Patent Publication Number: US-2022211241-A1

Title: Base station, and robot cleaning system and control method therefor

Description:
This application is a National Stage Application of International Application No. PCT/CN2020/088339, filed on Apr. 30, 2020, which claims benefit of and priority to Chinese Patent Application No. 201910369193.0, filed on May 5, 2019, Chinese Patent Application No. 201910729481.2, filed on Aug. 8, 2019, Chinese Patent Application No. 201911011396.9, filed on Oct. 23, 2019, Chinese Patent Application No. 201911233337.6, filed on Dec. 5, 2019, Chinese Patent Application No. 201911281590.9, filed on Dec. 13, 2019, Chinese Patent Application No. 202010112090.9, filed on Feb. 24, 2020, and Chinese Patent Application No. 201911023104.3, filed on Oct. 25, 2019, all of which are hereby incorporated by reference in their entirety for all purposes as if fully set forth herein. 
    
    
     BACKGROUND 
     Technical Field 
     The present invention relates to a base station, and a robot cleaning system and a control method therefor, and in particular, to a robot cleaning system that can automatically replace a wiping member. 
     Related Art 
     With the development of sciences and technologies and people&#39;s continuous pursuit of higher life quality, household cleaning robots including but not limited to sweeping machines, mopping machines, and window cleaning machines are gradually widely favored by users because of being capable of helping people be emancipated from heavy housework. 
     A cleaning robot usually uses a wiping member (for example, tissue or wiper) to perform cleaning work, and when traveling according to a set route, the cleaning robot drives the wiping member to move on a working surface (for example, floor or glass), to implement the cleaning work. Inevitably, as the cleaning work time is lengthened, stains attached to the wiping member are growing, and the cleaning effect deteriorates. For this reason, the dirty wiping member needs to be taken down and replaced with a clean wiping member. 
     In an existing cleaning robot, a manner of manually replacing a wiping member is usually used, and a user needs to continuously pay attention to a cleaning work process and replace a dirtied wiping member in time. This manner requires human participation and intervention to manually replace a wiping member, and the user is prone to dirty both hands during wiping member replacement. Consequently, the experience is relatively poor. 
     SUMMARY 
     To overcome defects of the prior art, the problem that the present invention needs to resolve is to provide a cleaning robot configured to automatically replace a wiping member without intervention by a user during normal working. 
     In the present invention, a technical solution adopted to solve the current technical problem is as follows: 
     A base station for a cleaning robot to park in, wherein the cleaning robot comprises 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, the base station comprises: 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. 
     Another technical solution adopted in the present invention to resolve the problem in the prior art is as follows: 
     A control method for a robot cleaning system, wherein the robot cleaning system comprises a cleaning robot and a base station for the cleaning robot to park in, the cleaning robot comprises a wiping board, for a flexible wiping member to replaceably butt to form a wiping surface to wipe a working surface, wherein the method comprises: conveying a free end of a continuous wiping base material to a cutting position; cutting the free end from the wiping base material to form the wiping member; and mounting the wiping member on the wiping board. 
     In a feasible solution, the control method further includes: separating the wiping member from the wiping board. 
     In a feasible solution, the control method further includes: separating the wiping board from the cleaning robot before the separating the wiping member from the wiping board. 
     In a feasible solution, the control method further includes: driving, before the separating the wiping member from the wiping board, the wiping board separated from the cleaning robot to move to a wiping member operating position. 
     In a feasible solution, the control method further includes: mounting the wiping board in the cleaning robot after the mounting the wiping member on the wiping board. 
     In a feasible solution, the control method further includes: moving, by the cleaning robot, a preset distance in a first direction after the separating the wiping board from the cleaning robot. 
     In a feasible solution, the control method further includes: mounting the wiping board in the cleaning robot after the moving, by the cleaning robot, a preset distance in a first direction. 
     In a feasible solution, after the wiping member is mounted on the wiping board, the cleaning robot moves the preset distance in a second direction, and the wiping board is mounted in the cleaning robot, wherein the first direction and the second direction are opposite. 
     Another technical solution adopted in the present invention to resolve the problem in the prior art is as follows: 
     A robot cleaning system, comprising a cleaning robot and a base station for the cleaning robot to park in, the cleaning robot comprises: a main body; a movable module, mounted on the main body and configured to drive the cleaning robot to move on a working surface; and a wiping board, mounted on the main body, for a flexible wiping member to detachably butt to form a wiping surface to wipe the working surface; the wiping board comprises a loading portion, configured to fix the wiping member; and the base station comprises: a storage module, configured to store a continuous wiping base material; a feeding module, configured to convey a free end of the wiping base material to a cutting position, to cause the free end to be cut from the wiping base material to form the wiping member; and an operating module, mounted on the main body or the base station and configured to act on the wiping board and/or the wiping member, to cause the wiping member to be combined with the loading portion of the wiping board. 
     In a feasible solution, the base station includes a wiping member operating position, used for receiving the wiping member to be mounted on the wiping board. 
     In a feasible solution, the cutting position is in the wiping member operating position or between the feeding module and the wiping member operating position. 
     In a feasible solution, the base station includes a cutting module, configured to act on the wiping base material between the storage module and the cutting position and cut the free end from the wiping base material to form the wiping member. 
     In a feasible solution, at least based on that the free end of the wiping base material reaches the cutting position, the feeding module locks the wiping base material on at least one side of a weak connection point of the wiping base material, to cause the free end to be cut from the wiping base material through stretching at the weak connection point. 
     In a feasible solution, the feeding module intermittently clamps the wiping base material. 
     In a feasible solution, the feeding module includes a delivery wheel, and an outer contour of the delivery wheel includes at least two curvatures, to cause a surface of the delivery wheel to intermittently come into contact with the wiping base material. 
     In a feasible solution, the feeding module is at least partially higher than the wiping member operating position, to cause the free end of the wiping base material to be at least partially conveyed to the wiping member operating position based on gravity. 
     In a feasible solution, the wiping member operating position extends in a substantially vertical direction, to cause the wiping member to expand under a gravity action. 
     In a feasible solution, the base station includes a limit device, configured to detect a position of the wiping member, to cause the feeding module to convey the wiping member to the wiping member operating position. 
     In a feasible solution, the wiping base material is wound around a rotatable shaft, and the storage module includes a mounting rack cooperating with the rotatable shaft, to cause the rotatable shaft to be mounted in the base station. 
     In a feasible solution, the mounting rack includes a first state of keeping the rotatable shaft mounted and a second state of allowing the rotatable shaft to be detached. 
     In a feasible solution, the base station includes an operating module, configured to act on the wiping member and/or the wiping board, to cause the wiping member to be combined with a loading portion of the wiping board. 
     In a feasible solution, the operating module is configured to act on the wiping member and/or the wiping board, to cause the wiping member to be separated from the loading portion of the wiping board. 
     In a feasible solution, the operating module is detachably mounted in the base station. 
     In a feasible solution, the base station includes a wiping board operating position, for the cleaning robot to mount or separate the wiping board. 
     In a feasible solution, the wiping member operating position is higher than the wiping board operating position, to form a space for the cleaning robot to park in. 
     In a feasible solution, the base station includes a driving module, configured to drive the wiping board to move between the wiping board operating position and the wiping member operating position. 
     In a feasible solution, the wiping member operating position includes a wiping member mounting position and a wiping member separating position, for the wiping board to separate or mount the wiping member, and the driving module is configured to drive the wiping board to move and/or rotate in a substantially horizontal direction to cause the wiping board to move to the wiping member mounting position or the wiping member separating position. 
     In a feasible solution, the base station includes a receiving module, configured to receive the wiping member separated from the wiping board. 
     In a feasible solution, the base station includes a separating module, configured to act on the wiping member and/or the wiping board, to cause the wiping member to be separated from a loading portion of the wiping board. 
     In a feasible solution, the receiving module is located in a moving direction of the wiping board, to cause a wiping member to compress, when moving to the separating module, the wiping member in the receiving module. 
     In a feasible solution, in at least one state, an opening of the receiving module for receiving the wiping member is at least partially lower than the wiping member operating position, to cause the wiping member to be recycled to the receiving module at least partially based on a gravity action. 
     In a feasible solution, the receiving module is detachably mounted in the base station. 
     In a feasible solution, a communication module is disposed on each of the base station and the cleaning robot, and the base station communicates with the cleaning robot to cause the base station and the cleaning robot to collaboratively replace the wiping member. 
     In a feasible solution, the base station comprises a charging module, for the cleaning robot to be charged when docking with the base station. 
     Compared with the prior art, the beneficial effects of the present invention are as follows: The base station continuously outputs the wiping base material, and cuts the free end of the outputted wiping base material to form the wiping member, for the wiping board to mount, to enable the cleaning robot to completely automatically replace the wiping member in the base station. Based on that the existing cleaning robot automatically returns to the base station for charging, the cleaning robot in this solution automatically returns to the base station to replace the wiping member. Compared with the conventional cleaning robot, after the cleaning robot wipes a surface, the user neither needs to replace the wiping member nor needs to much intervene in the base station and the cleaning robot, but only needs to mount the continuous wiping base material to the base station and throw away the used wiping member separated from the cleaning robot. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The foregoing objects, technical solutions, and beneficial effects of the present invention can be implemented with reference to the accompanying drawings below: 
         FIG. 1  to  FIG. 3  are schematic structural diagrams of a first feasible solution of a cleaning system according to a first embodiment of the present invention; 
         FIG. 4  is a schematic structural diagram of a cleaning module configured for a cleaning robot included in the cleaning system shown in  FIG. 1  to  FIG. 3 ; 
         FIG. 5  is a top view of the cleaning module shown in  FIG. 4  in a working state; 
         FIG. 6  is a side view of the cleaning module shown in  FIG. 5 ; 
         FIG. 7  and  FIG. 8  are schematic partially structural diagrams of the cleaning system according to the first embodiment of the present invention; 
         FIG. 9  is a schematic structural diagram of a first feasible solution of a base station; 
         FIG. 10  is a schematic structural diagram of a second feasible solution of the base station; 
         FIG. 11  and  FIG. 12  are schematic structural diagrams of a third feasible solution of the base station; 
         FIG. 13  is a schematic structural diagram of a fourth feasible solution of the base station; 
         FIG. 14  is a schematic structural diagram of a feasible solution of mounting a wiping base material  500  in the base station; 
         FIG. 15 a    to  FIG. 15 b    are a schematic structural diagram of a fifth feasible solution of the base station; 
         FIG. 16  is a schematic structural diagram of a sixth feasible solution of the base station; 
         FIG. 17  is a schematic structural diagram of a seventh feasible solution of the base station; 
         FIG. 18  is a schematic structural diagram of an eighth feasible solution of the base station; 
         FIG. 19  is a schematic structural diagram of a ninth feasible solution of the base station; 
         FIG. 20  is a schematic structural diagram of a tenth feasible solution of the base station; 
         FIG. 21  is a schematic structural diagram of an eleventh feasible solution of the base station; 
         FIG. 22  is a partially enlarged view of the base station according to an embodiment shown in  FIG. 21 ; 
         FIG. 23  is a schematic structural diagram of a twelfth feasible solution of the base station; 
         FIG. 24  to  FIG. 26  are schematic structural diagrams of a second feasible solution of the cleaning system according to the first embodiment of the present invention; 
         FIG. 27  to  FIG. 29  are schematic structural diagrams of a third feasible solution of the cleaning system according to the first embodiment of the present invention; 
         FIG. 30  and  FIG. 31  are schematic partially structural diagrams of a thirteenth feasible solution of the base station; 
         FIG. 32  is a schematic structural diagram of a fourth feasible solution of the cleaning system according to the first embodiment of the present invention; 
         FIG. 33  is a schematic structural diagram of a fifth feasible solution of the cleaning system according to the first embodiment of the present invention; 
         FIG. 34  and  FIG. 35  are schematic partially structural diagrams of a thirteenth feasible solution of the base station; 
         FIG. 36  is a schematic structural top view of a sixth feasible solution of the cleaning system according to the first embodiment of the present invention; 
         FIG. 37A  to  FIG. 37L  are diagrams of a process in which the base station of the first feasible solution replaces a wiping member for a cleaning robot according to a second embodiment of the present invention; 
         FIG. 38A  and  FIG. 38B  are schematic structural diagrams of a wiping board tray in an unfolded state and a folded state respectively; 
         FIG. 39A  and  FIG. 39B  are schematic structural diagrams of a loading portion in a clamped state and an opened state respectively; 
         FIG. 40  is a schematic structural exploded view of assembling an operating module and a cleaning module; 
         FIG. 41A  to  FIG. 43A  are diagrams of a process in which an operating module mounts a wiping member for a cleaning module; 
         FIG. 41B  to  FIG. 43B  are side views of  FIG. 41A  to  FIG. 43A  respectively; 
         FIG. 41C  to  FIG. 43C  are cross-sectional views of  FIG. 41A  to  FIG. 43A  respectively; 
         FIG. 44A  to  FIG. 44I  are diagrams of a process in which the base station of the second feasible solution replaces a wiping member for a cleaning robot according to the second embodiment of the present invention; 
         FIG. 45  is a schematic structural diagram of a translation and transposition mechanism in  FIG. 44A  to  FIG. 44I ; 
         FIG. 46A  to  FIG. 46L  are diagrams of a process in which the base station of the third feasible solution replaces a wiping member for a cleaning robot according to the second embodiment of the present invention; 
         FIG. 47  is a schematic structural diagram of a first feasible solution of a cleaning system according to a third embodiment of the present invention; 
         FIG. 48  is a schematic structural diagram of a wiping member collection mechanism in  FIG. 47 ; 
         FIG. 49  is a schematic structural diagram of a base station of a second feasible solution of the cleaning system according to the third embodiment of the present invention; 
         FIG. 50  is a schematic structural exploded view of the base station shown in  FIG. 49 ; 
         FIG. 51  is a schematic three-dimensional structural diagram of a base station according to a fourth embodiment of the present invention; 
         FIG. 52  is a schematic diagram of a structure in which a cleaning robot is located in the base station shown in  FIG. 51 ; 
         FIG. 53  is a schematic structural diagram of a clamping mechanism; 
         FIG. 54  is a schematic structural diagram of the base station when the clamping mechanism is in a first working state; 
         FIG. 55  is a schematic structural diagram of the base station when the clamping mechanism is in a second working state; 
         FIG. 56  is a schematic structural diagram of the base station when the clamping mechanism is in a third working state; 
         FIG. 57  is a schematic structural diagram of a base station according to a fifth embodiment of the present invention; 
         FIG. 58  is a schematic structural diagram of a base belt in  FIG. 57 ; 
         FIG. 59  is a schematic structural diagram of a first roller, a second roller, and the base belt in  FIG. 57 ; 
         FIG. 60  is a schematic structural diagram when a cleaning robot prepares to enter a base station; 
         FIG. 61  is a schematic structural diagram of a base belt in a wiping member operating position in a state in  FIG. 60 ; 
         FIG. 62  is a schematic diagram of a structure in which a cleaning member detached from a cleaning robot is located on a base belt; and 
         FIG. 63  is a schematic diagram of a structure in which a base belt moves a new cleaning member to a wiping member operating position. 
     
    
    
     DETAILED DESCRIPTION 
     By means of technical solutions provided in embodiments of the present invention, a cleaning robot can automatically replace a wiping member during wiping member replacement without intervention by a user, so that the wiping member replacement is more automated and intelligent, and a user has a better use experience. 
     As shown in  FIG. 1  to  FIG. 63 , an automatic cleaning system  300  includes a cleaning robot  100  and a base station  200 . The cleaning robot  100  includes a main body  101  and a wiping board ( 122 ,  1201 ) mounted on the main body  101 , and a flexible wiping member butts 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 can act on the working surface to perform wiping. 
     In a feasible manner, as shown in  FIG. 1  and  FIG. 14 , the base station  200  includes a storage module ( 213 ,  520 ), configured to store a wiping base material  500 . The base station  200  includes a feeding module ( 220 ,  421 ), and the feeding module ( 220 ,  421 ) is configured to convey a free end of the wiping base material  500  to a cutting position, to cut the free end from the body of the wiping base material  500 , to form the wiping member. 
     In a feasible manner, a length and a width of the wiping member are related to a length and a width of the wiping board ( 122 ,  1201 ), and both the length and the width of the wiping member are usually greater than those of the wiping board ( 122 ,  1201 ). The wiping member is obtained by cutting the free end of the wiping base material  500  from the body of the wiping base material  500 . Optionally, as shown in  FIG. 19 , the wiping base material  500  is formed by connecting several wiping members with a standard length, and a connection strength between the wiping members is relatively small. For example, a plurality of spaced holes is set between the wiping members, so that weak connection points with a relatively weak connection strength exist between the wiping members, and when two sides of the weak connection points are stressed and stretched, a wiping member can be cut from the wiping base material  500 . Optionally, as shown in  FIG. 23 , the wiping base material  500  may be made of a flexible material whose length is far greater than that of the wiping member and that has no weak connection point that is set intermediately. After the wiping base material  500  is mounted on the base station  200 , the free end of the wiping base material  500  is cut from the body of the wiping base material  500  through a cutting module  280  of the base station  200  to obtain the wiping member. 
     In a feasible manner, as shown in  FIG. 14 , one end of the wiping base material  500  is fixed to a rotatable shaft  510 , and the wiping base material  500  is wound around the rotatable shaft  510  with the one end as a start point. The storage module  520  includes a mounting rack, the mounting rack is mounted on the base station  200 , and the mounting rack matches the rotatable shaft  510  wound around the wiping base material  500 , to enable the rotatable shaft  510  to be mounted on the mounting rack. Optionally, the rotatable shaft  510  can rotate relative to the mounting rack, and when the free end of the wiping base material  500  is stressed under the action of the feeding module ( 220 ,  421 ), the wiping base material  500  drives the rotatable shaft  510  to rotate relative to the mounting rack, thereby conveying the free end of the wiping base material  500  to a far place. Optionally, the rotatable shaft  510  is mounted on the mounting rack and fixed relative to the mounting rack, and a part of the mounting rack connected to the rotatable shaft  510  may rotate under the driving of the feeding module ( 220 ,  421 ), thereby driving the rotatable shaft  510  to rotate, to convey the free end of the wiping base material  500  to a far place. In this manner, the feeding module ( 220 ,  421 ) includes a motor configured to drive the mounting rack to rotate. 
     In a feasible manner, the mounting rack includes a first state and a second state, and when the mounting rack is in the first state, the rotatable shaft  510  can be kept in a mounted state and prevented from being detached from the mounting rack; and when the user needs to mount or detach the rotatable shaft  510 , the mounting rack is in the second state, to enable the rotatable shaft  510  to be detached from the mounting rack. Optionally, the mounting rack includes a first rack and a second rack disposed oppositely and cooperating with a left end and a right end of the rotatable shaft  510  respectively. When the mounting rack is in the first state, a relative distance between the first rack and the second rack is relatively short. When the mounting rack is in the second state, a relative distance between the first rack and the second rack is relatively long. In a feasible manner, the first state of the mounting rack is a state of being mounted on the base station, the second state is a detached state, and when the mounting rack is in the detached state, the rotatable shaft  510  may be mounted on the mounting rack, or the rotatable shaft  510  may be detached from the mounting rack. 
