Wiping robot base station and wiping robot system

Abstract

The invention provides a wiping robot base station and a wiping robot system, and the wiping robot base station comprises a base station main body; a switching device; the adsorption device comprises an adsorption body, and the adsorption device at least has an adsorption state and a desorption state; and the operating part can move relative to the base station main body, so that the adsorption device is switched between an adsorption state and a desorption state, and when the adsorption body is in the adsorption state, the area projected to the fixed surface is not less than 156.9 square centimeters. The base station provided by the invention is simple in structure, convenient to operate by a user, small in occupied area and stable and reliable in adsorption between the base station and the fixed surface.

Description

[0001] This application claims the priority of the Chinese patent application filed with the China Patent Office on September 25, 2024, with application number 202411341229.1 and invention name “Fixing device, base station of wiping robot and wiping robot system”, the entire contents of which are incorporated by reference in this application. Technical Field

[0002] The present application relates to the field of intelligent cleaning technology, and in particular, to a wiping robot base station and a wiping robot system. Background Art

[0003] With the continuous development of automation and intelligent technology, intelligent cleaning equipment is becoming more and more popular. Among them, wiping robots can automatically wipe the surface of doors and windows, especially glass surfaces, without real-time manual operation. They can also complete some difficult outdoor high-altitude operations, greatly improving the convenience of cleaning work. In order to meet the requirements of outdoor high-altitude operations, the safety performance of wiping robot systems has also received more and more attention.

[0004] The known wiping robot system generally includes a wiping robot and a base station. The wiping robot is provided with an adsorption mechanism. The adsorption mechanism is used to be adsorbed on the cleaning surface when the wiping robot is working, so that the wiping robot can clean the cleaning surface. The base station is provided with an adsorption device, which is used to be adsorbed on the fixed surface when the wiping robot is working. The base station and the wiping robot are connected by a safety rope.

[0005] Generally, wiping robots can be used to clean outdoor surfaces. Outdoor weather is an important factor affecting whether wiping robots can work safely outdoors. According to the Beaufort wind scale, wind force is divided into 12 levels. Among them, the wind speed of Beaufort wind scale level 4 is 5.5-7.9m / s. Under this level 4 wind force, the wiping robot can avoid falling to the ground and causing danger, which is an important working parameter of the wiping robot. In order to make the wiping robot able to withstand level 4 wind force, one method is to increase the suction force of the adsorption mechanism. However, the higher the suction force of the adsorption mechanism, the greater the power of the fan required, and the higher the weight of the fan. The higher the weight of the fan, the more likely it is to cause the risk of the wiping robot falling, so the weight of the fan cannot be increased indefinitely. Another method to make the wiping robot able to withstand level 4 wind force is to increase the pulling force of the base station on the wiping robot, so that when the wiping robot falls, the base station can pull the wiping robot through the safety rope in time to prevent the wiping robot from falling to the ground and causing danger. Increasing the pulling force of the base station on the wiping robot can be achieved by increasing the gravity of the base station. However, the greater the gravity of the base station, the larger the volume of the base station and the higher the cost, so the gravity of the base station cannot be increased indefinitely. Another way to increase the pulling force of the base station on the wiping robot is to increase the adsorption force of the adsorption device of the base station. The adsorption area of ​​the adsorption device is an important factor affecting the adsorption force of the adsorption device. The larger the adsorption area of ​​the adsorption device, the greater the adsorption force. Therefore, the adsorption area of ​​the adsorption device cannot be too small, otherwise it will affect the pulling force of the base station on the wiping robot.

[0006] In the prior art, a button for controlling the adsorption device to generate adsorption force or release adsorption force is usually provided on the base station. The user operates the button to make the adsorption device generate adsorption force or release adsorption force. In the prior art, the method of controlling the adsorption device by the button of the base station not only increases the cost of the base station, but also increases the volume of the base station, making the overall structure of the base station complicated.

[0007] In the prior art, the base station usually uses a motor to control the formation of negative pressure between the adsorption device and the fixed surface, and controls the opening or closing of the motor through the above-mentioned button, so that the base station is adsorbed on the fixed surface. When the wiping robot is cleaning on the cleaning surface, if it is subjected to uncontrollable forces, such as wind force or human pulling force, the adsorption force between the adsorption mechanism thereon and the cleaning surface will be reduced. When the adsorption force is reduced to less than the gravity of the wiping robot, the wiping robot will fall. Since the wiping robot is connected to the base station through a safety rope, when the wiping robot falls, the base station can pull the wiping robot through the safety rope in time to prevent the wiping robot from falling to the ground and causing danger. However, this method of controlling the motor through a button and controlling the adsorption device through a motor has a complex structure and high cost.

[0008] Furthermore, if an abnormal situation occurs during the operation of the wiping robot (for example, the wiping robot is stuck and cannot move, etc.) and cannot be handled safely, the risk of the wiping robot falling will increase, reducing the safety of the wiping robot system.

[0009] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0010] One aspect of the present application is to solve a technical problem of how to improve the safety of the wiping robot system, and when realizing the adsorption and release between the wiping robot base station and the fixed surface, the wiping robot base station has a simple structure, is easy for users to operate, occupies a small area, and the adsorption between the base station and the fixed surface is stable and reliable.

[0011] In addition, other aspects of the present application are also intended to solve or alleviate other technical problems existing in the prior art.

[0012] The present application provides a wiping robot base station and a wiping robot system. Specifically, according to one aspect of the present application, it provides:

[0013] A wiping robot system, the wiping robot system comprising a wiping robot base station and a wiping robot, the wiping robot base station comprising: a base station body; an adsorption device, which is arranged on the base station body, the adsorption device comprises an adsorption body, and the adsorption device has at least an adsorption state and a desorption state; a manipulation member, which is arranged on the base station body and can move relative to the base station body, so that the adsorption device switches between the adsorption state and the desorption state, and the area of ​​the adsorption body projected to the fixed surface is not less than 156.9 square centimeters;

[0014] The wiping robot comprises: a robot body; a vacuum source, arranged on the robot body, for making the wiping robot adsorb on the surface to be wiped;

[0015] In the adsorption state, when the wiping robot moves on the surface to be wiped and an abnormal situation occurs, the wiping robot performs an action to resolve the abnormal situation. During the execution of the action, the vacuum source continues to work so that the wiping robot does not leave the surface to be wiped.

[0016] Optionally, according to an embodiment of the present application, when the operating member naturally droops to reach the lowest position, the adsorption device is in the adsorption state.

[0017] Optionally, according to one embodiment of the present application, the operating member is constructed as a handle, and when the wiping robot base station is placed on the fixed surface and the adsorption device is in contact with the fixed surface, the handle has at least a first state and a second state, in which the handle is in the lowest position it can reach, which is defined as the first position, and the adsorption device is in the adsorption state; in the second state, the handle is in a position other than the first position, and the adsorption device is in the desorption state.

[0018] Optionally, according to an embodiment of the present application, in the second state, the handle is in other positions other than the first position, and the other positions include a second position, and in the second position the handle is in the highest position it can reach.

[0019] Optionally, according to an embodiment of the present application, the handle automatically switches from the second position to the first position under the action of gravity, thereby achieving the adsorption state between the adsorption body and the fixed surface.

[0020] Optionally, according to an embodiment of the present application, when the handle is in the first position, the height of the lowest point of the handle is not less than half the height of the base station body.

[0021] Optionally, according to an embodiment of the present application, when the adsorption device switches from the desorption state to the adsorption state, the base station body floats downward by a distance less than 2 mm.

[0022] Optionally, according to an embodiment of the present application, the wiping robot performs an action to resolve the abnormal condition, including: performing a moving action after receiving a remote control signal to resolve the abnormality.

[0023] Optionally, according to an embodiment of the present application, the abnormal condition includes a condition in which the wiping robot is stuck and stops on the surface to be wiped before the cleaning task is completed.

[0024] Optionally, according to an embodiment of the present application, the jamming includes pulling the wiping robot when the safety rope is in a taut state, thereby making the wiping robot unable to continue moving.

[0025] Optionally, according to an embodiment of the present application, the tension state includes a situation where the length of the safety rope extending out of the base station body reaches a maximum length that the safety rope can extend out of the base station body and the tension reaches a first threshold.

[0026] Optionally, according to one embodiment of the present application, the wiping robot base station also includes a switching device, and the adsorption device also includes a through hole. In the adsorption state, the switching device closes the through hole, and in the desorption state, the switching device opens the through hole, so that the adsorption chamber is connected to the outside world through the through hole; the operating member can move relative to the base station body to mechanically drive the switching device and close or open the through hole through the switching device, and the operating member is directly connected to the switching device.

[0027] Optionally, according to one embodiment of the present application, the switching device includes a first valve element connected to the adsorption body and a second valve element connected to the operating member, an opening is provided on the first valve element, the opening is connected to the through hole, and the rotation of the operating member drives the second valve element to rotate relative to the first valve element to open and close the opening.

[0028] Optionally, according to an embodiment of the present application, the first valve element is a valve body, the second valve element is a valve core at least partially penetrated in the valve body, and the valve core can rotate relative to the valve body.

[0029] Optionally, according to an embodiment of the present application, a first channel is provided through the valve body, and the valve core is provided with a second channel for connecting with the first channel, and one end of the second channel is an open end, and the other end is a closed end.

[0030] Optionally, according to one embodiment of the present application, the opening is arranged on the side wall of the valve body, and an exhaust port is arranged on the side wall of the valve core, and when the valve core rotates relative to the valve body, the exhaust port is connected to or offset from the opening to open or close the opening.

[0031] Optionally, according to an embodiment of the present application, the first valve element is a valve body, the second valve element is a valve core whose end face is abutted against the matching end face of the first valve element, the opening is arranged on the matching end face of the valve body, and an exhaust port is arranged on the end face of the valve core, and when the valve core rotates relative to the valve body, the exhaust port is connected to or offset from the opening to open or close the opening.

[0032] Optionally, according to one embodiment of the present application, the switching device includes a first valve element connected to the adsorption body and a second valve element connected to the operating member, an opening is provided on the first valve element, the opening is connected to the through hole, and the rotation of the operating member drives the second valve element to move in a straight line relative to the first valve element to open and close the opening.

