Fixing apparatus, base station for wiping robot, and wiping robot system

Abstract

A fixing apparatus, a base station (10) for a wiping robot, and a wiping robot system. The base station (10) comprises: a base station main body; a switch apparatus (100); a suction apparatus (200), wherein the suction apparatus (200) comprises a suction body (210) and a through hole (211), the suction apparatus (200) at least has a suction state and a release state, in the suction state, the switch apparatus (100) closes the through hole (211), and in the release state, the switch apparatus (100) opens the through hole (211); and an operating member (300), which can move relative to the base station main body, so as to close or open the through hole (211) by means of the switch apparatus (100), thereby switching the suction apparatus (200) between the suction state and the release state, wherein in the suction state, the projected area of the suction body (210) onto a fixing surface is not less than 156.9 square centimeters.

Description

Fixing device, base station of wiping robot and wiping robot system

[0001] Cross-reference to Related Applications

[0002] This application claims priority to the patent application No. 202422333484.3, filed on September 25, 2024, with the Chinese Patent Office, and entitled “Fixing device, base station of wiping robot and wiping robot system”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of intelligent cleaning, in particular to a fixing device, a base station of a wiping robot and a wiping robot system. BACKGROUND

[0004] This section is intended to provide background information to assist with understanding various technologies described herein. As the title of this section implies, this is a discussion of contexts whose purpose is to present information that is in some way related to the various technologies described in this document. As such, it should be understood that this section should be read in this light, and should not necessarily be taken as an acknowledgement that any of the information it contains constitutes prior art merely by virtue of its inclusion in this section.

[0005] With the continuous development of automation and intelligent technology, intelligent cleaning equipment is increasingly favored by people. Among them, the wiping robot can realize automatic wiping of the surface of doors and windows, especially the glass plane, without real-time manual operation, and can also complete some high-difficulty outdoor high-altitude operations, greatly improving the convenience of cleaning work.

[0006] Known wiping robot systems generally include a wiping robot and a base station. The wiping robot is provided with a suction mechanism. The suction mechanism is used to be adsorbed on the cleaning surface when the wiping robot works, so that the wiping robot can clean the cleaning surface. The base station is provided with a suction device, which is used to be adsorbed on the fixed surface when the wiping robot works. The base station and the wiping robot are connected by a safety rope.

[0007] Generally, the wiping robot can be used to clean the surface outdoors. The weather outdoors is an important factor affecting whether the wiping robot can work safely outdoors. According to the Beaufort wind scale, the wind force is divided into 12 levels. Among them, the wind speed of Beaufort wind scale 4 is 5.5-7.9 m / s. Under the wind force of 4, the wiping robot can not fall to the ground to cause danger, which is an important working parameter of the wiping robot. In order to enable the wiping robot to withstand the wind force of 4, one method is to increase the suction force of the suction mechanism. However, the higher the suction force of the suction mechanism, the greater the power required for the fan, and the higher the weight of the fan. The higher the weight of the fan, the easier it is to cause the wiping robot to fall, so the weight of the fan cannot be increased indefinitely. Another method to enable the wiping robot to withstand the wind force of 4 is to increase the pulling force of the base station on the wiping robot, so that when the wiping robot falls, the base station can timely pull the wiping robot through the safety rope to avoid the wiping robot falling to the ground and causing danger. Increasing the pulling force of the base station on the wiping robot can be achieved by increasing the gravity of the base station. However, the greater the gravity of the base station, the larger the volume of the base station, and the higher the cost, so the gravity of the base station cannot be increased indefinitely. Another method to increase the pulling force of the base station on the wiping robot is to increase the suction force of the suction device of the base station. The suction area of the suction device is an important factor affecting the suction force of the suction device. The larger the suction area of the suction device, the greater the suction force. Therefore, the suction area of the suction device cannot be too small, otherwise it will affect the pulling force of the base station on the wiping robot.

[0008] In the prior art, a button for controlling the suction device to generate a suction force or release the suction force is usually arranged on the base station. The user operates the button to make the suction device generate a suction force or release the suction force. In the prior art, the button of the base station is used to control the suction device, which not only increases the cost of the base station, but also increases the volume of the base station, making the overall structure of the base station complex.

[0009] In the prior art, the base station usually controls the suction device to form a negative pressure between the suction device and the fixed surface through a motor, 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 the surface, if it is subjected to uncontrollable force such as wind force or artificial pulling force, the suction force between the suction mechanism thereon and the cleaning surface will decrease. When the suction force decreases to less than the weight 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 timely pull the wiping robot through the safety rope to avoid the wiping robot falling to the ground and causing danger. However, this method of controlling the motor through the button and controlling the suction device through the motor has a complex structure and high cost.

[0010] It should be noted that the information disclosed in the above BACKGROUND section is only for the purpose of facilitating the understanding of the background of the present disclosure, and therefore can include information that does not constitute the prior art known to those of ordinary skill in the art.

[0011] SUMMARY

[0012] One aspect of the present application aims to solve the technical problem of how to achieve the adsorption and release between the base station of the wiping robot and the fixed surface, so that the base station structure is simple, the user operation is convenient, the floor space is small, and the adsorption between the base station and the fixed surface is stable and reliable.

[0013] In addition, other aspects of the present application also aim to solve or alleviate other technical problems existing in the prior art.

[0014] The present application provides a wiping robot base station, a fixing device and a wiping robot system. Specifically, according to an aspect of the present application, there is provided:

[0015] A wiping robot base station, comprising:

[0016] a base station body;

[0017] a switch device arranged on the base station body;

[0018] an adsorption device arranged on the base station body, the adsorption device comprising an adsorption body and a through hole, the adsorption device having at least an adsorption state and a release state, in the adsorption state, the switch device closes the through hole, so that the adsorption body and the fixed surface form an adsorption cavity which is not communicated with the outside, and the adsorption body is adsorbed on the fixed surface, in the release state, the switch device opens the through hole, so that the adsorption cavity is communicated with the outside through the through hole;

[0019] a manipulation member arranged on the base station body and capable of moving relative to the base station body, so as to close or open the through hole through the switch device, thereby switching the adsorption device between the adsorption state and the release state, and the area of the adsorption body projected to the fixed surface in the adsorption state is not less than 156.9 square centimeters.

[0020] Optionally, according to an embodiment of the present application, the operating member is configured as a handle, when the base station is placed on a 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 a lowest position which is defined as a first position, at this time, the switch device closes the through hole and the adsorption device is in the adsorption state; in the second state, the handle is in a position other than the first position, the switch device opens the through hole and the adsorption device is in the desorption state.

[0021] Optionally, according to an embodiment of the present application, in the second state, the handle is in a position other than the first position, the position other than the first position includes a second position, in the second position, the handle is in a highest position which can be reached.

[0022] 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, so as to realize the adsorption state between the adsorption body and the fixed surface.

[0023] Optionally, according to an embodiment of the present application, the base station body is further provided with a triggering part, in the second state, the handle is in a position other than the first position, the position other than the first position further includes a third position other than the second position, when the handle is switched from the third position to the first position under the operation of a user, the triggering part is triggered to remind the user that the adsorption state is formed between the adsorption body and the fixed surface.

[0024] 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 of the height of the base station body.

[0025] Optionally, according to an embodiment of the present application, when the adsorption device is switched from the desorption state to the adsorption state, the base station body floats downward by a distance less than 2 mm.

[0026] Optionally, according to an embodiment of the present application, the operating member is directly connected with the switch device.

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

[0028] Optionally, according to one of the embodiments of the present application, the first valve element is a valve body, and the second valve element is a valve core at least partially arranged in the valve body, and the valve core is capable of rotating relative to the valve body.

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

[0030] Optionally, according to one of the embodiments of the present application, the opening is arranged on a side wall of the valve body, and an exhaust port is arranged on a side wall of the valve core, and the exhaust port is in communication with or out of position with the opening when the valve core rotates relative to the valve body, so as to open or close the opening.

[0031] Optionally, according to one of the embodiments of the present application, the first valve element is a valve body, and the second valve element is a valve core abutting against a mating end surface of the first valve element, and the opening is arranged on the mating end surface of the valve body, and an exhaust port is arranged on the end surface of the valve core, and the exhaust port is in communication with or out of position with the opening when the valve core rotates relative to the valve body, so as to open or close the opening.

[0032] Optionally, according to one of the embodiments of the present application, the switch device comprises a first valve element connected with the adsorption body and a second valve element connected with the operating member, and an opening is arranged on the first valve element, and the opening is in communication with the through hole, and rotation of the operating member drives the second valve element to move linearly relative to the first valve element, so as to open and close the opening.

[0033] Optionally, according to one of the embodiments of the present application, the first valve element is a valve body, and the second valve element is a valve core at least partially arranged in the valve body, and the valve core is capable of moving linearly relative to the valve body.

[0034] Optionally, according to one of the embodiments of the present application, a first channel is arranged in the valve body, and the first channel has an open first end and an open second end, and the valve core is at least partially arranged in the first channel.

[0035] Optionally, according to one of the embodiments of the present application, a helical groove is arranged on a side wall of one of the valve core and the valve body, and a protrusion is arranged on a side wall of the other, and the protrusion is fitted into the helical groove, and when the operating member drives the valve core to rotate, the protrusion moves along the helical groove, so as to drive the valve core to move linearly relative to the valve body.