     The base station  200  includes a wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), for the wiping board ( 122 ,  1201 ) to mount or separate the wiping member. In a feasible manner, the cutting position includes a wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ). As shown in  FIG. 46I , the feeding module ( 220 ,  421 ) conveys the free end of the wiping base material  500  to the wiping member operating position  420 , and locks the free end on a side of the weak connection point of the wiping base material  500 . In a process in which the wiping base material  500  is mounted on the wiping board ( 122 ,  1201 ), a tensile force is generated between the free end of the wiping base material  500  and the body of the wiping base material  500 , thereby cutting the body of the wiping base material  500  on the side of the weak connection point of the wiping base material  500  from the free end of the wiping base material  500  on another side of the wiping base material  500 , to form the wiping member. Optionally, after the free end of the wiping base material  500  reaches the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), the cleaning robot  100  mounts the free end of the wiping base material  500  on the wiping board ( 122 ,  1201 ); and when the cleaning robot  100  moves, the free end of the wiping base material  500  together with the wiping board ( 122 ,  1201 ) is stretched relative to the body of the wiping base material  500 , thereby being cut from the wiping base material  500 . 
     In a feasible manner, as shown in  FIG. 46I , the feeding module ( 220 ,  421 ) conveys the free end of the wiping base material  500  to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), and then stops conveying the free end. After the free end of the wiping base material  500  is fixed in the wiping member mounting position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), the feeding module ( 220 ,  421 ) stretches the wiping base material  500  in an opposite direction, to cut the body of the wiping base material  500  on the side of the weak connection point of the wiping base material  500  from the free end of the wiping base material  500  on another side of the wiping base material  500 , to form the wiping member. 
     In a feasible manner, as shown in  FIG. 1 , the base station  200  includes a cutting module  280 , configured to act on the wiping base material  500  to cut the wiping base material. Optionally, the cutting module  280  may include a device, such as a metal blade or plastic blade, configured to generate an action force on the wiping base material  500  to separate the wiping base material. The feeding module ( 220 ,  421 ) conveys the free end of the wiping base material  500  to the wiping member operating position, and then stops conveying the free end to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ). After the free end of the wiping base material  500  in the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ) and the body of the wiping base material  500  are separately locked, the cutting module  280  acts on the wiping base material  500  to cut the wiping base material, to form the wiping member. Optionally, the cutting module  280  may alternatively include a laser knife or another device configured to generate no action force on the wiping base material  500  to separate the wiping base material. The feeding module ( 220 ,  421 ) conveys the free end of the wiping base material  500  to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), and then stops conveying the free end. After the wiping base material  500  is stopped from being conveyed, the cutting module  280  cuts the free end of the wiping base material  500  from the body of the wiping base material  500 . 
     In a feasible manner, the cutting position includes an intermediate position between the feeding module ( 220 ,  421 ) and the wiping member operating position, and before the feeding module ( 220 ,  421 ) conveys the free end of the wiping base material  500  to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), the free end of the wiping base material  500  is first cut from the body of the wiping base material  500  to form the wiping member, and the feeding module ( 220 ,  421 ) then conveys the wiping member to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ). 
     In a feasible manner, the feeding module ( 220 ,  421 ) includes a delivery wheel ( 2041 ,  278 ), and optionally two delivery wheels ( 2041 ,  278 ) perform clamping, to convey the clamped wiping base material  500  outward during rotation. The wiping base material  500  is flexible. Therefore, if the wiping base material  500  has a wrinkle formed, in a process in which the delivery wheels ( 2041 ,  278 ) continuously clamp the wiping base material  500  to perform rotation, the wrinkle cannot be unfolded. As a result, the wiping member formed after the free end of the wiping base material  500  is cut also keeps a specific wrinkle morphology, and consequently the wiping member cannot be mounted on the wiping board in a straightly unfolded state. Therefore, the delivery wheels ( 2041 ,  278 ) intermittently clamp the wiping base material  500 , to cause the wiping base material  500  to be not stressed intermittently during motion and be naturally flattened. Optionally, the outer contour of the delivery wheel ( 2041 ,  278 ) includes at least two curvatures, for example, ellipse, to cause the delivery wheel ( 2041 ,  278 ) to be pressed sometimes and separated sometimes during rotation. Optionally, the delivery wheel ( 2041 ,  278 ) intermittently automatically separates, to cause the delivery wheel ( 2041 ,  278 ) to be separated from another surface in contact with the delivery wheel. Optionally, to prevent the free end of the wiping base material  500  from dropping when the feeding module ( 220 ,  421 ) is separated, the storage module ( 213 ,  520 ) may be provided with a damper, or the delivery wheel ( 2041 ,  278 ) may be provided with a damper. 
     In a feasible manner, as shown in  FIG. 1  and  FIG. 37A , the feeding module ( 220 ,  421 ) is at least partially higher than the wiping member operating position. Because the feeding module ( 220 ,  421 ) conveys the free end of the wiping base material  500  to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), when the feeding module ( 220 ,  421 ) is higher than the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), the wiping base material  500  can move to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ) partially in dependence on gravity. 
     In a feasible manner, as shown in  FIG. 44A , the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ) extends in a substantially vertical direction. Based on that the feeding module ( 220 ,  421 ) is higher than the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), as long as the feeding module ( 220 ,  421 ) outputs the wiping base material  500  outward, the wiping base material  500  can naturally expand in the wiping member operating position in dependence on gravity, and it is not required that another device changes the moving direction of the wiping base material  500  to cause the moving direction to correspond to the extending direction of the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ). 
     In a feasible manner, the base station  200  includes a limit module, configured to detect the position of the wiping member, to enable the wiping member to be cut with a substantially accurate length and be conveyed to a substantially accurate position. Optionally, the limit module includes a sensor assembly  261 , configured to detect an edge of the wiping member, and the sensor assembly  261  is disposed on a boundary of the wiping member mounting position. When the sensor assembly  261  has detected the edge of the wiping member, it indicates that the feeding module ( 220 ,  421 ) has conveyed the wiping member to the wiping member operating position, and then the feeding module ( 220 ,  421 ) stops conveying the wiping member outward. Optionally, the sensor assembly  261  is configured to detect a position tag of the wiping member. As shown in  FIG. 19 , the sensor assembly  261  is disposed at another edge of the wiping member operating position, and the sensor assembly  261  is configured to detect a position tag disposed on the wiping base material  500 , for example, holes spaced at the weak connection points of the wiping base material  500 . When the sensor assembly  261  has detected the position tag, it indicates that the feeding module ( 220 ,  421 ) has conveyed the wiping member to the wiping member operating position, and then the feeding module ( 220 ,  421 ) stops conveying the wiping member outward. 
     In a feasible manner, as shown in  FIG. 4  to  FIG. 8 , the wiping board ( 122 ,  1201 ) includes a loading portion ( 123 ,  127 ), and by being combined with the loading portion ( 123 ,  127 ), the wiping member is fixed to the wiping board ( 122 ,  1201 ). Specifically, the loading portion ( 123 ,  127 ) may include a clamping structure configured to clamp at least a part of the edge of the wiping member between the loading portion ( 123 ,  127 ) and the wiping board ( 122 ,  1201 ) in a mechanical manner, or at least a part of the edge of the wiping member is fixed to the wiping board ( 122 ,  1201 ) by pasting the wiping member. 
     In a feasible manner, the automatic cleaning system  300  includes an operating module ( 125 ,  400 ), and the operating module ( 125 ,  400 ) is optionally mounted on the main body  101  of the cleaning robot  100  or mounted on the base station  200 , or may be partially mounted on the main body  101  of the cleaning robot  100  and partially mounted on the base station  200 . The operating module ( 125 ,  400 ) corresponds to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ) of the base station  200 . When the wiping board ( 122 ,  1201 ) and the wiping member are both located at the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), the operating module ( 125 ,  400 ) may act on the wiping board ( 122 ,  1201 ) and/or the wiping member, and cooperate with the loading portion ( 123 ,  127 ) of the wiping board ( 122 ,  1201 ), to mount the wiping member on the wiping board ( 122 ,  1201 ). Optionally, the operating module ( 125 ,  400 ) is detachably mounted on the cleaning robot  100  or the base station  200 , to facilitate maintenance. Optionally, the operating module ( 125 ,  400 ) not only may be used for mounting the wiping member on the wiping board ( 122 ,  1201 ), but also may be used for separating the wiping member from the wiping board ( 122 ,  1201 ). Optionally, as shown in  FIG. 46A , the operating module ( 125 ,  400 ) is only used for mounting the wiping member on the wiping board ( 122 ,  1201 ), the base station  200  further includes a separating module  422 , and the separating module  422  is 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 ). 
     In a feasible manner, as shown in  FIG. 1  and  FIG. 51 , the base station  200  includes a receiving module ( 211 ,  15 ,  206 ,  240 ), configured to receive the wiping member separated from the wiping board ( 122 ,  1201 ). Optionally, an opening on the receiving module ( 211 ,  15 ,  206 ,  240 ) is provided for the user to place a bag for storing wiping members into the receiving module ( 211 ,  15 ,  206 ,  240 ). When the bag for storing wiping members is insufficient in capacity, the base station  200  may perform detection and remind the user to perform replacement. Optionally, the receiving module ( 211 ,  15 ,  206 ,  240 ) is detachable. After the user detaches the receiving module ( 211 ,  15 ,  206 ,  240 ) from the base station  200 , the wiping member stored in the receiving module ( 211 ,  15 ,  206 ,  240 ) is poured. 
     In a feasible manner, a wiping member recycling module generates an action force on the wiping member separated from the wiping board ( 122 ,  1201 ), and recycles the wiping member into the receiving module ( 211 ,  15 ,  206 ,  240 ). A specific implementation of the wiping member recycling module is described in detail in the following embodiments. 
     In a feasible manner, as shown in  FIG. 37A  to  FIG. 43 , the operating module  400  is mounted on the base station  200 . In this embodiment, the base station  200  includes the wiping board operating position ( 215 ,  2021 ,  2022 ,  2023 ,  218 ,  13 ), for the cleaning robot  100  to assemble or separate the wiping board ( 122 ,  1201 ) equipped with the wiping member and the main body  101 . When the cleaning robot  100  returns to the base station  200 , the cleaning robot  100  separates the wiping board ( 122 ,  1201 ) equipped with the wiping member and the main body  101 . The base station  200  includes a driving module ( 207 ,  205 ,  412 ), and the driving module ( 207 ,  205 ,  412 ) moves the wiping board ( 122 ,  1201 ) separated from the main body  101  to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), to cause the operating module ( 125 ,  400 ) to separate the used wiping member and the wiping board ( 122 ,  1201 ). Optionally, the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ) is higher than the wiping board operating position. As shown in  FIG. 37 , a space is formed between the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ) and the wiping board operating position, for the cleaning robot  100  to park in. This solution may optimize the size of the base station  200  in the horizontal direction, to make the structure of the base station  200  more compact. 
     In a feasible manner, as shown in  FIG. 46A , the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ) includes a wiping member separating position  4221  and a wiping member mounting position  420 , and the wiping member separating position and the wiping member mounting position  420  are basically on a same horizontal plane, to enable the driving module ( 207 ,  205 ,  412 ) to drive the wiping board in the horizontal direction to move between the wiping member separating position and the wiping member mounting position  420 . 
     In a feasible manner, the opening of the receiving module ( 211 ,  15 ,  206 ,  240 ) used for receiving the wiping member is lower than the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ) in at least one state, specifically, lower than the wiping member separating position  217 . As shown in  FIG. 1 , in an implementation, the cleaning robot  100  separates the wiping member in the wiping member separating position  217 , and the receiving module ( 211 ,  15 ,  206 ,  240 ) is disposed below the wiping member separating position  217 , to cause the wiping member to drop into the receiving module ( 211 ,  15 ,  206 ,  240 ). In the manner, wiping members compress each other in dependence on their own gravity, to enable the receiving module ( 211 ,  15 ,  206 ,  240 ) to receive more wiping members. As shown in  FIG. 37A , in an implementation, the opening of the receiving module ( 211 ,  15 ,  206 ,  240 ) is higher than the wiping member separating position  217  in a state and lower than the wiping member separating position  217  in another state. In this implementation, the receiving module  211  may move in the height direction, to form a space in the base station  200 , for the cleaning robot  100  to park in. When the cleaning robot  100  parks in the base station  200 , a distance between the receiving module ( 211 ,  15 ,  206 ,  240 ) and a bottom surface of the base station  200  is greater than the height of the cleaning robot  100 . Optionally, the receiving module ( 211 ,  15 ,  206 ,  240 ) is driven by the driving module ( 207 ,  205 ,  412 ) to move in the height direction, that is, the driving module ( 207 ,  205 ,  412 ) drives both the wiping board ( 122 ,  1201 ) and the receiving module ( 211 ,  15 ,  206 ,  240 ) to move. 
     In a feasible manner, the receiving module  211  is located in the moving direction of the wiping board ( 122 ,  1201 ). As shown in  FIG. 46 , the receiving module ( 211 ,  15 ,  206 ,  240 ) includes a recycling box  206 , and the driving module ( 207 ,  205 ,  412 ) drives the wiping board ( 122 ,  1201 ) to move toward the recycling box  206 , to separate the wiping member and the wiping board ( 122 ,  1201 ) in the recycling box  206 . Further, when the driving module ( 207 ,  205 ,  412 ) drives the wiping board ( 122 ,  1201 ) to move toward the recycling box  206 , the wiping board ( 122 ,  1201 ) compresses wiping members in the recycling box  206 , to help the recycling box  206  store more wiping members. 
     In a feasible manner, a control method for an automatic cleaning system  300  includes the following steps: 
     conveying a free end of a continuous wiping base material  500  to a cutting position; 
     cutting the free end of the wiping base material  500  from the wiping base material  500  to form a wiping member; and 
     mounting the wiping member on a wiping board ( 122 ,  1201 ). 
     The cutting the free end of the wiping base material  500  from the wiping base material  500  and the mounting the wiping member on the wiping board ( 122 ,  1201 ) may be performed simultaneously; or the wiping member may be first mounted on the wiping board ( 122 ,  1201 ), and then the free end of the wiping base material  500  is cut from the wiping base material  500 . 
     Specifically, the conveying a free end of a continuous wiping base material  500  to a cutting position includes: conveying the free end of the wiping base material  500  stored in a storage module  213  to the cutting position through a feeding module ( 220 ,  421 ). 
     The mounting the wiping member on a wiping board ( 122 ,  1201 ) includes: mounting the wiping member on a loading portion ( 123 ,  127 ) of the wiping board ( 122 ,  1201 ) through an operating module ( 125 ,  400 ). 
     The cutting the free end from the wiping base material  500  to form a wiping member includes: cutting, through locking and/or stretching of the feeding module ( 220 ,  421 ) for the wiping base material  500 , the free end from the wiping base material  500  to form the wiping member. 
     The cutting the free end from the wiping base material  500  to form a wiping member includes: cutting, through a cutting module  280 , the free end from the wiping base material  500  to form the wiping member. 
     In a feasible manner, a control method for an automatic cleaning system  300  includes the following steps: separating a wiping member from a wiping board ( 122 ,  1201 ). After the wiping member and the wiping board ( 122 ,  1201 ) are separated, a new wiping member is mounted on the wiping board through the foregoing steps, to automatically replace the wiping member. 
     In a feasible manner, a control method for an automatic cleaning system  300  includes the following steps: separating, before the separating a wiping member from a wiping board ( 122 ,  1201 ), the wiping board ( 122 ,  1201 ) and a cleaning robot  100 . After the wiping board ( 122 ,  1201 ) and the cleaning robot  100  are separated, a base station  200  operates only the separated wiping board ( 122 ,  1201 ) equipped with the wiping member, to cause the wiping board to replace the wiping member. 
     In a feasible manner, as shown in  FIG. 37A  to  FIG. 43 , a control method for an automatic cleaning system  300  includes the following steps: driving, before the separating a wiping member from a wiping board ( 122 ,  1201 ), the wiping board separated from the cleaning robot to move to a wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ). In this implementation, the separation of the wiping board ( 122 ,  1201 ) and the cleaning robot  100  is completed in the wiping board operating position, and the separation of the wiping member and the wiping board ( 122 ,  1201 ) is completed in the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ). Therefore, after the wiping board ( 122 ,  1201 ) and the cleaning robot  100  are separated, the driving module ( 207 ,  205 ,  412 ) moves the wiping board ( 122 ,  1201 ) from the wiping board operating position to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ), and then completes replacement of the wiping member. 
     In a feasible manner, a control method for an automatic cleaning system  300  includes the following steps: mounting the wiping board ( 122 ,  1201 ) in the cleaning robot  100  after the mounting the wiping member on the wiping board ( 122 ,  1201 ). 
     In a feasible manner, a control method for an automatic cleaning system  300  includes the following steps: moving, by the cleaning robot  100 , a preset distance in a first direction after the separating the wiping board ( 122 ,  1201 ) from the cleaning robot  100 . As shown in  FIG. 37A  to  FIG. 43 , because the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ) is located above the wiping board operating position, after the wiping board ( 122 ,  1201 ) and the cleaning robot are separated, the driving module ( 207 ,  205 ,  412 ) drives a wiping board from the wiping board operating position to the wiping member operating position ( 2021 ,  2022 ,  215 ,  217 ,  218 ,  13 ,  4221 ,  420 ). If the cleaning robot  100  parks in the wiping board operating position, the main body  101  of the cleaning robot  100  hinders the driving module ( 207 ,  205 ,  412 ) from driving the wiping board ( 122 ,  1201 ) to move in the vertical direction. Therefore, the cleaning robot  100  moves in the first direction, and preferably the first direction is a direction opposite to the moving direction of the cleaning robot  100 , to make space for movement of the wiping board ( 122 ,  1201 ). 
     In a feasible manner, a control method for an automatic cleaning system  300  includes the following steps: As shown in  FIG. 44 , mounting the wiping board ( 122 ,  1201 ) in the cleaning robot  100  after the moving, by the cleaning robot  100 , a preset distance in a first direction. In this implementation, the base station  200  includes a wiping board mounting position  2022  and a wiping board separating position  2021 . After the cleaning robot  100  separates the wiping board ( 122 ,  1201 ) in the wiping board separating position  2021 , the cleaning robot moves in the first direction to reach the wiping board mounting position. Preferably, the first direction is a direction opposite to the moving direction of the cleaning robot  100 . 
       FIG. 44A  to  FIG. 44I  show an embodiment in which the wiping board mounting position and the wiping board separating position are separated. In the embodiment, the separating and assembling of the wiping board ( 122 ,  1201 ) and the cleaning robot  100  are completed in different positions respectively. Certainly, in some embodiments, the wiping board mounting position and the wiping board separating position may be a same position, that is, the separating and assembling of the wiping board ( 122 ,  1201 ) and the cleaning robot  100  are completed in a same position, as shown in embodiments in  FIG. 1  to  FIG. 36 ,  FIG. 37A  to  FIG. 37L ,  FIG. 46A  to  FIG. 46L , and  FIG. 58  to  FIG. 63 . In these embodiments, the wiping board operating position not only serves as the wiping board mounting position, but also serves as the wiping board separating position. 
     In a feasible manner, a control method for an automatic cleaning system  300  includes the following steps: As shown in  FIG. 37 , in this implementation, the wiping board operating position of the base station  200  is provided for the cleaning robot  100  to separate and mount the wiping board ( 122 ,  1201 ) in a same position, and after the wiping member is mounted on the wiping board ( 122 ,  1201 ), the cleaning robot  100  moves the preset distance in a second direction to return to the wiping board operating position, and the wiping board ( 122 ,  1201 ) is mounted in the cleaning robot  100 , where the first direction and the second direction are opposite. 
       FIG. 1  to  FIG. 36  are accompanying drawings involved in a first embodiment of the present invention.  FIG. 1  to  FIG. 3  are schematic structural diagrams of a first feasible solution of an automatic cleaning system  300  according to this embodiment of the present invention, where the cleaning system includes a cleaning robot  100  and a base station  200 . The cleaning robot  100  may be an automatic mopping machine, or an automatic mopping and sweeping integrated machine, or an automatic sweeping machine. The cleaning robot  100  works in a working region to complete tasks such as mopping and sweeping. When the cleaning robot needs to return to the base station  200 , for example, when it is detected that a wiping member needs to be replaced or the cleaning robot  100  needs to be charged, a returning program is started, and the cleaning robot  100  returns to the base station  200  to complete automatic replacement of a wiping member or charging. 