[0033] Optionally, according to an embodiment of the present application, the first valve element is a valve body, the second valve element is a valve core at least partially penetrated in the valve body, and the valve core can move linearly relative to the valve body.

[0034] Optionally, according to an embodiment of the present application, a first channel is provided through the valve body, a first end and a second end of the first channel are both open ends, and the valve core is at least partially provided in the first channel.

[0035] Optionally, according to one embodiment of the present application, a spirally extending spiral groove is provided on the side wall of one of the valve core and the valve body, and a protrusion is provided on the side wall of the other, and the protrusion fits into the spiral groove. When the operating member drives the valve core to rotate, the protrusion moves along the spiral groove, thereby causing the valve core to move in a straight line relative to the valve body.

[0036] Optionally, according to one embodiment of the present application, the diameter of the first end of the first channel is smaller than the diameter of the second end, the opening is formed by the first end of the first channel, an exhaust port is provided on the side wall of the valve body, and one end of the valve core can close the opening along the direction of the linear motion.

[0037] Optionally, according to one embodiment of the present application, the diameter of the first end of the first channel is smaller than the diameter of the second end, the opening is formed by the first end of the first channel, the gap between the second end and the valve core forms an exhaust port, and one end of the valve core can close the opening along the direction of the linear motion.

[0038] Optionally, according to one embodiment of the present application, the opening is formed by the first end of the first channel, the second end of the first channel forms an exhaust port, the protrusion is configured to surround the side wall and seal with the spiral groove, when the protrusion is engaged with the spiral groove, the passage from the opening to the exhaust port is closed, and when the protrusion moves out of the spiral groove, the passage from the opening to the exhaust port is opened.

[0039] Optionally, according to an embodiment of the present application, the switch device further includes a rotating member connected to the valve core and the operating member respectively, and the operating member drives the rotating member to rotate through its own rotation, thereby further driving the valve core to rotate.

[0040] Optionally, according to one embodiment of the present application, the wiping robot base station also includes a switching device, and the adsorption device also includes a through hole. In the adsorption state, the switching device closes the through hole, and in the desorption state, the switching device opens the through hole, so that the adsorption chamber is connected to the outside world through the through hole; the operating member can move relative to the base station body to mechanically drive the switching device and close or open the through hole through the switching device, and the operating member is connected to the switching device through a transmission mechanism.

[0041] Optionally, according to one embodiment of the present application, the projection of the switch device and the transmission mechanism on the front of the base station body at least partially overlaps, and / or the projection of the switch device and the transmission mechanism on the side of the base station body at least partially overlaps, and / or the projection of the switch device and the transmission mechanism on the bottom surface of the base station body at least partially overlaps.

[0042] Optionally, according to one embodiment of the present application, the switching device includes a first valve element connected to the adsorption body and a second valve element connected to the operating member, an opening is provided on the first valve element, the opening is connected to the through hole, and the rotation of the operating member drives the second valve element to rotate relative to the first valve element to open and close the opening.

[0043] Optionally, according to an embodiment of the present application, the transmission mechanism includes a first connecting rod, a second connecting rod and a third connecting rod hinged in sequence along the direction of gravity, the end of the first connecting rod facing away from the second connecting rod is connected to the operating member, the end of the third connecting rod facing away from the second connecting rod is connected to the second valve element, the first valve element includes a first section extending in a horizontal direction and a second section extending in a vertical direction, and the second valve element is connected to the first valve element in the first section.

[0044] Optionally, according to an embodiment of the present application, the first valve element is a valve body, the second valve element is a valve core at least partially penetrated in the valve body, and the valve core can rotate relative to the valve body.

[0045] Optionally, according to an embodiment of the present application, a first channel is provided through the valve body, and the valve core is provided with a second channel for connecting with the first channel, and one end of the second channel is an open end, and the other end is a closed end.

[0046] Optionally, according to one embodiment of the present application, the opening is arranged on the side wall of the valve body, and an exhaust port is arranged on the side wall of the valve core, and when the valve core rotates relative to the valve body, the exhaust port is connected to or offset from the opening to open or close the opening.

[0047] Optionally, according to an embodiment of the present application, the first valve element is a valve body, the second valve element is a valve core whose end face is abutted against the matching end face of the first valve element, the opening is arranged on the matching end face of the valve body, and an exhaust port is arranged on the end face of the valve core, and when the valve core rotates relative to the valve body, the exhaust port is connected to or offset from the opening to open or close the opening.

[0048] Optionally, according to one embodiment of the present application, the switching device includes a first valve element connected to the adsorption body and a second valve element connected to the operating member, an opening is provided on the first valve element, the opening is connected to the through hole, and the rotation of the operating member drives the second valve element to move in a straight line relative to the first valve element to open and close the opening.

[0049] Optionally, according to an embodiment of the present application, the first valve element is a valve body, the second valve element is a valve core at least partially penetrated in the valve body, and the valve core can move linearly relative to the valve body.

[0050] Optionally, according to an embodiment of the present application, a first channel is provided through the valve body, a first end and a second end of the first channel are both open ends, and the valve core is at least partially provided in the first channel.

[0051] Optionally, according to one embodiment of the present application, a spirally extending spiral groove is provided on the side wall of one of the valve core and the valve body, and a protrusion is provided on the side wall of the other, and the protrusion fits into the spiral groove. When the operating member drives the valve core to rotate, the protrusion moves along the spiral groove, thereby causing the valve core to move in a straight line relative to the valve body.

[0052] Optionally, according to one embodiment of the present application, the diameter of the first end of the first channel is smaller than the diameter of the second end, the opening is formed by the first end of the first channel, an exhaust port is provided on the side wall of the valve body, and one end of the valve core can close the opening along the direction of the linear motion.

[0053] Optionally, according to one embodiment of the present application, the diameter of the first end of the first channel is smaller than the diameter of the second end, the opening is formed by the first end of the first channel, the gap between the second end and the valve core forms an exhaust port, and one end of the valve core can close the opening along the direction of the linear motion.

[0054] Optionally, according to one embodiment of the present application, the opening is formed by the first end of the first channel, the second end of the first channel forms an exhaust port, the protrusion is configured to surround the side wall and seal with the spiral groove, when the protrusion is engaged with the spiral groove, the passage from the opening to the exhaust port is closed, and when the protrusion moves out of the spiral groove, the passage from the opening to the exhaust port is opened.

[0055] Optionally, according to an embodiment of the present application, the switch device further includes a rotating member connected to the valve core and the operating member at inner and outer ends respectively, and the operating member drives the rotating member to rotate through its own rotation, thereby further driving the valve core to rotate.

[0056] Optionally, according to an embodiment of the present application, the operating member drives the rotating member to rotate via a belt transmission mechanism, a chain transmission mechanism or a gear transmission mechanism.

[0057] According to another aspect of the present application, the present application provides a wiping robot system, the wiping robot system includes a wiping robot base station and a wiping robot, the wiping robot base station includes: a base station body; an adsorption device, which is arranged on the base station body, the adsorption device includes an adsorption body, and the adsorption device has at least an adsorption state and a desorption state; a manipulation member, which is arranged on the base station body and can move relative to the base station body, so that the adsorption device switches between the adsorption state and the desorption state, and the adsorption body is in the adsorption state. The area projected onto the fixed surface is not less than 156.9 square centimeters;

[0058] The wiping robot has at least a breakpoint-resume cleaning mode. When the wiping robot executes the breakpoint-resume cleaning mode, the wiping robot performs at least a first cleaning operation and a second cleaning operation on the wiping surface, and the cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation are continuous.

[0059] Optionally, according to one embodiment of the present application, the operating member is constructed as a handle, and when the base station is placed on the fixed surface and the adsorption device is in contact with the fixed surface, the handle has at least a first state and a second state, and in the first state, the handle is in the lowest position it can reach, which is defined as the first position, and the adsorption device is in the adsorption state; in the second state, the handle is in a position other than the first position, and the adsorption device is in the desorption state.

[0060] Optionally, according to an embodiment of the present application, in the second state, the handle is in other positions other than the first position, and the other positions include a second position, and in the second position the handle is in the highest position it can reach.

[0061] Optionally, according to an embodiment of the present application, the handle automatically switches from the second position to the first position under the action of gravity, thereby achieving the adsorption state between the adsorption body and the fixed surface.

[0062] Optionally, according to an embodiment of the present application, when the handle is in the first position, the height of the lowest point of the handle is not less than half the height of the base station body.

[0063] Optionally, according to an embodiment of the present application, when the adsorption device switches from the desorption state to the adsorption state, the base station body floats downward by a distance less than 2 mm.

[0064] Optionally, according to one embodiment of the present application, the cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation are continuously defined as the continuity of the first cleaning operation and the second cleaning operation in the working area, and the cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation partially overlap.

[0065] According to another aspect of the present application, the present application provides a wiping robot system, which includes a wiping robot base station and a wiping robot, the wiping robot base station including: a base station body; an adsorption device, which is arranged on the base station body, and the adsorption device has at least an adsorption state and a desorption state; an operating member, which is arranged on the base station body and can move relative to the base station body to switch the adsorption device between the adsorption state and the desorption state; the wiping robot includes: a robot body; a vacuum source, which is arranged on the robot body, for making the wiping robot adsorbed on the surface to be wiped; in the adsorption state, when the wiping robot moves on the surface to be wiped and an abnormal condition occurs, the wiping robot performs an action to resolve the abnormal condition, and the vacuum source continues to work during the execution of the action to prevent the wiping robot from leaving the surface to be wiped.

[0066] According to another aspect of the present application, the present application provides a wiping robot system, which includes a wiping robot base station and a wiping robot, the wiping robot base station including: a base station body; an adsorption device, which is arranged on the base station body, the adsorption device includes an adsorption body, and the adsorption device has at least an adsorption state and a desorption state; an operating member, which is arranged on the base station body and can move relative to the base station body to switch the adsorption device between the adsorption state and the desorption state; the wiping robot has at least a breakpoint-continued cleaning mode, when the wiping robot executes the breakpoint-continued cleaning mode, the wiping robot performs at least a first cleaning operation and a second cleaning operation on the wiping surface, and the cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation are continuous.

