Base station control circuit and method and cleaning system

Abstract

The invention relates to a base station control circuit and method and a cleaning system. The control circuit comprises a driving circuit, an infrared transmitting tube and a main control chip, wherein the infrared transmitting tube and the main control chip are connected with the driving circuit; wherein the main control chip is used for controlling the driving circuit to alternately output a first current signal and a second current signal according to a preset time sequence, the infrared transmitting tube receives the first current signal and operates at a first power, and the infrared transmitting tube receives the second current signal and operates at a second power; the main control chip controls the driving circuit to alternately output the first current signal and the second current signal, and the infrared transmitting tube alternately operates at the first power and the second power corresponding to the first current signal and the second current signal, so that the transmitting distance of the infrared transmitting tube is alternately changed. Therefore, the method for providing recharging navigation for the sweeping robot based on the infrared signal emitted by the base station can not only enable the sweeping robot to quickly find the base station, but also reduce the sweeping missing area of the peripheral area of the base station under the condition that the sweeping robot is prevented from colliding with the base station.

Description

Technical Field

[0001] The present invention relates to the technical field of floor-sweeping robots, and particularly to a base station control circuit, method and cleaning system. Background Art

[0002] Nowadays, there are various types of base stations for charging floor-sweeping robots on the market. However, most of the methods for low-cost base stations to achieve the recharge navigation of floor-sweeping robots are the same, and the problems that occur are also roughly the same. The most commonly used method in current low-cost charging stations is that the infrared emitting tube in the base station emits at a fixed emission power. However, the disadvantages of this method are obvious. Either the floor-sweeping robot will hit the base station, but the area around the base station is less likely to be missed, or the missed area around the base station is larger.

[0003] In some current solutions, multiple infrared emitting tubes with different emission distances are used to solve problems such as hitting the charging station and the missed area around the charging station, but the cost is relatively high. Summary of the Invention

[0004] Based on this, in view of the above problems that occur in low-cost base stations, it is necessary to provide a base station control circuit, method and cleaning system.

[0005] A base station control circuit provided by the present application, the base station is used for a cleaning system, the cleaning system further includes a cleaning robot used in cooperation with the base station, the cleaning robot determines the position of the base station according to the infrared signal emitted by the base station, and the control circuit includes a driving circuit, an infrared emitting tube connected to the driving circuit, and a main control chip;

[0006] The main control chip is configured to control the driving circuit to alternately output at least two current signals according to a preset timing sequence, so as to drive the infrared emitting tube to alternately operate at at least two different powers corresponding to the at least two current signals.

[0007] In one embodiment, the driving circuit includes a constant current module and a power change module. The control ends of the constant current module and the power change module are respectively connected to the main control chip. The output end of the constant current module is connected to the infrared emitting tube, and the output end of the power change module is connected to the input end of the constant current module;

[0008] The main control chip alternately outputs the at least two control signals according to a preset timing sequence. The power change module is configured to correspondingly output at least two adjustment signals according to the at least two control signals; the constant current module is configured to perform conversion processing on the received at least two adjustment signals and correspondingly output at least two current signals.

[0009] In one embodiment, the power change module includes a first resistor, a second resistor, and a first switching transistor. The first end of the first resistor is connected to the enable pin of the main control chip, the second end of the first resistor is connected to the control end of the first switching transistor, the input end of the first switching transistor is grounded, the output end of the first switching transistor is connected to the first end of the second resistor, and the second end of the second resistor is connected to the input end of the constant current module.

[0010] In one embodiment, the first switching transistor is an N-type MOS transistor.

[0011] In one embodiment, among the at least two control signals, at least one is a low-level signal and at least one is a high-level signal.

[0012] In one embodiment, the constant current module includes a third resistor, a fourth resistor, a second switching transistor, and a third switching transistor. The second end of the third resistor is grounded, the first end of the third resistor is commonly connected to the base of the second switching transistor, the emitter of the third switching transistor, and the input end of the power change module. The emitter of the second switching transistor is grounded, the collector of the second switching transistor is commonly connected to the base of the third switching transistor and the second end of the fourth resistor. The first end of the fourth resistor is connected to the PWM pin of the main control chip. The collector of the third switching transistor is connected to the second end of the infrared emitting tube, and the first end of the infrared emitting tube is connected to the power supply.