     As shown in  FIG. 1 , the cleaning robot  100  includes a main body  101 , and a movable module disposed at the bottom of the main body  101  and configured to drive the main body  101  to move on a working surface. The movable module includes a walking wheel  110 . It may be understood that, the movable module may alternatively include a tracked structure. The cleaning robot  100  further includes a cleaning mechanism. In this embodiment, a cleaning module  120  serves as the cleaning mechanism, and the cleaning robot  100  performs mopping work on the working surface through the cleaning module  120 . In another embodiment, the cleaning mechanism of the cleaning robot  100  may further include a roller brush and a side brush, which are configured to clean sundries such as dust on a ground, a corner, and the like, the sundries are relatively concentrated at the roller brush by using the side brush for processing, and the dust is collected into a dust-collecting box. 
     The cleaning robot  100  further includes a power mechanism, a power source, and a sensor system. The power mechanism includes a motor and a transmission mechanism connected to the motor, the transmission mechanism is connected to the mobile module, the motor drives the transmission mechanism to work, and a transmission effect of the transmission mechanism enables the mobile module to move. The transmission mechanism may be a worm gear and worm mechanism, a bevel gear mechanism, or the like. 
     The power source of the cleaning robot  100  is configured to provide energy to the cleaning robot  100  and provide power to the power mechanism to enable the cleaning robot  100  to move and work. The power source is usually set as a battery pack. When energy consumption of the battery pack reaches a threshold, the cleaning robot  100  automatically returns to the base station  200  to replenish energy, and continues to work after charging ends. 
     The sensor system of the cleaning robot  100  includes a cliff sensor, configured to change a walk policy if existence of a cliff is detected; a side sensor, configured to generate a policy of walking along a side if a side of a working region is detected; a tilt sensor, configured to change a working policy and send an indication to a user if tilt of a machine is detected; and various other common sensors. Details are not described herein again. 
     The cleaning robot  100  further includes a control module that may be an embedded digital signal processor, a microprocessor, an application-specific integrated circuit, a central processing unit, a field programmable gate array, or the like. The control module may control work of the cleaning robot  100  according to a preset condition or according to an instruction received by the cleaning robot  100 . Specifically, the control module may control the movable module to walk randomly in a working region of the cleaning robot  100  or walk according to a preset walking path. While the movable module drives the cleaning robot  100  to walk, the cleaning mechanism works, so as to clear stains, dust, and the like on a surface of the working region. 
     In this embodiment, the cleaning module  120  is equipped with a wiping member, configured to wipe dust on the working surface or stains attached to the working surface. The wiping base material  500  may be cut into at least two wiping members, and the wiping member is sheet-shaped, has a thickness less than  0 . 5  cm, and includes natural fabrics such as cotton or linen, chemical fabrics such as polyester fiber or nylon fiber, or a sponge product such as rubber or cellulose sponge, a paper product such as original wood pulp or absorbent cotton, or a disposable soft article such as the foregoing synthetic product. In an embodiment, the wiping member can generate static electricity through friction with the working surface, and is, for example, electrostatic paper, thereby adsorbing hair, dust, and the like on the working surface. In an embodiment, the wiping member has a water absorption function and integrity of the wiping member can be kept in a period of time. 
     In this embodiment, the base station  200  includes a storage device, configured to store a wiping base material  500 . The storage device includes a receiving module  211  and a storage module  213 , the receiving module  211  is configured to store a used wiping member, and the storage module  213  is configured to store the to-be-used wiping base material  500 . 
     As shown in  FIG. 2 , the base station  200  includes a wiping member separating position  217  and a wiping member mounting position  215 . When the cleaning robot  100  returns to the base station  200  and moves to the wiping member separating position  217 , the wiping member mounted in the cleaning robot  100  is located above the wiping member separating position  217 , the used wiping member may be separated, and the separated wiping member enters the receiving module  211 . 
     As shown in  FIG. 3 , after being separated from the wiping member in the wiping member separating position  217 , the cleaning robot  100  retreats to the wiping member mounting position  215 . In this embodiment, the base station  200  includes a feeding module  220 , configured to export the wiping member from the storage module  213  to the wiping member mounting position  215 , for the cleaning robot  100  to mount. Under the action of the feeding module  220 , the wiping member is exported from the storage module  213 , and is moved to the wiping member mounting position  215  in a direction substantially parallel to the wiping member mounting position  215 , and the wiping member is kept as flat as possible. 
     The wiping base material  500  in the storage module  213  is continuous. Therefore, after the length of the wiping member on the wiping member mounting position  215  meets a preset length, the feeding module  220  stops working. The base station  200  further includes a limit module, configured to detect the length of the wiping member on the wiping member mounting position  215 , and a control module is configured to control the feeding module  220  according to a detection result of the limit module. In this embodiment, the wiping member separating position  217  and the wiping member mounting position  215  are in different positions of the base station  200 . In other embodiments, the wiping member separating position  217  and the wiping member mounting position  215  may partially or completely coincide. 
     Optionally, the base station  200  includes a flattening module  250 . The wiping member is relatively soft and prone to wrinkle. Therefore, after the feeding module  220  exports the free end of the wiping base material  500 , to make it convenient for the cleaning robot  100  to normally mount the wiping member, the wiping member needs to keep a relatively flat state, and the flattening module  250  keeps the wiping member flat by means of airflow, a pressing rod, or the like. 
     Optionally, the base station  200  includes a cutting module  280 , configured to separate the free end of the wiping base material  500  on the wiping member mounting position  215  and the wiping base material  500  in the storage module  213 . To ensure that after being completely mounted by the user, the wiping base material  500  in the storage module  213  can continue to be exported under the action of the feeding module  220 , the wiping base material  500  stored in the storage module  213  is continuous. If the limit module detects that the length of the wiping member meets the preset length, the free end of the wiping base material  500  on the wiping member mounting position  215  and the wiping base material  500  in the storage module  213  need to be separated. 
     In a case, the continuous wiping base material  500  in the storage module  213  is formed by connecting several wiping members with a standard length, and has a relatively small connection strength, and the cleaning robot  100  may naturally separate the wiping member during mounting of the wiping member process. In another case, when the wiping member on the wiping member mounting position  215  meets the preset length, the cutting module  280  works to separate the free end and the body of the wiping base material  500 . 
     In this embodiment, the wiping member mounting position  215  includes a first position away from the storage module  213  and a second position close to the storage module  213 . When the wiping member reaches the second position, it indicates that the length of the wiping member on the wiping member mounting position  215  meets a preset length requirement, the control module may control the feeding module  220  to stop working. The storage module  213  includes an exit  2111 , and the width of the exit  2111  is greater than the width of the wiping member. The feeding module  220  exports the wiping base material  500  from the exit  2111  to the wiping member mounting position  215 . Optionally, the storage module  213  includes a pivotable cover body  2113 , for the user to open to replace the wiping base material  500 . The receiving module  211  includes an exit, for the user to open to dispose of the used wiping member stored in the receiving module  211 . Optionally, the receiving module  211  includes a rubbish bag receiving structure, the user may load a rubbish bag into the receiving module  211 , the used wiping member is directly stored in the rubbish bag, and the user may directly take the rubbish bag out from the exit. 
     In an embodiment, the storage module  213  is provided with a mounting rack parallel to the ground, and two ends of the mounting rack are supported by bearings. Correspondingly, the storage module  213  may store the wiping base material  500  in the form of a roller-type wiping base material  500 , and includes a cylindrical hollow rolling body, wrapped with the wiping base material  500  whose length is far greater than that required for single-time use. The user may mount the hollow rolling body in the storage module  213  through the mounting rack, to enable the hollow rolling body to rotate around the mounting rack. 
     In an embodiment, the movable module includes an auxiliary wheel  102 . When the cleaning robot  100  returns to the base station  200 , the cleaning module  120  is raised, the auxiliary wheel  102  is lowered, and the movable module drives the cleaning robot  100  to enter the base station  200 . Before the cleaning robot  100  starts a wiping member mounting program, the cleaning module  120  is kept in a raised state. When the cleaning robot  100  starts the wiping member mounting program, the auxiliary wheel  102  is raised, and the cleaning module  120  is lowered to the wiping member mounting position  215  to complete mounting of the wiping member. 
     As shown in  FIG. 4 , the cleaning module  120  includes an obtaining unit  121 , configured to obtain a new wiping member or separate an old wiping member, thereby performing wiping member replacement without intervention by a user. As shown in  FIG. 4 , in this embodiment, the obtaining unit  121  includes a wiping board  122  and a clamping assembly  123 . The clamping assembly  123  includes external clamping components  1231  and an internal clamping component  1233 , and is mounted on the wiping board  122  through a transmission assembly  125 . 
     The transmission assembly  125  includes a first horizontal gear  1251 , a second horizontal gear  1253 , and an intermediate gear  1255 . There are two external clamping components  1231 , respectively disposed on two opposite sides of the wiping board  122 . The first horizontal gear  1251  and the second horizontal gear  1253  are respectively fixedly connected to the two external clamping components  1231 , to cause the first horizontal gear  1251 , the second horizontal gear  1253 , and the two external clamping components  1231  to move simultaneously. The first horizontal gear  1251  and the second horizontal gear  1253  are meshed through the intermediate gear  1255 , and always reciprocate in opposite directions. The first horizontal gear  1251  and the external clamping component  1231  are connected, to cause the first horizontal gear  1251  and the external clamping component  1231  to reciprocate simultaneously. The intermediate gear  1255  is driven by a motor. When the intermediate gear  1255  rotates around the first direction, the first horizontal gear  1251  and the second horizontal gear  1253  contract inward simultaneously, to drive the two external clamping components  1231  to contract inward. When the external clamping component  1231  contracts inward, the internal clamping component  1233  also contracts inward. A spring component (not shown) and the internal clamping component  1233  are connected, and when the internal clamping component  1233  is in a state of contracting inward, the spring component is in a compressed state. When the motor drives the intermediate gear  1255  to rotate around the second direction, a compression force of the spring component pushes outward, and the internal clamping component  1233  connected to the spring component also separates outward together. 
     In an embodiment, a spring (not shown) is disposed on an end portion of the second horizontal gear  1253 , and when the first horizontal gear  1251  reciprocates, the spring is repeatedly compressed and loosened. If the intermediate gear  1255  drives the first horizontal gear  1251  to move inward, the spring is compressed, and the external clamping components  1231  clamp the wiping member. If the intermediate gear  1255  drives the external first horizontal gear  1251  to move outward, the compression force of the compressed spring is used for causing the external clamping components  1231  to separate outward, to release the wiping member sandwiched between the internal clamping component  1233  and the external clamping components  1231 . In other embodiments, an end portion of the first horizontal gear  1251  may also be provided with a spring, thereby forming a double compression force. 
     As shown in  FIG. 5  and  FIG. 6 , when the cleaning robot  100  moves to the base station  200  to obtain the wiping member, the wiping member is detachably fixed to the cleaning robot  100  under the action of the obtaining unit  121 . When the intermediate gear  1255  rotates around the first direction (for example, a clockwise direction shown in  FIG. 5 ), the external clamping components  1231  horizontally move inward, pawls of the external clamping components  1231  drive two sides of the wiping member to move inward, to cause a part of the wiping member close to the pawl to protrude upward. When the external clamping components  1231  and the internal clamping component  1233  are in contact, the wiping member protruding upward is clamped between the external clamping components and the internal clamping component. An inner side of the internal clamping component  1233  includes an inclined surface. When the external clamping components  1231  drive the internal clamping component  1233  to further move inward, the inclined surface of the internal clamping component  1233  butts the wiping board  122 , to cause the internal clamping component  1233  to move in a direction along the inclined surface and drive the external clamping component  1231  to move in the direction along the inclined surface. Correspondingly, the wiping member between the external clamping components  1231  and the internal clamping component  1233  also moves upward accordingly, and the wiping member below the wiping board  122  is tensioned. After the intermediate gear  1255  cannot continue to rotate, the external clamping components  1231  and the internal clamping component  1233  reach a tensioned position. In this case, the wiping member has been maximally tensioned and clamped between the external clamping components  1231  and the internal clamping component  1233 , and is not prone to fall off during working. 
     As shown in  FIG. 7  and  FIG. 8 , in an embodiment, the obtaining unit  121  of the cleaning robot  100  includes a wiping board  122  and a sticking assembly  127 , and the sticking assembly  127  is mounted on two sides of the wiping board  122 . When being in contact with the sticking assembly  127 , the wiping member may be relatively stably pasted to the sticking assembly  127 , to cause the wiping member to be mounted on the wiping board  122 . Specifically, the sticking assembly  127  may be a device detachably connected to the wiping member, such as a magic fastener. 
     The base station  200  includes an operating module  290 , configured to assist in mounting the wiping member on the cleaning robot  100 . The operating module  290  is disposed below the wiping member mounting position  215 , and includes a first pressing board and a second pressing board. When the cleaning robot  100  reaches the wiping member mounting position  215 , the first pressing board and the second pressing board pivot upward, to attach the wiping member on the first pressing board and the second pressing board to the sticking assembly  127 . 
     As shown in  FIG. 8 , in this embodiment, the first pressing board and the second pressing board are respectively mounted on the first gear and the second gear, the first gear and the first rack are engaged, the second gear and the second rack are engaged, and the first rack and the second rack are connected, to move in a same direction. Specifically, a gear core of the first gear is relatively fixedly mounted on the base station  200 , and the first gear may rotate relative to the gear core. The second gear is similar to the first gear. The first gear is mounted above the first rack, and the second gear is mounted below the second rack. When the first rack and the second rack move in a direction toward the first rack, the first gear clockwise rotates, thereby driving the first pressing board to clockwise rotate; but the second gear counterclockwise rotates, thereby driving the second pressing board to counterclockwise rotate. To match action surfaces of the first pressing board and the second pressing board, two corresponding sides of the wiping board  122  are inclined surfaces, that is, the sticking assembly  127  is disposed on the two inclined surfaces of the wiping board  122 , thereby being laminated with the first pressing board and the second pressing board. 
     As shown in  FIG. 9 , the feeding module  220  includes a rolling wheel assembly  221 . In this embodiment, the rolling wheel assembly  221  includes a driving rolling wheel and a driven rolling wheel, and the motor drives the driving rolling wheel to rotate around the first direction, thereby driving the driven rolling wheel to rotate around the second direction. The free end of the wiping base material  500  is sandwiched between the rolling wheel assembly  221 , a pressure between the driving rolling wheel and the driven rolling wheel forms a friction force on the wiping base material  500 , thereby driving the wiping base material  500  to leave the hollow rolling body, to reach the wiping member mounting position  215 . In other embodiments, the rolling wheel assembly  221  may include more than two rolling wheels, for example, two groups of rolling wheels cooperating with each other, the wiping base material  500  is exported under the driving of the two groups of rolling wheels, and a larger traction force may be provided. In other embodiments, the rolling wheel assembly  221  may include one rolling wheel, the rolling wheel acts on a surface of the base station  200 , and a friction force on the wiping base material  500  is used for driving the free end of the wiping base material  500  to be exported while the rolling wheel is rotating. 
     As shown in  FIG. 10 , the flattening module  250  includes a fan  251 . When the feeding module  220  works, the control module controls the fan  251  to work, and an air outlet of the fan  251  faces the first position, so that a flowing direction of gas at the air outlet of the fan  251  is substantially from the second position to the first position, and the wiping member moves toward the first position under the driving of airflow. Further, because the airflow at the air outlet of the fan  251  generates an action force on the wiping member in a direction parallel to the wiping member, the wiping member keeps an unfolded state in a horizontal direction. 
     In an embodiment, a cavity in which an air inlet of the fan  251  is located and air in the wiping member mounting position  215  are in communication, and the air outlet faces an outer side of the base station  200 . After the wiping member is exported to the wiping member mounting position  215 , the gas near the wiping member mounting position  215  flows into the fan  251 , thereby generating a negative pressure in the wiping member mounting position  215 , to adsorb the wiping member in the wiping member mounting position  215 . Therefore, the wiping member is insusceptible to an external force, and can park in the wiping member mounting position  215  in a relatively stable state, to wait for the cleaning robot  100  to mount. 
     As shown in  FIG. 11 , the fan  251  includes two air intake channels, a first air intake channel is directly in communication with outside of the base station  200 , and does not affect other modules of the base station  200 , and a second air intake channel and the wiping member mounting position  215  are in communication. A valve such as a three-way valve is mounted between the two air intake channels and the air inlet of the fan  251 . The air outlet of the fan  251  acts on the wiping member along a direction of exporting the wiping member. In the process of exporting the wiping member, the air inlet of the fan  251  and the first air intake channel are in communication, the control module controls the valve to close the second air intake channel, and the wiping member is exported to the wiping member mounting position  215  with the aid of the fan  251 . As shown in  FIG. 12 , after the wiping member reaches the wiping member mounting position  215 , the air inlet of the fan  251  and the second air intake channel are in communication, and the control module controls the valve to close the first air intake channel. The wiping member mounting position  215  generates a negative pressure under the action of the fan  251 , to adsorb the wiping member in the wiping member mounting position  215 . 
     As shown in  FIG. 13 , the flattening module  250  includes a synchronization belt assembly  253  that specifically includes a front wheel, a rear wheel, and a synchronization belt disposed around the front wheel and the rear wheel, and the front wheel or the rear wheel drives the synchronization belt to move. After the feeding module  220  exports the wiping member to a position of the front wheel, the synchronization belt drives the wiping member to move toward the first position. In this embodiment, to cause the synchronization belt to better drive the wiping member, a felt is disposed on the synchronization belt, and a relatively large friction force is generated after the felt and the wiping member come into contact, to assist the wiping member in moving toward the first position. Moreover, after the wiping member reaches the wiping member mounting position  215 , the wiping member is not prone to move under the action of the felt, to prevent the wiping member from wrinkling. 
     As shown in  FIG. 15 a    and  FIG. 15 b   , the flattening module  250  includes a pressing rod  255 , and the pressing rod  255  acts on the wiping member and moves toward the second position, to cause the wiping member to be tensioned with movement of the pressing rod  255 . In this embodiment, the pressing rod  255  and a four-bar assembly  257  are connected, the four-bar assembly  257  includes a rack, a connecting rod, and a crank, and the rack is fixed to the base station  200 , and coincides with the second point of the wiping member mounting position  215  in a height direction. The connecting rod moves in the height direction and the horizontal direction under the driving of the crank, and the pressing rod  255  and the connecting rod are connected through a tension spring. When the connecting rod is in a position A, the pressing rod  255  is located at a highest point in the height direction, and is not in contact with the wiping member mounting position  215 . When the connecting rod is in a position B, the pressing rod  255  is in contact with the wiping member mounting position  215 . When the connecting rod is in a position C, the pressing rod  255  reaches a lowest point under the driving of the connecting rod, and the tension spring generates a pressure on the pressing rod  255 , thereby generating a pressure on the wiping member in the wiping member mounting position  215 . When the connecting rod is in a position D, the pressing rod  255  moves toward the second position, thereby pulling the wiping member between the pressing rod  255  and the wiping member mounting position  215  to move toward the second position. In this embodiment, the second position of the wiping member mounting position  215  is provided with a groove  2150 , to cause the pressing rod  255  to be pressed by the tension spring downward into the groove  2150 , to pull the wiping member to be tensioned downward. When the cleaning robot  100  completes mounting, the connecting rod is controlled to move upward to a position E, and the pressing rod  255  leaves the wiping member mounting position  215 . 
