Base station of wiping robot and wiping robot system

Abstract

The utility model provides a base station of a wiping robot and a wiping robot system, and the base station comprises a base station main body; a switching device; the adsorption device comprises an adsorption body, the adsorption device at least has an adsorption state and a desorption state, an adsorption cavity which is not communicated with the outside is formed between the adsorption body and the fixed surface in the adsorption state, and the adsorption cavity is communicated with the outside in the 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 utility model 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 is a divisional application. The application number of the original application is 202422333484.3, and the original application date is September 25, 2024. The entire content of the original application is incorporated into this application by reference. Technical Field

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

[0003] With the continuous development of automation and intelligent technologies, smart cleaning equipment is becoming increasingly popular. Among them, wiping robots can automatically wipe the surfaces of doors and windows, especially glass surfaces, without the need for real-time manual operation. They can also complete some difficult outdoor high-altitude operations, greatly improving the convenience of cleaning work.

[0004] Known robotic wiping systems typically include a wiping robot and a base station. The wiping robot is equipped with a suction mechanism. This suction mechanism is used to adhere to the cleaning surface while the wiping robot is operating, allowing the robot to clean the surface. The base station is also equipped with a suction device, which is used to adhere to a fixed surface while the wiping robot is operating. The base station and the wiping robot are connected by a safety rope.

[0005] Typically, mopping robots are used to clean outdoor surfaces. Outdoor weather is a key factor affecting the safety of mopping robots operating outdoors. The Beaufort wind scale divides wind speeds into 12 levels. Level 4 on the Beaufort scale has wind speeds of 5.5-7.9 m / s. A crucial operating parameter for mopping robots is ensuring they do not fall to the ground, potentially posing a danger. One way to make mopping robots capable of withstanding level 4 winds is to increase the suction force of their suction mechanism. However, higher suction force requires greater fan power and a heavier fan. A heavier fan, in turn, increases the risk of the mopping robot falling, so the fan's weight cannot be increased indefinitely. Another approach to making mopping robots capable of withstanding level 4 winds is to increase the pulling force of the base station on the mopping robot. This ensures that if the mopping robot falls, the base station can promptly pull the robot up using a safety rope to prevent it from falling and posing a danger. Increasing the base station's pulling force on the wiping robot can be achieved by increasing the base station's gravity. However, the greater the base station's gravity, the larger the base station becomes, and the higher the cost, so the base station's gravity cannot be increased indefinitely. Another method to increase the base station's pulling force on the wiping robot is to increase the adsorption force of the base station's adsorption device. The adsorption area of ​​the adsorption device is a key factor affecting the adsorption force. 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 base station's pulling force on the wiping robot.

[0006] In the prior art, a button is typically provided on the base station to control the adsorption device to generate or release the adsorption force. The user operates this button to generate or release the adsorption force. In the prior art, controlling the adsorption device through a button on the base station not only increases the cost of the base station, but also increases its size and complicates its overall structure.

[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 or human pulling force, the adsorption force between the adsorption mechanism thereon and the cleaning surface will decrease. 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] 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 prior art known to ordinary technicians in this field. Utility Model Content

[0009] One aspect of the present application is to solve the technical problem of how to achieve adsorption and release between the base station of the wiping robot and the fixed surface, so that the 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.

[0010] In addition, other aspects of the present application are also intended to solve or alleviate other technical problems existing in the prior art.

[0011] The present application provides a base station of a wiping robot and a wiping robot system. Specifically, according to one aspect of the present application, the following are provided:

[0012] A base station for a wiping robot, comprising:

[0013] Base station body;

[0014] An adsorption device is provided 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. In the adsorption state, an adsorption cavity that is not connected to the outside world is formed between the adsorption body and the fixed surface, and the adsorption body is adsorbed on the fixed surface. In the desorption state, the adsorption cavity is connected to the outside world.

[0015] An operating member is provided 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 onto the fixed surface in the adsorption state is not less than 156.9 square centimeters.

[0016] Optionally, according to one embodiment of the present application, the operating member is constructed as a handle. 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. In the first state, the handle is in the lowest position it can reach, 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.