[0036] Optionally, according to an embodiment of the present application, the first end of the first channel has a smaller diameter than the second end, the opening is formed by the first end of the first channel, and a gap between the second end and the valve core forms an exhaust port, one end of the valve core being capable of closing the opening in the straight movement direction.

[0037] Optionally, according to an embodiment of the present application, the first end of the first channel has a smaller diameter than the second end, the opening is formed by the first end of the first channel, and a gap between the second end and the valve core forms an exhaust port, one end of the valve core being capable of closing the opening in the straight movement direction.

[0038] Optionally, according to an embodiment of the present application, the opening is formed by the first end of the first channel, the second end of the first channel forms an exhaust port, the protruding portion is arranged to surround the side wall and sealingly engage the spiral groove, and when the protruding portion engages into the spiral groove, the passage from the opening to the exhaust port is closed, and when the protruding portion moves out of the spiral groove, the passage from the opening to the exhaust port is opened.

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

[0040] Optionally, according to an embodiment of the present application, the operating member is connected to the switch device through a transmission mechanism.

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

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

[0043] Optionally, according to one of the embodiments of the present application, the transmission mechanism comprises a first link, a second link and a third link which are hingedly connected in sequence along the direction of gravity, one end of the first link away from the second link is connected with the operating member, one end of the third link away from the second link is connected with the second valve element, the first valve element comprises a first section extending along the horizontal direction and a second section extending along the vertical direction, and the second valve element is connected with the first valve element in the first section.

[0044] Optionally, according to one of the embodiments of the present application, the first valve element is a valve body, and the second valve element is a valve core at least partially arranged in the valve body, and the valve core is capable of rotating relative to the valve body.

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

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

[0047] Optionally, according to one of the embodiments of the present application, the first valve element is a valve body, and the second valve element is a valve core abutting against a matching end surface of the first valve element, the opening is arranged on the matching end surface of the valve body, and an exhaust port is arranged on the end surface of the valve core, and when the valve core rotates relative to the valve body, the exhaust port is connected with the opening or dislocated from the opening to open or close the opening.

[0048] Optionally, according to one of the embodiments of the present application, the switch device comprises a first valve element connected with the adsorption body and a second valve element connected with the operating member, an opening is arranged on the first valve element, the opening is connected with the through hole, and rotation of the operating member drives the second valve element to move linearly relative to the first valve element to open and close the opening.

[0049] Optionally, according to one of the embodiments of the present application, the first valve element is a valve body, and the second valve element is a valve core at least partially arranged in the valve body, and the valve core is capable of moving linearly relative to the valve body.

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

[0051] Optionally, according to one of the embodiments of the present application, a helical groove is formed on the side wall of one of the valve core and the valve body, and a protrusion is formed on the side wall of the other, the protrusion is fitted into the helical groove, and when the operating member rotates the valve core, the protrusion moves along the helical groove, thereby enabling the valve core to move linearly relative to the valve body.

[0052] Optionally, according to one of the embodiments of the present application, the first end of the first channel has a smaller diameter than the second end, the opening is formed by the first end of the first channel, and the side wall of the valve body is provided with an exhaust port, one end of the valve core being capable of closing the opening in the linear movement direction.

[0053] Optionally, according to one of the embodiments of the present application, the first end of the first channel has a smaller diameter than the second end, the opening is formed by the first end of the first channel, and the gap between the second end and the valve core forms an exhaust port, one end of the valve core being capable of closing the opening in the linear movement direction.

[0054] Optionally, according to one of the embodiments of the present application, the opening is formed by the first end of the first channel, the second end of the first channel forms an exhaust port, the protrusion is arranged to surround the side wall and sealingly fit into the helical groove, when the protrusion is fitted into the helical groove, the passage from the opening to the exhaust port is closed, and when the protrusion moves out of the helical groove, the passage from the opening to the exhaust port is opened.

[0055] Optionally, according to one of the embodiments of the present application, the switch device further comprises a rotating member connected to the valve core and the operating member respectively at the inner and outer ends, the operating member rotates the rotating member through its own rotation, further rotating the valve core.

[0056] Optionally, according to one of the embodiments of the present application, the operating member rotates the rotating member through a belt transmission mechanism, a chain transmission mechanism or a gear transmission mechanism.

[0057] Optionally, according to one of the embodiments of the present application, a limiting member is arranged at the rotating connection between the base body and the handle, the limiting member limits the handle from continuing to rotate after the handle switches to the first state.

[0058] Optionally, according to an embodiment of the present application, the limiting member is arranged as a clamping member, which comprises a clamping protrusion arranged on the handle and a clamping recess arranged on the base station body, when the handle is switched to the first state, the clamping protrusion is clamped into the clamping recess, thereby preventing the handle from continuing to rotate, the clamping of the clamping protrusion and the clamping recess can be manually disengaged to switch the handle from the first position to the second position.

[0059] Optionally, according to an embodiment of the present application, the operating member is arranged outside the base station body, and the switch device is arranged inside the base station body.

[0060] According to another aspect of the present application, the present application provides a fixing device, wherein the fixing device comprises a switch device, an adsorbing device and an operating member, wherein

[0061] Two ends of the switch device are respectively connected to the operating member and the adsorbing device;

[0062] The adsorbing device comprises an adsorbing body and a through hole arranged on the adsorbing body, and has at least an adsorbing state and a desorbing state, in the adsorbing state, the switch device closes the through hole, so that an adsorbing cavity which is not communicated with the outside is formed between the adsorbing body and a fixing surface, and the adsorbing body is adsorbed on the fixing surface, in the desorbing state, the switch device opens the through hole, so that the adsorbing cavity is communicated with the outside through the through hole;

[0063] The operating member can move to close or open the through hole through the switch device, thereby switching the adsorbing device between the adsorbing state and the desorbing state, and the area of the adsorbing body projected to the fixing surface in the adsorbing state is not less than 156.9 square centimeters.

[0064] According to still another aspect of the present application, the present application provides a wiping robot system, which comprises the above-mentioned base station and wiping robot, wherein the base station is used to be connected with the wiping robot through a safety rope.

[0065] According to still another aspect of the present application, the present application provides a base station of a wiping robot, which comprises:

[0066] a base station body;

[0067] a switch device arranged on the base station body;

[0068] An adsorption device is arranged on the base station body, and is provided with a through hole. The adsorption device has at least an adsorption state and a non-adsorption state. In the adsorption state, the switch device closes the through hole, so that an adsorption cavity is formed between the adsorption device and the fixed surface, which is not communicated with the outside. In the non-adsorption state, the switch device opens the through hole, so that the adsorption cavity is communicated with the outside through the through hole.

[0069] A manipulating member is arranged on the base station body and can move relative to the base station body, so as to close or open the through hole through the switch device, thereby switching the adsorption device between the adsorption state and the non-adsorption state. When the adsorption device is switched from the non-adsorption state to the adsorption state, the base station body floats downward by a distance less than 2 mm.

[0070] According to still another aspect of the present application, the present application provides a wiping robot system, which comprises the above-mentioned base station and wiping robot, and the base station is connected with the wiping robot through a safety rope.

[0071] According to still another aspect of the present application, the present application provides a base station of a wiping robot, which comprises:

[0072] A base station body;

[0073] A switch device is arranged on the base station body;

[0074] An adsorption device is arranged on the base station body, and comprises an adsorption body and a through hole arranged on the adsorption body. The adsorption device has at least an adsorption state and a non-adsorption state. In the adsorption state, the switch device closes the through hole, so that an adsorption cavity is formed between the adsorption body and the fixed surface, and the adsorption body is adsorbed on the fixed surface. In the non-adsorption state, the switch device opens the through hole, so that the adsorption cavity is communicated with the outside through the through hole.

[0075] A manipulating member is arranged on the base station body and can move relative to the base station body, so as to mechanically drive the switch device, close or open the through hole through the switch device, thereby switching the adsorption device between the adsorption state and the non-adsorption state.