     As shown in  FIG. 16 , the pressing rod  255  is mounted on the synchronization belt assembly  253 , and moves in synchronization with the synchronization belt assembly  253 . When the free end of the wiping base material  500  is exported from the storage module  213  to the first position, the synchronization belt assembly  253  counterclockwise rotates to cause the pressing rod  255  to move downward to a position a. When the pressing rod  255  is in a lowest position, the pressing rod  255  forms a pressure on the wiping base material  500 , and the pressing rod  255  moves toward a position b under the driving of the synchronization belt assembly  253 , thereby driving the wiping base material  500  to move. When the pressing rod  255  reaches a position c, the wiping base material  500  also reaches the second position to wait for the cleaning robot  100  to mount, and the wiping base material  500  is tensioned under the action of the pressing rod  255 . After the cleaning robot  100  completes mounting, the synchronization belt assembly  253  continues to move, to raise the pressing rod  255 . 
     As shown in  FIG. 17 , the limit module includes a sensor assembly  261  that is configured to detect the length of the wiping member exported in the wiping member mounting position  215  and that may specifically include a photoelectric sensor, a Hall sensor, or the like. In this embodiment, the sensor assembly  261  is mounted on the second position of the wiping member mounting position  215 , and when the sensor assembly  261  has detected a wiping member in the second position, it indicates that the exported length of the wiping member meets the preset length requirement, and the control module controls the feeding module  220  to stop working. 
     As shown in  FIG. 18 , the sensor assembly  261  is mounted on the rolling wheel assembly  221 , and configured to detect an angle that the rolling wheel assembly  221  rotates. The sensor assembly  261  may include an angular displacement sensor and the like. The free end of the wiping base material  500  is exported to the wiping member mounting position  215  under the driving of the rolling wheel assembly  221 , and without slipping, a perimeter of a loop around which the rolling wheel assembly  221  rotates and the corresponding exported length of the wiping member are consistent. Therefore, the exported length of the wiping member may be calculated by detecting an angle that the rolling wheel assembly  221  rotates. If the sensor assembly  261  has detected that the angle that the rolling wheel assembly rotates reaches a preset angle, it indicates that the exported length of the wiping member meets the preset length requirement, and the control module controls the rolling wheel assembly  221  to stop working. 
     As shown in  FIG. 19 , the wiping base material  500  stored in the storage module  213  may be formed by connecting a plurality of wiping members with a standard length, and a connection strength between every two wiping members is relatively small, to facilitate cutting. In this embodiment, a plurality of light transmitting holes exists between every two wiping members. Therefore, the exported length of the free end of the wiping base material  500  may be detected by detecting the light transmitting holes. The sensor assembly  261  is mounted on the second position, and if the sensor assembly  261  has detected light transmitting holes, it indicates that the exported length of the free end of the wiping base material  500  meets the preset length requirement, and the control module controls the feeding module  220  to stop working. In this embodiment, the sensor assembly  261  includes a light transmitter and a light receiver, and when the light receiver has detected, through the light transmitting holes between the wiping members, light transmitted by the light transmitter, the sensor assembly  261  outputs a signal, and the control module controls, according to the signal outputted by the sensor assembly  261 , the feeding module  220  to stop working. 
     As shown in  FIG. 20 , the limit module includes a sensor assembly  263 , configured to detect a storage remainder of the wiping base material  500  in the storage module  213 . When the storage remainder is less than a preset remainder, the control module reminds the user to perform replacement, to avoid a case that the cleaning robot  100  returns to the base station  200  but cannot normally mount a new wiping member. The sensor assembly  263  may include a micro-switch, a Hall element, a light coupled element, or the like. In this embodiment, the sensor assembly  263  is disposed between the mounting rack and the wiping member mounting position  215 . The wiping base material  500  can be continuously exported if the remainder is sufficient. Therefore, if the sensor assembly  263  has not detected the wiping base material  500 , the length of the remaining wiping base material  500  is less than a usable length or less than a suggested length, and the user needs to be reminded to perform replacement. In this embodiment, a reminder lamp, a buzzer, or the like is disposed on the base station  200 , and the control module controls the reminder lamp or buzzer to work, thereby reminding the user. In other embodiments, the base station  200  may communicate with the user equipment, and if the sensor assembly  263  has not detected the wiping base material  500 , the control module sends reminder information to the user equipment. 
     As shown in  FIG. 21 , the sensor assembly  263  is configured to detect the height of the wiping base material  500 , thereby detecting the storage remainder of the wiping base material  500 . For the roller-type wiping base material  500 , a larger quantity of loops by which the wiping base material  500  wraps the hollow rolling body indicates a larger height. Therefore, a preset remainder of the wiping base material  500  corresponds to a preset height. If the height of the wiping base material  500  is less than the preset height, the length of the remaining wiping base material  500  is less than the suggested length, and the user needs to be reminded to perform replacement. 
     In an embodiment, the sensor assembly  263  is configured to detect the weight of the roller-type wiping base material  500 , thereby detecting the storage remainder of the wiping base material  500 . In this embodiment, the sensor assembly  263  is mounted on the mounting rack of the roller-type wiping base material  500 . The weight of the roller-type wiping base material  500  in the storage module  213  is reduced as the wiping base material  500  is reduced. Therefore, when the weight of the wiping base material  500  is less than the preset weight, or when a ratio of the weight of the wiping base material  500  to an initial weight is less than a preset ratio, the length of the remaining wiping base material  500  is less than the suggested length, and the user needs to be reminded to perform replacement. 
     In an embodiment, the control module counts signals outputted by the sensor  261 , and each time the exported length of the wiping member meets the preset length requirement, the count is increased by 1. When the count is greater than or equal to a preset value, it indicates that the storage remainder in the storage module  213  is less than the preset remainder, and the control module performs reminding about replacement. 
     As shown in  FIG. 21 , in an embodiment, the limit module includes a sensor assembly  265 , and the sensor assembly  265  is mounted on the receiving module  211 . In this embodiment, the sensor assembly  265  is mounted above the receiving module  211  in the height direction, to detect whether the wiping member in the receiving module  211  reaches a mounting position. It may be understood that, a larger quantity of wiping members in the receiving module  211  indicates a larger height. Therefore, when detecting that the wiping member reaches the mounting position, the sensor assembly  265  sends a reminder signal, to remind the user to dispose of the wiping member in the receiving module  211 . In other embodiments, the sensor assembly  265  may be configured to detect the weight and other parameters of the receiving module  211 , to remind, by setting thresholds, the user to perform disposal. 
     As shown in  FIG. 2 , in an embodiment, the cutting module  280  includes a cutting device  281  and a transmission device  283 . When the exported length of the free end of the wiping base material  500  reaches the preset length, the control module controls, through the transmission device  283 , the cutting device  281  to come into contact with and act on the wiping base material  500 , thereby cutting the wiping base material  500 . In this embodiment, the cutting device  281  includes a blade mounted on a blade holder, the transmission device  283  includes a cam, the bottom of the blade holder and the cam are in contact, and the cam rotates under the action of the motor, to cause the blade holder to move in the height direction. The top of the blade holder and a spring are connected, and the spring provides a force causing the blade holder to move downward, to keep the blade holder tightly pressing the cam. The control module controls the motor to drive the cam to rotate around an output shaft of the motor, and the changing diameter of the cam forms an upward pushing force on the blade holder, thereby controlling the blade holder to move in the height direction, to cause the blade to be in contact or not in contact with the wiping base material  500 . 
     As shown in  FIG. 22 , in an embodiment, the cutting device  281  is mounted in the storage module  213 . The cutting device  281  includes a sharp cutting device such as the blade. Therefore, to ensure safety of the user, the width of the exit  2111  of the storage module  213  is less than or equal to  3  cm, to avoid a case that the user stretches into the storage module  213  to come into contact with the cutting device  281 . In an embodiment, the cutting device  281  is mounted outside the storage module  213 . Therefore, to ensure safety of the user, an additional protecting cover needs to be disposed, the protecting cover includes an exit, and the width of the exit is less than or equal to  3  cm. 
     As shown in  FIG. 23 , the cutting device  281  moves in the horizontal direction, and the bottom of the cutting device  281  may come into contact with the wiping member mounting position  215 . In this embodiment, the transmission device  283  includes a horizontal guide rail, the cutting device  281  is mounted on the sliding block, and as the sliding block moves on the guide rail, the cutting device  281  may move in the horizontal direction. When the feeding module works, the cutting device  281  is offset on a side. When the exported length of the free end of the wiping base material  500  reaches the preset length, the control module controls the cutting device  281  to move horizontally toward another side in the width direction of the wiping base material  500 , thereby cutting the wiping base material  500 . In this embodiment, the blade is round and is pivotably mounted on the sliding block, and when the sliding block moves, friction is generated between the blade and the wiping base material  500 , thereby generating rotation. In other embodiments, a blade in another shape may also cut the wiping base material  500  under the driving of the sliding block. 
     As shown in  FIG. 1 , in an embodiment, the receiving module  211  opens upward, and the wiping member separating position  217  is located above the receiving module  211 . When the cleaning robot  100  moves to the wiping member separating position  217 , the cleaning module  120  is separated from the wiping member, to cause the wiping member to directly drop into the receiving module  211 . In this embodiment, the wiping member separating position  217  and the wiping member mounting position  215  do not coincide, and the wiping member separating position  217  is located on a front side of the cleaning robot  100  in the moving direction. After separating the wiping member, the cleaning robot  100  may retreat to the wiping member mounting position  215  to mount the wiping member, and may retreat, after completing the mounting, from the base station  200  to perform cleaning work. 
     As shown in  FIG. 24  to  FIG. 26 , in an embodiment, the base station  200  includes a wiping member recycling module, configured to recycle the wiping member on the wiping member separating position  217  into the receiving module  211 . In this embodiment, the wiping member recycling module is mounted on the receiving module  211 . The wiping member recycling module includes a receiving member  271 , and a rotatable shaft  273  connected to the receiving member  271 , and the rotatable shaft  273  is pivotably mounted on a side of the receiving module  211 . When the rotatable shaft  273  rotates downward, a first surface of the receiving member  271  is caused to be upward. In this case, the receiving member  271  is located in a first recycling position, and the first surface of the receiving member  271  is used for receiving a used old wiping member. The first recycling position and the wiping member separating position  217  coincide or partially coincide. After the cleaning module  120  of the cleaning robot  100  moves to the wiping member separating position  217 , the wiping member is separated, to cause the wiping member to drop onto the first surface of the receiving member  271 . After the cleaning robot  100  separates the wiping member, and leaves the wiping member separating position  217 , the control module controls the rotatable shaft  273  to upward pivot, and the receiving member  271  and the rotatable shaft  273  synchronously pivot. When the rotatable shaft  273  pivots by a maximum angle, the first surface of the receiving member  271  is downward. In this case, the receiving member  271  is in a second recycling position, the wiping member on the receiving member  271  drops, to enter the receiving module  211 . It may be understood that, in this embodiment, the opening position of the receiving module  211  is higher than the wiping member separating position  217 , and the wiping member is recycled through pivoting of the wiping member recycling module in the height direction. 
     In an embodiment, the wiping member separating position  217  and the wiping member mounting position  215  coincide or partially coincide, and if the wiping member recycling module has a displacement in the height direction during working, steps in which the cleaning robot  100  returns to the base station  200  to replace the wiping member are as follows: 
     S 1 : The cleaning robot  100  moves to the wiping member mounting position  215 , to cause the obtaining unit  121  and the wiping member separating position  217  to be aligned. 
     S 2 : The cleaning robot  100  separates the wiping member. 
     S 3 : The cleaning robot  100  moves out of the wiping member separating position  217 . 
     S 4 : The base station  200  recycles the wiping member. 
     S 5 : The base station  200  exports a new wiping member to the wiping member mounting position  215 . 
     S 6 : The cleaning robot  100  moves to the wiping member mounting position  215 . 
     S 7 : The cleaning robot  100  mounts the wiping member. 
     As shown in  FIG. 27  to  FIG. 29 , in an embodiment, the wiping member recycling module includes a receiving member  271  and a lifting assembly  275 , and the receiving member  271  is mounted on the lifting assembly  275 , to enable the receiving member to move along with the lifting assembly  275  in the height direction. When the receiving member  271  is at a lowest point of the lifting assembly  275 , the receiving member  271  is in a first recycling position. In this embodiment, the first recycling position and the wiping member separating position  217  coincide or partially coincide. After the cleaning module  120  of the cleaning robot  100  moves to the wiping member separating position  217 , the wiping member is separated, to cause the wiping member to fall onto the receiving member  271 . After the cleaning robot  100  separates a used wiping member, and leaves the wiping member separating position  217 , the lifting assembly  275  drives the receiving member  271  to rise, and continues to drive the receiving member to rotate toward the receiving module  211 , to cause the first surface of the receiving member  271  to be downward. In this case, the receiving member  271  is in a second recycling position, the wiping member drops, to enter the receiving module  211 . In this embodiment, the lifting assembly  275  includes a synchronization belt. If the synchronization belt continues to move when the receiving member  271  reaches a highest point under the action of the synchronization belt, the receiving member  271  rotates together with the synchronization belt, to reach the second recycling position. In other embodiments, the lifting assembly  275  may alternatively be a sliding rod or another device. 
     As shown in  FIG. 30  and  FIG. 31 , the wiping member recycling module includes a lifting lever  277 , mounted on the wiping member separating position  217  and pivoting in the horizontal direction. When the cleaning robot  100  separates the used wiping member, the lifting lever  277  pivots in a direction toward the receiving module  211 , to cause the wiping member on the wiping member separating position  217  to enter the receiving module  211  under the action of the lifting lever  277 . In this embodiment, the opening of the receiving module  211  and the wiping member separating position  217  are at a same height in the height direction, or the opening of the receiving module  211  is lower than the wiping member separating position  217 ; and the wiping member recycling module and the receiving module  211  are neighboring, and when the lifting lever  277  rotates toward the receiving module  211 , the wiping member may drop to enter the receiving module  211 . In this embodiment, the wiping member mounting position  215  may coincide with the wiping member separating position  217 , and after separating the wiping member, the cleaning robot  100  may not move, perform mounting after the base station  200  completes recycling of an old wiping member and exporting of a new wiping member, and then retreat from the base station  200 . 
     As shown in  FIG. 32 , the wiping member recycling module includes a fan  279 , and the fan  279  is mounted in the receiving module  211 . The receiving module  211  includes an entrance  2701  facing the wiping member separating position  217 , and when the fan  279  works, airflow near the wiping member mounting position  215  enters the fan  279  from the entrance  2701 . The receiving module  211  includes an exit  2703 , and gas flowing out when the fan  279  works is discharged from the exit  2703 . The position of the exit  2703  may be above the receiving module  211  or in another direction that does not affect working of the base station  200 . When the fan  279  works, air in the receiving module  211  is discharged under the action of the fan  279 , a negative pressure is formed in the receiving module  211 , to cause the wiping member on the wiping member separating position  217  to enter the receiving module  211  from the entrance  2701 . The wiping member recycling module further includes a filtering device  274  mounted between the fan  279  and the entrance  2701  and configured to filter out relatively large particulate matters in air, to avoid damaging the fan  279 . Moreover, the wiping member may move upward in the receiving module  211  under the action of the fan  279 , and the filtering device  274  can prevent the wiping member from blocking the air inlet of the fan  279 . 
     In an embodiment, the wiping member separating position  217  and the wiping member mounting position  215  coincide, and the wiping member recycling module has no displacement in the height direction during working. That is to say, when the cleaning robot  100  is at the wiping member separating position  217 , and the wiping member recycling module works, the base station  200  and the cleaning robot  100  do not affect each other. When separating the wiping member, the cleaning robot  100  may mount a wiping member after the wiping member recycling module completes recycling of the wiping member and the feeding module exports the wiping member, and does not need to move in the entire process. In this case, steps in which the cleaning robot  100  returns to the base station  200  to replace the wiping member are as follows: 
     S 10 : The cleaning robot  100  moves to the base station  200 , to cause the obtaining unit  121  and the wiping member separating position  217  to be aligned. 
     S 20 : The cleaning robot  100  separates the wiping member. 
     S 30 : The base station  200  recycles the wiping member. 
     S 40 : The base station  200  exports a wiping member to the wiping member mounting position  215 . 
     S 50 : The cleaning robot  100  mounts the wiping member. 
     As shown in  FIG. 33 , the receiving module  211  is disposed below the wiping member separating position  217 , and the wiping member recycling module includes a rolling wheel assembly  278 , including a driving rolling wheel driven by a motor and a driven rolling wheel driven by the driving rolling wheel to rotate. In this embodiment, the driving rolling wheel clockwise rotates, and the driven rolling wheel counterclockwise rotates. When the wiping member is at the wiping member separating position  217 , the driving rolling wheel and the driven rolling wheel directly come into contact with the wiping member, and the wiping member is folded from the middle and moves downward under the action of the rolling wheel assembly  278 . When the rolling wheel assembly  278  further rotates, the wiping member further drops downward into the receiving module  211 . In an embodiment, the receiving module  211  is disposed below the wiping member separating position  217 , and if the bottom surface of the base station  200  and the working surface of the cleaning robot  100  are on a same horizontal plane, the wiping member separating position  217  is higher than the working surface of the cleaning robot  100 . Therefore, a surface at which the wiping member separating position  217  is located is an inclined surface, to help the cleaning robot  100  move from the working surface to the wiping member separating position  217 . In this embodiment, the wiping member separating position  217  and the wiping member mounting position  215  are a same position, that is, after moving to the wiping member mounting position  215 /wiping member separating position  217 , the cleaning robot  100  may complete separating and mounting of wiping members at the same position. 
     As shown in  FIG. 34  and  FIG. 35 , the base station  200  includes an interface  201 , configured to mount a hanger of a handheld vacuum cleaner, and the handheld vacuum cleaner is integrated in the base station  200  through the interface  201 . For the user using the handheld vacuum cleaner or another handheld device while using the cleaning robot  100 , disposition of the interface  201  can extend the storage space from the height direction, thereby improving space utilization. 
     As shown in  FIG. 36 , the moving direction of the cleaning robot  100  is the length direction, the direction perpendicular to the working surface is the height direction, and the direction perpendicular to the length direction and the height direction is the width direction. In an embodiment, the width of the wiping board  122  is less than the width of the wiping member, to enable two sides of the wiping member in the width direction to be fixed to the wiping board  122 , thereby mounting the wiping member. In other embodiments, the width of the main body  101  of the cleaning robot  100  is equal to or slightly greater than the width of the wiping board  122 , to cause the width of the cleaning robot  100  to be less than the width of the wiping member, to improve compactness of the cleaning robot  100 . 
     In an embodiment, the width of the receiving module  211  is greater than the width of the wiping member, thereby ensuring that the wiping member can be flat stored in the receiving module  211 . That is to say, the width of the base station  200  is greater than the width of the wiping member. In an embodiment, the width of the cleaning robot  100  is less than the width of the base station  200 . 
       FIG. 37A  to  FIG. 46L  are accompanying drawings involved in a second embodiment of the present invention. Under guidance of the technical essence of the second embodiment, three different technical solutions are derived and are respectively a first solution shown in  FIG. 37A  to  FIG. 37L , a second solution shown in  FIG. 44A  to  FIG. 44I , and a third solution shown in  FIG. 46A  to  FIG. 46L . 
     The second embodiment specifically provides a cleaning module  120  for a cleaning robot  100  to mount or carry, an operating module  400  used in cooperation with the cleaning module  120  so as to replace a wiping member for the cleaning module  120 , a base station  200  including or equipped with the operating module  400 , and an automatic cleaning system  300  employing or equipped with the base station  200 . In a feasible embodiment, the cleaning robot  100  may be completely the same as the cleaning robot in the foregoing first embodiment, and details are not described herein. 