[0017] Optionally, according to an embodiment of the present application, in the second state, the handle is in a position other than the first position, and the other position includes a second position, in which the handle is in the highest position it can reach.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] According to another aspect of the present application, the present application provides a base station of a wiping robot, comprising:

[0022] Base station body;

[0023] an adsorption device, which is provided on the base station body, the adsorption device having at least an adsorption state and a desorption state, wherein in the adsorption state, an adsorption cavity that is not connected to the outside is formed between the adsorption device and the fixed surface, and in the desorption state, the adsorption cavity is connected to the outside;

[0024] An operating member is provided on the base station body and is capable of moving relative to the base station body so as to switch the adsorption device between the adsorption state and the desorption state, and when the adsorption device switches from the desorption state to the adsorption state, the base station body floats downward by less than 2 mm.

[0025] Optionally, according to one embodiment of the present application, the operating member is constructed as a handle. 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. In the first state, the handle is in the lowest position it can reach, 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.

[0026] Optionally, according to an embodiment of the present application, in the second state, the handle is in a position other than the first position, and the other position includes a second position, in which the handle is in the highest position it can reach.

[0027] 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 device and the fixed surface.

[0028] 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.

[0029] According to another aspect of the present application, the present application provides a wiping robot system, comprising: a base station and a wiping robot as described above, wherein the base station is used to be connected to the wiping robot via a safety rope.

[0030] Benefits of this application include:

[0031] 1. 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 through-hole connected to the adsorption cavity of the adsorption device can be closed and opened by the switch device, thereby switching the adsorption and desorption states of the adsorption device, thereby achieving fixation and release of the base station relative to the fixed surface. This achieves purely mechanical linkage control, eliminating the need for a complex structure including a motor or 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 through the operating member, eliminating the need for an additional button on the base station to control the switch device, thus saving the cost associated with the need for such a button. Furthermore, no additional space is required on the base station for the button, as the operating member (handle) is already present on the base station. This results in a simple structure and a smaller size of the base station.

[0032] 2. In the adsorption state, the adsorption body of the present application projects an area of ​​no less than 156.9 square centimeters onto the fixed surface. This ensures that when the adsorption body is adsorbed on a fixed surface with a glossiness of no less than 55°, the operating member cannot switch the adsorption device from the adsorption state to the de-adsorption state under a vertical upward force of no more than 633.7 N. This enables the base station to withstand the force of dragging the safety rope generated by the swinging of the wiping robot in a force 4 gale while using a smaller footprint. This avoids increasing the area of ​​the adsorption body to increase the adsorption force between the base station and the fixed surface, thereby increasing the base station volume; or avoiding reducing the area of ​​the adsorption body to reduce the base station volume, thereby avoiding insufficient adsorption force between the base station and the fixed surface. This ensures stable and reliable adsorption between the base station and the fixed surface. Furthermore, it reduces the risk of the user accidentally operating the operating member and causing the adsorption device to de-adsorb, further improving the fixed stability of the base station.

[0033] 3. 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 to close the through hole of the adsorption chamber through the switch device, 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, which reduces the user's operation and is convenient for 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 of the base station separately in addition to the operation of pulling 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 a button to desorb the suction cup, and then the base station can be moved by pulling the handle. The handle of the present application is configured so that when the user pulls the handle, the switch device opens the through hole of the adsorption chamber, thereby switching the adsorption device from the adsorption state to the de-adsorption state. In other words, the user only needs to pull to complete the two operations of de-adsorption of the adsorption device and lifting the handle to hold the base station, which is very convenient for the user. In addition, the state of the handle can also be easily determined to determine the state of the adsorption device, further integrating the fixed state of the base station with its usage. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and other features of the present application will become apparent with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present application. In addition, similar numbers in the drawings represent similar components, wherein:

[0035] Figure 1 A schematic diagram showing a base station according to one embodiment of the present application with the base station main body removed;

[0036] 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;

[0037] 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;

[0038] 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;

[0039] Figure 8 A schematic structural diagram of a switch device according to an embodiment of the present application is shown;

[0040] Figure 9 A partial structural diagram of a switch device according to one embodiment of the present application is shown;

[0041] Figure 10 Show the basis Figure 9 A comparison diagram of the opening of the valve body and the exhaust port of the valve core of the switching device according to the embodiment;

[0042] Figure 11 A schematic structural diagram of a switch device according to one embodiment of the present application is shown. DETAILED DESCRIPTION

[0043] It is easy to understand that, based on the technical solution of this application, without changing the essential spirit of this application, a person skilled in the art can propose a variety of interchangeable structural methods and implementation methods. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of this application and should not be regarded as the entire application or as a limitation or restriction of the technical solution of this application.