[0076] The present application has the following advantages:

[0077] 1. The base station of the application has a switch device, an adsorption device and a handle, when the handle is operated, the switch device can be mechanically driven, the through hole connected to the adsorption cavity of the adsorption device is closed and opened through the switch device, and then the adsorption and release state of the adsorption device is switched, the fixing and release of the base station relative to the fixed surface are realized, so as to realize the linkage control of pure machinery, without using the complex structure containing motor or electromagnetic valve, the control mode is stable and reliable, the base station structure is simple, and the switch device is mechanically driven by the handle, so that the button for controlling the switch device does not need to be additionally arranged on the base station, so as to save the cost caused by the button, on the other hand, the additional space of the base station is not occupied to arrange the button, because the handle (handle) is originally possessed by the base station, so that the base station structure is simple and the volume is small;

[0078] 2. The adsorption body of the application projects to the area of the fixed surface in the adsorption state, which is not less than 156.9 square centimeters, so that when the adsorption body is adsorbed on the fixed surface with glossiness not less than 55°, the handle cannot switch the adsorption device from the adsorption state to the release state under the vertical upward force not more than 633.7N, which makes the base station can withstand the force of the safety rope dragged by the swing of the wiping robot under the 4-level strong wind in the case of using smaller floor area, avoids the case that the area of the adsorption body is increased to increase the adsorption force between the base station and the fixed surface, and then the volume of the base station is increased, or avoids the case that the area of the adsorption body is reduced to reduce the volume of the base station, so that the adsorption force between the base station and the fixed surface is insufficient, which ensures the adsorption stability and reliability between the base station and the fixed surface; In addition, it also reduces the risk of misoperation of the handle by the user to release the adsorption of the adsorption device, and further improves the fixing stability of the base station;

[0079] 3. The handle can control the switching of the adsorption and release state of the adsorption device by the gravity of the handle. When the user releases the handle, the handle is automatically rotated from the second position to the first position by the gravity of the handle, so as to close the through hole of the adsorption cavity by the switching device, thereby switching the adsorption device from the release state to the adsorption state. Thus, the switching of the adsorption device from the release state to the adsorption state does not require the user to manually operate, that is, reduces the operation of the user, and is convenient for the user. When the user lifts the handle, the adsorption device is switched from the adsorption state to the release state, thereby realizing the linkage between the fixing of the base station and the use of the handle by the user. When the base station needs to be moved, the user does not need to separately control the base station in addition to the operation of lifting the handle. Specifically, when the cleaning robot is stored in the base station, the user needs to move the base station, and the user needs to perform two operations, one is to lift the handle to the second position, and the other is to release the operation, such as manually pressing the key to release the adsorption disc, and then the base station can be moved by lifting the handle. However, the handle of the present application is arranged to open the through hole of the adsorption cavity by the switching device when the user lifts the handle, so that the adsorption device can be switched from the adsorption state to the release state. That is, the user only needs one lifting operation to complete the release of the adsorption device and the operation of lifting the handle to hold the base station, thereby facilitating the operation of the user. In addition, the state of the adsorption device can be simply judged according to the state of the handle, and the fixed state of the base station and the use thereof are further integrated. BRIEF DESCRIPTION OF DRAWINGS

[0080] The above and other features of the present application will become apparent from the following description of the application, taken in conjunction with the accompanying drawings, which illustrate by way of example the principles of the application. It is to be understood by the person skilled in the art that these drawings are merely for illustrative purposes and are not intended to limit the scope of protection of the present application. In addition, similar numerals are used to represent similar components in the drawings, in which,

[0081] FIG. 1 shows a schematic view of a base station without a base station body according to an embodiment of the present application;

[0082] FIG. 2 and FIG. 3 respectively show a side view and a top view of the base station without the base station body according to FIG. 1 when the handle is in the first position;

[0083] FIG. 4 and FIG. 5 respectively show a side view and a top view of the base station without the base station body according to FIG. 1 when the handle is in the second position;

[0084] FIG. 6 and FIG. 7 respectively show a side view and a top view of the handle in the second position relative to the fixing surface;

[0085] FIG. 8 shows a schematic view of the structure of the switching device according to an embodiment of the present application;

[0086] FIG. 9 shows a partial structure diagram of the switching device according to an embodiment of the present application;

[0087] Fig. 10 shows a comparison of the opening of the valve body and the exhaust port of the valve core of the switching device according to the embodiment of Fig. 9;

[0088] Fig. 11 shows a structural schematic diagram of a switching device according to an embodiment of the present application. DETAILED DESCRIPTION

[0089] It is easy to understand that, according to the technical solution of the present application, a person skilled in the art can propose a plurality of structure modes and implementation modes that can be replaced with each other without changing the essential spirit of the present application. Therefore, the following specific embodiments and the accompanying drawings are only exemplary descriptions of the technical solution of the present application, and should not be regarded as the whole or as a limitation or restriction on the technical solution of the present application.

[0090] In the present specification, the orientation terms such as up, down, left, right, front, back, front surface, back surface, top, bottom, etc. mentioned or possibly mentioned are defined with respect to the structure shown in the drawings, and they are relative concepts, so they can be changed accordingly according to different positions and different use states. Therefore, these or other orientation terms should not be interpreted as restrictive terms. In addition, the terms "first", "second", "third" or the like or similar expressions are only used for description and differentiation purposes, and cannot be understood as indicating or implying the relative importance of the corresponding members or the sequence or assembly sequence of the members.

[0091] In a known wiping robot, the base station has a manipulating mechanism with a stepping motor and a push rod, and the push rod is controlled by the stepping motor to open and close the valve port of the valve body for controlling the negative pressure of the base station suction cup, so as to realize the suction and release of the suction device. However, the push rod may have the risk of being stuck during operation and a switch needs to be provided to detect whether the push rod is in place. The structure of such a manipulating mechanism is relatively complex, and an electronic program needs to be provided to cooperate with the action of the stepping motor, and the stepping motor needs to be continuously powered.

[0092] For another known wiping robot, the opening and closing of the valve port is controlled by directly connecting the suction cup port to an electromagnetic valve. In this scheme, the electromagnetic valve needs to be powered for a long time (normally open electromagnetic valve) when the suction cup is in the suction state, and if the electromagnetic valve is replaced by a normally closed electromagnetic valve, the suction cup will remain in the suction state when the electromagnetic valve is not powered, and the suction and release of the suction cup cannot be flexibly controlled, which may cause poor user experience.

[0093] The base station of the present application realizes pure mechanical linkage between the adsorption device and the operating mechanism, which can not only realize instant switching of the adsorption device between the adsorption state and the un-adsorption state, but also has simple and convenient control mode; and since the adsorption cavity in the present application cannot be switched from the adsorption state to the un-adsorption state under the vertical upward force of not more than 633.7 N of the operating member while the area projected to the fixed surface is not less than 156.9 square centimeters in the adsorption state, the base station can bear the centrifugal force of the wiping robot under 4-grade strong wind, while the adsorption cavity of the adsorption device does not need too large floor area; in addition, the risk of un-adsorption of the adsorption device caused by the misuse of the operating member by the user is also reduced.

[0094] Referring to FIG. 1, it shows a schematic diagram of the base station 10 after removing the base station body according to one embodiment of the present application. In FIG. 1, in order to better show the devices for fixing the base station 10, the base station body which may obstruct these devices in the view is removed, which does not affect the description of the relative position of these devices with respect to the base station 10 or the base station body below. Those skilled in the art can determine the corresponding positions and connection modes of other devices with the base station body according to the description below and the usual setting mode.

[0095] The base station 10 of the present application for wiping robot comprises a base station body, a switching device 100, an adsorption device 200 and an operating member 300. Here, the base station body refers to the body part except for the switching device 100, the adsorption device 200 and the operating member 300 which are described below and are used for fixing the base station body. The switching device 100, the adsorption device 200 and the operating member 300 are all arranged on the base station body.

[0096] The adsorption device 200 is arranged on the bottom surface of the base station body, for example, for adsorbing to the fixed surface 1, which can be the ground, a window sill surface, a glass surface, etc. The adsorption device 200 is configured as a negative pressure suction member such as a suction cup, a suction nozzle, etc., which has at least an adsorption state and an un-adsorption state. In the adsorption state, the adsorption device 200 is adsorbed to the fixed surface 1 by negative pressure, so that the adsorption cavity is formed between the adsorption device 200 and the fixed surface 1 and is not communicated with the outside; and in the un-adsorption state, the adsorption cavity is communicated with the outside to release the adsorption.

[0097] In the embodiment of FIG. 1, the suction device 200 is provided as a negative pressure suction member such as a suction cup or a suction nozzle, and the suction device 200 includes a suction body 210 and a through hole 211 provided on the suction body 210 and connected to a suction cavity of the suction body 210. When the base station 10 is placed on the fixed surface 1, the base station 10 is first pressed against the fixed surface 1 by its own gravity, so that the suction cavity of the suction body 210 forms a suction cavity with negative pressure. At this time, if the switch device 100 is closed in the suction state, the suction cavity formed between the suction body 210 and the fixed surface 1 is not communicated with the outside, so that the suction device 200 is adsorbed on the fixed surface 1. If the switch device 100 is opened in the release state, the suction cavity is communicated with the outside through the through hole 211, so that the suction device 200 is not adsorbed on the fixed surface 1.

[0098] It should be understood that the "suction cavity" described in the present application includes a space formed between the suction body 210 and the fixed surface 1, which is a vacuum, near-vacuum or at least has a negative pressure less than the standard atmospheric pressure. Due to the negative pressure less than the standard atmospheric pressure, when the space is not communicated with the outside, the atmospheric pressure will press the suction body 210 onto the fixed surface 1 to achieve the effect of adsorption and fixation.

[0099] In an embodiment of the present application, the area of the suction body 210 projected onto the fixed surface 1 in the suction state is not less than 156.9 square centimeters, so that when the suction body 210 is adsorbed on the fixed surface 1 with a glossiness not less than 55°, the operating member 300 cannot switch the suction device 200 from the suction state to the release state under the action of a vertical upward force not greater than 633.7 N.