     As shown in  FIG. 37A , in the first solution, the bottom of the main body  101  of the cleaning robot  100  may be provided with a connection mechanism (not shown) located between a walking wheel  110  and an auxiliary wheel  102  and configured to connect to the cleaning module  120 . A lifting mechanism configured to drive the connection mechanism to move up and down and then drive the cleaning module  120  to ascend or decrease may be further disposed in the main body  101 , and the lifting mechanism may have a known cam structure. The top of the main body  101  may be provided with a sounding element connected to the control module, for example, a laser scanning module, configured to detect whether there is an obstacle in front of a walking direction of the cleaning robot  100 . When the sounding element detects that an obstacle exists in front of the walking direction of the cleaning robot  100 , the control module controls the lifting mechanism to raise the cleaning module  120  and lower the auxiliary wheel  102 . In this case, the cleaning robot  100  is in an obstacle crossing mode. After the cleaning robot  100  crosses the obstacle, the control module then controls the lifting mechanism to lower the cleaning module  120  and retract the auxiliary wheel  102 . In this case, the cleaning robot  100  is in a working mode, that is, may perform cleaning work. 
     The connection mechanism and the cleaning module  120  are detachably connected, and after the cleaning robot  100  has worked for a specific time, the wiping member becomes dirty. In this case, the control module may control the cleaning robot  100  to move to the base station  200 , and subsequently the cleaning robot  100  detaches and releases the cleaning module  120  into the base station  200 . Subsequently, the base station  200  replaces the wiping member for the cleaning module  120  detached by the cleaning robot  100 , which specifically includes: detaching the dirty wiping member originally carried on the cleaning module  120 , and replacing the dirty wiping member with a new or clean wiping member for the cleaning module  120 . 
     As shown in  FIG. 39A  and  FIG. 39B , in an embodiment of the present invention, the cleaning module  120  may include a wiping board  1201  and a loading portion  1202  rotatably connected to the wiping board  1201 , and the wiping member may be clamped between the wiping board  1201  and the loading portion  1202 . The wiping board  1201  is substantially in a board shape, including but not limited to a rectangular board shape shown in  FIG. 39A  and  FIG. 39B , whose lower surface may be in a smooth transition arc shape or a plane shape. 
     The wiping board  1201  has a first clamping surface  1211 , and the loading portion  1202  has a second clamping surface  1212  opposite to the first clamping surface  1211 . In an embodiment, the first clamping surface  1211  is a partial region of the upper surface of the wiping board  1201 , is close to an edge of the upper surface of the wiping board  1201 , extends along a long side direction of the wiping board  1201 , and may be substantially in the shape of a strip-shaped region. Correspondingly, the second clamping surface  1212  is the lower surface of the loading portion  1202 , and preferably is in a shape the same as or matching that of the first clamping surface  1211 , namely, strip-shaped. 
     The loading portion  1202  may include a clamping body  1213  and a pivoting part  1215  connected to the clamping body  1213 . The clamping body  1213  may be substantially in the shape of a strip-shaped rod, whose lower surface forms the second clamping surface  1212 . The pivoting part  1215  and the wiping board  1201  are rotatably connected, that is, the loading portion  1202  is rotatably connected to the wiping board  1201  through the pivoting part  1215 . 
     To improve stability of the rotatable connection between the loading portion  1202  and the wiping board  1201 , one clamping body  1213  is preferably connected to more than one pivoting part  1215 , for example, two or more. Two or more pivoting parts  1215  are located at a same side along an axial direction of the clamping body  1213 , and all of the pivoting parts  1215  are disposed substantially perpendicular to the clamping body  1213 . As shown in  FIG. 39A  and  FIG. 39B , in a schematic embodiment, there are two pivoting parts  1215 , respectively disposed on two ends of the clamping body  1213 . Preferably, the pivoting parts  1215  may be formed by bending the two ends of the clamping body  1213  toward a same direction (a bending angle is about 90°). In the embodiment, the pivoting parts  1215  and the clamping body  1213  are integrally constructed, but are actually not limited thereto. 
     The loading portion  1202  and the wiping board  1201  are rotatably connected, and therefore the loading portion  1202  has a clamped state of clamping the wiping member and an opened state of removing clamping on the wiping member and releasing the wiping member. 
     As shown in  FIG. 39A , when the loading portion  1202  is in the clamped state, the first clamping surface  1211  and the second clamping surface  1212  are laminated, thereby clamping the wiping member between the two clamping surfaces. In this case, the wiping member may wrap or cover the lower surface of the wiping board  1201 , and has an end portion clamped between the two laminated clamping surfaces. As shown in  FIG. 39B , when the loading portion  1202  is in the opened state, the first clamping surface  1211  and the second clamping surface  1212  are separated, and the original wiping member is released. 
     To improve the clamping strength on the wiping member, to as much as possible avoid a case that the wiping member falls off from the cleaning module  120  when the cleaning robot  100  carrying or equipped with the cleaning module  120  performs cleaning work, the cleaning module  120  may further include a clamping maintaining component, configured to apply, to the loading portion  1202 , a clamping force causing the loading portion to maintain the clamped state or switch to the clamped state. The existence of the clamping force causes the loading portion  1202  to always have a trend of being in the clamped state or always have a trend of switching to the clamped state. Therefore, without an external force inverse to the clamping force, the loading portion  1202  is usually in the clamped state. 
     In a feasible embodiment, the clamping force may be applied through an elastic force applied by an elastic member. Specifically, the clamping maintaining component may include the elastic member disposed between the wiping board  1201  and the loading portion  1202 . In this case, in the embodiment, the clamping force is the elastic force generated by the elastic member. 
     A solution of implementing the foregoing embodiment may be as follows: The pivoting part  1215  is rotatably connected to the wiping board  1201  through a pin shaft, the elastic member may be a tension spring sleeved on the pin shaft, two ends of the tension spring respectively butt the wiping board  1201  and the loading portion  1202 , and an elastic force causing the loading portion to always rotate in a direction toward the first clamping surface  1211  of the wiping board  1201  is applied to the loading portion  1202 . Specifically, as shown in  FIG. 39A  and  FIG. 39B , the tension spring applies, to the loading portion  1202 , an elastic force causing the loading portion to rotate downward or maintain the clamped state. 
     Alternatively, another implementable solution may be as follows: The elastic member may be an extension spring, two ends of the extension spring are respectively connected to the first clamping surface  1211  and the second clamping surface  1212 , and the extension spring is always in a stretched state. Therefore, the extension spring may always apply an elastic tensile force to the loading portion  1202 . To reduce occupancy of the two clamping surfaces by the extension spring and as much as possible avoid a case that obstruction or interference is formed on the wiping member, and the extension spring may be disposed on a position in the clamping body  1213  close to the end portion. 
     Alternatively, still another implementable solution may be as follows: The elastic member may be an elastic sheet, the elastic sheet is fixed on the wiping board  1201 , and the end portion of the pivoting part  1215  butts the elastic sheet. Specifically, as shown in  FIG. 39A  and  FIG. 39B , an avoiding groove  1203  corresponding to the pivoting part  1215  is disposed on the wiping board  1201 , and a rotatable connection point between the pivoting part  1215  and the wiping board  1201  is located between two ends of the pivoting part  1215 , that is, the rotatable connection point between the pivoting part  1215  and the wiping board  1201  is substantially located at a middle position of the pivoting part  1215 . In this case, the clamping body  1213  and an end portion of the pivoting part  1215  with the back facing the clamping body  1213  (named as a triggering end  1214 ) may form a lever structure, and a supporting point of the lever structure is the rotatable connection point between the pivoting part  1215  and the wiping board  1201 . The elastic sheet is disposed in the avoiding groove  1203 , and the lower surface of the triggering end  1214  of the pivoting part  1215  butts the elastic sheet, so that the elastic sheet always applies an upward elastic force to the triggering end  1214 . Then, according to the lever principle, the clamping body  1213  always has a trend of rotating downward or maintaining clamping the main body  101 . 
     In the foregoing embodiment, the clamping force is applied through the elastic member (the tension spring, the extension spring, or the elastic sheet). It should be noted that, actually, any one of the foregoing three implementations may be used, or a combination of any two or all of the foregoing three implementations may be used. 
     Certainly, the applied clamping force is not limited to the elastic force in the foregoing embodiment. In another feasible embodiment, the clamping force may alternatively be applied through a magnetic force. Specifically, the clamping maintaining component may include a maintaining element (not shown) disposed on the first clamping surface  1211  and a matching element (not shown) disposed on the second clamping surface  1212  and corresponding to the maintaining element. One of the maintaining element and the matching element is a magnetic element and the other is a magnetizable element or magnetic element. In this case, in the embodiment, the clamping force is a magnetic attraction force generated by the maintaining element to the matching element. 
     The clamping force is applied through a magnetic force without the aid of a tangible physical connection component, thereby simplifying the structure. 
     In this embodiment, the magnetic element may be a magnetic element capable of generating a magnetic field, for example, may be a magnet with magnetism (for example, permanent magnet or hard magnet), or may be an electromagnetic element capable of generating magnetism after being powered on (for example, electromagnet). The magnetizable element may be made of a material that may be magnetized, for example, iron, cobalt, or nickel, and can be attracted by a magnetic force. 
     That one of the maintaining element and the matching element is a magnetic element and the other is a magnetizable element or magnetic element includes: one of the maintaining element and the matching element is a magnetic element and the other is a magnetizable element; or both the maintaining element and the matching element are magnetic elements. When both the maintaining element and the matching element are magnetic elements, polarity of the maintaining element facing the matching element and polarity of the matching element facing the maintaining element are different. 
     In a further preferable solution, to reduce the entire weight of the cleaning module  120 , the loading portion  1202  as a whole or the clamping body  1213  is made of a magnetizable material. In this way, the loading portion  1202  itself or the clamping body  1213  forms the matching element, thereby avoiding a case that a matching element is additionally disposed on the loading portion  1202  to cause an increase in weight. 
     The maintaining element may be a magnet, and there is a plurality of maintaining elements evenly arranged along the length direction of the first clamping surface  1211 . Therefore, the maintaining elements may evenly magnetically attract the clamping body  1213  along the length direction, and the clamping effect of the loading portion  1202  is better. A specific disposition manner may be that, the first clamping surface  1211  is depressed inward to form a plurality of accommodating grooves, and the maintaining elements are respectively disposed in the corresponding accommodating grooves. Moreover, after being placed into the accommodating grooves, the maintaining elements are preferably not higher than the first clamping surface  1211 . In this way, the second clamping surface  1212  can be preferably laminated with the first clamping surface  1211 , to prevent a gap from existing between the two clamping surfaces, thereby improving the clamping force on the wiping member, and ensuring the clamping effect. 
     The foregoing is about embodiments in which the clamping force is applied through a magnetic field. It should be noted that, the foregoing two embodiments of implementing the clamping force may be both configured in the cleaning module  120 , or any one of the foregoing two embodiments may be selected and configured. That is, the clamping force may be any one of the elastic force generated by the elastic member or the magnetic attraction force generated by the maintaining element to the matching element, or may be a combination of the foregoing two forces. 
     To further improve the clamping strength of the loading portion  1202  on the wiping member, there may be two loading portions  1202 , and the two loading portions  1202  are respectively disposed on two opposite sides of the wiping board  1201  (for example, left and right sides shown in  FIG. 39A  and  FIG. 39B ). In this way, the two ends of the wiping member may be both clamped between the first clamping surface  1211  and the second clamping surface  1212 , and the clamping strength of the wiping member is relatively high. 
     If two loading portions  1202  are disposed, when the loading portion  1202  is in the clamped state, the cleaning module  120  as a whole presents a plane state in which the upper surface is flat (as shown in  FIG. 39A ). However, when the loading portion  1202  is in the opened state, outer ends (the clamping body  1213 ) of the two loading portions  1202  are respectively folded or lifted upward, so that the cleaning module  120  as a whole presents a state in which the upper surface is depressed inward (as shown in  FIG. 39B ). 
     With the aid of the foregoing embodiment in which the clamping force is applied and the two loading portions  1202  are symmetrically disposed, the clamping strength of the wiping member may be greatly improved, to maximally avoid a case that the wiping member falls off from the cleaning module  120  when the cleaning robot  100  carrying or equipped with the cleaning module  120  performs cleaning work. 
     Because the clamping force applied by the clamping maintaining component to the loading portion  1202  always exists, the loading portion  1202  is usually in the clamped state without any external force. Therefore, to cause the loading portion  1202  to switch from the clamped state to the opened state, an external force is required to overcome the clamping force. Specifically, following the foregoing description, the triggering end  1214  of the pivoting part  1215  with the back facing the clamping body  1213  may be configured to receive an external operation force. When the operation force is greater than a preset threshold, the loading portion  1202  may rotate around the rotatable connection point between the loading portion and the wiping board  1201 , and switch from the clamped state to the opened state. 
     In this embodiment, the preset threshold is set according to a size of an arm of force. It can be known according to the lever principle F 1 S 1 =F 252  that, if a distance S 1  between the triggering end  1214  and a rotation supporting point, a distance S 2  between the clamping body  1213  and the rotation supporting point, and a clamping force F 2  applied to the clamping body  1213  are known, the operation force F 1 =F 2 S 2 /S 1 . Therefore, actually, when the external operation force applied to the triggering end  1214  reaches or exceeds this preset threshold F 2 S 2 /S 1 , the loading portion  1202  may be opened. 
     Further, to enable the triggering end  1214  to be smoothly opened under the action of an external operation force, the avoiding groove  1203  corresponding to the pivoting part  1215  is disposed on the wiping board  1201 . As shown in  FIG. 39A , when the clamping member in the clamped state, the triggering end  1214  is at least partially located outside the avoiding groove  1203 , to facilitate cooperation between an external component (which is specifically a top protrusion  404  mentioned below) and the triggering end  1214 . When the external operation force exceeds the preset threshold, the loading portion  1202  is opened, and the triggering end  1214  rotates downward, to enter the avoiding groove  1203 . In this way, the wiping board  1201  is prevented from forming obstruction or interference on the triggering end  1214 , to ensure that the loading portion  1202  can be smoothly rotated and opened. Moreover, by disposing the avoiding groove  1203 , the pivoting part  1215  may be at least partially accommodated in the avoiding groove when the loading portion  1202  is in the clamped state, thereby causing the upper surface of the cleaning module  120  to be as flat as possible, to facilitate assembling of the cleaning module  120  and the cleaning robot  100 . 
     As shown in  FIG. 40  to  FIG. 43C , an operating module  400  configured to replace a wiping member for the foregoing cleaning module  120  and provided in this embodiment of the present invention may include: a supporting framework  401  configured to separably attach to the wiping board  1201  of the cleaning module  120 , a first movable mechanism  402  disposed on the supporting framework  401 , and a power mechanism  410  configured to drive the first movable mechanism  402  to move inward or outward along a first direction L 1  on the supporting framework  401 . 
     When the wiping board  1201  of the cleaning module  120  attaches to the supporting framework  401 , the loading portion  1202  is in the opened state, and the first movable mechanism  402  can move inward along the first direction L 1  under the driving of the power mechanism  410 , to push the wiping member to the first clamping surface  1211  of the wiping board  1201 . When the cleaning module  120  and the supporting framework  401  are separated, the loading portion  1202  switches to the clamped state. 
     In this embodiment, the supporting framework  401  may be substantially in a board shape similar to the shape of the wiping board  1201  of the cleaning module  120 , and similarly includes but not limited to the rectangular board shape shown in  FIG. 40 . The first movable mechanism  402  is disposed on the supporting framework  401 , and may move inward or outward along the first direction L 1  on the supporting framework  401  under the driving of the power mechanism  410 . The first direction L 1  is an arrow direction shown by L 1  in  FIG. 40 , or is a horizontal left-right direction shown in  FIG. 41A ,  FIG. 41C ,  FIG. 42A ,  FIG. 42C ,  FIG. 43A , and  FIG. 43C . “move inward” means that the first movable mechanism  402  moves in a direction close to the inside or center of the supporting framework  401 , and “move outward” means that the first movable mechanism  402  moves in a direction far away from the inside or center of the supporting framework  401 . The foregoing explanations are similarly applicable to the following second movable mechanism  403 . 
     When being driven to move inward, the first movable mechanism  402  may push a new or clean wiping member to the first clamping surface  1211  of the wiping board  1201 , and therefore a quantity of first movable mechanisms should match or be equal to a quantity of loading portions  1202 . In the foregoing case that there are preferably two loading portions  1202 , the quantity of first movable mechanisms  402  is also preferably two, and the two first movable mechanisms  402  are disposed on two opposite sides of the supporting framework  401  along the first direction L 1 , which are specifically left and right sides shown in  FIG. 40 ,  FIG. 41A ,  FIG. 41C ,  FIG. 42A ,  FIG. 42C ,  FIG. 43A , and  FIG. 43C . Moreover, the two first movable mechanisms  402  are preferably symmetrically disposed. 
     As shown in  FIG. 40 , in a feasible embodiment, the first movable mechanism  402  may include a translation member  4021  and a raking member  4022  rotatably connected to the translation member  4021 . The power mechanism  410  may drive the translation member  4021  to move along the first direction L 1 , and the translation member  4021  then drives the raking member  4022  to move. The translation member  4021  and the raking member  4022  may be substantially in a strip rod shape and are disposed substantially in parallel, two ends of the raking member  4022  are provided with connection ears extending toward the translation member  4021 , and the raking member  4022  are rotatably connected to two ends of the translation member  4021  through the two connection ears. The outer end of the raking member  4022  is provided with a hook-shaped structure bending inward, to better come into contact with the wiping member, to push the wiping member to the wiping board  1201 . 
     The manner in which the first movable mechanism  402  is driven to move may be direct driving by the power mechanism  410 , or may be indirect or passive driving through linkage with the following second movable mechanism  403 . The indirect or passive driving through linkage with the second movable mechanism  403  is introduced below, and the manner of direct driving by the power mechanism is introduced herein. 
     When there is one first movable mechanism  402 , the power mechanism  410  may directly drive the first movable mechanism  402  to move inward or outward. In this case, in the embodiment, the power mechanism  410  may be an air cylinder, a hydraulic cylinder, or the like, or a manner in which a motor to drive a gear to be meshed with a rack disposed on the first movable mechanism  402  may be used for the power mechanism  410 . 
     However, when there are two first movable mechanisms  402 , the two first movable mechanisms  402  need to move outward or inward simultaneously. Therefore, two power mechanisms may respectively drive the two first movable mechanisms  402  to move outward or inward simultaneously, and for a specific implementation, reference may be made to the foregoing embodiment. Alternatively, one power mechanism may drive the two first movable mechanisms  402  to move outward or inward simultaneously. Specifically, racks are respectively disposed on the two first movable mechanisms  402 , the two racks are meshed with a same gear, and the two racks are located at two opposite sides of the gear. 
     Further, to cause the wiping board  1201  of the cleaning module  120  to attach to the supporting framework  401 , the loading portion  1202  switches from the clamped state to the opened state. As shown in  FIG. 43C , the supporting framework  401  may be provided with a top protrusion  404 , and the top protrusion  404  may be formed by downward protruding of the bottom of the supporting framework  401 . When the cleaning module  120  attaches to the supporting framework  401 , the top protrusion  404  may butt the triggering end  1214  of the pivoting part  1215 . Therefore, the loading portion  1202  is opened, and the dirty wiping member is released. 
     Actually, after the top protrusion  404  butts the triggering end  1214 , the external force still needs to be applied to the cleaning module  120 , to open the loading portion  1202 , and a specific process is introduced below. After the loading portion  1202  is opened, to enable the new wiping member to be mounted on the cleaning module  120 , the cleaning module  120  still needs to attach to the supporting framework  401 . 