[0067] According to another aspect of the present application, the present application provides a wiping robot base station, comprising: a base station body; an adsorption device, which is arranged on the base station body, the adsorption device includes an adsorption body, and the adsorption device has at least an adsorption state and a desorption state; an operating member, which is arranged on the base station body and can move relative to the base station body to enable the adsorption device to switch between the adsorption state and the desorption state, and the area of ​​the adsorption body projected onto the fixed surface in the adsorption state is not less than 156.9 square centimeters.

[0068] Benefits of this application include:

[0069] 1. The wiping robot base station of the present application includes an adsorption device and an operating member. When the operating member is operated, the adsorption and desorption states of the adsorption device can be switched, and the base station can be fixed and released relative to the fixed surface, thereby realizing pure mechanical linkage control. There is no need to adopt a complex structure including a motor or an electromagnetic valve. The control method is stable and reliable, and the base station structure is simple. In addition, the present application mechanically drives the adsorption device through the operating member, so there is no need to set an additional button for controlling the switch device on the base station, thus saving the cost caused by the need for the button. On the other hand, there is no need to occupy additional space of the base station to set the button, because the operating member (handle) is originally possessed by the base station, so the base station structure is simple and the volume is reduced;

[0070] 2. The base station of the present application comprises a switch device, an adsorption device and an operating member. When the operating member is operated, the switch device can be mechanically driven, and the adsorption and desorption states of the adsorption device are switched by the switch device, so that the base station can be fixed and released relative to the fixed surface, thereby realizing pure mechanical linkage control, without the need to adopt a complex structure including a motor or a solenoid valve, the control method is stable and reliable, and the base station structure is simple. In addition, the present application mechanically drives the switch device by the operating member, so there is no need to set an additional button for controlling the switch device on the base station, thus saving the cost caused by the need for the button;

[0071] 3. In the adsorption state, the adsorption body of the present application projects an area of ​​not less than 156.9 square centimeters onto the fixed surface, so that when the adsorption body is adsorbed on the fixed surface with a glossiness of not less than 55°, the operating member cannot switch the adsorption device from the adsorption state to the desorption state under a vertical upward force of not more than 633.7N, which enables the base station to withstand the force of dragging the safety rope generated by the swing of the wiping robot under a level 4 gale while using a smaller footprint, avoiding the situation where the area of ​​the adsorption body is increased in order to increase the adsorption force between the base station and the fixed surface, thereby increasing the volume of the base station; or avoiding the situation where the area of ​​the adsorption body is reduced in order to reduce the volume of the base station, thereby causing insufficient adsorption force between the base station and the fixed surface, thereby ensuring stable and reliable adsorption between the base station and the fixed surface; in addition, it also reduces the risk of the user's misoperation of the operating member causing the adsorption device to be desorbed, further improving the fixing stability of the base station;

[0072] 4. The switching between the adsorption and desorption states of the adsorption device can be controlled by the gravity of the handle. When the user puts down the handle, the handle automatically rotates from the second position to the first position by its gravity, thereby switching the adsorption device from the desorption state to the adsorption state. In this way, the process of switching the adsorption device from the desorption state to the adsorption state does not require manual operation by the user, that is, reducing the user's operation and facilitating the user. When the user lifts the handle, the adsorption device is switched from the adsorption state to the desorption state, realizing the linkage between the fixation of the base station and the user's use of the handle. When the base station needs to be moved, the user does not need to perform additional control on the base station separately in addition to the operation of lifting the handle. Specifically, when the wiping robot is stored in the base station and the user needs to move the base station, the user needs to perform two operations, one is to pull the handle to the second position, and the other is the desorption operation, such as manually pressing the button to desorb the suction cup, and then the base station can be moved by lifting the handle. The handle of the present application is configured so that when the user pulls the handle, the through hole of the adsorption cavity can be opened by the switch device, so that the adsorption device can be switched from the adsorption state to the desorption state. That is, the user only needs one pulling action to complete the two operations of detaching the adsorption device and lifting the handle to hold the base station, which facilitates the user's operation; in addition, the state of the adsorption device can also be simply judged according to the state of the handle, further integrating the fixing state of the base station with its usage.

[0073] 5. The wiping robot system of the present application includes a wiping robot base station and a wiping robot. The wiping robot includes: a robot body and a vacuum source. When the adsorption device of the wiping robot base station is in an adsorption state, when the wiping robot moves on the surface to be wiped and an abnormal situation occurs, the wiping robot performs an action to resolve the abnormal situation, and the vacuum source continues to work during the execution of the action so that the wiping robot does not leave the surface to be wiped. In this way, the safety performance of the wiping robot system of the present application is improved. Specifically, when the wiping robot cleans the surface to be wiped, the adsorption device of the wiping robot base station is usually in an adsorption state, so that when the wiping robot falls, the wiping robot base station can pull the wiping robot through the safety rope to prevent the wiping robot from continuing to fall down. However, when the wiping robot moves on the surface to be wiped to perform cleaning operations when the adsorption device of the wiping robot base station is in an adsorption state, abnormal conditions are prone to occur. More specifically, when there are no obstacles around the safety rope connecting the wiping robot and the base station, so that the safety rope can stretch or move freely without being blocked or entangled by obstacles, the wiping robot is prone to the above-mentioned abnormality at a position far away from the base station. For example, when the wiping robot is cleaning a large area of ​​the surface to be wiped, when the wiping robot moves toward the side of the surface to be wiped away from the base station, since the wiping robot is getting farther and farther away from the base station, the length of the safety rope connecting the wiping robot and the base station will be pulled longer and longer by the wiping robot. When the length of the safety rope extending out of the base station body reaches the maximum length that the safety rope can extend out of the base station body, since the adsorption device of the base station is in an adsorption state, when the wiping robot moves in the direction of pulling the safety rope again, the tension of the safety rope is prone to reach the abnormal condition of the first threshold, thereby causing the safety rope to be in a taut state. On the other hand, when there are obstacles around the safety rope connecting the wiping robot and the base station, the safety rope is easily blocked or entangled by the obstacles and cannot be freely stretched or moved. In particular, when the length of the safety rope extending out of the base station body reaches the maximum length that the safety rope can extend out of the base station body, the safety rope is blocked or entangled by obstacles, and is easily in a taut state, so that the tension of the safety rope reaches the first threshold. When this abnormal situation occurs, no safety accident occurs, which can indicate that the wiping robot system has high safety performance. The wiping robot in the present application performs the action of resolving the abnormality, and the vacuum source continues to work during the execution of the action so that the wiping robot does not leave the surface to be wiped. That is, the wiping robot can complete the resolution of the abnormality on the wiping surface, thereby avoiding the wiping robot from falling when the abnormality is resolved. That is, the present application does not leave the surface to be wiped during the execution of the action to resolve the abnormality, so that the wiping robot will not fall when the abnormality is resolved, thereby improving the safety of the wiping robot system. In addition, when an abnormal situation occurs in the window cleaning robot, the window cleaning robot is generally in a higher position.If the window cleaning robot actively or passively leaves the surface to be wiped during the execution of the abnormal release action, the window cleaning robot may easily fall from a high position, causing damage to the window cleaning robot or injuring users or objects.

[0074] 6. The wiping robot system of the present application has high safety performance. Specifically, on the one hand, as described above, the adsorption body of the base station of the wiping robot system of the present application is in the adsorption state, and the area projected onto the fixed surface is not less than 156.9 square centimeters. In this way, the base station of the wiping robot system of the present application can withstand the force of dragging the safety rope generated by the swing of the wiping robot under a level 4 gale, thereby preventing the wiping robot from falling to the ground and causing danger. On the other hand, when the adsorption device of the wiping robot base station is in the adsorption state, when the wiping robot moves on the surface to be wiped and an abnormal situation occurs, the wiping robot performs an action to resolve the abnormal situation, and during the execution of the action, the vacuum source continues to work to prevent the wiping robot from leaving the surface to be wiped. In this way, falling is avoided during the abnormality resolution process. In this way, the safety performance of the wiping robot system of the present application is improved.

[0075] 7. The wiping robot system of the present application has high cleaning efficiency. Specifically, the wiping robot has at least a breakpoint-continued cleaning mode. When the wiping robot executes the breakpoint-continued cleaning mode, the wiping robot performs at least the first cleaning operation and the second cleaning operation on the wiping surface. The cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation are continuous, so that the wiping robot can clean the surface to be wiped in different areas. In this way, when the power of the wiping robot is insufficient, the wiping surface can be cleaned in different areas, thereby avoiding the situation where the wiping robot falls due to insufficient power, and after the power is sufficient, the wiping robot can continue the operation before the power is insufficient, thereby avoiding repeated wiping of the area before the power is insufficient, thereby improving the working efficiency. And when the surface to be wiped of the wiping robot is dirty, in order to improve the wiping effect, the surface to be wiped is cleaned in different areas, and then the cleaning components can be replaced, so that each area uses a clean cleaning component to improve the cleaning quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] With reference to the accompanying drawings, the above and other features of the present application will become apparent. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present application. In addition, similar numbers in the figures are used to represent similar components, among which,

[0077] Figure 1 A schematic diagram showing a base station proposed according to an embodiment of the present application with the base station main body removed;

[0078] Figure 2 and Figure 3 Show respectively according to Figure 1 A side view and a top view of the base station with the base station body removed when the handle is in the first position;

[0079] Figure 4 and Figure 5 Show respectively according to Figure 1 A side view and a top view of the base station with the base station body removed when the handle is in the second position;

[0080] Figure 6 and Figure 7 A side view and a top view respectively show the handle in a second position relative to the fixing surface;

[0081] Figure 8 A schematic structural diagram of a switch device according to an embodiment of the present application is shown;

[0082] Fig. 9 A partial structural diagram of a switch device according to an embodiment of the present application is shown;

[0083] Fig.10 Show according to Fig. 9 A comparison diagram of an opening of a valve body and an exhaust port of a valve core of a switching device according to an embodiment of the present invention;

[0084] Fig.11 A schematic structural diagram of a switch device according to an embodiment of the present application is shown;

[0085] Fig.12 A scene diagram according to one embodiment of the present application is shown;

[0086] Fig.13 A diagram of a breakpoint-resume cleaning mode according to one embodiment of the present application is shown. DETAILED DESCRIPTION

[0087] It is easy to understand that according to the technical solution of the present application, without changing the essential spirit of the present application, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific implementation modes and drawings are only exemplary descriptions of the technical solution of the present application, and should not be regarded as the entirety of the present application or as a limitation or restriction on the technical solution of the present application.