[0100] For the base station 10 of the wiping robot, it is used to be adsorbed on the fixed surface 1. The fixed surface can be the ground inside the house, of course, the fixed surface is not limited to the ground inside the house, but also can be the ground outside the house. Further, the ground inside the house is generally the surface of materials such as ceramic tiles, floors, and cement. Further, the ceramic tiles include bright tiles, soft light tiles and matte tiles. The glossiness of the bright tiles is greater than 55°, the glossiness of the soft light tiles is greater than 25° and not less than 55°. The glossiness of the matte tiles is less than 15°. In this way, the material difference between the fixed surfaces can be distinguished by the glossiness. Further, the suction body of the present application is adsorbed on the fixed surface 1 with a glossiness not less than 55°. For example, the suction body of the present application is adsorbed on the soft light tiles with a glossiness not less than 55°. Of course, the suction body of the present application is not limited to be adsorbed on the soft light tiles with a glossiness not less than 55°, but also can be adsorbed on other materials, for example, the suction body of the present application is adsorbed on the floor with a glossiness not less than 55°, or the suction body of the present application is adsorbed on the bright tiles with a glossiness not less than 55°.

[0101] For the wiping robot, the narrow edge of the wiped window is usually not less than 20mm, so the outer edge length of the square wiping robot is generally not more than 20mm at most. Due to the size limitation, the weight of the wiping robot is generally not more than 2kg at most.

[0102] When the wiping robot is adsorbed on the glass, especially the outdoor glass, to perform the wiping work, if it is subjected to uncontrollable force, such as outdoor wind force, it is easy to fall off the glass. Since the wiping robot is connected to the base station 10 through the safety rope, after the wiping robot falls off the glass, the base station 10 can timely apply a dragging force to the wiping robot through the safety rope, so as to avoid 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 through the safety rope, the greater the wind level under which the wiping robot can work. Because the wiping robot falls even due to the wind force, the base station 10 can timely drag it through the safety rope without causing it to fall to the ground.

[0103] When the outdoor wind force reaches level four, if the wiping robot falls and is dragged by the safety rope, it is possible to swing outdoors under the action of the wind force. When the wiping robot is dragged by the safety rope and swings outdoors, the wiping robot will be subjected to the centrifugal force and its own gravity. Since the wiping robot is connected to the base station 10 through the safety rope, the centrifugal force and the gravity will finally be applied to the base station 10 through the safety rope. That is, when the safety rope is subjected to the pulling force from the centrifugal force and the gravity of the wiping robot, the base station 10 will be subjected to the same pulling force from the safety rope, and the safety rope will also be subjected to the same pulling force from the base station 10.

[0104] Due to the centrifugal force, the smaller the swing radius of the wiping robot under the action of the wind force, the greater the centrifugal force F. Further, the minimum swing radius of the wiping robot under the action of the wind force is not less than the length of the wiping robot body, so the centrifugal force F of the wiping robot under the action of the wind force with a swing radius of the length of the wiping robot body is 0.5*1.5*1.5*9.8=6.75N. Due to the gravity, the gravity G of the wiping robot is 1.5*9.8=14.7N. Therefore, the sum of the centrifugal force and the gravity of the wiping robot under the action of the wind force with a swing radius of the length of the wiping robot body is 6.75+14.7=21.45N. Therefore, when the wiping robot falls and is dragged by the safety rope and swings under the action of the wind force with a swing radius of the length of the wiping robot body, the wiping robot applies the maximum force of 21.45N to the base station 10 through the safety rope.

[0105] Further, when the wiping robot is under the fourth level of wind, the force applied to the base station 10 by the safety rope reaches 633.7N, the base station 10 and the adsorption device need to provide a pulling force of 633.7N to the safety rope to ensure that the wiping robot does not fall to the ground. When the base station 10 and the adsorption device need to provide a pulling force of 633.7N to the safety rope, if the weight of the base station 10 itself is not considered (ideal case), the suction force of the adsorption device needs to reach 633.7N. Further, the calculation formula of the suction force of the adsorption device is: suction force = S*P / μ. Wherein: S is the area of the suction disc (cm 2 ), P is the air pressure (kg / cm 2 ), μ is the safety factor >=2.5. In this application, S is the area of the adsorption body projected to the fixed surface 1 in the adsorption state (cm 2 ), P is 1 atmosphere (1.01x10 5 N / m 2 ). 1 standard atmosphere = 1.01x10 5 Pa = 1.01x10 5 N / m 2 . When the suction force of the adsorption device needs to reach 633.7N, μ takes the minimum value of 2.5, then according to the formula S = suction force*μ / P, the minimum S in the ideal state is S = 633.7N*2.5 / 1.01x10 5 N / m 2 ≈0.015686m 2 ≈156.9cm 2 . That is, the minimum area of the adsorption body projected to the fixed surface 1 in the adsorption state is 156.9cm 2 .

[0106] Therefore, when the area of the adsorption device 200 projected to the fixed surface 1 is not less than 156.9 square centimeters in the adsorbed state, the adsorption body is adsorbed on the fixed surface 1 with a glossiness of not less than 55°, and the operating member cannot switch the adsorption device 200 from the adsorbed state to the unadsorbed state under the vertical upward force of not more than 633.7 N, that is, in this way, when the wiping robot is subjected to the centrifugal force caused by the fourth-grade gale and thus causes a great pulling force (633.7 N) on the base station 10, the base station 10 can still be well fixed on the fixed surface 1 by the adsorption of the adsorption body 210, that is, the base station 10 drags the main wiping robot by the safety rope without causing it to fall to the ground. Because when the adsorption body is adsorbed on the fixed surface with a glossiness of not less than 55°, the base station 10 can withstand a maximum pulling force of 633.7 N. On the other hand, while the base station 10 can withstand a maximum pulling force of 633.7 N, the area of the adsorption body 210 can also be kept small, avoiding the inconvenience of users due to the increase of the floor area of the adsorption body 210 to improve the adsorption force, and making the base station 10 also keep a small volume and weight.

[0107] In addition, because the operating member 300 cannot switch the adsorption device 200 from the adsorbed state to the unadsorbed state under the vertical upward force of not more than 633.7 N, the user's misoperation on the operating member 300 is also prevented. The pulling force of an adult is generally about 38 kilograms, which is converted into a force of about 380 N, so for the state that the adsorption body 210 in the embodiment is adsorbed on the fixed surface, the pulling force of an adult cannot pull the base station. This avoids the unnecessary unadsorption of the adsorption device 200 caused by the user pulling the operating member 300 or the base station 10 at will.

[0108] The operating member 300 is capable of moving relative to the base body to mechanically drive the switching device 100 to open or close the through hole 211, and thus to switch the adsorption device 200 between the adsorption state and the un-adsorption state. For example, the operating member 300 is capable of rotating relative to the base body to open or close the through hole 211 by the switching device 100, and thus to switch the adsorption device 200 between the adsorption state and the un-adsorption state; or the operating member 300 is capable of sliding or moving relative to the base body to open or close the through hole 211 by the switching device 100, and thus to switch the adsorption device 200 between the adsorption state and the un-adsorption state. In an embodiment of the present application, when the adsorption device 200 is switched from the un-adsorption state to the adsorption state, the base body is floated downward by a distance less than 2 mm, which can make the base body stable when the adsorption device 200 is switched between the un-adsorption state and the adsorption state, and avoid excessive shaking of the base body, so as to prevent poor contact of the power supply or change of the pulling force of the safety rope on the wiping robot, and thus prevent the wiping robot from falling. Especially when the wiping robot is working, at this time the adsorption device 200 is in the adsorption state, if the user, especially a child, repeatedly manipulates the operating member 300, the base body may be switched between the un-adsorption state and the adsorption state, and thus the base body may shake vertically. The wiping robot is connected to the base body by a mounting rope, if the shaking amplitude of the base body is large, the pulling force of the safety rope on the wiping robot may also be increased, which may cause the wiping robot to fall, and thus a danger may occur, or the power supply may be in poor contact, the wiping robot may suddenly power off, and the wiping robot may also fall. By limiting the vertical displacement of the base body when the state of the adsorption device 200 changes, especially limiting it within 2 mm, the stability of the base body when fixed and unfixed is improved, and the above dangers are avoided.

[0109] In an embodiment of the present application, for example, the embodiment of FIG. 1, the operating member 300 is provided as a handle, by which the user can manipulate the adsorption state of the adsorption device 200, and also by which the user can lift or carry the base station 10, so as to change the position of the base station 10. When the operating member 300 is configured as a handle, after the base station 10 is placed on the fixing surface 1, the handle has a first state and a second state when the adsorption device is in contact with the fixing surface 1. In the first state, the handle is in the lowest position that can be reached, which is defined as the first position, and in the second state, the handle is in other positions than the first position. In an embodiment of the present application, in the second state, the handle is in other positions than the first position, and the other positions include the second position, in which the handle is in the highest position that can be reached.