[0044] The terms "up," "down," "left," "right," "front," "back," "front," "back," "top," and "bottom" mentioned or potentially mentioned in this specification are defined relative to the configurations shown in the accompanying drawings. These are relative concepts and may vary depending on the location or usage of the device. Therefore, these or other directional terms should not be construed as restrictive. Furthermore, the terms "first," "second," "third," and similar expressions are used solely for descriptive and distinguishing purposes and should not be construed as indicating or implying the relative importance of the corresponding components or the order or sequence of their assembly.

[0045] In a known wiping robot, for example, the base station has an operating mechanism consisting of a stepper motor and a push rod. The stepper motor controls the push rod to open and close the valve of a valve body used to control the negative pressure of the base station's suction cup, thereby achieving adsorption and desorption of the adsorption device. However, the push rod may become stuck during operation, and a switch is required to detect whether the push rod is in place. This operating mechanism is relatively complex and requires an electronic program to coordinate the operation of the stepper motor, which also needs to be continuously powered.

[0046] Another known wiping robot, for example, uses a solenoid valve directly connected to the suction cup port to control the valve opening. In this solution, the solenoid valve needs to be constantly energized when the suction cup is attached (a normally open solenoid valve). However, if the solenoid valve is replaced with a normally closed solenoid valve, the suction cup will remain attached when the solenoid valve is not energized, making it impossible to flexibly control the suction cup's attachment and detachment, potentially resulting in a poor user experience.

[0047] The base station of the present application realizes a purely mechanical linkage between the adsorption device and the operating mechanism, which not only enables the 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 onto 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 a vertical upward force of not more than 633.7N, the base station can withstand the centrifugal force of the wiping robot under a level 4 gale, and at the same time the adsorption cavity of the adsorption device does not require too much floor space; in addition, it also reduces the risk of the user misoperating the operating member and causing the adsorption device to be desorbed.

[0048] 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 illustrate the devices used to secure base station 10, the base station body, which may obscure these devices, has been removed. This does not affect the following description of the relative positions of these devices relative to base station 10 or the base station body. Those skilled in the art will be able to determine the corresponding positions and connection methods of other devices with the base station body based on the following description and common configuration methods.

[0049] The base station 10 of the present application is used in a wiping robot and includes a base station body, a switch device 100, a suction device 200, and an operating member 300. Here, the base station body refers to the entire body except for the switch device 100, suction device 200, and operating member 300, which are used to secure the base station body and are described below. The switch device 100, suction device 200, and operating member 300 are all mounted on the base station body.

[0050] The adsorption device 200 is, for example, disposed on the bottom surface of the base station body, and is configured to be adsorbed onto a fixed surface 1, such as the ground, a windowsill, or a glass surface. The adsorption device 200 is, for example, configured as a negative pressure adsorption member, such as a suction cup or nozzle, and has at least an adsorption state and a desorption state. In the adsorption state, the device is adsorbed onto the fixed surface 1 by negative pressure, forming a desorption cavity between the adsorption device 200 and the fixed surface 1 that is disconnected from the outside world. In the desorption state, the desorption cavity is connected to the outside world, releasing the adsorption.

[0051] 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 nozzle. The adsorption device 200 includes an adsorption body 210 and a through hole 211 provided on the adsorption body 210. 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 against 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 in the adsorption state, the switch device 100 closes the through hole 211, 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 in the desorption state, the switch device 100 opens the through hole 211, so that the adsorption cavity is connected to the outside world through the through hole 211, and the adsorption device 200 will not be adsorbed on the fixed surface 1.

[0052] 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.

[0053] In one embodiment of the present application, the adsorption body 210 is in the adsorption state, and the area projected onto the fixed surface 1 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.

[0054] For the base station 10 of the wiping robot, 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. Furthermore, the floor inside the house is generally a surface of materials such as tiles, floors, cement, etc. Furthermore, 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 lower than 15°. In this way, the material differences between the fixed surfaces can be distinguished by glossiness. Furthermore, 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°.

