Base station, and robot cleaning system and control method therefor
The present invention relates to a base station for a cleaning robot to park in, where the cleaning robot includes a wiping board, and a flexible wiping member replaceably butts the wiping board to form a wiping surface to wipe a working surface on which the cleaning robot walks, where the base station includes: a storage module, configured to store a continuous wiping base material; and a feeding module, configured to drive a free end of the wiping base material to be conveyed to a cutting position, to cause the free end to be cut from the wiping base material to form the wiping member. The present invention has the following beneficial effects: After returning to the base station, the cleaning robot may automatically mount a wiping member without intervention by a user.
1 . An automatic cleaning system ( 300 ) comprising a cleaning robot ( 100 ) and a base station ( 200 ), wherein:
the cleaning robot ( 100 ) comprises a main body ( 101 ) and a wiping board ( 122 , 1201 ) mounted on the main body ( 101 ) to receive a wiping member attachable to the wiping board ( 122 , 1201 ) to form a wiping surface, so that when the cleaning robot ( 100 ) moves on a working surface, the wiping surface is configured to act on the working surface to perform wiping;
the base station comprises a driving module ( 207 , 205 , 412 ); and
the system is configured such that when the cleaning robot ( 100 ) returns to the base station ( 200 ), at a wiping board separating position ( 2021 ), the wiping board ( 122 , 1201 ) equipped with the wiping member is separated from the main body ( 101 ); and
the driving module ( 207 , 205 , 412 ) is configured to move the separated wiping board ( 122 , 1201 ) equipped with the wiping member to a wiping member separating position ( 217 , 4221 ), to cause the wiping member separated from the wiping board ( 122 , 1201 ).
2 . The system of claim 1 , wherein the system is configured to mount the wiping board ( 122 , 1201 ) equipped with a replacement wiping member on the main body ( 101 ) at a wiping board mounting position, wherein the wiping board mounting position ( 2022 ) and the wiping board separating position ( 2021 ) are the same position.
3 . The system of claim 1 , wherein the wiping member separating position ( 217 , 4221 ) is higher than the wiping board separating position ( 2021 ) and a space is formed between the wiping member separating position ( 217 , 4221 ) and the wiping board separating position ( 2021 ), for the cleaning robot ( 100 ) to park in.
4 . The system of claim 1 , wherein after the wiping board ( 122 , 1201 ) and the cleaning robot ( 100 ) are separated, the driving module ( 207 , 205 , 412 ) is configured to move the wiping board ( 122 , 1201 ) from the wiping board separating position ( 2021 ) to the wiping member separating position ( 217 , 4221 ).
5 . The system of claim 1 , wherein the base station further comprises: a separating module ( 422 ), at the wiping member separating position ( 217 , 4221 ), configured to act on the wiping board ( 122 , 1201 ) and/or the wiping member, to separate the wiping member from the wiping board ( 122 , 1201 ).
6 . The system of claim 5 , wherein the base station ( 200 ) comprises: a recycling box ( 206 ) configured to receive a wiping member separated from the wiping board ( 122 , 1201 ).
7 . The automatic cleaning system of claim 6 , wherein the separating module ( 422 ) is disposed at the opening of the recycling box ( 211 , 15 , 206 ) and comprises a barb-shaped structure configured to hook the wiping member and take down the wiping member from the wiping board ( 122 , 1201 ).
8 . The automatic cleaning system of claim 6 , wherein the separating module ( 422 ) is disposed in the opening of the recycling box ( 206 ), and when the wiping board passes through the separating module ( 422 ), the wiping member on the wiping board ( 122 , 1201 ) is hooked and scraped off.
9 . The automatic cleaning system of claim 1 , wherein the system further comprises: a operating module ( 125 , 400 ), at a wiping member mounting position ( 215 , 420 ), configured to act on the wiping board ( 122 , 1201 ) and/or a replacement wiping member to mount the replacement wiping member to the wiping board ( 122 , 1201 ), wherein the wiping member mounting position ( 215 , 420 ) is different from the wiping member separating position ( 217 , 4221 ).
10 . The automatic cleaning system of claim 9 , wherein the driving module ( 207 , 205 , 412 ) is configured to move the separated wiping board ( 122 , 1201 ) from the wiping member separating position ( 217 , 4221 ) to the wiping member mounting position ( 215 , 420 ), to cause the operating module to mount the replacement wiping member to the wiping board ( 122 , 1201 ).
11 . The automatic cleaning system of claim 10 , wherein the system is configured to mount the wiping board ( 122 , 1201 ) equipped with a replacement wiping member on the main body ( 101 ) at a wiping board mounting position ( 2022 ); and
the driving module ( 207 , 205 , 412 ) is configured to move the wiping board ( 122 , 1201 ) equipped with the replacement wiping member from the wiping member mounting position ( 217 , 4221 ) to the wiping board mounting position ( 2022 ).
12 . The automatic cleaning system of claim 9 , wherein the operating module ( 125 , 400 ) is mounted on the base station ( 200 ).
13 . The automatic cleaning system of claim 1 , wherein when the cleaning robot ( 100 ) returns to the base station ( 200 ), the cleaning robot ( 100 ) is configured to separate the wiping board ( 122 , 1201 ) equipped with the wiping member and the main body ( 101 ).
14 . A control method for controlling an automatic cleaning system, the method comprising:
separating, from a cleaning robot ( 100 ), a wiping board ( 122 , 1201 ) connected to the cleaning robot ( 100 ) at a wiping board separating position ( 2021 );
separating a wiping member, mounted to the wiping board ( 122 , 1201 ), from the wiping board ( 122 , 1201 ) at a wiping member separating position ( 217 , 4221 ).
15 . The control method of claim 14 , wherein the control method further includes: driving, before the separating the wiping member from the wiping board ( 122 , 1201 ), the wiping board ( 122 , 1201 ) separated from the cleaning robot ( 100 ) to move, from the wiping board separating position ( 2021 ), to the wiping member separating position ( 217 , 4221 ).
16 . The control method of claim 14 , wherein the control method further includes: mounting a replacement wiping member to the wiping board ( 122 , 1201 ) at a wiping member mounting position ( 215 , 420 ), wherein the wiping member mounting position ( 215 , 420 ) is different from the wiping member separating position ( 217 , 4221 ).
17 . The control method of claim 16 , wherein the control method further includes: driving, before the mounting the replacement wiping member to the wiping board ( 122 , 1201 ), the wiping board ( 122 , 1201 ) to move, from a wiping member separating position ( 217 , 4221 ), to the wiping member mounting position ( 215 , 420 ).
18 . The control method of claim 16 , wherein the control method further includes: mounting, at a wiping member mounting position ( 2022 ), the wiping board ( 122 , 1201 ) equipped with the replacement wiping member to the cleaning robot ( 100 ).
19 . The control method of claim 18 , wherein the control method further includes: driving, after the replacement wiping member is mounted on the wiping board ( 122 , 1201 ), the wiping board ( 122 , 1201 ) to move, from the wiping member mounting position ( 215 , 420 ), to the wiping board operating position ( 2022 ).
20 . The control method of claim 18 , wherein the control method further includes: the cleaning robot ( 100 ) move to the wiping board operating position ( 2022 ), to mount the wiping board ( 122 , 1201 ) equipped with the replacement wiping member to the cleaning robot ( 100 ).