[0110] Referring to FIG. 2 and FIG. 3, which respectively show a side view and a top view of the base station 10 according to FIG. 1 with the handle in a second position, removed from the base station body. The second position can be described as a lifted state of the handle. In the second position, the handle is erected upward, so that the switch device 100 opens the through hole 211 to make the suction device 200 in a released state. In the second position, the user can directly pull the handle with hands to pick up or put down the base station 10 to change the position of the base station. Referring to FIG. 4 and FIG. 5, which respectively show a side view and a top view of the base station 10 according to FIG. 1 with the handle in a first position, removed from the base station body. The first state can also be described as a lowered state of the handle, in which the handle is in a lowest position that can be reached, i.e. the first position, so that the switch device 100 closes the through hole 211 to make the suction device 200 in a suction state. In an embodiment of the present application, the handle is automatically switched from the second position to the first position under the action of gravity, so that the suction state between the suction device 200 and the fixed surface 1 is achieved. This embodiment achieves that when the user's hand is removed from the handle, the manipulation of the suction device 200 is automatically achieved by the gravity of the handle, so that the user does not need to manually operate the process of switching the suction device from the released state to the suction state, i.e. reduces the operation of the user and is convenient for the user. Specifically, the handle can include respective connecting portions. The respective connecting portions are connected to each other to form the handle. The respective connecting portions can be, for example, connecting rods. Of course, the respective connecting portions are not limited to connecting rods, but can also be other structures, such as connecting plates, connecting belts, etc., which are not specified in the present application. Further, the center lines of the respective connecting rods can be connected vertically in sequence, or can be connected at an angle in sequence, or can be connected to each other in a cross manner, which are not specified in the present application. Further, the plane in which the center lines of the respective connecting portions of the handle are located is the plane in which the handle is located. In an embodiment, in the second position, the plane in which the handle is located can be a plane perpendicular to the fixed surface 1. In another embodiment, in the second position, the plane in which the handle is located is a plane at an angle to the fixed surface 1. In an embodiment, referring to FIG. 6 and FIG. 7, which show a side view and a top view of the handle in the second position relative to the fixed surface 1. As can be seen from FIG. 6, the manipulating member 300 is provided as a handle, which includes a horizontal extension segment 320 and a first vertical extension segment 310 and a second vertical extension segment 330 connected to both ends of the horizontal extension segment 320, respectively. As can be seen from FIG. 6, the center line L2 of the horizontal extension segment 320, the center line L1 of the first vertical extension segment 310 and the center line L3 of the second vertical extension segment 330 are located in a plane, and the plane in which the center line L2 of the horizontal extension segment 320, the center line L1 of the first vertical extension segment 310 and the center line L3 of the second vertical extension segment 330 are located is the plane in which the handle is located, which is perpendicular to the fixed surface 1.As can be seen from FIG. 7, the center line L2 of the horizontal extension 320 is parallel to the fixing surface 1, and the horizontal extension 320 shields the first vertical extension 310 and the second vertical extension 330 in the top view. As can be more clearly seen by comparing FIG. 6 and FIG. 7, in one embodiment, in the second position, the horizontal extension 320 is located above the first vertical extension 310 and the second vertical extension 330, and the plane on which the entire handle lies is perpendicular to the fixing surface 1.

[0111] 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 body. The "lowest point of the handle" should be understood as the lowest position of each connecting portion of the handle in the direction of gravity. This arrangement takes into account the ergonomics of the user using the handle, and the lowest point of the handle has a certain height position (the lowest point of the handle is not lower than half the height of the base body) when the handle is in the first position, so as to facilitate the user to grasp the handle with the hand, and avoid the user from having to bend down or squat to pull the handle when the handle is in the first position, thus further facilitating the user to operate the handle.

[0112] In one embodiment of the present application, a trigger is provided on the base body, and in the second state, the handle is in other positions than the first position, which also includes a third position other than the second position. When the handle is switched from the third position to the first position under the operation of the user, the trigger is triggered to remind the user that the negative pressure adsorption state is formed between the adsorption body 210 and the fixing surface 1. The trigger is not shown in the drawings, and it can be provided on the handle or the base body, for example, and is triggered by the movement state of the handle relative to the base body or the entry of the handle into the first position, and is configured to remind the user by patterns, colors, sounds, or tactile sensations, so that the user can know in time that the base 10 has been fixed on the fixing surface 1 by the adsorption body 210, and improve the user's confidence that the wiping robot will not fall when working. In one merely exemplary embodiment, the trigger is provided, for example, at the rotating connection between the handle and the base body, including a hole configured on the handle and an indication pattern, such as a red indication pattern, provided on the base body and capable of being exposed through the hole in the first position. When the handle is in the third position, the indication pattern is not exposed through the hole, and when the handle is switched from the third position to the first position, the indication pattern is exposed from the hole on the handle, reminding the user that the handle is in the first position at this time, i.e., the base 10 has been fixed by the adsorption device 200.

[0113] In one embodiment of the application, for example in the embodiment of Fig. 1, the operating member 300 is connected to the switching device 100 via a transmission mechanism 400. The transmission mechanism 400 is a three-link mechanism in Fig. 1, comprising a first link 410, a second link 420 and a third link 430, which are hingedly connected in sequence in the direction of gravity, one end of the first link 410, which is away from the second link 420, is connected to the operating member 300, and one end of the third link 430, which is away from the second link 420, is connected to the switching device 100. The transmission mechanism 400 is used to transmit the rotational movement of the operating member 300 to the switching device 100, so that the switching device 100 can close or open the through hole 211. It should be understood that the transmission mechanism 400 can also be provided as other transmission mechanisms, such as gear transmission mechanism, belt transmission mechanism, chain transmission mechanism, etc. The provision of the transmission mechanism 400 provides multiple position possibilities for the arrangement of the operating member 300 on the base body, and through the transmission mechanism 400, the movement transmission ratio between the operating member 300 and the switching device 100 can be adjusted. The input end of the transmission mechanism 400 is connected to the operating member 300, and the output end is connected to the switching device 100. In one embodiment, the projection of the switching device 100 and the transmission mechanism 400 on the front surface of the base body at least partially overlaps, and / or the projection of the switching device 100 and the transmission mechanism 400 on the side surface of the base body at least partially overlaps, and / or the projection of the switching device 100 and the transmission mechanism 400 on the bottom surface of the base body at least partially overlaps.

[0114] In one embodiment of the application, the operating member 300 can also be directly connected to the switching device 100 without a transmission mechanism therebetween, so that the rotational movement of the operating member 300 is directly converted into the movement of the components in the switching device 100. The following embodiments can be applied not only to the technical solution with the transmission mechanism 400, but also to the technical solution without the transmission mechanism 400, and this will not be described again in the following embodiments.

[0115] In one embodiment of the application, the switching device 100 comprises a first valve element connected to the adsorption body 210 and a second valve element connected to the actuating element 300, the first valve element is provided with an opening 111 which is in communication with the through-hole 211, and the rotation of the actuating element 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 in communication with the outside through the opening 111, at this time the adsorption cavity is also in communication with the outside, and the adsorption device 200 is released. When the opening 111 is closed, the through-hole 211 and the adsorption cavity are both closed to the outside, and the adsorption device 200 is adsorbed. Referring to FIG. 8, which shows a structural schematic diagram of the switching device 100 in this embodiment. In the embodiment of FIG. 8, the first valve element is a valve body 110, and the second valve element is a valve core 120 which is at least partially inserted into the valve body 110 and can rotate relative to the valve body 110. The valve body 110 comprises, for example, a first valve body section 101 which is parallel to the fixed surface 1 and a second valve body section 102 which is perpendicular to the fixed surface 1, the valve core 120 is inserted into the first valve body section 101, and the valve body 110 is connected to the adsorption body 210 through the second valve body section 102. In the embodiment in which the actuating element 300 and the switching device 100 are connected through a transmission mechanism 400, one end of the third connecting rod 430 of the transmission mechanism 400 which is away from the second connecting rod 420 is connected to the valve core 120. In the embodiment in which the actuating element 300 and the switching device 100 are not connected through a transmission mechanism 400, the actuating element 300 is directly connected to the valve core 120. It should be understood that, in an embodiment not shown, the second valve element can also be provided as a valve body, and the first valve element is provided as a valve core which is at least partially inserted into the valve body and can rotate relative to the valve body. This configuration can also be applied to the following embodiments accordingly.

[0116] Further, in one embodiment of the application, a first channel 112 is provided through the valve body 110, and the valve core 120 is provided with a second channel 122 which is in communication 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. That is, the valve body 110 and the valve core 120 are provided, for example, as hollow cylinders, and their hollow chambers are connected to each other. In the embodiment of FIG. 8, the valve core 120 is inserted into the valve body 110 through the open end 1221 of the second channel 122, so that the second channel 122 and the first channel 112 are in communication, especially in airtight communication with the outside.

[0117] Further, in one embodiment of the application, particularly the embodiment of Fig. 8, the opening 111 is provided on the side wall of the valve body 110. Specifically, as shown in Fig. 8, the first valve body section 101 is provided with a joint at one end thereof away from the second valve body section 102, and the valve core 120 is inserted into the first valve body section 101 through the joint. The opening 111 is provided on the joint. The exhaust port 121 is provided on the side wall of the valve core 120, and the exhaust port 121 is in communication with or out of communication with the opening 111 when the valve core 120 rotates relative to the valve body 110, so as to open or close the opening 111. When the exhaust port 121 is in communication with the opening 111, the through hole 211 is in communication with the outside atmosphere through the opening 111 and the exhaust port 121, and when the exhaust port 121 is out of communication with the opening 111, the through hole 211 is connected to the closed space formed by the first passage 112 and the second passage 122, but is sealed relative to the outside atmosphere.