[0013] In one embodiment, the logic of the preset timing for the main control chip to alternately output the at least two control signals is to loop the following process until the cleaning robot returns to the base station: sequentially output the first control signal, the second control signal until the Nth control signal, and each control signal corresponds to a preset output duration; where N is the number of control signals.

[0014] A base station control method provided by this application is applied to the above base station control circuit, and the control method includes:

[0015] After the infrared emitting tube responds and works, the main control chip controls the drive circuit to alternately output at least two current signals according to a preset timing, and the infrared emitting tube alternately operates at at least two different powers corresponding to the at least two current signals, so that the infrared emitting tube can emit infrared signals at different distances.

[0016] In one embodiment, the logic of the preset timing for the main control chip to alternately output the at least two current signals is to loop the following process until the cleaning robot returns to the base station: sequentially output the first current signal, the second current signal until the Nth current signal, and each current signal corresponds to a preset output duration; where N is the number of current signals.

[0017] A cleaning system provided by the present application includes a base station and a cleaning robot, and the base station and the cleaning robot can implement the base station control method as described above.

[0018] One of the above technical solutions has the following advantages and beneficial effects:

[0019] In each of the above embodiments of the base station control circuit, the control circuit is used for a cleaning system, the cleaning system includes a cleaning robot used in cooperation with the base station, the control circuit includes a driving circuit, an infrared emitting tube connected to the driving circuit, and a main control chip; wherein, the main control chip is used to alternately output at least two current signals to the driving circuit according to a preset timing sequence, and the infrared emitting tube is used to alternately operate at at least two different powers corresponding to the at least two current signals, so that the infrared emitting tube can emit infrared signals at different distances, so that the method of providing recharge navigation for the sweeping robot by emitting infrared signals based on the base station can not only enable the sweeping robot to quickly find the base station, but also reduce the missed cleaning area in the area around the base station while avoiding the sweeping robot from colliding with the base station. Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of the base station control circuit;

[0021] Figure 2 It is a schematic circuit diagram of the base station control circuit;

[0022] Figure 3 It is a logical schematic diagram of the preset timing sequence for the main control chip to alternately output at least two control signals.

[0023] Among them, the corresponding relationship between the reference numerals and the component names is:

[0024] 10 driving circuit, 11 constant current module, 12 power change module, 20 infrared emitting tube, 30 main control chip;

[0025] R1 first resistor, R2 second resistor, R3 third resistor, R4 fourth resistor, Q1 first switching tube, Q2 second switching tube, Q3 third switching tube. Detailed Embodiments

[0026] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0027] In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited by the specific embodiments disclosed below.

[0028] Some embodiments of the base station control circuit of the present invention will be described below with reference to the accompanying drawings.

[0029] As Figures 1 to 2 shown, this embodiment discloses a base station control circuit. The base station is used for a cleaning system, and the cleaning system further includes a cleaning robot that cooperates with the base station. The cleaning robot determines the position of the base station according to the infrared signal emitted by the base station. The control circuit includes a driving circuit 10, an infrared emitting tube 20 connected to the driving circuit 10, and a main control chip 30.

[0030] The main control chip 30 is used to control the driving circuit 10 to alternately output at least two current signals according to a preset timing sequence, so as to drive the infrared emitting tube 20 to alternately operate at at least two different powers corresponding to the at least two current signals.

[0031] The base station control circuit disclosed in this application is used for a cleaning system. The cleaning system includes a cleaning robot that cooperates with the base station. The control circuit includes a driving circuit 10, an infrared emitting tube 20 connected to the driving circuit 10, and a main control chip 30. Among them, the main control chip 30 is used to control the driving circuit 10 to alternately output at least two current signals according to a preset timing sequence, and the infrared emitting tube 20 is used to alternately operate at at least two different powers corresponding to the at least two current signals, so that the infrared emitting tube 20 can emit infrared signals at different distances. Thus, the method of providing recharge navigation for the sweeping robot based on the infrared signal emitted by the base station can not only enable the sweeping robot to quickly find the base station, but also reduce the missed cleaning area in the surrounding area of the base station.

