIG.  7   , this specific embodiment provides a base  30 , the base  30  includes a first transmission mechanism  320 , a second transmission mechanism  330 , a first storage unit  312 , a second storage unit  314 , a driving part  3164 , a detection part  350 , and a control system  340 , etc. 
     When the robot apparatus  110  of the cleaning robot  10  is controlled to move to the straight line of the front track of the base  30 , the detection part  350  is a communication module, and the communication module on the base  30  transmits an alignment signal to the robot apparatus  110  of the cleaning robot  10 , and the robot apparatus  110  will move linearly along the track to the fitting docking position of the base  30 . 
     The first transmission mechanism  320  includes a pushing mechanism  322  and a lifting mechanism  324 , wherein both the pushing mechanism  322  and the second transmission mechanism  330  are track push-pull mechanisms capable of pushing the cleaning module to move. The driving part  3164  is a telescopic movable part, such as an electromagnetic push rod and the like. 
     The base  30  is also provided with a controlled movable part, the controlled movable part is connected with the first transmission mechanism  320 , the second transmission mechanism  330 , and the driving part  3164 , etc., the controlled movable part is electrically connected with the controlled system  340 , and drives the first transmission mechanism  320 , the second transmission mechanism  330 , the driving part  3164  and the like to move under the control of the control system  340 . 
     Specifically, the control system  340  makes the controlled movable part control through the operation instruction the telescopic movable part (that is, the driving part  3164 ) to operate, and pushes one recycled cleaning module N 5  in the first storage unit  312  (specifically, for example, the recycling box) into the second storage unit  314  (specifically, for example, a storage box) along the channel  3162 . At this time, the weight response part  3168  at the bottom of the second storage unit  314  will sense the weight of the cleaning module N 5 . In the above, the weight response part  3168  is specifically a rotating support spring (of course, in other embodiments, the weight response part  3168  may also be a locking apparatus that performing opening and closing based on the detection signal of the gravity sensor). When the weight of the cleaning module N 5  is sensed, the rotating support spring rotates downward, and at this time, the bottom-most cleaning module of the second storage unit  314  is pushed out (when the weight of the cleaning module N 5  is not sensed, the rotating support spring supports cleaning modules in the second storage unit  314 ). The pushed-out cleaning module N 0  falls onto the second transmission mechanism  330  below the second storage unit  314 . For the first time after the cleaning module N 0  is pushed out of the second storage unit  314 , the rotating support spring rotates upward to operate, effectively supporting the cleaning modules in the second storage unit  314  that are not pushed out. 
     Specifically again: the control system  340  makes the controlled movable part control through the operation instruction the second transmission mechanism  330  to operate, and moves the cleaning module N 0  linearly along the track (of course, it can also be rotated in other embodiments) to the fitting docking position (such as the z0 position) of cleaning robot  10 , and then pushes the cleaning module N 0  from the fitting docking position (such as the z0 position) of the cleaning robot  10  into the push-pull track of the cleaning robot  10 , until the cleaning module moves to the preset position of the cleaning robot  10  (such as the S1 position, the cleaning module at the S1 position can be understood with reference to the cleaning module N 1 ), during this movement of the cleaning module N 1 , the movement of the cleaning module N 1  is guided by the push-pull track on the cleaning robot  10 , and when the cleaning module N 1  reaches the preset position, the cleaning module N 1  and the cleaning robot  10  are snapped together via the spring fastening parts and the spring fastening parts, and the first magnetic body  134  and the second magnetic body  234  are magnetically connected together (for the old cleaning module originally located on the cleaning robot  10 , on the contrary, under the action of the pushing and pressing force of the cleaning module N 1 , the spring fastening parts and the spring fastening parts between the old cleaning module and the cleaning robot  10  are automatically disconnected and the acting force of the magnetic components is released), and just at the moment when the cleaning module N 1  reaches the preset position, the cleaning module N 1  pushes the old cleaning module linearly out along the push-pull track in a m0 direction, in this way, when the cleaning module N 1  is assembled on the cleaning robot  10 , the cleaning module originally located on the cleaning robot  10  is replaced simultaneously (the replaced cleaning module can be understood with reference to the cleaning module N 2 ), and the replaced cleaning module N 2  falls onto the S2 position of the pushing mechanism  322 . 
     Specifically again: the control system  340  makes controlled movable part control through the operation instruction the pushing mechanism  322  to retract to directly below the first storage unit  312  of the base  30 , so that the replaced cleaning module N 2  is carried to directly below the first storage unit  312  accordingly (the cleaning module located directly below the first storage unit  312  can be understood with reference to the cleaning module N 4 ). 
     Specifically again: the control system  340  makes the controlled movable part control through the operation instruction the lifting mechanism  324  to lift the position of the cleaning module N 4 , so that the cleaning module N 4  pushes away the support part  318  at the bottom opening of the first storage unit  312  to be recycled into the first storage unit  312 . 
     In this solution, the control system  340  on the base  30  sends an instruction to make the controlled movable part, the first transmission mechanism  320 , the second transmission mechanism  330 , the driving part  3164 , the detection part  350 , the weight response part  3168 , etc. do a series of continuous actions, truly realizing the efficient and fast automatic assembling and disassembling of cleaning modules to the cleaning robot  10 , and realizing product intelligence and better use experience. 
     Please refer to  FIG.  8   ,  FIG.  8    is a structural schematic view of the cleaning system according to an embodiment of the present disclosure. 
     An embodiment of another aspect of the present disclosure provides a cleaning system, which includes: a cleaning robot  10  and a base  30 ; the cleaning robot  10  is the cleaning robot  10  described in any one of the above technical solutions, or the base  30  is the base  30  described in any one of the above technical solutions. 
     In some embodiments, optionally, the cleaning robot  10  can move along a preset trajectory relative to the base  30 , and move along the preset trajectory relative to the base  30  through the cleaning robot  10 , and can provide a driving force for loading the cleaning module on the base  30  to the cleaning robot  10  and replacing the cleaning module carried on the cleaning robot  10  with the loaded cleaning module. 
     In the present disclosure, the cleaning robot  10  of the cleaning system can carry a cleaning module for use, when a new cleaning module is loaded to the cleaning robot  10 , the loaded new cleaning module replaces the old cleaning module originally carried on the cleaning robot  10 , in this way, the cleaning modules on the cleaning robot  10  can be assembled and disassembled synchronously, and the replacement of the cleaning module on the cleaning robot  10  is more convenient and time-saving. 
     Although the present disclosure has been described with reference to several exemplary embodiments, it is to be understood that the terminology used is a descriptive and illustrational, and nonrestrictive terminology. Since the present disclosure can be specifically implemented in many forms without departing from the spirit or essence of the present disclosure, it is to be understood that the above-described embodiments are not limited to any of the foregoing details, but are to be construed broadly within the spirit and scope defined by the appended claims, therefore, all changes and modifications that fall within the scope of the claims or equivalents thereof should be covered by the appended claims.