[0088] The directional terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined relative to the structures shown in the drawings. They are relative concepts and may change accordingly according to their different positions and different usage states. Therefore, these or other directional terms should not be interpreted as restrictive terms. In addition, the terms "first", "second", "third", etc. or similar expressions are only used for description and distinction purposes, and cannot be understood as indicating or implying the relative importance of the corresponding components or the order or assembly order of the components.

[0089] In a known wiping robot 900, the base station has, for example, a stepper motor plus a push rod operating mechanism, and the stepper motor controls the push rod to open and close the valve port of the valve body used to control the negative pressure of the base station suction cup, thereby achieving adsorption and desorption of the adsorption device. However, the push rod may be stuck during operation and a switch needs to be set to detect whether the push rod is in place. The structure of this operating mechanism is relatively complex, and an electronic program needs to be set to cooperate with the control of the stepper motor, and the stepper motor needs to be continuously powered.

[0090] For another known wiping robot 900, for example, a solenoid valve is directly connected to the suction cup port to control the opening and closing of the valve port. In this solution, when the suction cup is adsorbed, the solenoid valve needs to be powered on for a long time (normally open solenoid valve), and if the solenoid valve is replaced with a normally closed solenoid valve, the suction cup will remain in the adsorbed state when the solenoid valve is not powered, and the adsorption and desorption of the suction cup cannot be flexibly controlled, which may cause a poor user experience.

[0091] The base station of the present application realizes pure mechanical linkage between the adsorption device and the operating mechanism, which not only can realize instant switching of the adsorption device between the adsorption state and the desorption state, but also has a simple and convenient control method; and because the adsorption cavity in the present application is in the adsorption state, the area projected to the fixed surface is not less than 156.9 square centimeters, and the operating member cannot switch the adsorption device from the adsorption state to the desorption state under the vertical upward force of not more than 633.7N, the base station can withstand the centrifugal force of the wiping robot 900 under a level 4 gale, and at the same time the adsorption cavity of the adsorption device does not require too large an area; in addition, it also reduces the risk of the user's misoperation of the operating member causing the adsorption device to be desorbed.

[0092] The wiping robot system of the present application comprises: a wiping robot base station 10 and a wiping robot 900. The base station is used to be connected to the wiping robot 900 via a safety rope 800.

[0093] like Fig.12 As shown, the base station body of the wiping robot base station 10 of the present application is connected to the wiping robot 900 through a safety rope 800. Fig.13 As shown, the wiping robot 900 includes: a robot body; a cleaning component 901, which is arranged on the robot body and is used to clean the surface to be wiped 2000; a driving component 902, which is arranged on the robot body and is used to drive the wiping robot to move on the surface to be wiped 2000; and a vacuum source, which is arranged on the robot body and is used to make the wiping robot 900 adsorbed on the surface to be wiped 2000.

[0094] In one embodiment of the present application, a winding device is provided on the main body of the base station, and a safety rope 800 for connecting the host of the wiping robot 900 is wound on the winding device. The safety rope 800 can provide a pulling force to the host when the host falls from the working surface, so that the host does not fall directly to the ground, but is suspended in the air by the safety rope 800 connected to the base station 10.

[0095] Further, the vacuum source includes a blower. A cavity is provided at the bottom of the robot body. The blower is used to suck the air in the cavity when the wiping robot 900 is located on the surface to be wiped 2000, so that the wiping robot 900 is adsorbed on the surface to be wiped 2000.

[0096] The wiping robot 900 at least has a driving component 902 to drive the wiping robot to move on the surface to be wiped 2000, so that the cleaning component 901 can perform a cleaning task on the surface to be wiped 2000. Of course, the wiping robot 900 is not limited to the working state, and can also have other states, such as the wiping robot 900 has a non-working state in which it is adsorbed and stationary on the surface to be wiped 2000.

[0097] refer to Figure 1 , which shows a schematic diagram of a base station 10 proposed according to an embodiment of the present application after the base station body is removed. Figure 1 In order to better show the devices for fixing the base station 10, the base station body that may block these devices in the view is removed, which does not affect the following description of the relative positions of these devices relative to the base station 10 or the base station body. Those skilled in the art can determine the corresponding positions and connection methods of other devices and the base station body according to the following description and the usual setting methods.

[0098] The base station 10 of the present application is used for a wiping robot 900, and includes: a base station body, a switch device 100, a suction device 200, and a manipulation member 300. Here, the base station body refers to the main body except for the switch device 100, the suction device 200, and the manipulation member 300 described below, which are devices for fixing the base station body. The switch device 100, the suction device 200, and the manipulation member 300 are all arranged on the base station body.

[0099] The adsorption device 200 is, for example, disposed on the bottom surface of the base station body, so as to be adsorbed onto a fixed surface 1, which may be, for example, the ground, a windowsill surface, a glass surface, etc. The adsorption device 200 is, for example, configured as a negative pressure adsorption component such as a suction cup or a suction nozzle, which has at least an adsorption state and a desorption state. In the adsorption state, it is adsorbed onto the fixed surface 1 by negative pressure, so that an adsorption cavity that is not connected to the outside world is formed between the adsorption device 200 and the fixed surface 1; and in the desorption state, the adsorption cavity is connected to the outside world to release the adsorption. Furthermore, in the case of Figure 1 In one embodiment shown, the adsorption device 200 includes an adsorption body 210 and a through hole 211 provided on the adsorption body 210. In another embodiment, the adsorption device 200 includes an adsorption body 210. The through hole 211 is not provided on the adsorption body 210. In this embodiment, in the adsorption state, the adsorption body 210 is adsorbed onto the fixed surface 1 by negative pressure, and an adsorption cavity that is not connected to the outside is formed between the adsorption body 210 and the fixed surface 1; in the desorption state, the adsorption cavity is connected to the outside to release the adsorption.

[0100] exist Figure 1 In the embodiment of the present invention, the adsorption device 200 is configured as a negative pressure adsorption member such as a suction cup or a suction nozzle, and the adsorption device 200 includes an adsorption body 210 and a through hole 211 provided on the adsorption body 210, and the through hole 211 is connected to the adsorption cavity of the adsorption body 210. When the base station 10 is placed on the fixed surface 1, the base station 10 first presses the adsorption body 210 on the fixed surface 1 due to its own gravity, so that the adsorption cavity of the adsorption body 210 forms an adsorption cavity with negative pressure. At this time, if the switch device 100 closes the through hole 211 in the adsorption state, so that an adsorption cavity that is not connected to the outside world is formed between the adsorption body 210 and the fixed surface 1, and the adsorption device 200 is adsorbed on the fixed surface 1. If the switch device 100 opens the through hole 211 in the desorption state, so that the adsorption cavity is connected to the outside world through the through hole 211, the adsorption device 200 will not be adsorbed on the fixed surface 1.

[0101] It should be understood that the "adsorption chamber" described in the present application includes a space that is vacuum, near vacuum, or at least has a negative pressure less than the standard atmospheric pressure formed between the adsorption body 210 and the fixed surface 1. Since the space has a negative pressure less than the standard atmospheric pressure, when the space is not connected to the outside world, the atmospheric pressure will press the adsorption body 210 onto the fixed surface 1 to achieve the effect of adsorption and fixation.

[0102] Furthermore, in the adsorption state of the adsorption device 200, when the wiping robot 900 moves on the surface to be wiped 2000 and an abnormal situation occurs, the wiping robot 900 performs an action to resolve the abnormal situation. During the execution of the action, the vacuum source continues to work to prevent the wiping robot 900 from leaving the surface to be wiped 2000.

[0103] Furthermore, when the wiping robot 900 is in a working state, the adsorption device 200 is usually in an adsorption state. When the wiping robot 900 is in a working state, the wiping robot 900 is prone to encounter abnormal conditions. The abnormal condition includes the situation that the wiping robot 900 is stuck and stops on the surface to be wiped 2000 when the cleaning task is not completed. The stuck condition includes the situation that the safety rope 800 is in a taut state and pulls the wiping robot 900, so that the wiping robot 900 cannot continue to move. The taut state includes the situation that the length of the safety rope 800 extending out of the base station body reaches the maximum length that the safety rope 800 can extend out of the base station body and the tension reaches a first threshold. Specifically, when the tension of the safety rope 800 reaches the first threshold, the safety rope 800 is in a taut state. For example, Fig.12 As shown in the figure, there are no obstacles around the safety rope 800 connecting the wiping robot 900 and the base station 10, so that the safety rope 800 can be freely extended or moved without being blocked or entangled by obstacles. The wiping robot 900 is prone to the above-mentioned abnormality at a position far away from the base station. For example, when the wiping robot 900 is cleaning a large area of ​​the surface to be wiped 2000, when the wiping robot 900 is facing the side of the surface to be wiped 2000 away from the base station 10 (for example, Fig.12 As the wiping robot 900 moves from point B to the right, the wiping robot 900 moves farther and farther away from the base station 10, so the length of the safety rope 800 connecting the wiping robot 900 and the base station 10 will be pulled longer and longer by the wiping robot 900, that is, the safety rope 800 is loosened from the winding device and extends outward. When the length of the safety rope 800 extending out of the base station body reaches the maximum length that the safety rope 800 can extend out of the base station body (for example, Fig.12 As shown in the figure, the wiping robot 900 moves rightward from point B to point A). Since the adsorption device of the base station 10 is in the adsorption state, the wiping robot 900 then moves in the direction of pulling the safety rope 800 (for example, Fig.12 When the safety rope 800 moves (as shown in the figure), the tension of the safety rope 800 easily reaches the abnormal condition of the first threshold, thereby making the safety rope 800 in a tight state. The first threshold can be the tension value that makes the safety rope in a tight state.