[0032] Among them, the cleaning robot can determine the position of the base station through the infrared signal emitted by the base station. Specifically, the base station is internally provided with an infrared emitting tube 20, and an infrared receiver is installed at the bottom or top of the cleaning robot. The infrared receiver of the cleaning robot determines the position of the base station by whether it receives the infrared signal emitted by the base station and / or according to the intensity and direction of the received signal.

[0033] The infrared emission tube 20 can be used to emit infrared signals. By changing the magnitude of the current input to the infrared emission tube 20, the emission power of the infrared emission tube 20 can be changed, and further the emission distance of the infrared emission tube 20 can be changed. Specifically, when the current input to the infrared emission tube 20 decreases, the power decreases, and the emission distance of the infrared emission tube 20 is shorter. The sweeping robot needs to be close enough to the base station to receive the infrared signal. When the current input to the infrared emission tube 20 increases, the power increases, and the emission distance of the infrared emission tube 20 is longer. The sweeping robot can receive the infrared signal within a certain distance range to determine the position of the base station.

[0034] The main control chip 30 may include an enable pin and a PWM pin. The main control chip 30 can transmit an enable signal to the drive circuit 10 through the enable pin, and transmit a PWM signal to the drive circuit 10 through the PWM pin to control the emission waveform of the infrared emission tube 20. Specifically, the main control chip 30 can control the drive circuit 10 to alternately output at least two current signals. Exemplarily, the number of current signals is two, namely a first current signal and a second current signal. The main control chip 30 alternately outputs a high-level signal and a low-level signal according to a preset timing sequence. When the drive circuit 10 receives the high-level signal, it outputs the first current signal. When the drive circuit 10 receives the low-level signal, it outputs the second current signal. Among them, when the drive circuit 10 outputs the first current signal, the infrared emission tube 20 operates at a first power corresponding to the first current signal, and the emission distance of the infrared emission tube 20 is a first distance. When the drive circuit 10 outputs the second current signal, the infrared emission tube 20 operates at a second power corresponding to the second current signal, and the emission distance of the infrared emission tube 20 is a second distance. The magnitudes of the first power and the second power are different. For example, when the first power is less than the second power, correspondingly, the first distance is less than the second distance. By alternately receiving the first current signal and the second current signal by the drive circuit 10, the emission distance of the infrared emission tube 20 alternately changes between the first distance and the second distance.

[0035] In addition, it should be noted that the preset timing sequence executed by the main control chip 30 can be set artificially, and it can be set according to relevant parameters such as the effective recognition distance of the infrared receiver in the sweeping robot and the moving speed of the sweeping robot.

[0036] Furthermore, in some embodiments, the number of current signals may also be three, four, or more. For example, the number of current signals is three; correspondingly, the main control chip 30 controls the driving circuit 10 to alternately output a first current signal, a second current signal, a third current signal, etc. according to a preset timing sequence, so as to drive the infrared emitting tube 20 to alternately operate at a first power, a second power, and a third power, so that the infrared emitting tube 20 can emit infrared signals at three different distances. It should be noted that by adjusting the occupancy ratio of the signals output by the enable pin or the PWM pin, the driving circuit 10 can output a variety of current signals of different magnitudes.

[0037] As Figure 1 shown, in addition to the features of the above embodiments, this embodiment further defines that: the driving circuit 10 includes a constant current module 11 and a power change module 12. The control end of the constant current module 11 and the control end of the power change module 12 are respectively connected to the main control chip 30. The output end of the constant current module 11 is connected to the infrared emitting tube 20, and the output end of the power change module 12 is connected to the input end of the constant current module 11;

[0038] The main control chip 30 alternately outputs at least two control signals according to a preset timing sequence. The power change module 12 is used to correspondingly output at least two adjustment signals according to the at least two control signals; the constant current module 11 is used to perform conversion processing on the received at least two adjustment signals and correspondingly output at least two current signals.