     To achieve the objective, the cleaning module  120  may similarly attach to the supporting framework  401  with the aid of a magnetic force. Specifically, the wiping board  1201  of the cleaning module  120  may be provided with a first attaching element (not shown), and the supporting framework  401  may be provided with a second attaching element (not shown) corresponding to the first attaching element. Specifically, the first attaching element is disposed on the upper surface of the wiping board  1201 , and the second attaching element is disposed on the lower surface of the supporting framework  401 . One of the first attaching element and the second attaching element is a magnetic element and the other is a magnetizable element or magnetic element. For the magnetizable element and the magnetic element, reference may be made to the foregoing explanations, and details are not described herein. The first attaching element may generate a magnetic attraction force to the second attaching element, to cause the cleaning module  120  to maintain attachment between the cleaning module and the supporting framework  401 . 
     After the cleaning module  120  completes replacement of the wiping member, the cleaning module  120  and the supporting framework  401  need to be separated. For this reason, the supporting framework  401  may be rotatably provided with a separating member  405 , and the separating member  405  has a received state of being received in the supporting framework  401 , and an extending state of causing the outer end of the separating member to extend out of the supporting framework  401 . When the separating member  405  is in the received state, the cleaning module  120  attaches to the supporting framework  401 ; and when the separating member  405  switches to the extending state, the separating member  405  butts the wiping board  1201  of the cleaning module  120  to cause the wiping board and the supporting framework  401  to be separated. 
     As shown in  FIG. 40 ,  FIG. 41B ,  FIG. 42B , and  FIG. 43B , a position in the supporting framework  401  close to the end portion is provided with a through-hole  406 , and the upper end of the separating member  405  may be rotatably connected to the inner wall of the through-hole  406  through a pin shaft. The lower end surface of the separating member  405  may be in a smooth transition arc shape, and when the separating member  405  gradually switches from the received state to the extending state, a distance that the lower end surface of the separating member  405  stretches out the supporting framework  401  is gradually increased, thereby gradually increasing a force applied to the wiping board  1201  of the cleaning module  120 , and finally pushing the wiping board  1201  away. 
     Further, a reset member may be disposed between the separating member  405  and the supporting framework  401 , and the reset member applies, to the separating member  405 , a reset force causing the separating member to maintain the received state or switch to the received state. In this embodiment, the reset member may be a tension spring, sleeved on the pin shaft, to apply, to the separating member  405 , a force causing the separating member to receive inward, so that the separating member  405  is receiving in the supporting framework  401  without any external force. 
     To drive the separating member  405  to switch to the extending state, a second movable mechanism  403  is disposed on the supporting framework  401 , and when the first movable mechanism  402  moves inward or outward along the first direction L 1 , the second movable mechanism  403  correspondingly moves outward or inward along a second direction L 2 , and the second direction L 2  and the first direction L 1  are substantially perpendicular. Specifically, when the first movable mechanism  402  moves inward along the first direction L 1 , the second movable mechanism  403  correspondingly moves outward along the second direction L 2 . Similarly, when the first movable mechanism  402  moves outward along the first direction L 1 , the second movable mechanism  403  correspondingly moves inward along the second direction L 2 . The second direction L 2  is an arrow direction shown by L 2  in  FIG. 40 , or is a vertical up-down direction shown in  FIG. 41A ,  FIG. 41B ,  FIG. 42A ,  FIG. 42B ,  FIG. 43A , and  FIG. 43B . 
     The separating member  405  is located at the outer side of the second movable mechanism  403  along the second direction L 2 . As shown in  FIG. 42B  and  FIG. 43B , when the second movable mechanism  403  moves outward along the second direction L 2 , the second movable mechanism  403  pushes the separating member  405  to switch from the received state to the extending state. Specifically, when moving outward, the second movable mechanism  403  gradually approaches the separating member  405 , and finally comes into contact with the separating member  405 . When the second movable mechanism  403  continues to move outward, the separating member  405  is pushed to rotate, to cause the lower end of the separating member to gradually stretch out from the supporting framework  401 . The lower end of the separating member  405  stretching out butts the wiping board  1201  of the cleaning module  120 , and as the length of the lower end of the separating member  405  stretching out is increased, the force of the separating member  405  butting the wiping board  1201  is also gradually increased, to finally overcome a magnetic attraction force between the first attaching element and the second attaching element, to cause the wiping board  1201  and the supporting framework  401  to be separated. 
     Certainly, an implementation of attachment and separation between the wiping board  1201  and the supporting framework  401  is not limited to the foregoing embodiment. In another feasible embodiment, it may be unnecessary to dispose the separating member  405  and the second movable mechanism  403 , and the foregoing objective may be achieved only in dependence on changes of the first attaching element and the second attaching element. 
     Specifically, one of the first attaching element and the second attaching element is an electromagnetic element, and the other is a magnetic element or magnetizable element. For example, the first attaching element is an electromagnetic element, and the second attaching element is a magnetic element or magnetizable element; or the second attaching element is an electromagnetic element, and the first attaching element is a magnetic element or magnetizable element. When the electromagnetic element is powered on, a magnetic field may be generated, thereby adsorbing the second attaching element, to cause the wiping board  1201  to attach to the supporting framework  401 , and subsequently, a replacement operation of the wiping member may be performed. After replacement of the wiping member is completed, the electromagnetic element is powered off, the magnetic field disappears, and the wiping board  1201  falls under the action of gravity, to naturally separate from the supporting framework  401 . 
     In this embodiment, the second movable mechanism  403  is formed by a board-shaped structure. Moreover, there are also preferably two second movable mechanisms  403 , disposed on two other opposite sides of the supporting framework  401  along the second direction L 2 , which are specifically upper and lower sides shown in  FIG. 40 ,  FIG. 41A ,  FIG. 41B ,  FIG. 42A ,  FIG. 42B ,  FIG. 43A , and  FIG. 43B . Moreover, the two first movable mechanisms  402  are preferably symmetrically disposed. 
     To enable one power mechanism  410  to drive two movable mechanisms simultaneously, with reference to  FIG. 41A ,  FIG. 42A  and  FIG. 43A , the first movable mechanism  402  is provided with a first contour tracing portion  4023 , the second movable mechanism  403  is provided with a second contour tracing portion  4032 , and the second contour tracing portion  4032  and the first contour tracing portion  4023  cooperate. The cooperation between the first contour tracing portion  4023  and the second contour tracing portion  4032  is used for conveying a driving power from one movable mechanism to the other movable mechanism. When one of the two movable mechanisms moves inward or outward along a direction corresponding to the one movable mechanism, the other movable mechanism moves outward or inward along a direction corresponding to the other movable mechanism under the action of the cooperation between the first contour tracing portion  4023  and the second contour tracing portion  4032 . 
     In an embodiment, one of the first contour tracing portion  4023  and the second contour tracing portion  4032  is a sliding groove, and the other is a protrusion inserted into the sliding groove. In the embodiment shown in  FIG. 40 , the first contour tracing portion  4023  is a protrusion, and the second contour tracing portion  4032  is a sliding groove. A specific disposition manner is that the first movable mechanism  402  is disposed between the supporting framework  401  and the second movable mechanism  403 , that is, the first movable mechanism  402  is located at a lower layer and the second movable mechanism  403  is located at an upper layer. Two support arms  4024  are disposed on the translation member  4021  of the first movable mechanism  402 , and one protrusion is disposed on each support arm  4024 . Correspondingly, two sliding grooves are disposed on the second movable mechanism  403 . When one of the movable mechanisms is driven by the power mechanism to move, cooperation between the protrusion and the sliding groove causes the other movable mechanism to be driven to move. 
     As shown in  FIG. 41A ,  FIG. 42A , and  FIG. 43A , the sliding groove is segmented, and includes two segments: a tilt segment and a straight segment, and the straight segment and an inner end of the tilt segment are connected. The tilt segment tilts outward along the second direction L 2 , and the straight segment and the second direction L 2  are parallel. 
     In an embodiment, the power mechanism  410  may include a gear  407  driven by a motor to rotate, and a rack  408  meshed with the gear  407 , and the rack  408  is disposed on the first movable mechanism  402  or the second movable mechanism  403 . If there two first movable mechanisms  402  and two second movable mechanisms  403 , one power mechanism  410  is used for causing the two movable mechanisms to move inward or outward simultaneously, and there are two racks  408 , respectively disposed on the two first movable mechanisms  402  or the two second movable mechanisms  403 . Moreover, the two racks  408  are located at two sides of the gear  407 . 
     Two manners in which the power mechanism drives the two movable mechanisms simultaneously are included, and are respectively as follows: 
     (First) The power mechanism directly drives the first movable mechanism  402  to move along the first direction L 1 , and movement of the first movable mechanism  402  drives, through cooperation between the first contour tracing portion  4023  and the second contour tracing portion  4032 , the second movable mechanism  403  to move along the second direction L 2 . That is, the first movable mechanism  402  is directly driven by the power mechanism  410  to move, and the second movable mechanism  403  is indirectly driven by the power mechanism  410  through cooperation between the first contour tracing portion  4023  and the second contour tracing portion  4032  to move. 
     (Second) The power mechanism  410  directly drives the second movable mechanism  403  to move along the second direction L 2 , and movement of the second movable mechanism  403  drives, through cooperation between the first contour tracing portion  4023  and the second contour tracing portion  4032 , the first movable mechanism  402  to move along the first direction L 1 . That is, the second movable mechanism  403  is directly driven by the power mechanism  410  to move, and the first movable mechanism  402  is indirectly driven by the power mechanism  410  through cooperation between the first contour tracing portion  4023  and the second contour tracing portion  4032  to move. 
     The embodiment shown in  FIG. 40 ,  FIG. 41A ,  FIG. 42A , and  FIG. 43A  is the foregoing (second) manner, and a process in which the power mechanism  410  drives two movable mechanisms simultaneously is introduced below with reference to  FIG. 40 ,  FIG. 41A ,  FIG. 42A , and  FIG. 43A . 
     In the schematic embodiment, the first movable mechanism  402  is disposed on the supporting framework  401 , and the second movable mechanism  403  is disposed on the first movable mechanism  402 , that is, the first movable mechanism  402  and the second movable mechanism  403  are sequentially disposed on the supporting framework  401  from bottom to top. There are two first movable mechanisms  402  and two second movable mechanisms  403 , the first contour tracing portion  4023  is a protrusion, and the second contour tracing portion  4032  is a sliding groove. One rack  408  is disposed on each second movable mechanism  403 , the gear  407  is meshed with the two racks  408 , and the two racks  408  are respectively disposed on two opposite sides of the gear  407 . When being driven by the motor to rotate, the gear  407  drives the two racks  408  disposed oppositely to move, to further drive the second movable mechanisms  403  to move face to face (inward) or back to back (outward). However, with the aid of cooperation between the protrusion and the sliding groove, the first movable mechanism  402  is correspondingly driven to move back to back (outward) or face to face (inward). 
     To implement the foregoing (first) driving manner, based on the foregoing schematic embodiment, disposition positions of the first movable mechanism  402  and the second movable mechanism  403  may be exchanged, the first contour tracing portion  4023  and the second contour tracing portion  4032  may be the same as or opposite to those in the foregoing embodiment, and the rack  408  may be disposed on the first movable mechanism  402 . Correspondingly, when being driven by the motor to rotate, the gear  407  drives the two racks  408  disposed oppositely to move, to further drive the first movable mechanisms  402  to move face to face (inward) or back to back (outward). However, with the aid of cooperation between the protrusion and the sliding groove, the second movable mechanism  403  is correspondingly driven to move back to back (outward) or face to face (inward). 
     Furthermore, the supporting framework  401  may be further provided with a top cover  409 , and the top cover  409  covers the two movable mechanisms. The top cover  409  is provided with a strip-shaped hole, and the rack  408  is accommodated in the strip-shaped hole and configured to guide and right movement of the rack  408 . Moreover, a motor configured to drive the gear  407  may be disposed on the top cover  409 . 
     A process in which the operating module  400  of this embodiment of the present invention replaces a new or clean wiping member  600  for the cleaning module  120  is described below with reference to  FIG. 41A  to  FIG. 43C . 
     As shown in  FIG. 41A  to  FIG. 41C , through magnetic attraction between the first attaching element and the second attaching element, the wiping board  1201  of the cleaning module  120  is attached to the bottom of the supporting framework  401 . The top protrusion  404  disposed at the bottom of the supporting framework  401  butts the triggering end  1214  of the pivoting part  1215 , the pivoting part  1215  rotates upward, and the loading portion  1202  is opened. The gear  407  is driven to rotate forward, namely, clockwise rotate, as shown in  FIG. 41A , a left rack  408  is driven to move upward, and a right rack  408  is driven to move downward. Correspondingly, the lower second movable mechanism  403  moves upward, and the upper second movable mechanism  403  moves downward. That is, the two second movable mechanisms  403  move inward. Meanwhile, under the action of cooperation between the protrusion and the tilt segment of the sliding groove, the left first movable mechanism  402  moves leftward, and the right first movable mechanism  402  moves rightward. That is, the two second movable mechanisms  403  move outward. 
     As shown in  FIG. 42A  to  FIG. 42C , the gear  407  is driven to rotate reversely, namely, counterclockwise rotate, as shown in  FIG. 42A , a left rack  408  is driven to move downward, and a right rack  408  is driven to move upward. Correspondingly, the lower second movable mechanism  403  moves downward, and the upper second movable mechanism  403  moves upward. That is, the two second movable mechanisms  403  move outward. Meanwhile, under the action of cooperation between the protrusion and the tilt segment of the sliding groove, the left first movable mechanism  402  moves rightward, and the right first movable mechanism  402  moves leftward. That is, the two second movable mechanisms  403  move inward. Therefore, two ends of the wiping member  600  are pushed to the first clamping surface  1211  of the wiping board  1201 , and the lower end of the second movable mechanism  403  presses the end portion of the wiping member  600  on the first clamping surface  1211  of the wiping board  1201 , until the protrusion moves to a junction of the tilt segment and the straight segment of the sliding groove. 
     As shown in  FIG. 43A  to  FIG. 43C , the gear  407  is driven by the motor to continue to rotate reversely. In this case, the protrusion enters the straight segment of the sliding groove and butts a bottom wall of the straight segment. In this case, the second movable mechanism  403  continues to move outward, and the first movable mechanism  402  does not continue to move inward again. Subsequently, the second movable mechanism  403  butts the separating member  405 , and the separating member  405  stretches out from the supporting framework  401  and pushes the wiping board  1201  away. Therefore, the cleaning module  120  is separated from the supporting framework  401 , and falls under the action of its own gravity. Under the action of the maintaining element and the matching element, the loading portion  1202  of the cleaning module  120  rotates downward, and switches to the clamped state, to clamp the wiping member  600 . 
     With reference to the foregoing description, a process in which the operating module  400  detaches a dirty wiping member for the cleaning module  120  is opposite to the foregoing process, and details are not described herein again. 
     The operating module  400  of this embodiment of the present invention is disposed on the base station  200 , and the base station  200  is used for the cleaning robot  100  to park in and configured to replace a cleaning module for the cleaning module  120  detached from the cleaning robot  100 . 
     As shown in  FIG. 37A  to  FIG. 37L , the base station  200  of this embodiment of the present invention may include a casing  202 , and the casing  202  may be provided with an access (not shown) for the cleaning robot  100  to enter or leave. The bottom of the casing  202  is provided with a wiping member operating position  2023 , and a wiping board tray  203  is located at the wiping member operating position  2023 . The cleaning robot  100  drives into the base station  200  through the access, and unloads the dirty cleaning module  120  onto the wiping board tray  203  located on the wiping member operating position  2023 . After the operating module  400  completes replacement of the wiping member, and when a new cleaning module  120  is about to reach the wiping member operating position  2023 , the cleaning robot  100  mounts the new cleaning module. 
     The operating module  400  is disposed in the casing  202 , and is located at a predetermined height in the casing  202 . Moreover, the wiping board tray  203  configured to bear the cleaning module  120  and located below the operating module  400 , a supply module  204  configured to provide a wiping member to the cleaning module  120 , and a pulling mechanism  205  configured to pull the wiping member provided in the supply module  204  to the cleaning module  120  are further disposed in the casing  202 . 
     The supply module  204  is substantially located above or obliquely above the operating module  400 , and may include a winding shaft and a wiping member wound around the winding shaft, and the winding shaft is rotatably disposed on the inner wall of the casing  202 . The supply module  204  may further include at least one pair of pushing rolling wheels  2041 , the pair of pushing rolling wheels  2041  are oppositely disposed, there is a gap for the wiping member to pass through between the two pushing rolling wheels, and the two pushing rolling wheels are driven by the motor to rotate face to face, thereby pushing the wiping member forward or backward. “forward” is a direction departing from the winding shaft, and “backward” is a direction pointing to the winding shaft. 
     The pulling mechanism  205  may include a delivery member  2051  and a friction member  2052  disposed on the delivery member  2051 . As shown in  FIG. 37A  to  FIG. 37L , the delivery member  2051  may be a synchronization belt substantially winding in the horizontal direction, and is substantially located at a same height as the operating module  400 . A position in the casing  202  close to each of left and right ends is provided with one delivery wheel, the synchronization belt winds around the two delivery wheels, and one of the delivery wheels is driven by the motor to actively rotate, to further drive the synchronization belt to move. The synchronization belt may substantially include an upper segment and a lower segment that are parallel, and the friction member  2052  is disposed on the lower segment of the synchronization belt. The friction member  2052  may be specifically a structure having hairbrushes, and includes a block-shaped body disposed on the synchronization belt and the hairbrushes disposed on upper and lower surfaces of the block-shaped body. Therefore, contact friction with the wiping member may be increased, and then the wiping member may be driven to move accordingly. 
     The delivery member  2051  may drive the friction member  2052  to reciprocate between a first position and a second position. The first position and the second position are two limit positions of movement of the friction member  2052 , and may be specifically positions respectively close to the left and right delivery wheels. Specifically, the first position may be a position of the friction member  2052  shown in  FIG. 37A , and the second position may be a position of the friction member  2052  shown in  FIG. 37G . 
     Moreover, the operating module  400  is located between the first position and the second position, and specifically a projection of the operating module  400  onto the delivery member  2051  may be located between the first position and the second position. In this way, when moving between the first position and the second position, the friction member  2052  may pass through the operating module  400 , so as to remove the dirty wiping member detached from the cleaning module  120  adsorbed on the operating module  400 , and may pull the new or clean wiping member provided by the supply module  204  to the cleaning module  120 , for the cleaning module  120  to mount. 
     Specifically, when the delivery member  2051  drives the friction member  2052  to move from the first position to the second position, that is, move from left to right, as shown in  FIG. 37A  to  FIG. 37L , the friction member  2052  may come into contact with the dirty wiping member falling onto the wiping board tray  203 , and pull the dirty wiping member toward the second position. Specifically, referring to  FIG. 37F , in this case, the wiping board tray  203  is located below the operating module  400 , and is slightly lower than the friction member  2052 . When the friction member  2052  moves toward the second position and passes through the wiping board tray  203 , the hairbrush on the lower surface of the friction member  2052  comes into contact with the dirty wiping member falling onto the wiping board tray  203 , thereby sweeping the dirty wiping member toward the second position, and finally moving the dirty wiping member out of the wiping board tray  203 . 
     Correspondingly, when the delivery member  2051  drives the friction member  2052  to move from the second position to the first position, that is, move from right to left, as shown in  FIG. 37A  to  FIG. 37L , the friction member  2052  may come into contact with the new or clean wiping member provided by the supply module  204 , and pull the wiping member toward the first position. Referring to  FIG. 37H , when the friction member  2052  moves toward the first position, the hairbrush on the upper surface of the friction member  2052  may come into contact with the wiping member provided by the supply module  204 , thereby pulling the wiping member to move toward the first position. 
     Further, a recycling box  206  that may be configured to collect the dirty wiping member is disposed in the casing  202 , and the recycling box  206  is located at the second position. Specifically, as shown in  FIG. 37A  to  FIG. 37L , the recycling box  206  is substantially located in the casing  202  and corresponds to the right delivery wheel. The recycling box  206  is substantially in a housing shape whose upper end is an opening, and includes a box body  2061  and a support base  2062  disposed at the bottom of the box body  2061 . 