[0104] The wiping robot 900 performs the action of resolving the abnormal condition, and does not leave the surface to be wiped 2000 during the execution of the action. In this way, the present application does not leave the surface to be wiped during the execution of the action of resolving the abnormal condition, so that the wiping robot will not fall when resolving the abnormal condition, thereby improving the safety of the wiping robot system. Specifically, the speed of the fan remains unchanged or increases during the execution of the action of resolving the abnormal condition by the wiping robot 900, so that the wiping robot 900 does not leave the surface to be wiped 2000.

[0105] Furthermore, the wiping robot 900 performs an action to resolve the abnormal condition, including: after receiving a remote control signal, the wiping robot 900 performs a moving action to resolve the abnormality. Specifically, the wiping robot 900 can be moved by operating a remote control button on an application installed on a mobile device (such as a mobile phone). The application can, for example, be an APP that is connected to the wiping robot 900 for communication. Of course, the wiping robot 900 can also be controlled to move by operating a remote control that is connected to the wiping robot for communication. For example, Fig.12 As shown, when the wiping robot 900 is located at point A, the wiping robot 900 can be moved toward point B on the surface to be wiped 200 by remote control, thereby releasing the tension of the safety rope 800, that is, making the safety rope in a naturally drooping state, greatly reducing the tension of the safety rope.

[0106] Furthermore, the wiping robot 900 performs an action to resolve the abnormal condition, for example, by pulling the operating member to put the adsorption body in a de-adhesion state, thereby releasing the tension of the safety rope 800.

[0107] Furthermore, when the wiping robot 900 is in working state, the wiping robot 900 has at least a breakpoint-continuous cleaning mode. When the wiping robot 900 executes the breakpoint-continuous cleaning mode, the wiping robot 900 performs at least a first cleaning operation and a second cleaning operation on the surface to be wiped 2000, and the cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation are continuous.

[0108] Specifically, the cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation are continuously defined as the continuity of the first cleaning operation and the second cleaning operation in the working area, and the cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation partially overlap. For example, the cleaning area of ​​the first cleaning operation is the upper part of the surface 2000 to be wiped. The cleaning area of ​​the second cleaning operation is the lower part of the surface 2000 to be wiped. The tail of the cleaning area of ​​the first cleaning operation overlaps with the head of the cleaning area of ​​the second cleaning operation. More specifically, the working area of ​​the first cleaning operation and / or the second cleaning operation can be determined according to the running time of the wiping robot. For example, Fig.12As shown, the area to be cleaned of the surface to be wiped 2000 is divided into a first cleaning operation area between B→A→D, in which the running time of the wiping robot is 5 minutes, and a second cleaning operation area between D→C→E remaining on the surface to be wiped, in which the running time of the wiping robot is 6 minutes. In this way, at least two continuously cleaned operation areas include the operation area between B→A→D and the operation area between D→C→E. Of course, the area to be cleaned of the surface to be wiped 2000 is not limited to the above-mentioned two operation areas, but can also be other divisions. For example, specifically, the area to be cleaned of the surface to be wiped 2000 is divided into an operation area in which the running time of the wiping robot is 4 minutes and an operation area in which the running time of the wiping robot is 7 minutes. Alternatively, the area to be cleaned of the surface to be wiped is divided into an operation area in which the running time of the wiping robot is 8 minutes, an operation area in which the running time of the wiping robot is 1 minute, and an operation area in which the running time of the wiping robot is 2 minutes. This application does not make any provisions for this. The cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation partially overlap. That is, the operating area between B→A→D and the operating area between D→C→E overlap. For example, the operating area between B→A→D and the operating area between D→C→E may overlap around point D, thus avoiding missing scans between the operating area between B→A→D and the operating area between D→C→E.

[0109] Furthermore, the wiping robot 900 also has other cleaning modes, such as edge cleaning mode, overall cleaning mode, etc., which are not specified in this application. The edge cleaning mode can be that the wiping robot 900 moves along the edge of the surface to be wiped 2000 to clean the edge of the surface to be wiped 2000. The overall cleaning mode can be that the wiping robot 900 traverses and wipes the surface to be wiped 2000 to clean all areas of the surface to be wiped 2000.

[0110] In one embodiment of the present application, the area of ​​the adsorption body 210 projected onto the fixed surface 1 in the adsorption state is not less than 156.9 square centimeters, so that when the adsorption body 210 is adsorbed on the fixed surface 1 with a glossiness of not less than 55°, the operating member 300 cannot switch the adsorption device 200 from the adsorption state to the desorption state under a vertical upward force of not more than 633.7N.

[0111] For the base station 10 of the wiping robot 900, it is used to be adsorbed on a fixed surface 1. The fixed surface can be the floor inside the house. Of course, the fixed surface is not limited to the floor inside the house, but can also be the floor outside the house. Further, the floor inside the house is generally a surface of materials such as tiles, floors, cement, etc. Further, tiles include bright tiles, soft tiles and matte tiles. The glossiness of the bright tiles is greater than 55°, and the glossiness of the soft tiles is greater than 25° and not less than 55°. The glossiness of matte tiles is less than 15°. In this way, the material differences between the fixed surfaces can be distinguished by glossiness. Further, the adsorption body of the present application is adsorbed on a fixed surface 1 with a glossiness of not less than 55°. For example, the adsorption body of the present application is adsorbed on a soft tile with a glossiness of not less than 55°. Of course, the adsorption body of the present application is not limited to being adsorbed on soft light bricks with a glossiness of not less than 55°, but can also be adsorbed on other materials. For example, the adsorption body of the present application is adsorbed on a floor with a glossiness of not less than 55°, or the adsorption body of the present application is adsorbed on bright light bricks with a glossiness of not less than 55°.

[0112] For the wiping robot 900, the narrow side of the window to be wiped is usually not less than 20 mm, so the outer side length of the square wiping robot 900 is generally not more than 20 mm. Due to this size limitation, the weight of the wiping robot 900 is generally not more than 2 kg.

[0113] When the wiping robot 900 is attached to the glass, especially the outdoor glass, to perform wiping work, it is easy to fall off the glass if it is subjected to uncontrollable forces, such as outdoor wind. Since the wiping robot 900 is connected to the base station 10 through the safety rope 800, after the wiping robot 900 falls off the glass, the base station 10 can promptly apply a dragging force to the wiping robot 900 through the safety rope 800 to prevent the wiping robot 900 from falling to the ground and causing danger. The greater the dragging force applied by the base station 10 to the wiping robot 900 through the safety rope 800, the more the wiping robot 900 can work in weather with stronger wind levels. Because even if the wiping robot 900 falls due to wind, the base station 10 can immediately drag it through the safety rope 800 to prevent it from falling to the ground.

[0114] When the outdoor wind force reaches level 4, if the wiping robot 900 falls and is dragged by the safety rope 800, it is possible to swing outdoors under the action of the wind. When the wiping robot 900 is dragged by the safety rope 800 and swings outdoors, the wiping robot 900 will be affected by the centrifugal force and its own gravity. Since the wiping robot 900 is connected to the base station 10 through the safety rope 800, the centrifugal force and gravity will eventually be applied to the base station 10 through the safety rope 800. That is, when the safety rope 800 is subjected to the centrifugal force and gravity tension from the wiping robot 900, the base station 10 will be subjected to the same tension from the safety rope 800, and the safety rope 800 will also be subjected to the same tension from the base station 10.

[0115] Due to the centrifugal force F = mv 2 / r, so the smaller the swing radius of the wiping robot 900 under the action of wind, the greater the centrifugal force F. Furthermore, the minimum swing radius of the wiping robot 900 under the action of wind is not less than the length of the body of the wiping robot 900, so taking the length of the body of the wiping robot 900 as the swing radius, under the wind force of level 4 gale (the wind speed of level 4 gale is 5.5-7.9m / s), the maximum centrifugal force to which the wiping robot 900 is subjected when it swings is 2kg*(7.9m / s) 2 / 0.2=624.1N. And gravity G=mg, so the gravity G of the wiping robot 900 is 2kg*9.8m / s=19.6N, so the maximum sum of the centrifugal force and gravity of the wiping robot 900 under a force 4 gale is 624.1+19.6=633.7N. Therefore, under a force 4 gale, if the wiping robot 900 falls and is dragged by the safety rope 800 and swings, the maximum force applied by the wiping robot 900 to the base station 10 through the safety rope 800 is 633.7N.

[0116] Furthermore, when the force applied by the wiping robot 900 to the base station 10 through the safety rope 800 reaches 633.7N under a level 4 gale, the base station 10 and the adsorption device need to provide a pulling force of 633.7N to the safety rope 800 to ensure that the wiping robot 900 does not fall to the ground. When the base station 10 and the adsorption device need to provide a pulling force of 633.7N to the safety rope 800, if the weight of the base station 10 itself is not considered (ideally), the suction force of the adsorption device needs to reach 633.7N. Furthermore, the calculation formula for the suction force of the adsorption device is: Suction force = S*P / μ. Where: S is the area of ​​the suction cup (cm 2 ), P is the air pressure (kg / cm 2 ), μ is the safety factor ≥ 2.5. In this application, S is the area (cm2) of the adsorption body projected onto the fixed surface 1 in the adsorption state. 2), P is 1 atmosphere (1.01x10 5 N / m 2 ). 1 standard atmospheric pressure = 1.01x10 5 Pa=1.01x10 5 N / m 2 When the suction force of the adsorption device needs to reach 633.7N, μ takes the minimum value of 2.5. Then according to the formula S = suction force * μ / P, the minimum S in the ideal state is

[0117] S=633.7N*2.5 / 1.01x10 5 N / m 2 ≈0.015686m 2 ≈156.9cm 2 That is, in an ideal state, the minimum area of ​​the adsorption body projected onto the fixed surface 1 is 156.9 cm 2 .