[0055] For a wiping robot, the narrow side of the window to be wiped is usually not less than 20 mm, so the outer side length of a square wiping robot generally does not exceed 20 mm at most. Due to this size limitation, the weight of the wiping robot generally does not exceed 2 kg at most.

[0056] When the wiping robot is attached to glass, especially outdoor glass, and is performing 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 is connected to the base station 10 via a safety rope, after the wiping robot falls off the glass, the base station 10 can promptly apply a dragging force to the wiping robot via the safety rope to prevent the wiping robot from falling to the ground and causing danger. The greater the dragging force applied by the base station 10 to the wiping robot via the safety rope, the more capable the wiping robot is of working in windier weather. Because even if the wiping robot falls due to wind, the base station 10 can immediately drag it through the safety rope to prevent it from falling to the ground.

[0057] If the outdoor wind speed reaches level 4, and the mopping robot falls and is dragged by the safety rope, it could swing outdoors under the influence of the wind. When the mopping robot is dragged by the safety rope and swings outdoors, it will be subjected to centrifugal force and its own gravity. Since the mopping robot is connected to the base station 10 via the safety rope, these centrifugal and gravity forces will ultimately be applied to the base station 10 through the safety rope. In other words, when the safety rope is pulled by the centrifugal force and gravity from the mopping robot, the base station 10 will experience an equal amount of tension from the safety rope, and similarly, the safety rope will be pulled by the same force from the base station 10.

[0058] Due to centrifugal force Therefore, the smaller the swing radius of the wiping robot under the action of wind, the greater the centrifugal force F. Furthermore, the minimum swing radius of the wiping robot under the action of wind is not less than the length of the wiping robot body. Therefore, taking the length of the wiping robot body as the swing radius, under the wind force of level 4 gale (the wind speed of level 4 gale is 5.5-7.9 m / s), the maximum centrifugal force on the wiping robot during its swing is . And gravity , so the gravity G of the wiping robot is , so the maximum sum of the centrifugal force and gravity of the wiping robot under a force 4 gale is Therefore, in a force 4 gale, if the wiping robot falls and is dragged by the safety rope and swings, the maximum force applied by the wiping robot to the base station 10 through the safety rope is 633.7N.

[0059] Furthermore, when the force applied by the wiping robot to the base station 10 through the safety rope reaches 633.7N in a force of 4 gale, the base station 10 and the suction device need to provide 633.7N of tension to the safety rope to prevent the wiping robot from falling to the ground. When the base station 10 and the suction device need to provide 633.7N of tension to the safety rope, if the weight of the base station 10 itself is not taken into account (under ideal circumstances), the suction force of the suction device needs to reach 633.7N. Furthermore, the calculation formula for the suction force of the suction device is: Where: S is the suction cup area (cm 2 ), P is the air pressure (kg / cm 2 ), 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 ( ). 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 , in the ideal state, S is the minimum

[0060] That is, in an ideal state, when the adsorption body is in the adsorption state, the minimum area projected onto the fixed surface 1 is 156.9 cm².

[0061] Therefore, when the adsorption device 200 of the present application is in the adsorption state, with an area projected onto the fixed surface 1 of no less than 156.9 square centimeters, the adsorption body is adsorbed on the fixed surface 1 with a glossiness of no less than 55°, and the operating member is subjected to a vertical upward force of no more than 633.7 N, the adsorption device 200 cannot be switched from the adsorption state to the de-adsorption state. In other words, even when the wiping robot is subjected to the centrifugal force of a force 4 gale, which in turn exerts a significant pulling force (633.7 N) on the base station 10, the base station 10 can still be securely fixed to the fixed surface 1 through the adsorption of the adsorption body 210. This means that the base station 10 can drag the main wiping robot via the safety rope without causing it to fall to the ground. This is because when the adsorption body is adsorbed on the fixed surface with a glossiness of no less than 55°, the base station 10 can withstand a maximum pulling force of 633.7 N. 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 the inconvenience of user use due to increasing the footprint of the adsorption body 210 to increase the adsorption force, and allowing the base station 10 to maintain a smaller volume and weight.