     In a feasible embodiment, the recycling box  206  may be fixedly disposed in the casing  202  along the vertical direction, that is, a position of the recycling box  206  in the casing  202  at least along the vertical direction is fixed. 
     However, the casing  202  needs to be provided for the cleaning robot  100  to enter or leave. Therefore, to cause no obstruction or interference on the cleaning robot  100  in entering or leaving the casing  202 , the height of the recycling box  206  fixedly disposed in the casing  202  along the vertical direction should be at least not less than the height of the cleaning robot  100 . As a result, the height of the casing  202  is increased, and consequently the base station  200  is relatively large in volume and poor in portability. 
     In view of this, in another feasible embodiment, the recycling box  206  may be configured to vertically ascend or descend in the casing  202 . When the cleaning robot  100  enters the casing  202 , the position of the recycling box ascends, to avoid obstruction or interference on the cleaning robot  100 ; and when the cleaning robot  100  moves out from the casing  202 , the position of the recycling box may descend. In this way, the height space of the casing  202  may be fully used. A specific implementation solution is introduced below in detail. 
     A lifting mechanism  207  may be disposed in the casing  202 , and the lifting mechanism  207  is connected to the wiping board tray  203 , and configured to drive the wiping board tray  203  to move toward or away from the operating module  400 , that is, drive the wiping board tray  203  to move up and down. In a feasible embodiment, a specific structure of the lifting mechanism  207  may be similar to that of the pulling mechanism  205 , and includes upper and lower delivery wheels and a synchronization belt winding around the two delivery wheels, and the wiping board tray  203  may be connected to the synchronization belt. 
     To cause the recycling box  206  to ascend or descend in the casing  202 , the recycling box  206  may be driven by another lifting mechanism; and certainly, may be alternatively driven by the lifting mechanism  207 . That is, one lifting mechanism  207  is used for implementing ascending or descending movement of the wiping board tray  203  and the recycling box  206 . Specifically, the lifting mechanism  207  includes at least four delivery wheels, to define at least four angular points. Therefore, the lifting mechanism  207  includes at least a first lifting segment  2071  and a second lifting segment  2072 , and the two lifting segments are respectively connected to two horizontal segments. The two lifting segments are disposed substantially in parallel, and therefore movements of the two lifting segments are exactly opposite when the synchronization belt rotates. The wiping board tray  203  and the recycling box  206  are respectively connected to the first lifting segment  2071  and the second lifting segment  2072 , and therefore lifting situations of the wiping board tray  203  and the recycling box  206  are opposite when the lifting mechanism  207  runs. That is, when the first lifting segment  2071  moves upward, the second lifting segment  2072  moves downward, to respectively drive the wiping board tray  203  and the recycling box  206  to move upward and downward; and vice versa. 
     Referring to  FIG. 37A  to  FIG. 37C , the wiping board tray  203  is initially located at the bottom of the casing  202 . Correspondingly, in this case, the recycling box  206  is located at a highest point of the casing  202 . In this way, the recycling box  206  does not block an access of the casing  202 , and therefore the cleaning robot  100  may smoothly enter the casing  202 , and reach the position of the wiping board tray  203 . Subsequently, the cleaning robot  100  releases the cleaning module  120  onto the wiping board tray  203 , and drives out of the casing  202 . The lifting mechanism  207  runs, to cause the first lifting segment  2071  to move upward, and correspondingly, the second lifting segment  2072  moves downward. Therefore, the wiping board tray  203  is driven to bear the cleaning module  120  to move upward, until the cleaning module  120  and the operating module  400  are attached to perform a replacement operation of the wiping member; and the recycling box  206  moves downward, to collect the dirty wiping member. In this way, one lifting mechanism  207  may be used for implementing lifting of the wiping board tray  203  and the recycling box  206  simultaneously, so that the recycling box  206  is located at a relatively low position when the recycling box plays a role in collecting the dirty wiping member and located at a relatively high position when the cleaning robot  100  needs to enter or leave the casing  202 , and consideration may be given to needs of assembly between the cleaning module  120  and each of the operating module  400  and the cleaning robot  100 . Therefore, the base station  200  is relatively compact in structure, not excessively large in height, relatively small in volume, and relatively good in portability. 
     When the lifting mechanism  207  drives, through the wiping board tray  203 , the cleaning module  120  to move upward until the wiping board  1201  of the cleaning module  120  attaches to the supporting framework  401  of the operating module  400 , the top protrusion  404  at the bottom of the supporting framework  401  butts the upper surface of the triggering end  1214  of the pivoting part  1215 , and therefore the pivoting part  1215  rotates, to cause the loading portion  1202  of the cleaning module  120  to switch from the clamped state to the opened state. 
     In this embodiment, the wiping board tray  203  is configured to bear the cleaning module  120 , or provided for the wiping member to place. In a feasible embodiment, the wiping board tray  203  may be in a board-shaped structure as a whole, and is substantially horizontally disposed. As shown in  FIG. 38A  and  FIG. 38B , in another feasible embodiment, the wiping board tray  203  is designed as a foldable structure, including a main board  2031  and positioning members  2032  rotatably disposed on two opposite sides of the main board  2031 . The main body  101  is in a flat board-shaped structure, two ends of which are provided with convex lugs  2033  extending vertically upward, outer sides of the two convex lugs  2033  are depressed inward to form connection grooves  2034 , a sliding block  2035  is disposed in the connection groove  2034 , and the sliding block  2035  and the synchronization belt of the lifting mechanism  207  are connected, thereby connecting the lifting mechanism  207  and the wiping board tray  203 . Referring to  FIG. 37A  and  FIG. 37L , furthermore, a buffering member (for example, spring) is further disposed between the sliding block  2035  and the connection groove  2034 , to buffer oscillation of the wiping board tray  203  in a lifting process. 
     Similarly, for a manner of connecting the recycling box  206  and the synchronization belt of the lifting mechanism  207 , reference may be alternatively made to the foregoing structure design, that is, the box body  2061  and the synchronization belt are connected through another sliding block  2053 , and details are not described herein. 
     The positioning member  2032  is substantially in a strip structure, whose cross section may be in such a bended shape as the shape of “ 7 ” and has an outer end located outside the main board  2031  and an inner end located under the main body  101 , and a rotatable connection point between the positioning member  2032  and the main board  2031  is located between the inner end and the outer end. Similarly, the positioning member  2032  also forms a lever structure, and a supporting point of the lever structure is the rotatable connection point between the positioning member  2032  and the main board  2031 . 
     The wiping board tray  203  has a flattened state and a folded state. When the wiping board tray is in the flattened state, upper surfaces of the two positioning members  2032  and an upper surface of the main board  2031  are substantially flush. In this case, the inner end of the positioning member  2032  butts the lower surface of the main board  2031 , and the wiping board tray  203  as a whole presents a plane state in which the upper surface is flat (as shown in  FIG. 38A ). When the wiping board tray is in the folded state, the outer ends of the two positioning members  2032  are folded upward, and the cleaning module  120  as a whole presents a state in which the upper surface is depressed inward (as shown in  FIG. 39B ). In this case, the inner end of the positioning member  2032  is detached from the lower surface of the main board  2031 , and the wiping board tray  203  as a whole presents a state in which the upper surface is depressed inward (as shown in  FIG. 38B ). 
     Further, when the cleaning module  120  and the operating module  400  are not in contact, the wiping board tray  203  is in the flattened state. However, when the cleaning module  120  and the operating module  400  come into contact, the wiping board tray  203  switches to the folded state, the two positioning members  2032  butt two opposite sides of the cleaning module  120 , thereby clamping the cleaning module  120  between the two positioning members and correcting the position of the cleaning module  120 , to cause the cleaning module and the supporting framework  401  to be connected in the best morphology. 
     As shown in  FIG. 37E , after the loading portion  1202  of the cleaning module  120  switches to the opened state, the lifting mechanism  207  subsequently drives the wiping board tray  203  to move downward by a distance, and the released dirty wiping member falls onto the wiping board tray  203 . Subsequently, after the pulling mechanism  205  pulls the wiping member to a target position, the lifting mechanism  207  then drives the wiping board tray  203  to move upward, to cause the wiping board tray  203  and the cleaning module  120  to come into contact. In this case, the wiping board tray  203  switches from the unfolded state to the folded state. Therefore, the positioning member  2032  of the wiping board tray  203  folds the wiping member upward, thereby helping the first movable mechanism  402  of the operating module  400  push the wiping member to the first clamping surface  1211  of the wiping board  1201 . 
     If no external force acts on the positioning member  2032 , the wiping board tray  203  is in the flattened state, a specific implementation is the same as the foregoing description, and a reset member may be disposed between the positioning member  2032  and the main board  2031 . Alternatively, the outer end of the positioning member  2032  is set relatively large in mass or relatively large in length. Therefore, under the action of the lever principle, the inner end of the positioning member  2032  naturally butts the lower surface of the main board  2031 , and the wiping board tray  203  is in the flattened state. 
     To cause the wiping board tray  203  to switch from the flattened state to the folded state, as shown in  FIG. 38A  and  FIG. 38B , the inner end of the positioning member  2032  is provided with a stop member  2036 , whose outer end extends out of the main board  2031 . Stop strips  208  cooperating with the stop members  2036  are disposed in the casing  202 , and there are two stop strips  208 , located at two sides of the first lifting segment  2071 . As shown in  FIG. 37D , in the process in which the lifting mechanism  207  bears, through the wiping board tray  203 , the cleaning module  120  to move upward, when the cleaning module  120  and the operating module  400  come into contact, the stop strip  208  also just butts the outer end of the stop member  2036 , thereby causing the wiping board tray  203  to switch from the flattened state to the folded state. 
     A complete process in which the base station  200  of this embodiment of the present invention replaces the wiping member for the cleaning robot  100  is described below with reference to  FIG. 37A  to  FIG. 37L . 
     As shown in  FIG. 37A , the cleaning robot  100  carrying the cleaning module  120  prepares to drive into the base station  200 . In this case, the wiping board tray  203  is located at the bottom of the base station  200 , and the recycling box  206  is suspended by the synchronization belt at a high place, thereby opening the access on the casing  202 , so as to make it convenient for the cleaning robot  100  to smoothly enter the base station  200 . 
     As shown in  FIG. 37B , the cleaning robot  100  drives into the base station  200 , to unload the cleaning module  120  onto the wiping board tray  203 . In this case, the wiping board tray  203  is in the flattened state. 
     As shown in  FIG. 37C , the cleaning robot  100  drives out of the base station  200 . 
     As shown in  FIG. 37D , the lifting mechanism  207  runs. Specifically, the synchronization belt of the lifting mechanism  207  clockwise rotates, to drive the wiping board tray  203  to move upward, and meanwhile, the recycling box  206  moves downward. The wiping board tray  203  bears the cleaning module  120  placed on the wiping board tray to move upward together, until the cleaning module  120  and the supporting framework  401  come into contact. The top protrusion  404  at the bottom of the supporting framework  401  butts the upper surface of the triggering end  1214 , to open the wiping board  1201 , and the dirty wiping member is released. Meanwhile, the stop strip  208  butts the outer end of the stop member  2036 , the positioning member  2032  rotates, the wiping board tray  203  switches to the folded state, and the positioning member  2032  butts two sides of the wiping board  1201  of the cleaning module  120 , to correct the position of the wiping board  1201  and clamp the wiping board  1201 . 
     As shown in  FIG. 37E , the lifting mechanism  207  inversely runs. Specifically, the synchronization belt of the lifting mechanism  207  counterclockwise rotates, the wiping board tray  203  moves downward by a distance, and the released dirty wiping member falls onto the wiping board tray  203 . Under the action of the first attaching element and the second attaching element, the cleaning module  120  is adsorbed under the supporting framework  401 , to cause the cleaning module  120  to continue to keep a state of attaching to the supporting framework  401 . 
     As shown in  FIG. 37F , the pulling mechanism  205  runs. Specifically, the synchronization belt of the pulling mechanism  205  counterclockwise rotates, to drive the friction member  2052  to move rightward (the second position direction), the lower surface of the friction member  2052  and the dirty wiping member falling onto the wiping board tray  203  come into contact, and the dirty wiping member is pushed rightward. 
     As shown in  FIG. 37G , the synchronization belt of the pulling mechanism  205  continues to counterclockwise rotate, the friction member  2052  continues to drive the dirty wiping member to move rightward, and finally the dirty wiping member is moved out of the wiping board tray  203  and drops into the recycling box  206 . 
     As shown in  FIG. 37H , the pushing rolling wheel  2041  of the supply module  204  is driven by the motor to work, to push the new or clean wiping member wound around the winding shaft forward by a distance. Subsequently, the synchronization belt of the pulling mechanism  205  clockwise rotates, the friction member  2052  is driven to move leftward (the first position direction), and the upper surface of the friction member  2052  and the new or clean wiping member come into contact, thereby scratching and pulling the wiping member leftward. Meanwhile, the pushing rolling wheel  2041  also synchronously works, to continuously push the wiping member forward. When the friction member  2052  reaches the first position, the pushing rolling wheel  2041  stops rotating. 
     As shown in  FIG. 371 , the pushing rolling wheel  2041  rotates reversely, to drag the wiping member backward by a distance. After a detecting element  209  (for example, may be a photoelectric sensor) disposed above the pulling mechanism  205  detects that the wiping member moves backward by a predetermined distance, the pushing rolling wheel stops. 
     As shown in  FIG. 37J , the synchronization belt of the lifting mechanism  207  clockwise rotates, and the wiping board tray  203  moves upward, until the cleaning module  120  and the supporting framework  401  are attached. Meanwhile, the stop strip  208  butts the outer end of the stop member  2036 , to cause the wiping board tray  203  to again switch to the folded state, and the outer end of the positioning member  2032  is folded upward, to fold the wiping member upward. Subsequently, the pushing rolling wheel  2041  continues to rotate reversely, to snap the wiping member at a breakpoint. 
     As shown in  FIG. 37K , the power mechanism  410  of the operating module  400  works, to drive the first movable mechanism  402  to push the wiping member toward the first clamping surface  1211  of the wiping board  1201 . Meanwhile, the second movable mechanism  403  pushes the separating member  405  to stretch out, to push the wiping board  1201  away, the loading portion  1202  switches to the clamped state, and the wiping member is clamped on the cleaning module  120 . Then, the synchronization belt of the lifting mechanism  207  counterclockwise rotates, and the wiping board tray  203  moves downward. Meanwhile, the recycling box  206  ascends, until the wiping board tray  203  reaches the bottom of the casing  202 , in this case, the recycling box  206  ascends to a highest place and stops. 
     As shown in  FIG. 37L , the cleaning robot  100  again drives into the base station  200 , and drives, after mounting the cleaning module  120  on which the wiping member is replaced on the bottom of the base station again, out of the base station  200 . Subsequently, cleaning work may be performed. 
     It may be seen from the foregoing replacement process that, in the foregoing embodiment, to avoid the interference formed on the wiping board tray  203 , when replacing the wiping member, the cleaning robot  100  needs to enter and leave the base station  200  twice, and therefore the wiping member replacement efficiency needs to be improved. In view of this, the second embodiment of the present invention provides the following further improved solution. 
     As shown in  FIG. 44A  to  FIG. 44I , a wiping board operating position is disposed in the casing  202  of the base station  200 , the wiping board operating position includes a wiping board separating position  2021  and a wiping board mounting position  2022 , the wiping board separating position  2021  is used for the wiping board tray  203  to place, and the wiping board mounting position  2022  is located between an access of the casing  202  and the wiping board separating position  2021 , and used for the cleaning module  120  performing replacement with a new wiping member to place. 
     The base station  200  further includes a translation and transposition mechanism  212  disposed in the casing  202 . As shown in  FIG. 45 , the translation and transposition mechanism  212  includes: a rotatable arm  2121 , rotatably disposed on an inner wall of the casing  202  facing the access. The rotatable arm  2121  is substantially in a rod shape, and has a connection end (a left end shown in  FIG. 45 ) rotatably connected to the inner wall of the casing  202  and a free end (a right end shown in  FIG. 45 ) with the back facing the connection end. The connection end and the free end are respectively rotatably provided with a first synchronization wheel and a second synchronization wheel (not shown), the synchronization belt  2122  winds around the first synchronization wheel and the second synchronization wheel, and the synchronization belt  2122  is connected to a pushing block  2123 . The first synchronization wheel and a motor are connected, and the motor drives the first synchronization wheel to rotate, to drive the synchronization belt  2122  and the pushing block  2123  of the synchronization belt to move. Specifically, the rotatable arm  2121  is rotatably disposed on the inner wall of the casing  202  through a supporting seat  2124 , and a transmission shaft  2125  disposed on the connection end passes through connection ears of the supporting seat  2124  and is connected to an output shaft of the motor. 
     The pushing block  2123  is made of a magnetizable material such as iron, cobalt, or nickel, and can be attracted by a magnetic force, or a magnetic element  2127  such as a magnet is disposed on the pushing block  2123 . The rotatable arm  2121  is respectively provided with a first magnet  2126  and a second magnet (not shown) close to the connection end and the free end. When the pushing block  2123  is driven by the synchronization belt  2122  to move to be close to the connection end or the free end, the first magnet  2126  or the second magnet may generate a magnetic attraction force on the pushing block  2123 , to cause the pushing block  2123  to have a stable trend of being located at the connection end or the free end. 
     The working principle of this embodiment is: the rotatable arm  2121  is initially in a vertical state, the pushing block  2123  approaches the connection end and is magnetically attracted by the first magnet  2126 , and the synchronization belt  2122  is in a locked state. Rotation of the rotatable arm  2121  in a direction back to the wiping board separating position  2021  and the wiping board mounting position  2022  is limited by the inner wall of the casing  202 . Therefore, when the motor drives the transmission shaft  2125  to rotate, the rotatable arm  2121  can rotate only in a direction toward the wiping board separating position  2021  and the wiping board mounting position  2022 , and finally the rotatable arm  2121  is caused to switch from the vertical state to a horizontal state. Subsequently, an output twisting force of the motor is increased, and when an action force applied by the motor to the first synchronization wheel overcomes a magnetic attraction force of the first magnet  2126  on the pushing block  2123 , the first synchronization wheel is driven to start rotating, and the synchronization belt  2122  rotates accordingly, to drive the pushing block  2123  to move. The moving direction of the pushing block  2123  is pointing from the wiping board separating position  2021  to the wiping board mounting position  2022 , thereby pushing the wiping board that is borne by the wiping board tray  203  located on the wiping board separating position  2021  and on which replacement of the wiping member is just completed to the wiping board mounting position  2022 . In this case, the pushing block  2123  is magnetically attracted by the second magnet. Then, the motor rotates inversely, and the rotatable arm  2121  rotates to a vertical position. 
     A complete process in which the base station  200  of this embodiment of the present invention replaces the wiping member for the cleaning robot  100  is described below with reference to  FIG. 44A  to  FIG. 44I . 
     As shown in  FIG. 44A , the cleaning robot  100  prepares to enter the base station  200  to replace the wiping member. In this case, the rotatable arm  2121  is in a vertical state, the pushing block  2123  is magnetically attracted by the first magnet  2126 , and the synchronization belt  2122  is in a locked state. 
     As shown in  FIG. 44B , the cleaning robot  100  enters the base station  200  through the access, and unloads the cleaning module  120  onto the wiping board tray  203  located on the wiping board separating position  2021 . 
     As shown in  FIG. 44C , the cleaning robot  100  retreats to the wiping board mounting position  2022 , and mounts the cleaning module  120  that is provided in a previous operation round and on which replacement with the new wiping member is performed. 
     As shown in  FIG. 44D , the cleaning robot  100  retreats from the base station  200 . 