[0039] Among them, the power change module 12 can output corresponding adjustment signals according to the control signals output by the main control chip 30. Specifically, the control end of the power change module 12 is connected to the main control chip 30, and the output end is connected to the input end of the constant current module 11; for example, the main control chip 30 alternately outputs a first control signal and a second control signal. When the main control chip 30 outputs the first control signal, the power change module 12 outputs a first adjustment signal. When the main control chip 30 outputs the second control signal, the power change module 12 outputs a second adjustment signal. It should be noted that the control signals output by the main control chip 30 can be enable signals. For example, the first control signal is a low-level signal, and the second control signal is a high-level signal. Correspondingly, when the power change module 12 receives the low-level signal, it reduces the output current of the constant current module 11. When the power change module 12 receives the high-level signal, it increases the output current of the constant current module 11.

[0040] The constant current module 11 can be used to ensure that the current flowing through the infrared emitting diode 20 does not change due to the voltage change of the power supply. Specifically, the control terminal of the constant current module 11 is connected to the main control chip 30, the input terminal of the constant current module 11 is connected to the output terminal of the power change module 12, and the output terminal of the constant current module 11 is connected to the infrared emitting diode 20. When the total resistance value of the constant current module 11 changes, the magnitude of the output current changes accordingly. For example, when the main control chip 30 outputs a first control signal, the total resistance value in the circuit is the largest, resulting in the smallest current output by the constant current module 11; when the main control chip 30 outputs a second control signal, the total resistance value in the circuit is the smallest, and the current output by the constant current module is the largest.

[0041] It should be noted that the control terminal of the constant current module 11 is connected to the main control chip 30, and the main control chip 30 can control the waveform emission of the infrared emitting diode 20 by outputting a PWM signal.

[0042] As Figure 2 shown, in addition to the features of the above embodiments, this embodiment further defines that the power change module 12 includes a first resistor R1, a second resistor R2, and a first switching transistor Q1. The first end of the first resistor R1 is connected to the enable pin of the main control chip 30, the second end of the first resistor R1 is connected to the control terminal of the first switching transistor Q1, the input terminal of the first switching transistor Q1 is grounded, the output terminal of the first switching transistor Q1 is connected to the first end of the second resistor R2, and the second end of the second resistor R2 is connected to the input terminal of the constant current module 11.

[0043] Among them, the enable pin of the main control chip 30 can output a low-level signal or a high-level signal. Based on the connection between the control terminal of the first switching transistor Q1 and the enable pin of the main control chip 30, the first switching transistor Q1 can be turned on or off according to the high and low level signals output by the main control chip 30. Exemplarily, when the control terminal of the first switching transistor Q1 receives a low-level signal, the first switching transistor Q1 is in the off state, and when the control terminal of the first switching transistor Q1 receives a high-level signal, the first switching transistor Q1 is in the on state. It should be noted that the average current output by the circuit can be adjusted by adjusting the time ratio of the first switching transistor Q1 being turned on and off, that is, the duty cycle.

[0044] As Figure 2 shown, in addition to the features of the above embodiments, this embodiment further defines that the first switching transistor Q1 is an N-type MOS transistor.

[0045] Among them, based on the first switching transistor Q1 being an N-type MOS transistor, the gate of the MOS transistor is connected to the enable pin of the main control chip 30, the source of the MOS transistor is grounded, and the drain of the MOS transistor is connected to the constant current module 11 through the second resistor R2. When a low-level signal is input to the gate, the MOS transistor is in the off state, and when a high-level signal is input to the gate, the MOS transistor is in the on state.

[0046] In addition to the features of the above embodiments, this embodiment further defines that: among at least two control signals, at least one is a low-level signal, and at least one current signal is a high-level signal.

[0047] As Figure 2 shown, in addition to the features of the above embodiments, this embodiment further defines that: the constant current module 11 includes a third resistor R3, a fourth resistor R4, a second switching transistor Q2, and a third switching transistor Q3. The second end of the third resistor R3 is grounded. The first end of the third resistor R3 is commonly connected to the base of the second switching transistor Q2, the emitter of the third switching transistor Q3, and the input end of the power change module 12. The emitter of the second switching transistor Q2 is grounded. The collector of the second switching transistor Q2 is commonly connected to the base of the third switching transistor Q3 and the second end of the fourth resistor R4. The first end of the fourth resistor R4 is connected to the PWM pin of the main control chip 30. The collector of the third switching transistor Q3 is connected to the second end of the infrared emitting diode 20, and the first end of the infrared emitting diode 20 is connected to the power supply.