[0118] In another embodiment of the application, referring to Fig. 9, a partial structural diagram of the switching device in this embodiment is shown. In this embodiment, the valve body 110 is also provided as a hollow pipe. One end thereof is in communication with the through hole 211 (not shown in Fig. 9), for example, can be connected to the through hole 211 of the adsorption body 210 through a connecting pipe, and the other end or near the other end thereof is provided with a mating end face 113 in the pipe. The valve core 120 has at least an end face 123, for example, connected with the side wall 128 of the valve core 120, and a side wall 128 surrounding the end face 123, the end face 123 can be connected to the operating member 300 or the transmission mechanism 400 through a connecting member 129, and the exhaust port 121 is provided on the end face 123 of the valve core 120. An outwardly open flow passage is formed in the side wall 128 of the valve core 120. The flow passage is in communication with the exhaust port 121, so that the exhaust port 121 can be in communication with the outside through the flow passage. The valve core is inserted into the valve body 110 through the end face 123, and the end face 123 abuts against the mating end face 113. The opening 111 (not shown in Fig. 9, shown in Fig. 10) is provided on the mating end face 113 of the valve body 110, and the exhaust port 121 is in communication with or out of communication with the opening 111 when the valve core 120 rotates relative to the valve body 110, so as to open or close the opening 111. The opening 111 or the exhaust port 121, for example, can be provided as one or more holes distributed along the radial direction of the end face, referring to Fig. 10, a 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 shown in Fig. 9 is shown. In Fig. 10, the opening 111 and the exhaust port 121 are both provided as two holes distributed along the radial direction, which can be in communication or out of communication through rotation. Of course, the opening 111 and the exhaust port 121 can also have other shapes or positions, etc. which can be in communication or out of communication with each other when rotated relative to each other.

[0119] In one embodiment of the present application, the switch device 100 comprises a first valve element connected with the adsorption body 210 and a second valve element connected with the operating member 300, an opening 111 is provided on the first valve element, the opening 111 is in communication with the through hole 211, and rotation of the operating member 300 drives the second valve element to move linearly relative to the first valve element to open and close the opening 111. It should be understood that "the second valve element moves linearly relative to the first valve element" should be understood as that the second valve element has a degree of freedom of linear motion relative to the first valve element, and does not only mean that the second valve element only moves linearly relative to the first valve element, but also can include, for example, the case that the second valve element rotates relative to the first valve element while moving linearly relative to the first valve element.

[0120] Further, 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 at least partially arranged in the valve body 110, and the valve core 120 can move linearly relative to the valve body 110. It should be understood that in an embodiment not shown, the second valve element can also be provided as a valve body, and the first valve element is provided as a valve core at least partially arranged in the valve body, and the valve core can rotate relative to the valve body. This configuration can also be correspondingly applied to the following embodiments.

[0121] Further, in one embodiment of the present application, a first channel 112 is arranged through the valve body 110, and both the first end and the second end of the first channel 112 are open ends, and the valve core 120 is at least partially arranged in the first channel 112.

[0122] Further, in one embodiment of the present application, referring to FIG. 11, a structural schematic diagram of the switch device 100 according to this embodiment is shown. A helical groove 114 (shown by a dashed line in FIG. 11) extending helically is arranged on the side wall of the valve body 110, and a protruding portion 124 is arranged on the side wall of the valve core 120, and the protruding portion 124 is fitted into the helical groove 114, and when the operating member 300 drives the valve core 120 to rotate, the protruding portion 124 moves along the helical groove 114, thereby causing the valve core 120 to move linearly relative to the valve body 110. In this embodiment, the fitting of the helical groove 114 and the protruding portion 124 is similar to the transmission principle of a worm gear, and the conversion from rotational motion to linear motion is achieved, 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 an embodiment not shown, the helical groove 114 can also be arranged on the outer wall of the valve core 120, and the protruding portion 124 is correspondingly arranged on the inner wall of the valve body 110, and this configuration can also be applied to the following embodiments.

[0123] Further, in the first embodiment of the application, the protrusion 124 is arranged to surround the side wall and to seal with the helical groove 114, which functions to interrupt the passage. For example, in the embodiment of Fig. 11, the opening 111 is formed by a first end portion of the first passage 112, and the exhaust port 121 is arranged on the side wall of the valve body 110, and one end of the valve core 120 is capable of closing the opening 111 in a linear motion direction. In this embodiment, the opening 111 and the exhaust port 121 are both arranged on the valve body 110, the opening 111 is formed by a first end portion of the first passage 112, the first end portion is communicated to the through hole 211, when the first end portion is closed by one end of the valve core 120, especially when the valve core 120 is inserted into the first end portion by linear motion, the opening 111 is closed, and when the valve core 120 does not close the first end portion, especially when the valve core 120 is not inserted into the first end portion, the opening 111 is opened. In the embodiment of Fig. 11, the exhaust port 121 is arranged on the side wall of the valve body 110, when the opening 111 is opened, the passage from the opening 111 to the exhaust port 121 is also opened.

[0124] Further, in the second embodiment of the application, the protrusion 124 is arranged to surround the side wall and sealingly engage the helical groove 114, the first passage 112 has a first end portion with a smaller diameter than a second end portion, the opening 111 is formed by the first end portion of the first passage 112, and the exhaust port 121 is formed by a gap between the second end portion and the valve core 120. One end of the valve core 120 is capable of closing the opening 111 in a linear motion direction. In this embodiment, the first passage 112 includes three sections, i.e., a first section 1121 with a smaller diameter, a second section 1122 with a larger diameter, and a connecting section 1123 connecting the first section 1121 and the second section 1122. The first end portion is formed at a free end of the first section 1121, and the second end portion is formed at a free end of the second section 1122. One end of the valve core 120 is capable of being inserted into the first section 1121 to close the first end portion, i.e., to close the opening 111. Since the second section 1122 has a larger diameter, an annular gap is formed between the second section 1122 and the valve core 120, and the annular gap forms the exhaust port 121. When the valve core 120 does not close the opening 111 by linear motion, a passage between the opening 111 and the exhaust port 121 is opened. When the protrusion 124 engages the helical groove 114, the passage between the opening 111 and the exhaust port 121 is closed. When the protrusion 124 is moved out of the helical groove 114, the passage between the opening 111 and the exhaust port 121 is opened. In this embodiment, the protrusion 124 and the helical groove 114 not only serve as a transmission, but also serve to close the connecting passage between the opening 111 and the exhaust port 121. The opening 111 and the exhaust port 121 are arranged at two ends of the valve body 110, respectively. When the valve core 120 is combined with the valve body 110 by the protrusion 124 and the helical groove 114, the passage between the opening 111 and the exhaust port 121 is closed by the protrusion 124. When the protrusion 124 is rotated out of the helical groove 114, the passage between the opening 111 and the exhaust port 121 is opened.

[0125] Further, in the third embodiment of the present application, the protrusion 124 is arranged as a protrusion on the side wall of the valve core 120, for example, with a gap to the side wall of the valve body 110, or arranged as a protrusion on a radial position of the side wall of the valve core 120, for example, with a gap to the side wall of the valve body 110 at all times in the radial direction of the joint of the valve body 110 and the valve core 120 when the valve body 110 and the valve core 120 are jointed by the protrusion 124 and the helical groove 114, in which case the protrusion 124 and the helical groove 114 are used only for transmission and not for sealing. In this embodiment, the first end of the first channel 112 has a smaller diameter than 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 in a linear motion direction. In this embodiment, the first channel 112 also includes three sections, i.e., a first section 1121 with a smaller diameter, a second section 1122 with a larger diameter, and a connecting section 1123 connecting the first section 1121 and the second section 1122, for example, as in the above-mentioned embodiments. The first end is formed at the free end of the first section 1121, and the second end is formed at the free end of the second section 1122. One end of the valve core 120 can be inserted into the first section 1121 to close the first end, i.e., to close the opening 111. Since the second section 1122 has a larger diameter, an annular gap is formed between the second section 1122 and the valve core 120, which forms the exhaust port 121. When the valve core 120 does not close the opening 111 by linear motion, the passage between the opening 111 and the exhaust port 121 is opened. The one end of the valve core 120 can also be provided with a closure member 125, which includes a first closure member 1251 and a second closure member 1252 arranged in the axial direction in sequence, for example. The first closure member 1251 can be inserted into the first section 1121 and sealed against the side wall of the first section 1121 to close the opening 111. The second closure member 1252 can be sealed against the side wall of the connecting section 1123 when the first closure member 1251 is inserted into the first section 1121 to further seal the passage from the opening 111 to the exhaust port 121, ensuring high air tightness. In this embodiment, the exhaust port 121 can also be arranged on the side wall of the second section 1122 or the side wall of the connecting section 1123, for example. In this case, the protrusion 124 is still arranged around the side wall and sealed with the helical groove 114.