[0118] Therefore, when the adsorption device 200 of the present application is in the adsorption state and the area projected onto the fixed surface 1 is not less than 156.9 square centimeters, the adsorption body is adsorbed on the fixed surface 1 with a glossiness of not less than 55°, and the operating member is under a vertical upward force of not more than 633.7N, the adsorption device 200 cannot be switched from the adsorption state to the de-adsorption state, that is, in this way, when the wiping robot 900 is subjected to the centrifugal force caused by a level 4 gale and thus causes a large pulling force (633.7N) to the base station 10, the base station 10 can still be well fixed on the fixed surface 1 through the adsorption of the adsorption body 210, that is, the base station 10 drags the main wiping robot 900 through the safety rope 800 without causing it to fall to the ground. Because when the adsorption body is adsorbed on the fixed surface with a glossiness of not less than 55°, the base station 10 can withstand a maximum pulling force of 633.7N. On the other hand, while the base station 10 can withstand a maximum pulling force of 633.7N, the area of ​​the adsorption body 210 can also be kept small, avoiding inconvenience to users due to increasing the floor space of the adsorption body 210 to increase the adsorption force, and allowing the base station 10 to maintain a small size and weight.

[0119] In addition, since the operating member 300 cannot switch the adsorption device 200 from the adsorption state to the desorption state under a vertical upward force of no more than 633.7N, the user is prevented from misoperating the operating member 300. The pulling force of an adult is generally 38 kg, which is about 380N in force. Therefore, for the state in which the adsorption body 210 in this embodiment is adsorbed on the fixed surface, the pulling force of an adult cannot pull the base station. This prevents the user from pulling the operating member 300 or the base station 10 itself at will, causing unnecessary desorption of the adsorption device 200.

[0120] The operating member 300 can move relative to the base station body to mechanically drive the switch device 100, open or close the through hole 211 through the switch device 100, and thus enable the adsorption device 200 to switch between the adsorption state and the desorption state. For example, the operating member 300 can rotate relative to the base station body to open or close the through hole 211 through the switch device 100, and thus enable the adsorption device 200 to switch between the adsorption state and the desorption state; or the operating member 300 can slide or move relative to the base station body to open or close the through hole 211 through the switch device 100, and thus enable the adsorption device 200 to switch between the adsorption state and the desorption state. In one embodiment of the present application, when the adsorption device 200 switches from the desorption state to the adsorption state, the base station body floats downward by less than 2 mm, which can keep the base station body stable when the adsorption device 200 switches between the desorption state and the adsorption state, and avoid excessive shaking of the base station body, so as to prevent poor power contact or changes in the pulling force of the safety rope 800 on the wiping robot 900, thereby causing the wiping robot 900 to fall. In particular, when the wiping robot 900 is working, the adsorption device 200 is in the adsorption state. If the user, especially a child, arbitrarily and repeatedly manipulates the operating member 300 back and forth, it may cause the base station body to switch between the desorption state and the adsorption state, thereby causing the base station body to shake up and down. The wiping robot 900 is connected to the base station body through the installation rope. If the base station body shakes greatly, the pulling force of the safety rope 800 on the wiping robot 900 will also increase, which may cause the wiping robot 900 to fall, thereby causing danger, or the power supply may be poorly contacted, and the wiping robot 900 may suddenly lose power, which may also cause the wiping robot 900 to fall. By limiting the vertical displacement of the base station body when the state of the adsorption device 200 changes, especially limiting it to within 2 mm, the stability of the base station body when it is fixed and unfixed is improved, avoiding the above-mentioned dangers.

[0121] In one embodiment of the present application, for example Figure 1 In an embodiment, the operating member 300 is configured as a handle, and the user can use the handle to manipulate the adsorption state of the adsorption device 200, and can also use the handle to pull or carry the base station 10, thereby changing the position of the base station 10. In the case where the operating member 300 is configured as a handle, when the base station 10 is placed on the fixed surface 1 and the adsorption device is in contact with the fixed surface 1, the handle has a first state and a second state. In the first state, the handle is in the lowest position that can be reached, which is defined as the first position, and in the second state, the handle is in other positions other than the first position. In one embodiment of the present application, in the second state, the handle is in other positions other than the first position, and the other positions include the second position, and in the second position the handle is in the highest position that can be reached.

[0122] refer to Figure 2 and Figure 3 , which respectively show the Figure 1 The base station 10 with the base station body removed is shown in a side view and a top view when the handle is in the second position. The second position can be described as a lifted state of the handle. In the second position, the handle is erected upward, so that the switch device 100 opens the through hole 211 to put the adsorption device 200 in a de-adhesive state. In the second position, the user can directly use the handle to lift or put down the base station 10, thereby changing the position of the base station. Figure 4 and Figure 5 , which respectively show the Figure 1 The side view and top view of the base station 10 with the base station body removed when the handle is in the first position. The first state can also be described as the state of the handle being put down. In the first state, the handle is in the lowest position that can be reached, that is, the first position, so that the switch device 100 closes the through hole 211, so that the adsorption device 200 is in the adsorption state. That is, when the operating member naturally droops and reaches the lowest position, the adsorption device is in the adsorption state. In one embodiment of the present application, the handle automatically switches from the second position to the first position under the action of gravity, so as to achieve the adsorption state between the adsorption device 200 and the fixed surface 1. This embodiment realizes that when the user's hand is separated from the handle, the adsorption device 200 is automatically operated by the gravity of the handle, so that the process of switching the adsorption device from the desorption state to the adsorption state does not require the user to operate manually, that is, reduce the user's operation, and facilitate the user. Specifically, the handle may include various connecting parts. The various connecting parts are connected to each other to form a handle. The various connecting parts may be, for example, connecting rods. Of course, the various connecting parts are not limited to connecting rods, but may also be other structures, such as connecting plates, connecting belts, etc., which are not specified in this application. Furthermore, the connecting rods may be connected vertically in sequence, or may be connected at an angle in sequence, or may be cross-connected to each other, which is not specified in this application. Furthermore, the plane where the center lines of the connecting parts of the handle are located is the plane where the handle is located. In one embodiment, in the second position, the plane where the handle is located may be a plane perpendicular to the fixing surface 1. In another embodiment, in the second position, the plane where the handle is located is a plane at a certain angle to the fixing surface 1. In one embodiment, refer to Figure 6 and Figure 7 , which shows a side view and a top view of the handle in the second position relative to the fixing surface 1. Figure 6 As can be seen from the figure, the operating member 300 is configured as a handle, which includes a horizontal extension section 320 and a first vertical extension section 310 and a second vertical extension section 330 respectively connected to both ends of the horizontal extension section 320. Figure 6It can be seen that the center line L2 of the horizontal extension section 320, the center line L1 of the first vertical extension section 310 and the center line L3 of the second vertical extension section 330 are located in a plane, and the plane where the center line L2 of the horizontal extension section 320, the center line L1 of the first vertical extension section 310 and the center line L3 of the second vertical extension section 330 are located is the plane where the handle is located, and the plane is perpendicular to the fixing surface 1. Figure 7 It can be seen that the center line L2 of the horizontal extension section 320 is parallel to the fixing surface 1, and the horizontal extension section 320 blocks the first vertical extension section 310 and the second vertical extension section 330 in the top view. Figure 6 and Figure 7 It can be seen more clearly that in one embodiment, in the second position, the horizontal extension section 320 is located above the first vertical extension section 310 and the second vertical extension section 330 , and the plane where the entire handle is located is perpendicular to the fixing surface 1 .

[0123] In one embodiment of the present application, when the handle is in the first position, the height of the lowest point of the handle is not less than half the height of the base station body. The "lowest point of the handle" should be understood as the lowest position of the various connecting parts of the handle in the direction of gravity. This arrangement takes into account the ergonomic issues when the user uses the handle. When the handle is in the first position, the lowest point of the handle has a certain height position (the lowest point of the handle is not less than half the height of the base station body), so that the user can grasp the handle with his hand, avoiding the user from bending or squatting when the handle is in the first position to lift the handle because the user needs to reach the lower part of the base station body to lift it, thereby further facilitating the user's operation of the handle.

[0124] In one embodiment of the present application, a triggering unit is provided on the base station body. In the second state, the handle is in other positions other than the first position, and the other positions also include a third position other than the second position. When the handle is switched from the third position to the first position under the operation of the user, the triggering unit is triggered to remind the user that a negative pressure adsorption state is formed between the adsorption body 210 and the fixed surface 1. The triggering unit is not shown in the drawings. For example, it can be provided on the handle or the base station body, and is triggered by the movement state of the handle relative to the base station body or the handle entering the first position, and is configured to remind the user through patterns, colors, sounds or hand feel, so that the user can know in time that the base station 10 has been fixed on the fixed surface 1 through the adsorption body 210. In a merely exemplary embodiment, the triggering unit is provided, for example, at the rotational connection between the handle and the base station body, and includes a hole constructed on the handle and an indication pattern provided on the base station body that can be revealed through the hole in the first position, such as a red indication pattern. When the handle is in the third position, the indication pattern is not visible through the hole, and when the handle is switched from the third position to the first position, the indication pattern is visible from the hole on the handle, reminding the user that the handle is now in the first position, that is, the base station 10 has been fixed by the adsorption device 200.

[0125] In one embodiment of the present application, for example, Figure 1 In the embodiment of the present invention, the operating member 300 is connected to the switch device 100 via a transmission mechanism 400. The transmission mechanism 400 is connected to the switch device 100 via a transmission mechanism 400. Figure 1 The transmission mechanism 400 is a three-link mechanism, including a first link 410, a second link 420 and a third link 430 which are hinged in sequence along the direction of gravity. The end of the first link 410 away from the second link 420 is connected to the operating member 300, and the end of the third link 430 away from the second link 420 is connected to the switch device 100. The transmission mechanism 400 is used to transmit the rotational movement of the operating member 300 to the switch device 100, so that the switch device 100 can close or open the through hole 211. It should be understood that the transmission mechanism 400 can also be set as other transmission mechanisms, such as a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, etc. The setting of the transmission mechanism 400 provides multiple position possibilities for the arrangement of the operating member 300 on the base station body, and through the transmission mechanism 400, the motion transmission ratio between the operating member 300 and the switch device 100 can be adjusted. The input end of the transmission mechanism 400 is connected to the operating member 300, and the output end is connected to the switch device 100. In one embodiment, the projections of the switch device 100 and the transmission mechanism 400 on the front of the base station body at least partially overlap, and / or the projections of the switch device 100 and the transmission mechanism 400 on the side of the base station body at least partially overlap, and / or the projections of the switch device 100 and the transmission mechanism 400 on the bottom surface of the base station body at least partially overlap.