[0048] Among them, the second switching transistor Q2 can be a triode, and the third switching transistor Q3 can be a triode.

[0049] When the enable pin of the main control chip 30 outputs a low-level signal, the first switching transistor Q1 is in the cut-off state. At this time, the resistance value of the third resistor R3 in the constant current module 11 does not change, the output current of the constant current module 11 is small, and the emission distance of the infrared emitting diode 20 is short, which is convenient for the sweeping robot to clean the area around the base station, thereby reducing the missed cleaning area around the base station. When the enable pin of the main control chip 30 outputs a high-level signal, the first switching transistor Q1 is in the conducting state. At this time, the resistance value of the third resistor R3 in the constant current module 11 is equal to the resistance value after the parallel connection of the second resistor R2 and the third resistor R3, and the current input to the infrared emitting diode 20 increases, so that the emission distance of the infrared emitting diode 20 increases, which is convenient for the sweeping robot to receive the infrared signal sent by the base station, and further realizes that the sweeping robot quickly finds the base station.

[0050] As Figure 3 shown, in addition to the features of the above embodiments, this embodiment further defines that: the logic of the main control chip 30 alternately outputting the preset time sequence of at least two control signals is to loop the following process until the cleaning robot returns to the base station: sequentially output the first control signal, the second control signal until the Nth control signal, and each control signal corresponds to a preset output duration; where N is the number of control signals.

[0051] Among them, N is a value not less than 2. For example, N is 2. Specifically, after the infrared emission tube 20 responds and works, based on the main control chip 30, it first continuously outputs the first control signal within the first time period. At the same time, the infrared emission tube 20 operates continuously at the first power for the first time period. When the first time period ends, the main control chip 30 continuously outputs the second control signal within the second time period. At the same time, the infrared emission tube 20 operates continuously at the second power for the second time period. When the second time period ends, the main control chip 30 continuously outputs the first control signal within the first time period... The above process is cycled until the sweeping robot returns to the base station. Both the first time period and the second time period can be set manually. The first time period can be equal to the second time period. For example, both the first time period and the second time period are 500 ms. That is to say, the infrared emission tube 20 first operates at the first power for 500 ms, then operates at the second power for 500 ms, and then operates at the first power for 500 ms, and so on. It should be noted that in some embodiments, the first time period can be greater than or less than the second time period.

[0052] As Figure 3 shown, this embodiment provides a base station control method, which is applied to the above-mentioned base station control circuit. The control method includes:

[0053] After the infrared emission tube 20 responds and works, the main control chip 30 controls the drive circuit 10 to alternately output at least two current signals according to a preset timing sequence. The infrared emission tube 20 alternately operates at at least two different powers corresponding to the at least two current signals, so that the infrared emission tube 20 can emit infrared signals at different distances.

[0054] The base station control method disclosed in this application is applied to the above-mentioned base station control circuit. After the infrared emission tube 20 responds and works, the main control chip 30 controls the drive circuit 10 to alternately output at least two current signals. The infrared emission tube 20 alternately operates at at least two different powers corresponding to the at least two current signals, so that the emission distance of the infrared emission tube 20 changes alternately. Thus, the method of providing recharge navigation for the sweeping robot by emitting infrared signals based on the base station can enable the sweeping robot to quickly find the base station and, while avoiding the sweeping robot from colliding with the base station, reduce the missed cleaning area in the area around the base station.

[0055] In addition to the features of the above embodiments, this embodiment further defines that the logic of the preset timing sequence for the main control chip 30 to alternately output at least two current signals is to cycle the following process until the cleaning robot returns to the base station: sequentially output the first current signal, the second current signal until the Nth current signal, and each current signal corresponds to a preset output duration; where N is the number of current signals.

[0056] This embodiment provides a cleaning system, which includes a base station and a cleaning robot. The base station and the cleaning robot can implement the above-mentioned base station control method.