[0126] In one embodiment of the present application, the switch device 100 further comprises 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, and further drives the valve core 120 to rotate. In another embodiment of the present application, the rotating member 130 can also be connected to the operating member 300 through a transmission mechanism, such as a belt transmission mechanism, a chain transmission mechanism or a gear transmission mechanism, etc., so as to provide various position possibilities for the arrangement of the operating member 300 on the base body, for example, the rotating member 130 is arranged at the lower part of the base body, and the operating member 300 is arranged at the upper side of the base body, and 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.

[0127] In one embodiment of the present application, a limiting member (not shown in the drawings) is arranged at the rotating connection between the base body and the handle, which limits the continuous rotation of the handle after the handle is switched to the first position. The limiting member can prevent the unnecessary movement of the handle in the first position under the influence of external force or the misoperation of the handle by the user, thereby preventing the adsorption device 200 from being incorrectly released. The limiting member is for example arranged as a clamping member, which comprises a clamping protrusion arranged on the handle and a clamping recess arranged on the base body, after the handle is switched to the first position, the clamping protrusion is clamped into the clamping recess, thereby preventing the continuous rotation of the handle, and the clamping of the clamping protrusion and the clamping recess can be manually released to switch the handle from the first position to the second position or other positions. The limiting member can also be arranged as other limiting structures which can limit the rotating movement of the handle in the first position and can be manually released.

[0128] In one embodiment of the present application, the operating member is arranged outside the base body, and the switch device 100 is arranged inside the base body, so as to facilitate the operation of the operating member 300, especially the handle, by the user.

[0129] In one embodiment of the present application, a containing chamber for containing the main machine of the wiping robot is arranged on the base body, so that the main machine can be placed in the base body and can be moved together with the base machine or fixed, thereby saving the placement space of the main machine when the wiping robot is not used.

[0130] In one embodiment of the present application, a winding device is arranged on the base body, and a safety rope for connecting the main machine of the wiping robot is wound on the winding device. The safety rope can provide a pulling force to the main machine when the main machine falls from the working surface, so that the main machine does not directly fall to the ground, but is suspended in the air through the safety rope connected to the base station 10.

[0131] Another aspect of the present application also provides a fixing device, comprising: a switch device, an adsorption device and an operating member, wherein

[0132] The switch device is connected to the operating member and the adsorption device respectively;

[0133] The adsorption device comprises an adsorption body and a through hole arranged on the adsorption body, and has at least an adsorption state and a release state, in the adsorption state, the switch device closes the through hole, so that the adsorption body and the fixed surface form an adsorption cavity which is not communicated with the outside, and the adsorption body is adsorbed on the fixed surface, in the release state, the switch device opens the through hole, so that the adsorption cavity is communicated with the outside through the through hole;

[0134] The operating member is capable of moving relative to the base body to close or open the through hole through the switch device, so as to switch the adsorption device between the adsorption state and the release state, and the area of the adsorption cavity projected on the fixed surface in the adsorption state is not less than 156.9 square centimeters, so that when the adsorption body is adsorbed on the fixed surface with a glossiness not less than 55°, the operating member cannot switch the adsorption device from the adsorption state to the release state under the action of a vertical upward force not more than 633.7N.

[0135] In an embodiment of the other aspect of the present application, when the adsorption device is switched from the release state to the adsorption state, the base body floats downward by a distance less than 2mm.

[0136] The fixing device has all the technical effects of the fixing device in the aforementioned base station, which will not be repeated here.

[0137] 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 connected to the wiping robot through a safety rope.

[0138] The wiping robot system has all the technical effects of the aforementioned base station, which will not be repeated here.

[0139] It should be understood that all the above preferred embodiments are exemplary but not limiting, and various modifications or variations of the above described specific embodiments made by those skilled in the art under the concept of the present application shall be within the legal protection scope of the present application.

Claims

1. A base station of a wiping robot, characterized by, The base station comprises: a base station body; a switch device arranged on the base station body; an adsorption device arranged on the base station body, the adsorption device comprising an adsorption body and a through hole, the adsorption device having at least an adsorption state and a desorption state, in the adsorption state, the switch device closes the through hole, forming an adsorption cavity between the adsorption body and a fixed surface, the adsorption cavity being not in communication with the outside, and the adsorption body is adsorbed on the fixed surface, in the desorption state, the switch device opens the through hole, making the adsorption cavity communicate with the outside through the through hole; a manipulating member arranged on the base station body and capable of moving relative to the base station body to mechanically drive the switch device, thereby switching the adsorption device between the adsorption state and the desorption state by closing or opening the through hole.

2. The base station according to claim 1, wherein the area of the adsorption body projected onto the fixed surface in the adsorption state is not less than 156.9 square centimeters.

3. The base station according to claim 1, wherein the manipulating 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 that can be reached, defining the position as a first position, at this time, the switch device closes the through hole, and the adsorption device is in the adsorption state; in the second state, the handle is in other positions than the first position, the switch device opens the through hole, and the adsorption device is in the desorption state.

4. The base station according to claim 3, wherein in the second state, the handle is in other positions than the first position, the other positions include a second position, in which the handle is in the highest position that can be reached.

5. The base station according to claim 4, wherein the handle automatically switches from the second position to the first position under the action of gravity, thereby realizing the adsorption state between the adsorption body and the fixed surface.

6. The base station of claim 4, wherein, the base station body is further provided with a triggering part, in the second state, the handle is in other positions than the first position, the other positions further include a third position other than the second position, when the handle is switched from the third position to the first position under the operation of a user, the triggering part is triggered to remind the user that the adsorption state is formed between the adsorption body and the fixed surface.

7. The base station according to claim 3, wherein the height of the lowest point of the handle in the first position is not less than half the height of the base station body.

8. The base station according to any one of claims 1 to 7, wherein when the adsorption device switches from the desorption state to the adsorption state, the base station body floats downward by a distance of less than 2 mm.

9. The base station of claim 8, characterized in that, the manipulating member is directly connected with the switch device.

10. The base station of claim 9, characterized in that, The switch device comprises a first valve element connected with the adsorption body and a second valve element connected with the operating member, an opening is arranged on the first valve element, the opening is communicated with the through hole, and rotation of the operating member drives the second valve element to rotate relative to the first valve element to open and close the opening.

11. The base station of claim 10, characterized in that, The first valve element is a valve body, and the second valve element is a valve core at least partially arranged in the valve body and capable of rotating relative to the valve body.

12. The base station of claim 11, characterized in that, A first channel is arranged through the valve body, and the valve core is provided with a second channel for communication with the first channel, one end of the second channel is an open end, and the other end is a closed end.

13. The base station of claim 12, characterized in that, The opening is arranged on the side wall of the valve body, and an exhaust port is arranged on the side wall of the valve core, the exhaust port is communicated with the opening or dislocated from the opening when the valve core rotates relative to the valve body, so as to open or close the opening.

14. The base station of claim 10, wherein, The first valve element is a valve body, and the second valve element is a valve core abutting against a matched end surface of the first valve element, the opening is arranged on the matched end surface of the valve body, and an exhaust port is arranged on the end surface of the valve core, the exhaust port is communicated with the opening or dislocated from the opening when the valve core rotates relative to the valve body, so as to open or close the opening.

15. The base station of claim 9, wherein, The switch device comprises a first valve element connected with the adsorption body and a second valve element connected with the operating member, an opening is arranged on the first valve element, the opening is communicated with the through hole, and rotation of the operating member drives the second valve element to rotate relative to the first valve element to open and close the opening.

16. The base station of claim 15, characterized in that, The first valve element is a valve body, and the second valve element is a valve core at least partially arranged in the valve body and capable of rotating relative to the valve body.

17. The base station of claim 16, characterized in that, A first channel is arranged through the valve body, and the first channel has both first and second ends as open ends, and the valve core is at least partially arranged in the first channel.

18. The base station of claim 17, wherein, A helical groove is arranged on the side wall of one of the valve core and the valve body and extends spirally, and a protrusion is arranged on the side wall of the other, the protrusion is fitted into the helical groove, and when the operating member drives the valve core to rotate, the protrusion moves along the helical groove, so that the valve core moves linearly relative to the valve body.

19. The base station of claim 18, wherein, The first end of the first channel has a smaller diameter than the second end, the opening is formed by the first end of the first channel, an exhaust port is arranged on the side wall of the valve body, and one end of the valve core can close the opening in the linear movement direction.

20. The base station of claim 18, wherein, The first end of the first channel has a smaller diameter than the second end, the opening is formed by the first end of the first channel, a gap between the second end and the valve core forms an exhaust port, and one end of the valve core can close the opening in the linear movement direction. The first end of the first channel has a smaller diameter than the second end, the opening is formed by the first end of the first channel, a gap between the second end and the valve core forms an exhaust port, and one end of the valve core can close the opening in the linear movement direction.

21. The base station of claim 18, wherein, The opening is formed by a first end of the first channel, a second end of the first channel forms an exhaust port, the protruding portion is arranged around the side wall and is in sealing engagement with the spiral groove, when the protruding portion is engaged into the spiral groove, the passage of the opening to the exhaust port is closed, when the protruding portion is moved out of the spiral groove, the passage of the opening to the exhaust port is opened.

22. The base station of claim 18, wherein, The switch device further comprises a rotating member connected with the valve core and the operating member respectively, the operating member drives the rotating member to rotate through its own rotation, and further drives the valve core to rotate.