[0062] Furthermore, since the operating member 300 cannot switch the adsorption device 200 from the adsorption state to the de-adsorption state under a vertical upward force of no more than 633.7 N, this prevents users from accidentally operating the operating member 300. An adult's pulling force is generally 38 kg, which translates to approximately 380 N. Therefore, when the adsorption body 210 in this embodiment is adsorbed on a fixed surface, the pulling force of an adult is insufficient to move the base station. This prevents users from accidentally pulling on the operating member 300 or the base station 10 itself, potentially causing the adsorption device 200 to de-adhere.

[0063] The operating member 300 can move relative to the base station body to mechanically actuate the switch device 100, thereby opening or closing the through hole 211 via the switch device 100, thereby enabling 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 via the switch device 100, thereby enabling 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 via the switch device 100, thereby enabling 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. This ensures that the base station body remains stable when the adsorption device 200 switches between the desorption state and the adsorption state, preventing excessive shaking of the base station body, thereby preventing poor power connection or changes in the tension of the safety rope on the wiping robot, which could cause the wiping robot to fall. Especially when the wiping robot is operating, when the adsorption device 200 is in the adsorption state, if a user, especially a child, arbitrarily and repeatedly manipulates the operating member 300 back and forth, it may cause the base station body to constantly switch between the desorption state and the adsorption state, thereby causing the base station body to shake up and down. The wiping robot is connected to the base station body via an installation rope. If the base station body shakes significantly, it will also increase the pulling force of the safety rope on the wiping robot, which may cause the wiping robot to fall, thereby causing danger. Or it may cause poor power contact and a sudden power outage to the wiping robot, which may also cause the wiping robot to fall. By limiting the vertical displacement of the base station body when the adsorption device 200 changes state, especially limiting it to within 2 mm, the stability of the base station body when it is fixed and released is improved, avoiding the above-mentioned dangers.

[0064] In one embodiment of the present application, for example Figure 1In 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 at the lowest position it can reach, which is defined as the first position. In the second state, the handle is at a position other than the first position. In one embodiment of the present application, in the second state, the handle is at a position other than the first position, and the other position includes the second position. In the second position, the handle is at the highest position it can reach.

[0065] refer to Figure 2 and Figure 3 , which respectively show the Figure 1 The base station 10 is removed from the base station body and has its handle in the second position. The second position can be described as a lifted state of the handle. In this 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 1Side and top views of the base station 10, with the base station body removed, with the handle in the first position. The first state can also be described as the handle being lowered. In this state, the handle is in its lowest reachable position, i.e., the first position, causing the switch device 100 to close the through-hole 211, placing the adsorption device 200 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, thereby achieving the adsorption state between the adsorption device 200 and the fixed surface 1. This embodiment enables the adsorption device 200 to be automatically manipulated by the gravity of the handle when the user's hand is released from the handle. This reduces user effort and facilitates user convenience by eliminating the need for manual operation. Specifically, the handle can include various connecting portions. These connecting portions are connected to form the handle. These connecting portions can, for example, be connecting rods. Of course, these connecting portions are not limited to connecting rods and can also be other structures, such as connecting plates, connecting straps, etc., which are not specified in this application. Furthermore, these connecting rods can be connected vertically, at an angle, or crosswise, which are not specified in this application. Furthermore, the plane where the center lines of the various 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, referring 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 connected to both ends of the horizontal extension section 320. Figure 6 It 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 the same 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 this 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 in the top view, the horizontal extension section 320 blocks the first vertical extension section 310 and the second vertical extension section 330. Figure 6 and Figure 7It 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 .

[0066] 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) to facilitate the user's grasping of the handle with his hand, avoiding the user from bending over 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.

[0067] In one embodiment of the present application, a trigger is provided on the base station body. In the second state, the handle is in a position other than the first position, including a third position other than the second position. When the handle switches from the third position to the first position under user operation, the trigger is triggered to alert the user that a negative pressure adsorption state is formed between the adsorption body 210 and the fixed surface 1. The trigger is not shown in the drawings, and it can be provided on the handle or the base station body, for example, and is triggered by the movement of the handle relative to the base station body or the handle entering the first position. It is configured to alert the user through a pattern, color, sound, or tactile sensation, so that the user can promptly know that the base station 10 is now fixed to the fixed surface 1 by the adsorption body 210, thereby increasing the user's confidence that the wiping robot will not fall during operation. In one exemplary embodiment, the trigger is provided at the rotational connection between the handle and the base station body, and includes a hole configured on the handle and an indicator pattern configured on the base station body that can be revealed through the hole in the first position, such as a red indicator pattern. When the handle is in the third position, the indicator pattern is not visible through the hole, and when the handle is switched from the third position to the first position, the indicator 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.