[0057] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0058] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it cannot be understood as a limitation to the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent should be subject to the appended claims.

Claims

1. A base station control circuit, characterized in that, The base station is used for a cleaning system, and the cleaning system further includes a cleaning robot used in cooperation with the base station. The cleaning robot determines the position of the base station according to the infrared signal emitted by the base station. The control circuit includes a driving circuit (10), an infrared emitting tube (20) connected to the driving circuit (10), and a main control chip (30). The main control chip (30) is used to control the driving circuit (10) to alternately output at least two current signals according to a preset timing sequence, so as to drive the infrared emitting tube (20) to alternately operate at at least two different powers corresponding to the at least two current signals, so that the infrared emitting tube can emit infrared signals at different distances.

2. The base station control circuit according to claim 1, wherein The driving circuit (10) includes a constant current module (11) and a power change module (12). The control end of the constant current module (11) and the control end of the power change module (12) are respectively connected to the main control chip (30). The output end of the constant current module (11) is connected to the infrared emitting tube (20), and the output end of the power change module (12) is connected to the input end of the constant current module (11). The main control chip (30) alternately outputs the at least two control signals according to a preset timing sequence. The power change module (12) is used to correspondingly output at least two adjustment signals according to the at least two control signals. The constant current module (11) is used to perform conversion processing on the received at least two adjustment signals and correspondingly output at least two current signals.

3. The base station control circuit according to claim 2, wherein The power change module (12) includes a first resistor (R1), a second resistor (R2), and a first switching tube (Q1). The first end of the first resistor (R1) is connected to the enable pin of the main control chip (30). The second end of the first resistor (R1) is connected to the control end of the first switching tube (Q1). The input end of the first switching tube (Q1) is grounded. The output end of the first switching tube (Q1) is connected to the first end of the second resistor (R2). The second end of the second resistor (R2) is connected to the input end of the constant current module (11).

4. The base station control circuit according to claim 3, wherein The first switching tube (Q1) is an N-type MOS tube.

5. The base station control circuit according to claim 4, wherein Among the at least two control signals, at least one is a low-level signal and at least one is a high-level signal.

6. The base station control circuit according to any one of claims 2 to 5, characterized in that, The constant current module (11) includes a third resistor (R3), a fourth resistor (R4), a second switching transistor (Q2) and a third switching transistor (Q3). The second end of the third resistor (R3) is grounded. The first end of the third resistor (R3) is commonly connected to the base of the second switching transistor (Q2), the emitter of the third switching transistor (Q3), and the input end of the power change module (12). The emitter of the second switching transistor (Q2) is grounded. The collector of the second switching transistor (Q2) is commonly connected to the base of the third switching transistor (Q3) and the second end of the fourth resistor (R4). The first end of the fourth resistor (R4) is connected to the PWM pin of the main control chip (30). The collector of the third switching transistor (Q3) is connected to the second end of the infrared emitting diode (20), and the first end of the infrared emitting diode (20) is connected to the power supply.

7. The base station control circuit according to claim 2, wherein The logic of the preset timing for the main control chip (30) to alternately output the at least two control signals is to loop the following process until the cleaning robot returns to the base station: sequentially output the first control signal, the second control signal until the Nth control signal, and each control signal corresponds to a preset output duration; where N is the number of control signals.

8. A base station control method, characterized in that, Applied to the base station control circuit according to claims 1 to 7, the control method includes: After the infrared emitting diode (20) responds to work, the main control chip (30) controls the driving circuit (10) to alternately output at least two current signals according to a preset timing, and the infrared emitting diode (20) alternately operates at at least two different powers corresponding to the at least two current signals, so that the infrared emitting diode can emit infrared signals at different distances.

9. The base station control method according to claim 8, characterized in that, The logic of the preset timing for the main control chip (30) to alternately output the at least two current signals is to loop the following process until the cleaning robot returns to the base station: sequentially output the first current signal, the second current signal until the Nth current signal, and each current signal corresponds to a preset output duration; where N is the number of current signals.

10. A cleaning system, characterized in that, It includes a base station and a cleaning robot, and the base station and the cleaning robot can implement the base station control method according to claim 8 or 9.

Images