23. The base station of claim 8, wherein, The operating member is connected with the switch device through a transmission mechanism.

24. The base station of claim 23, wherein, The switch device and the transmission mechanism at least partially overlap in projection on the front surface of the base station body, and / or the switch device and the transmission mechanism at least partially overlap in projection on the side surface of the base station body, and / or the switch device and the transmission mechanism at least partially overlap in projection on the bottom surface of the base station body.

25. The base station of claim 23, wherein, The switch device comprises a first valve element connected with the adsorption body and a second valve element connected with the operating member, an opening is arranged on the first valve element, the opening is in communication with the through hole, and rotation of the operating member drives the second valve element to rotate relative to the first valve element to open and close the opening.

26. The base station of claim 25, wherein, The transmission mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod which are sequentially hinged along the direction of gravity, one end of the first connecting rod away from the second connecting rod is connected with the operating member, one end of the third connecting rod away from the second connecting rod is connected with the second valve element, the first valve element comprises a first section extending along the horizontal direction and a second section extending along the vertical direction, and the second valve element is connected with the first valve element in the first section.

27. The base station of claim 25, wherein, The first valve element is a valve body, and the second valve element is a valve core at least partially penetrating the valve body, and the valve core can rotate relative to the valve body.

28. The base station of claim 27, wherein, The valve body is provided with a first channel penetrating therethrough, and the valve core is provided with a second channel for communication of the first channel, one end of the second channel is an open end, and the other end is a closed end.

29. The base station of claim 28, wherein, The opening is arranged on the side wall of the valve body, and an exhaust port is arranged on the side wall of the valve core, and the exhaust port is in communication with or out of position with the opening when the valve core rotates relative to the valve body, so as to open or close the opening.

30. The base station of claim 25, wherein, The first valve element is a valve body, the second valve element is a valve core with an end face abutting against a matching end face of the first valve element, the opening is arranged on the matching end face of the valve body, and an exhaust port is arranged on the end face of the valve core, and the exhaust port is in communication with or out of position with the opening when the valve core rotates relative to the valve body, so as to open or close the opening.

31. The base station of claim 23, wherein, The switch device comprises a first valve element connected with the adsorption body and a second valve element connected with the operating member, an opening is arranged on the first valve element, the opening is in communication with the through hole, and rotation of the operating member drives the second valve element to rotate relative to the first valve element to open and close the opening.

32. The base station of claim 31, wherein, The first valve element is a valve body, and the second valve element is a valve core at least partially penetrating the valve body and capable of linear movement relative to the valve body.

33. The base station of claim 32, wherein, A first channel is provided in the valve body, and the first channel has open first and second ends. The valve core is at least partially penetrating the first channel.

34. The base station of claim 33, characterized by A helical groove is provided on the side wall of one of the valve core and the valve body, and a protrusion is provided on the side wall of the other. The protrusion is fitted into the helical groove, and when the operating member rotates the valve core, the protrusion moves along the helical groove, thereby causing the valve core to move linearly relative to the valve body.

35. The base station of claim 34, wherein, The first end of the first channel has a smaller diameter than the second end. The opening is formed by the first end of the first channel. The side wall of the valve body is provided with an exhaust port, and one end of the valve core is capable of closing the opening in the linear movement direction.

36. The base station of claim 34, wherein, The first end of the first channel has a smaller diameter than the second end. The opening is formed by the first end of the first channel. The gap between the second end and the valve core forms an exhaust port, and one end of the valve core is capable of closing the opening in the linear movement direction.

37. The base station of claim 34, wherein, The opening is formed by the first end of the first channel, and the second end of the first channel forms an exhaust port. The protrusion is arranged around the side wall and in sealing engagement with the helical groove. When the protrusion is fitted into the helical groove, the passage from the opening to the exhaust port is closed. When the protrusion moves out of the helical groove, the passage from the opening to the exhaust port is opened.

38. The base station of claim 34, wherein, The switch device further comprises a rotating member connected to the valve core and the operating member at its inner and outer ends, respectively. The operating member rotates the rotating member through its own rotation, further rotating the valve core.

39. The base station of claim 38, characterized by The operating member rotates the rotating member through a belt transmission mechanism, a chain transmission mechanism, or a gear transmission mechanism.

40. The base station of any one of claims 4-7, wherein, A limiting member is provided at the rotating connection between the base body and the handle. The limiting member limits the handle from continuing to rotate after the handle switches to the first state.

41. The base station of claim 40, characterized in that, The limiting member is a clamping member comprising a clamping protrusion provided on the handle and a clamping recess provided on the base body. When the handle switches to the first state, the clamping protrusion is clamped into the clamping recess, thereby preventing the handle from continuing to rotate. The clamping of the clamping protrusion and the clamping recess can be manually disengaged to switch the handle from the first position to the second position.

42. The base station of any one of claims 1-7, wherein, The operating member is arranged outside the base body, and the switch device is arranged inside the base body.

43. A wiping robot system characterized by The base station and the wiping robot according to any one of claims 1 to 42, wherein the base station is configured to be connected to the wiping robot by a safety rope. The fixing device comprises a switch device, an adsorption device, and an operating member, wherein, 44. A fixture, comprising: The two ends of the switch device are connected to the operating member and the adsorption device, respectively. The two ends of the switch device are connected to the operating member and the adsorption device, respectively. The adsorption device comprises an adsorption body and a through hole, and has at least an adsorption state and a non-adsorption state; in the adsorption state, the switch device closes the through hole, so that an adsorption cavity is formed between the adsorption body and the fixed surface, and the adsorption cavity is not communicated with the outside; in the non-adsorption state, the switch device opens the through hole, so that the adsorption cavity is communicated with the outside through the through hole. The operating member is movable to close or open the through hole by the switch device, so as to switch the adsorption device between the adsorption state and the non-adsorption state; and the area of the adsorption body projected on the fixed surface in the adsorption state is not less than 156.9 square centimeters.

45. A base station for a wiping robot, characterized in that The base station comprises: a base station body; a switch device arranged on the base station body; an adsorption device arranged on the base station body, the adsorption device comprising an adsorption body and a through hole, and having at least an adsorption state and a non-adsorption state; in the adsorption state, the switch device closes the through hole, so that an adsorption cavity is formed between the adsorption body and the fixed surface, and the adsorption cavity is not communicated with the outside; in the non-adsorption state, the switch device opens the through hole, so that the adsorption cavity is communicated with the outside through the through hole; an operating member arranged on the base station body and movable relative to the base station body to close or open the through hole by the switch device, so as to switch the adsorption device between the adsorption state and the non-adsorption state; and the area of the adsorption body projected on the fixed surface in the adsorption state is not less than 156.9 square centimeters.

46. A base station for a wiping robot, characterized in that The base station comprises: a base station body; a switch device arranged on the base station body; an adsorption device arranged on the base station body, the adsorption device comprising an adsorption body and a through hole, and having at least an adsorption state and a non-adsorption state; in the adsorption state, the switch device closes the through hole, so that an adsorption cavity is formed between the adsorption body and the fixed surface, and the adsorption cavity is not communicated with the outside; in the non-adsorption state, the switch device opens the through hole, so that the adsorption cavity is communicated with the outside through the through hole; an operating member arranged on the base station body and movable relative to the base station body to close or open the through hole by the switch device, so as to switch the adsorption device between the adsorption state and the non-adsorption state; and when the adsorption device is switched from the non-adsorption state to the adsorption state, the base station body floats downward by a distance less than 2 mm.

47. The base station of claim 46, 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 a lowest position that can be reached, and this position is defined as a first position; at this time, the switch device closes the through hole, and the adsorption device is in the adsorption state. In the second state, the handle is in a position other than the first position, the switch device opens the through hole, and the adsorption device is in the un-adsorbed state.

48. The base station of claim 47, wherein, In the second state, the handle is in a position other than the first position, and the position other than the first position includes a second position in which the handle is in a highest reachable position.

49. The base station of claim 48, wherein, The handle is automatically switched from the second position to the first position under the action of gravity, thereby achieving the adsorbed state between the adsorption device and the fixed surface.

50. The base station of claim 48, wherein, The base station body is further provided with a trigger portion, in the second state, the handle is in a position other than the first position, and the position other than the first position includes a third position other than the second position, when the handle is switched from the third position to the first position under the operation of a user, the trigger portion is triggered to remind the user that the adsorption state between the adsorption device and the fixed surface is formed.

51. The base station of claim 47, wherein, The height of the lowest point of the handle in the first position is not less than half the height of the base station body.

52. The base station of any one of claims 46-51, wherein, The operating member is directly connected with the switch device.

53. The base station of any one of claims 46-51, wherein, The operating member is connected with the switch device through a transmission mechanism.

54. The base station of claim 53, characterized by The projection of the switch device and the transmission mechanism on the front surface of the base station body at least partially overlaps, and / or the projection of the switch device and the transmission mechanism on the side surface of the base station body at least partially overlaps, and / or the projection of the switch device and the transmission mechanism on the bottom surface of the base station body at least partially overlaps.

55. A wiping robot system characterized by Comprise: The base station and the wiping robot of any one of claims 46 to 54, wherein the base station is used to connect with the wiping robot through a safety rope.

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