[0126] In one embodiment of the present application, the operating member 300 may also be directly connected to the switch device 100 without a transmission mechanism therebetween, so that the rotational motion of the operating member 300 is directly converted into the motion of the components in the switch device 100. The following embodiments can be applied not only to the technical solution with the transmission mechanism 400, but also to the technical solution without the transmission mechanism 400, and this point will not be repeated in describing the following embodiments.

[0127] In one embodiment of the present application, the switch device 100 includes a first valve element connected to the adsorption body 210 and a second valve element connected to the operating member 300. An opening 111 is provided on the first valve element, and the opening 111 is connected to the through hole 211. The rotation of the operating member 300 drives the second valve element to rotate relative to the first valve element to open and close the opening 111. When the opening 111 is opened, the through hole 211 is connected to the outside world through the opening 111, and the adsorption chamber is also connected to the outside world at this time, and the adsorption device 200 is desorbed. When the opening 111 is closed, the through hole 211 and the adsorption chamber are both closed to the outside world, and the adsorption device 200 is adsorbed. Reference Figure 8 , which shows a schematic structural diagram of the switch device 100 of this embodiment. Figure 8 In the embodiment of the present invention, the first valve element is a valve body 110, and the second valve element is a valve core 120 at least partially inserted into the valve body 110, and the valve core 120 can rotate relative to the valve body 110. The valve body 110, for example, includes a first valve body section 101 parallel to the fixing surface 1 and a second valve body section 102 perpendicular to the fixing surface 1, the valve core 120 is inserted into the first valve body section 101, and the valve body 110 is connected to the adsorption body 210 through the second valve body section 102. In the embodiment in which a transmission mechanism 400 is provided between the operating member 300 and the switch device 100, the end of the third connecting rod 430 of the transmission mechanism 400 facing away from the second connecting rod 420 is connected to the valve core 120. In the embodiment in which there is no transmission mechanism 400 between the operating member 300 and the switch device 100, the operating member 300 is directly connected to the valve core 120. It should be understood that in an embodiment not shown, the second valve element may also be configured as a valve body, and the first valve element may be configured as a valve core at least partially inserted into the valve body, and the valve core may rotate relative to the valve body. This configuration may also be correspondingly applicable to the following embodiments.

[0128] Further, in one embodiment of the present application, a first channel 112 is provided through the valve body 110, and a second channel 122 is provided on the valve core 120 for communicating with the first channel 112, and one end of the second channel 122 is an open end 1221, and the other end is a closed end 1222. That is, the valve body 110 and the valve core 120 are, for example, configured as hollow cylinders, and their hollow chambers are connected to each other. Figure 8 In the embodiment, the valve core 120 is inserted into the valve body 110, for example, through the open end 1221 of the second channel 122, so that the second channel 122 and the first channel 112 are connected, especially sealed relative to the external atmosphere.

[0129] Further, in one embodiment of the present application, in particular Figure 8 In the embodiment of the present invention, the opening 111 is provided on the side wall of the valve body 110. Specifically, as Figure 8 As shown, a joint is sleeved on one end of the first valve body section 101 away from the second valve body section 102, and the valve core 120 is inserted into the first valve body section 101 through the joint. The opening 111 is set on the joint. An exhaust port 121 is set on the side wall of the valve core 120. When the valve core 120 rotates relative to the valve body 110, the exhaust port 121 is connected to or misaligned with the opening 111 to open or close the opening 111. When the exhaust port 121 is connected to the opening 111, the through hole 211 is connected to the outside atmosphere through the opening 111 and the exhaust port 121, and when the exhaust port 121 is misaligned with the opening 111, the through hole 211 is connected to the closed space formed by the first channel 112 and the second channel 122, but is sealed relative to the outside atmosphere.

[0130] In another embodiment of the present application, reference Fig. 9 , which shows a partial structural diagram of the switch device of this embodiment. In this embodiment, the valve body 110 is also configured as a hollow tube. One end of the valve body 110 is connected to the through hole 211 ( Fig. 9 (not shown), for example, it can be connected to the through hole 211 of the adsorption body 210 through a connecting tube, and a matching end face 113 is provided in the tube body at the other end or near the other end. The valve core 120 has at least one end face 123 and a side wall 128 surrounding the end face 123, and the end face 123 is connected to the side wall 128 of the valve core 120, for example. The end face 123 can be connected to the operating member 300 or the transmission mechanism 400 through a connecting piece 129, and an exhaust port 121 is provided on the end face 123 of the valve core 120. A flow channel open to the outside is formed in the side wall 128 of the valve core 120. The flow channel is connected to the exhaust port 121 so that the exhaust port 121 can be connected to the outside through the opening. The valve core is inserted into the valve body 110 through the end face 123, and the end face 123 is abutted against the matching end face 113. The opening 111 (in Fig. 9 Not shown in Fig.10 ) is arranged on the matching end face 113 of the valve body 110. When the valve core 120 rotates relative to the valve body 110, the exhaust port 121 is connected to or misaligned with the opening 111 to open or close the opening 111. The opening 111 or the exhaust port 121 can be arranged as one or more holes radially distributed along the end face, for example. Fig.10 , which shows Fig. 9The opening 111 of the valve body 110 and the exhaust port 121 of the valve core 120 of the switch device 100 are compared in FIG. Fig.10 In the embodiment, the opening 111 and the exhaust port 121 are both arranged as two holes distributed in the radial direction, which can be connected or misaligned by rotation. Of course, the opening 111 and the exhaust port 121 can also have other shapes or positions that can be connected or misaligned with each other when relatively rotating.

[0131] In one embodiment of the present application, the switch device 100 includes a first valve element connected to the adsorption body 210 and a second valve element connected to the operating member 300. The first valve element is provided with an opening 111, and the opening 111 is connected to the through hole 211. The rotation of the operating member 300 drives the second valve element to move linearly relative to the first valve element to open and close the opening 111. It should be understood that "the second valve element moves linearly relative to the first valve element" should be understood as the second valve element having the freedom of linear motion relative to the first valve element, and does not only mean that the second valve element only moves linearly relative to the first valve element, but also may include, for example, the situation where the second valve element rotates relative to the first valve element while moving linearly relative to the first valve element.

[0132] Further, in one embodiment of the present application, the first valve element is a valve body 110, the second valve element is a valve core 120 at least partially penetrated in the valve body 110, and the valve core 120 can move linearly relative to the valve body 110. It should be understood that in an embodiment not shown, the second valve element can also be configured as a valve body, and the first valve element is configured as a valve core at least partially penetrated in the valve body, and the valve core can rotate relative to the valve body. This construction method can also be correspondingly applied to the following embodiments.

[0133] Furthermore, in one embodiment of the present application, a first channel 112 is provided through the valve body 110 , a first end and a second end of the first channel 112 are both open ends, and the valve core 120 is at least partially provided in the first channel 112 .

[0134] Further, in one embodiment of the present application, reference is made to Fig.11 , which shows a schematic structural diagram of the switch device 100 according to this embodiment. A spiral groove 114 extending in a spiral direction is provided on the side wall of the valve body 110 (in Fig.11114 ), a protrusion 124 is provided on the side wall of the valve core 120, and the protrusion 124 is fitted into the spiral groove 114. When the operating member 300 drives the valve core 120 to rotate, the protrusion 124 moves along the spiral groove 114, so that the valve core 120 moves in a straight line relative to the valve body 110. In this embodiment, the cooperation between the spiral groove 114 and the protrusion 124 is similar to the transmission principle of a worm gear, realizing the conversion from rotational motion to linear motion, thereby converting the rotation of the valve core 120 relative to the valve body 110 into a linear motion of the valve core 120 relative to the valve body 110. It should be understood that in an embodiment not shown, the spiral groove 114 can also be provided on the outer wall of the valve core 120, and the protrusion 124 is correspondingly provided on the inner wall of the valve body 110. This construction method can also be applied to the following embodiments.

[0135] Further, in the first embodiment of the present application, the protrusion 124 is arranged to surround the side wall and seal with the spiral groove 114, which can block the passage. Fig.11 In the embodiment, the opening 111 is formed by the first end of the first channel 112, and the exhaust port 121 is arranged on the side wall of the valve body 110, and one end of the valve core 120 can close the opening 111 along the linear motion direction. In this embodiment, the opening 111 and the exhaust port 121 are both arranged on the valve body 110, and the opening 111 is formed by the first end of the first channel 112, and the first end is connected to the through hole 211. When the first end is closed by one end of the valve core 120, especially when the valve core 120 is inserted into the first end by linear motion, the opening 111 is closed, and when the valve core 120 does not close the first end, especially when the valve core 120 is not inserted into the first end, the opening 111 is opened. Fig.11 In the embodiment, the exhaust port 121 is disposed on the side wall of the valve body 110, and when the opening 111 is opened, the passage from the opening 111 to the exhaust port 121 is also opened.

[0136] Further, in the second embodiment of the present application, the protrusion 124 is arranged to surround the side wall and seal with the spiral groove 114, the diameter of the first end of the first channel 112 is smaller than the diameter of the second end, the opening 111 is formed by the first end of the first channel 112, and the exhaust port 121 is formed by the gap between the second end and the valve core 120. One end of the valve core 120 can close the opening 111 along the linear motion direction. In this embodiment, the first channel 112 includes, for example, three sections, namely, a first section 1121 with a smaller diameter, a second section 1122 with a larger diameter, and a connecting section 1123 connecting the first section 1121 and the second section 1122. The first end is formed at the free end of the first section 1121, and the second end is formed at the free end of the second section 1122. One end of the valve core 120 can be inserted into the first section 1121 to close the first end, that is, to close the opening 111. Since the diameter of the second section 1122 is relatively large, an annular gap is formed between it and the valve core 120, and the annular gap forms the exhaust port 121. When the valve core 120 does not close the opening 111 through linear motion, the passage between the opening 111 and the exhaust port 121 is opened. When the protrusion 124 is fitted into the spiral groove 114, the passage from the opening 111 to the exhaust port 121 is closed, and when the protrusion 124 moves out of the spiral groove 114, the passage from the opening 111 to the exhaust port 121 is opened. In this embodiment, the protrusion 124 and the spiral groove 114 not only play a role in transmission, but also play a role in closing the connecting passage between the opening 111 and the exhaust port 121. At this time, the opening 111 and the exhaust port 121 are respectively arranged at both ends of the valve body 110. When the valve core 120 and the valve body 110 are combined through the protrusion 124 and the spiral groove 114, the passage between the opening 111 and the exhaust port 121 is closed by the protrusion 124. When the protrusion 124 is screwed out from the spiral groove 114, the passage between the opening 111 and the exhaust port 121 is opened.