[0068] In one embodiment of the present application, for example, Figure 1 In the embodiment, 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 1The figure shows a three-bar linkage, comprising 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 facing away from the second link 420 is connected to the operating member 300, and the end of the third link 430 facing away from the second link 420 is connected to the switch device 100. The transmission mechanism 400 is used to transmit the rotational motion of the operating member 300 to the switch device 100, enabling the switch device 100 to close or open the through hole 211. It should be understood that the transmission mechanism 400 can also be configured as other transmission mechanisms, such as a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, etc. The configuration of the transmission mechanism 400 provides multiple possible positions for the operating member 300 on the base station body. Furthermore, the transmission mechanism 400 allows the motion transmission ratio between the operating member 300 and the switch device 100 to 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.

[0069] In one embodiment of the present application, the operating member 300 may 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 motion of components in the switch device 100. The following embodiments are applicable not only to technical solutions with a transmission mechanism 400, but also to technical solutions without a transmission mechanism 400. This point will not be elaborated upon in describing the following embodiments.

[0070] 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. At this time, the adsorption chamber is also connected to the outside world, and the adsorption device 200 is desorbed. When the opening 111 is closed, the through hole 211 and the adsorption chamber are both sealed from the outside world, and the adsorption device 200 is adsorbed. Figure 8 , which shows a schematic structural diagram of the switch device 100 of this embodiment. Figure 8In this embodiment, 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. The valve core 120 is rotatable 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 via the second valve body section 102. In an 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 an embodiment in which no transmission mechanism 400 is provided 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, the valve core being rotatable relative to the valve body. This configuration may also be correspondingly applied to the following embodiments.

[0071] Furthermore, 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. One end of the second channel 122 is an open end 1221, and the other end is a closed end 1222. In other words, the valve body 110 and the valve core 120 are 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.

[0072] Furthermore, in one embodiment of the present application, in particular Figure 8 In the embodiment, the opening 111 is provided on the side wall of the valve body 110. Specifically, as Figure 8 As shown, a joint is provided at one end of the first valve body section 101 away from the second valve body section 102, through which the valve core 120 is inserted into the first valve body section 101. The opening 111 is provided on the joint. An exhaust port 121 is provided 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 offset from 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. When the exhaust port 121 is offset from the opening 111, the through hole 211 is connected to the enclosed space formed by the first channel 112 and the second channel 122, but is sealed from the outside atmosphere.

[0073] In another embodiment of the present application, reference Figure 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 is connected to the through hole 211 ( Figure 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. 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 member 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 channel. 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. Opening 111 (at Figure 9 Not shown in Figure 10 ) is provided on the mating 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 offset from the opening 111 to open or close the opening 111. For example, the opening 111 or the exhaust port 121 can be provided as one or more holes distributed radially along the end face. Figure 10 , which shows Figure 9 The comparison diagram of the opening 111 of the valve body 110 and the exhaust port 121 of the valve core 120 of the switching device 100 is shown in FIG. Figure 10 In the embodiment, the opening 111 and the exhaust port 121 are both configured as two holes distributed in the radial direction, which can be connected or dislocated by rotation. Of course, the opening 111 and the exhaust port 121 can also have other shapes or positions that can be connected or dislocated with each other when relatively rotated.

[0074] 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, which is connected to the through hole 211. Rotation of the operating member 300 causes 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 meaning that the second valve element has the freedom to move linearly relative to the first valve element, and does not necessarily mean that the second valve element only moves linearly relative to the first valve element. For example, the second valve element may also rotate relative to the first valve element while also moving linearly relative to the first valve element.

[0075] Furthermore, in one embodiment of the present application, the first valve element is a valve body 110, and the second valve element is a valve core 120 that is at least partially inserted into the valve body 110, and the valve core 120 is capable of linear motion relative to the valve body 110. It should be understood that in embodiments 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 that is at least partially inserted into the valve body, and the valve core is capable of rotation relative to the valve body. This configuration may also be applied to the following embodiments.