[0137] Further, in the third embodiment of the present application, the protrusion 124 is, for example, only configured as a protrusion on the side wall of the valve core 120, which has a gap with the side wall of the valve body 110, or configured so that when the valve core 120 and the valve body 110 are matched through the protrusion 124 and the spiral groove 114, there is always a gap in the radial direction of the matching position between the valve body 110 and the valve core 120. At this time, the protrusion 124 and the spiral groove 114 are only used for transmission but not for sealing. The protrusion 124 can be, for example, configured as a protrusion at a radial position on the side wall of the valve core 120. In this embodiment, the diameter of the first end of the first channel 112 is smaller than the diameter of the second end, the opening 111 is formed by the first end of the first channel 112, and the exhaust port 121 is formed by the gap between the second end and the valve core 120. One end of the valve core 120 can close the opening 111 along the linear motion direction. In this embodiment, the first channel 112 also includes three sections, such as the above-mentioned embodiment, namely, the first section 1121 with a smaller diameter, the second section 1122 with a larger diameter, and the connecting section 1123 connecting the first section 1121 and the second section 1122. The first end is formed at the free end of the first section 1121, and the second end is formed at the free end of the second section 1122. One end of the valve core 120 can be inserted into the first section 1121 to close the first end, that is, to close the opening 111. Since the second section 1122 has a larger diameter, an annular gap is formed between it and the valve core 120, and the annular gap forms the exhaust port 121. When the valve core 120 does not close the opening 111 through linear motion, the passage between the opening 111 and the exhaust port 121 is opened. For example, a closure member 125 can be provided at one end of the valve core 120 for closing the opening 111, which includes a first closure member 1251 and a second closure member 1252 arranged in sequence along the axial direction. The first closure member 1251 can be inserted into the first section 1121 and seal against the side wall of the first section 1121 to close the opening 111, and the second closure member 1252 can seal against the side wall of the connecting section 1123 when the first closure member 1251 is inserted into the first section 1121, so as to further seal the passage from the opening 111 to the exhaust port 121 and ensure high air tightness. In this embodiment, the exhaust port 121 can also be provided on the side wall of the second section 1122 or the side wall of the connecting section 1123. At this time, the protrusion 124 is still arranged to surround the side wall and seal with the spiral groove 114.

[0138] In one embodiment of the present application, the switch device 100 further includes a rotating member 130 connected to the valve core 120 and the operating member 300 respectively. The operating member 300 drives the rotating member 130 to rotate by its own rotation, and further drives the valve core 120 to rotate. In another embodiment of the present application, the rotating member 130 can also be connected to the operating member 300 through a transmission mechanism, such as a belt transmission mechanism, a chain transmission mechanism or a gear transmission mechanism, so as to provide a variety of position possibilities for the arrangement of the operating member 300 on the base station body, such as arranging the rotating member 130 at the lower part of the base station body and the operating member 300 at the upper side of the base station body. Of course, the above-mentioned transmission mechanism can also be used to adjust the motion transmission ratio between the operating member 300 and the rotating member 130.

[0139] In one embodiment of the present application, a limiter (not shown in the drawings) is provided at the rotational connection between the base station body and the handle, and the limiter limits the handle from continuing to rotate after the handle is switched to the first position. The limiter can prevent the handle from performing unnecessary movements under the influence of external forces in the first position or the user from misoperating the handle, thereby preventing the adsorption device 200 from being erroneously released. The limiter is, for example, configured as a snap-fit ​​member, and the snap-fit ​​member includes a snap-fit ​​protrusion provided on the handle and a snap-fit ​​recess provided on the base station body. After the handle is switched to the first position, the snap-fit ​​protrusion snaps into the snap-fit ​​recess, thereby preventing the handle from continuing to rotate. The snap-fit ​​protrusion and the snap-fit ​​recess can be manually disengaged to switch the handle from the first position to the second position or other positions. The limiter can also be, for example, configured as other limiter structures that can limit the rotational movement of the handle in the first position and can be manually disengaged.

[0140] In one embodiment of the present application, the operating member is arranged outside the base station body, and the switch device 100 is arranged inside the base station body to facilitate the user to operate the operating member 300, especially the handle.

[0141] In one embodiment of the present application, a accommodating chamber for accommodating the host of the wiping robot 900 is provided on the base station body, so that the host can be placed in the base station body and can be moved or fixed together with the base station host, saving the placement space of the host when the wiping robot 900 is not in use.

[0142] Another aspect of the present application provides a fixing device, comprising: a switch device, an adsorption device and a manipulation member, wherein

[0143] The two ends of the switch device are respectively connected to the operating member and the adsorption device;

[0144] The adsorption device includes an adsorption body and a through hole arranged in the adsorption body. The adsorption device has at least an adsorption state and a desorption state. In the adsorption state, the switch device closes the through hole, so that an adsorption cavity that is not connected to the outside is formed between the adsorption body and the fixed surface. The adsorption body is adsorbed on the fixed surface. In the desorption state, the switch device opens the through hole, so that the adsorption cavity is connected to the outside through the through hole.

[0145] The operating member can move relative to the base station body to close or open the through hole through the switch device, thereby switching the adsorption device between the adsorption state and the desorption state, and the adsorption cavity formed by the adsorption body is in the adsorption state, and the area projected to the fixed surface is not less than 156.9 square centimeters, so that when the adsorption body is adsorbed on the fixed surface with a glossiness of not less than 55°, the operating member cannot switch the adsorption device from the adsorption state to the desorption state under a vertical upward force of not more than 633.7N.

[0146] In one embodiment of another aspect of the present application, when the adsorption device switches from the desorption state to the adsorption state, the base station floats downwards by less than 2 mm.

[0147] The fixing device has all the technical effects of the aforementioned fixing device in the base station, which will not be described in detail here.

[0148] The third aspect of the present application further provides a wiping robot 900 system, comprising: the base station and the wiping robot 900 as described above, wherein the base station is used to be connected to the wiping robot 900 via a safety rope 800 .

[0149] The wiping robot 900 system has all the technical effects of the aforementioned base station, which will not be repeated here.

[0150] It should be understood that all the above preferred embodiments are illustrative rather than restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above under the concept of the present application should be within the legal protection scope of the present application.

Claims

1. A wiping robot system, characterized in that: The wiping robot system comprises a wiping robot base station and a wiping robot, wherein the wiping robot base station comprises: Base station body; An adsorption device, which is arranged on the base station body, the adsorption device comprises an adsorption body, and the adsorption device has at least an adsorption state and a desorption state; an operating member, which is arranged on the base station body and can move relative to the base station body, so that the adsorption device switches between the adsorption state and the desorption state, and the area of ​​the adsorption body projected to the fixed surface is not less than 156.9 square centimeters; The wiping robot comprises: Robot body; A vacuum source, disposed on the robot body, for causing the wiping robot to be adsorbed on the surface to be wiped; In the adsorption state, when the wiping robot moves on the surface to be wiped and an abnormal situation occurs, the wiping robot performs an action to resolve the abnormal situation. During the execution of the action, the vacuum source continues to work so that the wiping robot does not leave the surface to be wiped.

2. The system according to claim 1, characterized in that When the operating member naturally droops and reaches the lowest position, the adsorption device is in the adsorption state.

3. The system according to claim 1, characterized in that The operating member is configured as a handle. When the wiping robot base station is placed on the fixed surface and the adsorption device is in contact with the fixed surface, the handle has at least a first state and a second state. In the first state, the handle is in the lowest position that can be reached, which is defined as the first position. At this time, the adsorption device is in the adsorption state. In the second state, the handle is in a position other than the first position, and the adsorption device is in the desorption state.

4. The system according to claim 3, characterized in that In the second state, the handle is in another position other than the first position, and the other position includes a second position. In the second position, the handle is in the highest position that it can reach.

5. The system according to any one of claims 1 to 4, characterized in that The wiping robot performs an action to resolve the abnormal condition, including: performing a moving action after receiving a remote control signal to resolve the abnormal condition.

6. The system according to any one of claims 1 to 4, characterized in that The abnormal condition includes a condition in which the wiping robot is stuck and stops on the surface to be wiped before the cleaning task is completed.

7. The system according to claim 6, characterized in that The jamming includes a situation where the safety rope is in a taut state and pulls the wiping robot, thereby making the wiping robot unable to move further.

8. A wiping robot system, characterized in that: The wiping robot system comprises a wiping robot base station and a wiping robot, wherein the wiping robot base station comprises: Base station body; An adsorption device, which is arranged on the base station body, the adsorption device comprises an adsorption body, and the adsorption device has at least an adsorption state and a desorption state; an operating member, which is arranged on the base station body and can move relative to the base station body, so that the adsorption device switches between the adsorption state and the desorption state, and the adsorption body is in the adsorption state, and the area projected onto the fixed surface is not less than 156.9 square centimeters; The wiping robot has at least a breakpoint-resume cleaning mode. When the wiping robot executes the breakpoint-resume cleaning mode, the wiping robot performs at least a first cleaning operation and a second cleaning operation on the wiping surface, and the cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation are continuous.

9. The system according to claim 8, characterized in that The cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation are continuous and are defined as the continuity of the first cleaning operation and the second cleaning operation in the working area, and the cleaning area of ​​the first cleaning operation and the cleaning area of ​​the second cleaning operation partially overlap.

10. A wiping robot base station, characterized in that: include: Base station body; An adsorption device, which is arranged on the base station body, the adsorption device comprises an adsorption body, and the adsorption device has at least an adsorption state and a desorption state; An operating member is arranged on the base station body and can move relative to the base station body to switch the adsorption device between the adsorption state and the desorption state, and the area of ​​the adsorption body projected onto the fixed surface in the adsorption state is not less than 156.9 square centimeters.

Images