[0076] Furthermore, in one embodiment of the present application, a first channel 112 is provided through the valve body 110 , the first end and the 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 .

[0077] Further, in one embodiment of the present application, reference is made to Figure 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 Figure 11 (shown in dashed lines in the figure), a protrusion 124 is provided on the side wall of the valve core 120. The protrusion 124 engages with 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, thereby causing the valve core 120 to move linearly 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, achieving a conversion from rotational motion to linear motion, thereby converting the rotation of the valve core 120 relative to the valve body 110 into linear motion of the valve core 120 relative to the valve body 110. It should be understood that in embodiments not shown, the spiral groove 114 can also be provided on the outer wall of the valve core 120, in which case 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.

[0078] Furthermore, 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 plays the role of isolating the passage. Figure 11In the embodiment, the opening 111 is formed by the first end of the first channel 112, and the exhaust port 121 is provided on the side wall of the valve body 110. One end of the valve core 120 can close the opening 111 along the direction of linear motion. In this embodiment, the opening 111 and the exhaust port 121 are both provided on the valve body 110. 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 through linear motion, the opening 111 is closed. 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. Figure 11 In the embodiment, the exhaust port 121 is provided 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.

[0079] Furthermore, in a second embodiment of the present application, a protrusion 124 is arranged to surround the sidewall and sealably engage with the spiral groove 114. The diameter of the first end of the first channel 112 is smaller than that 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 direction of linear motion. In this embodiment, the first channel 112 comprises, for example, three sections: a first section 1121 with a smaller diameter, a second section 1122 with a larger diameter, and a connecting section 1123 connecting the first and second sections 1121, 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, thereby closing the first end and, therefore, the opening 111. Because the second section 1122 has a larger diameter, an annular gap is formed between it and the valve core 120, forming 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 open. When the protrusion 124 engages with the spiral groove 114, the passage from the opening 111 to the exhaust port 121 is closed. 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 function as a transmission mechanism but also close 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 of the spiral groove 114, the passage between the opening 111 and the exhaust port 121 is opened.

[0080] Furthermore, in a third embodiment of the present application, the protrusion 124 is, for example, merely a protrusion on the sidewall of the valve core 120, with a gap between it and the sidewall of the valve body 110. Alternatively, when the valve core 120 and the valve body 110 engage via the protrusion 124 and the spiral groove 114, a gap always exists radially between the valve body 110 and the valve core 120. In this case, the protrusion 124 and the spiral groove 114 serve only for transmission and not for sealing. The protrusion 124 can, for example, be a protrusion at a radial position on the sidewall 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 is capable of closing the opening 111 along a linear motion direction. In this embodiment, the first channel 112 also includes three sections, similar to the above-described embodiment: a first section 1121 with a smaller diameter, a second section 1122 with a larger diameter, and a connecting section 1123 connecting the first and second sections 1121, 1122. A first end portion is formed at the free end of the first section 1121, and a second end portion 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, thereby closing the first end portion and, therefore, the opening 111. However, due to the larger diameter of the second section 1122, an annular gap is formed between it and the valve core 120, forming the exhaust port 121. When the valve core 120 does not linearly close the opening 111, the passage between the opening 111 and the exhaust port 121 is open. A closure member 125 can be provided at one end of the valve core 120 for closing the opening 111. The closure member 125 comprises a first closure member 1251 and a second closure member 1252 arranged sequentially along the axial direction. The first closure member 1251 can be inserted into the first section 1121 and seal against the sidewall of the first section 1121 to close the opening 111. The second closure member 1252 can seal against the sidewall of the connecting section 1123 when the first closure member 1251 is inserted into the first section 1121, further sealing the passage from the opening 111 to the exhaust port 121 and ensuring a high degree of airtightness. In this embodiment, the exhaust port 121 can also be provided on the sidewall of the second section 1122 or the sidewall of the connecting section 1123. In this case, the protrusion 124 is still provided to surround the sidewall and seal with the spiral groove 114.

[0081] 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 through its own rotation, further driving 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 via a transmission mechanism, such as a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism, so as to provide multiple possible positions for the arrangement of the operating member 300 on the base station body, such as arranging the rotating member 130 at the bottom of the base station body and the operating member 300 at the top 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.

[0082] In one embodiment of the present application, a limiter (not shown in the accompanying drawings) is provided at the rotational connection between the base station body and the handle. The limiter limits the handle from further rotation after the handle is switched to the first position. The limiter can prevent the handle from performing unnecessary movement in the first position under the influence of external forces or the user from misoperating the handle, thereby preventing the adsorption device 200 from being erroneously detached. The limiter is, for example, configured as a snap-fit ​​member, which 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 further rotation. 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 configured as other limiter structures that can limit the rotational movement of the handle in the first position and can be manually disengaged.

[0083] 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's operation of the operating member 300, especially the handle.

[0084] In one embodiment of the present application, a accommodating chamber for accommodating the host of the wiping robot 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 is not in use.

[0085] In one embodiment of the present application, a winding device is provided on the base station body, around which is wound a safety rope for connecting the main unit of the mopping robot. The safety rope provides tension to the main unit if it falls from the work surface, preventing it from falling directly to the ground. Instead, the safety rope connected to the base station 10 keeps it suspended in the air.

[0086] Another aspect of the present application provides a fixing device, comprising: a switch device, an adsorption device and a manipulation member, wherein

[0087] The two ends of the switch device are respectively connected to the operating member and the adsorption device;

[0088] The adsorption device includes an adsorption body and a through hole provided 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 world 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 world through the through hole.

[0089] 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 body forms an adsorption cavity in the adsorption state, and the area projected onto 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.

[0090] 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.

[0091] 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.

[0092] The third aspect of the present application further provides a wiping robot system, comprising: the base station and the wiping robot as described above, wherein the base station is used to be connected to the wiping robot via a safety rope.

[0093] The wiping robot system has all the technical effects of the aforementioned base station, which will not be repeated here.

[0094] It should be understood that all the above preferred embodiments are illustrative rather than restrictive, and that various modifications or variations made by those skilled in the art to the specific embodiments described above based on the concept of this application should be within the legal protection scope of this application.

Claims

1. A base station of a wiping robot, characterized in that: include: Base station body; An adsorption device is provided 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. In the adsorption state, an adsorption cavity that is not connected to the outside world is formed between the adsorption body and the fixed surface, and the adsorption body is adsorbed on the fixed surface. In the desorption state, the adsorption cavity is connected to the outside world. An operating member is provided 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 onto the fixed surface in the adsorption state is not less than 156.9 square centimeters.

2. The base station according to claim 1, wherein The operating member is configured as a handle. 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. In the first state, the handle is in the lowest position it can reach, 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.

3. The base station according to claim 2, wherein 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 it can reach.

4. The base station according to claim 3, wherein 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 fixing surface.

5. The base station according to claim 2, wherein: When the handle is located at the first position, the height of the lowest point of the handle is not less than half the height of the base station body.

6. The base station according to any one of claims 1 to 5, characterized in that When the adsorption device switches from the desorption state to the adsorption state, the base station body floats downwards by a distance less than 2 mm.

7. A base station of a wiping robot, characterized in that: include: Base station body; an adsorption device, which is provided on the base station body, the adsorption device having at least an adsorption state and a desorption state, wherein in the adsorption state, an adsorption cavity that is not connected to the outside is formed between the adsorption device and the fixed surface, and in the desorption state, the adsorption cavity is connected to the outside; An operating member is provided on the base station body and is capable of moving relative to the base station body so as to switch the adsorption device between the adsorption state and the desorption state, and when the adsorption device switches from the desorption state to the adsorption state, the base station body floats downward by less than 2 mm.

8. The base station according to claim 7, characterized in that The operating member is configured as a handle. 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. In the first state, the handle is in the lowest position it can reach, 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.

9. The base station according to claim 8, 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 it can reach.

10. The base station according to claim 9, characterized in that 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 device and the fixed surface.

11. The base station according to claim 8, characterized in that When the handle is located at the first position, the height of the lowest point of the handle is not less than half the height of the base station body.

12. A wiping robot system, characterized in that: include: The base station and the wiping robot according to any one of claims 1 to 11, wherein the base station is used to be connected to the wiping robot via a safety rope.

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