     As shown in  FIG. 44E , according to the process shown in  FIG. 37A  to  FIG. 37L , a replacement operation of the wiping member is performed on the cleaning module  120  detached from the cleaning robot  100  in this round in the base station  200 , and subsequently the wiping board tray  203  lowers the cleaning module  120  on which replacement with the clean wiping member is performed to the wiping board separating position  2021 . 
     As shown in  FIG. 44F , the motor drives the translation and transposition mechanism  212  to operate, to cause the rotatable arm  2121  to rotate from the original vertical position to a horizontal position. 
     As shown in  FIG. 44G  and  FIG. 44H , the motor drives the first synchronization wheel to overcome the magnetic attraction force of the first magnet  2126  on the pushing block  2123 , to drive the pushing block  2123  to move rightward, and then the cleaning module  120  that is placed on the wiping board tray  203  and on which replacement with the clean wiping member is performed is pushed to the wiping board mounting position  2022 . 
     As shown in  FIG. 44I , subsequently, the motor rotates inversely, and the rotatable arm  2121  rotates to a vertical position. 
     Therefore, it can be seen that, with the aid of the technical solution of the foregoing improved embodiment, by adding, to the base station  200 , the translation and transposition mechanism  212  and the wiping board mounting position  2022  configured to temporarily store the cleaning module  120  on which replacement with the new wiping member is performed, the translation and transposition mechanism  212  may push the cleaning module  120  on which the operating module  400  completes replacement of the wiping member from the wiping board tray  203  to the wiping board mounting position  2022 . In this way, when replacing the cleaning module  120 , the cleaning robot  100  unloads a dirty cleaning module  120  onto the wiping board tray  203 , and subsequently mounts a new cleaning module  120  from the wiping board mounting position  2022 . Therefore, the cleaning robot only needs to enter and leave the base station  200  once, to complete replacement of the cleaning module  120 , and therefore replacement efficiency is greatly improved. 
     It should be noted that, a difference between the base station  200  in the second solution and the base station  200  in the first solution shown in  FIG. 37A  to  FIG. 37L  only lies in that the translation and transposition mechanism  212  and the wiping board mounting position  2022  (substantially, the base station  200  in the first solution includes the wiping board separating position  2021 ) are added, and other structures are substantially the same. Reference may be made to the foregoing description, and details are not described herein. 
       FIG. 46A  to  FIG. 46L  are diagrams of a process in which the base station  200  of the third feasible solution replaces a wiping member for a cleaning robot  100  according to the second embodiment of the present invention. The base station  200  in the solution is slightly different from the base station  200  in the first solution shown in  FIG. 37A  to  FIG. 37L  and the second solution shown in  FIG. 44A  to  FIG. 44I . The difference lies in that, the device  400  configured to replace a wiping member for the cleaning module  120  and the recycling box  206  in the base station  200  in this solution are different from the operating module  400  in the foregoing two solutions. For other similarities, reference may be made to the foregoing description, and details are not described herein. 
     Moreover, the wiping board tray  203  in this solution may be the same as or different from that in the foregoing solution. When the wiping board tray  203  is in a structure the same as that in the foregoing solution, the stop strips  208  may be correspondingly disposed in the casing  202 . However, when the wiping board tray  203  is in a structure different from that in the foregoing solution, the wiping board tray  203  may include only one bearing board, which is similar to the main board  2031  in the foregoing solution, but does not include the positioning member  2032 . In this case, the wiping board tray  203  includes only the unfolded state, but does not include the folded state. 
     The wiping board tray  203  is disposed on the lifting mechanism  207 , and is driven by the lifting mechanism  207  to move up and down. In this solution, likewise, the lifting mechanism  207  may be the same as that in the foregoing first and second solutions, or may use another replacement manner. For example, in this embodiment, the lifting mechanism  207  may be a belt-shaped structure including a synchronization belt, a transmission belt, and the like that are vertically disposed in the casing  202 , a synchronization wheel is disposed in each of positions in the casing  202  close to the upper end and the bottom, the synchronization belt and the transmission belt are wound around the two synchronization wheels, and the wiping board tray  203  is fixed on a vertical segment on any side of the synchronization belt and the transmission belt. 
     As shown in  FIG. 46A , in this solution, the operating module  400  may include only an adsorbing board  411  and a magnetic element (not shown) disposed on the bottom of the adsorbing board  411 , and the adsorbing board  411  is similar to the supporting framework  401  in the foregoing solution. The position in the casing  202  close to the upper end is provided with a movable mechanism  412 , the movable mechanism  412  may also be a belt-shaped structure including a synchronization belt, a transmission belt, and the like, is wound around in a plurality of belt pulleys, and forms at least a horizontal pulling segment  4121 . 
     With reference to  FIG. 46E , the adsorbing board  411  and a horizontal pulling segment  4121  of the movable mechanism  412  are fixedly connected through a connection assembly, and the adsorbing board  411  and the connection assembly are rotatably connected. Specifically, the inner wall of the casing  202  of the base station  200  close to the upper end is provided with a first sliding groove  413  and a second sliding groove  414  that are horizontal. The size of the first sliding groove  413  is less than the size of the second sliding groove  414 , and the two sliding grooves are disposed on a same horizontal position. The inner wall of the casing  202  is further provided with a third sliding groove  419 , and the third sliding groove  419  is in a mountain peak shape, and is in smooth transition with and in communication with the second sliding groove  414 . Moreover, the third sliding groove  419  corresponds to the position of the lifting mechanism  207 . 
     The connection assembly includes a first rolling wheel  415  disposed in the first sliding groove  413  and movable along the horizontal direction in the first sliding groove  413 , and a first connection member  416  and a second connection member  417  that are rotatably connected to the first rolling wheel  415 . The first connection member  416  and the horizontal pulling segment  4121  of the movable mechanism  412  are fixedly connected, the second connection member  417  has one end connected to the adsorbing board  411  and another end rotatably provided with a second rolling wheel  418 , and the second rolling wheel  418  may slide in the second sliding groove  414  and the third sliding groove  419 . A manner in which the first connection member  416  and the second connection member  417  are rotatably connected to the first rolling wheel  415  may be that, the second connection member  417  is in a sheet shape or board shape, a side of which facing the first sliding groove  413  is provided with a shaft, and the first rolling wheel  415  is rotatably disposed on the shaft. The end portion of the shaft may extend to a side of the first rolling wheel  415  back to the first sliding groove  413 . The first connection member  416  is also in a sheet shape or board shape, and is fixedly connected to the end portion of the shaft. 
     Alternatively, the second connection member  417  is provided with a round hole matching the first rolling wheel  415  in shape and size, the first rolling wheel  415  has one part inserted into the round hole and capable of rotating in the round hole and the other part located outside the round hole, and the part exposed outside the round hole is then inserted into the first sliding groove  413 . The position of the circle center of the first rolling wheel  415  may be provided with a shaft, which extends in a direction away from the first sliding groove  413 , the first connection member  416  may be provided with a shaft hole, and the shaft is threaded in the shaft hole. 
     The adsorbing board  411  has a horizontal position and a vertical position. Specifically, when the lifting mechanism  207  conveys the cleaning module  120  upward to a position near the adsorbing board  411 , the cleaning module  120  is adsorbed at the lower end of the adsorbing board  411  under the action of a magnetic force. In this case, the second rolling wheel  418  is located in the third sliding groove  419 , and the adsorbing board  411  as a whole is in a horizontal position state. When the movable mechanism  412  moves, the adsorbing board  411  connected to the horizontal pulling segment  4121  of the movable mechanism  412  through the connection assembly is overturned. 
     Specifically, when the horizontal pulling segment  4121  moves leftward, the second rolling wheel  418  originally in the vertical state in the third sliding groove  419  enters a left half segment of the horizontal second sliding groove  414 . Therefore, under the action of limit of the second rolling wheel  418  and the second sliding groove  414 , the adsorbing board  411  clockwise rotates upward, which is a process shown in  FIG. 46D  to  FIG. 46E . 
     Correspondingly, when the horizontal pulling segment  4121  moves leftward, the second rolling wheel  418  originally in the vertical state in the third sliding groove  419  enters a right half segment of the horizontal second sliding groove  414 . The adsorbing board  411  counterclockwise rotates upward, which is a process shown in  FIG. 46G  to  FIG. 46H . 
     In this solution, the recycling box  206  is located at one end of the horizontal pulling segment  4121  (a left side shown in  FIG. 46A  to  FIG. 46L ), and an outer side at the other end of the horizontal pulling segment  4121  may be provided with a wiping member mounting position  420 . The recycling box  206  has an opening facing the horizontal pulling segment  4121 , upper and lower ends at the opening of the recycling box are provided with separating modules  422 , and the separating module  422  is in a barb-shaped structure, configured to hook the wiping member and take down the wiping member from the wiping board  1201  of the cleaning module  120 . Therefore, the position in which the separating module  422  is disposed corresponds to the wiping member separating position  4221 . The wiping member mounting position  420  is substantially in a shape of a slot opened inward, and the shape of the slot body and the shape of the bottom of the wiping board  1201  of the cleaning module  120  match. The end portion of the wiping member provided by the supply module  204  may droop to the wiping member mounting position  420 . A feeding module  421  is further disposed between the supply module  204  and the wiping member mounting position  420 , and includes at least two delivery wheels, and the two delivery wheels are intermittently close and far away to clamp the wiping member. As shown in  FIG. 46A , one delivery wheel is a round rolling wheel, and the other delivery wheel is a cam. A complete process in which the base station  200  of this embodiment of the present invention replaces the wiping member for the cleaning robot  100  is described below with reference to  FIG. 46A  to  FIG. 46L . 
     As shown in  FIG. 46A , the cleaning robot  100  prepares to enter the base station  200  to replace the wiping member. In this case, the wiping board tray  203  is located at the bottom of the casing  202 , the second rolling wheel  418  is located in the third sliding groove  419 , and the adsorbing board  411  is in a horizontal position state. 
     As shown in  FIG. 46B , the cleaning robot  100  enters the base station  200  through the access, unloads the cleaning module  120  onto the wiping board tray  203 , and retreats by a distance. 
     As shown in  FIG. 46C , the lifting mechanism  207  drives the wiping board tray  203  to move upward, to convey the cleaning module  120  borne by the wiping board tray to the adsorbing board  411 . 
     As shown in  FIG. 46D , under the action of a magnetic force, the cleaning module  120  is adsorbed by the adsorbing board  411 . The lifting mechanism  207  descends, and the wiping board tray  203  returns to the bottom of the base station  200 . 
     As shown in  FIG. 46E , the movable mechanism  412  clockwise rotates, and the horizontal pulling segment  4121  moves leftward. The second rolling wheel  418  enters the left half segment of the second sliding groove  414  through the third sliding groove  419 , and the adsorbing board  411  rotates leftward by  90  degrees, to switch to the vertical position state. Subsequently, the movable mechanism  412  continues to work, and the adsorbing board  411  fixes the cleaning module  120  to continue to move toward the recycling box  206 . 
     As shown in  FIG. 46F , the adsorbing board  411  and the cleaning module  120  enter the recycling box  206  through the opening. 
     As shown in  FIG. 46G , the movable mechanism  412  counterclockwise rotates inversely, to drive the adsorbing board  411  and the cleaning module  120  to move backward. When the cleaning module  120  passes through the separating module  422 , the dirty wiping member on the cleaning module is hooked and scraped off, and subsequently drops into the recycling box  206 . 
     As shown in  FIG. 46H , the movable mechanism  412  continues to inversely rotate, and the adsorbing board  411  and the cleaning module  120  continue to move backward (rightward). When moving to the position corresponding to the third sliding groove  419 , the second rolling wheel  418  again enters the third sliding groove, and the adsorbing board  411  switches to the horizontal position state. Immediately afterward, with rotation of the movable mechanism  412 , the second rolling wheel  418  again moves to the right half segment of the second sliding groove  414 . The adsorbing board  411  rotates rightward by 90 degrees, to switch to the vertical position state. 
     As shown in  FIG. 46I , the movable mechanism  412  continues to drive the adsorbing board  411  and the cleaning module  120  to move rightward, until the wiping board  1201  of the cleaning module  120  is exactly seated in the wiping member mounting position  420 . In this case, the two delivery wheels of the feeding module  421  clamps the new wiping member provided by the supply module  204 . When the wiping board  1201  of the cleaning module  120  is seated in the wiping member mounting position  420 , a tensile force is applied to the wiping member, to snap and clamp the wiping member. 
     As shown in  FIG. 46J , the movable mechanism  412  inversely drives the adsorbing board  411  and the cleaning module  120  to move leftward, and stops when the second rolling wheel  418  again enters the third sliding groove  419  through the second sliding groove  414 , and the adsorbing board  411  is in communication with the cleaning module  120  and is restored to the horizontal position state. 
     As shown in  FIG. 46K , the lifting mechanism  207  drives the wiping board tray  203  to ascend, to take down the cleaning module  120  from the adsorbing board  411 . Subsequently, the wiping board tray  203  is then driven to bear the cleaning module  120  to descend to the bottom. 
     As shown in  FIG. 46L , the cleaning robot  100  drives into the base station  200  to mount the cleaning module  120 , and subsequently retreats from the base station  200  to begin working. 
     In the embodiment, a manner in which the adsorbing board  411  and the cleaning module  120  implement detachable magnetism may be that, the magnetic element disposed on the adsorbing board  411  may be an electromagnet. When the cleaning module  120  needs to be adsorbed on the adsorbing board  411 , the electromagnet is powered on to generate a magnetic field. When the cleaning module  120  needs to be taken down from the adsorbing board  411  (a step shown in  FIG. 46K ), the electromagnet is powered off, the magnetic field disappears, and the cleaning module  120  falls onto the wiping board tray  203  under the action of gravity. 
     Moreover, the cleaning module  120  is also slightly different from those in the foregoing two solutions. In this embodiment, the cleaning module  120  may include only one wiping board  1201 , which may be stuck to a cleaning module through a magic fastener/hook-and-loop fastener. In this way, in a step shown in  FIG. 46I , when the movable mechanism  412  drives the adsorbing board  411  and the cleaning module  120  to move rightward until the wiping board  1201  is seated in the wiping member mounting position  420 , the wiping board  1201  not only may apply a downward tensile force to the wiping member, thereby snapping the wiping member at a weak connection point, but also may apply a pressure to the wiping member, to enable the wiping member to be firmly stuck to the magic fastener/hook-and-loop fastener at the bottom of the wiping board  1201 . 
       FIG. 47  to  FIG. 50  are accompanying drawings involved in a third embodiment of the present invention. The third embodiment specifically provides a base station  200  used for a cleaning robot  100  to park in, and an automatic cleaning system  300  employing or equipped with the base station  200 . In this embodiment, the cleaning robot  100  may be completely the same as the cleaning robot in the foregoing first and/or second embodiment, and details are not described herein. This embodiment describes a process of recycling a dirty wiping member, and the base station  200  mainly includes a receiving module, and a collection box  240  configured to recycle the dirty wiping member to the receiving module. 
     As shown in  FIG. 47 ,  FIG. 49 , and  FIG. 50 , in this embodiment, the base station  200  may include a bottom board  230  configured to be placed on a supporting surface (for example, ground), and the collection box  240  disposed on the bottom board  230  and configured to collect the dirty wiping member detached from the cleaning robot  100 . The area of the bottom board  230  is greater than the area of a projection of the collection box  240  on the bottom board  230 . In this way, when being disposed on the bottom board  230 , the collection box  240  only occupies a partial region on the upper surface of the bottom board  230 , and therefore the bottom board  230  forms a vacant region on the outer side of the collection box  240 , for the cleaning robot  100  to park in (as shown in  FIG. 47 ). 
     The collection box  240  may be in a half-open structure, and includes a rear board  240   a,  two side boards  240   b  connected to the rear board  240   a  and disposed oppositely, and a pressing board  240   c  slidably disposed between the two side boards  240   b  and opposite to the rear board  240   a.  The rear board  240   a  and the two side boards  240   b  are vertically disposed on the bottom board  230 , the two side boards  240   b  are disposed in parallel, the pressing board  240   c  is clamped between the two side boards  240   b,  and the pressing board  240   c  is preferably parallel to the rear board  240   a.  Moreover, the pressing board  240   c  may slide up and down relative to the two side boards  240   b,  thereby opening or closing the collection box  240 . 
     As shown in  FIG. 50 , to guide and limit up-and-down sliding of the pressing board  240   c,  convex lug structures  240   d  are formed at two horizontal ends of the pressing board  240   c,  the two side boards  240   b  are respectively provided with strip-shaped limit and guidance holes  240   e  extending vertically. The convex lug structures  240   d  are inserted into the limit and guidance holes  240   e  of the two side boards  240   b,  and may move up and down in the limit and guidance holes  240   e,  thereby limiting the pressing board  240   c  and guiding up-and-down sliding. 
     To recycling the dirty wiping member detached from the cleaning robot  100  into the collection box  240 , the base station  200  further includes a wiping member collection mechanism. The wiping member collection mechanism includes a driving assembly disposed on the collection box  240  and a raking assembly driven by the driving assembly. The raking assembly is driven by the driving assembly to cause a lower end of the raking assembly to have a working stroke moving in a direction toward the collection box  240  and a returning stroke moving in a direction away from the collection box  240 . When being in the working stroke, the lower end of the raking assembly comes into contact with the bottom board  230 , to tightly press the dirty wiping member and drag the dirty wiping member to move toward the collection box  240  on the bottom board  230 . When being in the returning stroke, the lower end of the raking assembly is detached from the bottom board  230 . 
     As shown in  FIG. 47 ,  FIG. 49 , and  FIG. 50 , the raking assembly may include a swinging member  231 . The driving assembly may include a motor  232 , and an actuation member driven by rotation of the motor  232 . The actuation member and the swinging member  231  cooperate to drive the lower end of the swinging member  231  to move along the working stroke or returning stroke. 
     The driving assembly further includes an input shaft  233  driven by rotation of the motor  232 , the input shaft  233  is threaded to outer sides of the two side boards  240   b  of the collection box  240 , and two ends of the input shaft are each provided with an actuation member. With reference to  FIG. 47 , the motor  232  may drive, through a meshing action between a driving gear and a driven gear, the input shaft  233  to rotate. There are also two swinging members  231 , disposed on outer sides of the collection box  240  and correspondingly cooperating with the two actuation members respectively. 
     In a feasible embodiment, the raking assembly may include only the swinging member  231 , or the swinging member  231  individually forms the raking assembly. In this case, when being in the working stroke, the lower end of the swinging member  231  may butt the bottom board  230 , tightly press the dirty wiping member, and drag the dirty wiping member to move toward the collection box  240 . In this case, the lower end of the swinging member  231  forms the lower end of the raking assembly. 
     In another feasible embodiment, the raking assembly may further include a connection member  234  and a squeezing board  235 , two ends of the connection member  234  are rotatably connected to the lower ends of the two swinging members  231  respectively, and the squeezing board  235  is rotatably disposed at a lower end of the connection member  234 . In this case, the lower end of the squeezing board  235  forms the lower end of the raking assembly. 
     The connection member  234  is substantially in a horizontally extending slat shape, two ends of which are respectively connected to the two side boards  240   b  of the collection box  240 . The squeezing board  235  is substantially in a horizontally extending board shape, and to increase contact friction between a lower surface of the squeezing board and the dirty wiping member, the lower surface of the squeezing board  235  may form concave-convex textures extending along the length direction of the squeezing board. 
     The squeezing board  235  and the connection member  234  may be rotatably connected through pin shafts. Specifically, as shown in  FIG. 50 , the lower end of the squeezing board  235  may form one or more notches, and the upper end of the squeezing board  235  may be correspondingly provided with one or more connection protrusions. Two sides of the notch and the connection protrusion are provided with pin holes, the pin shafts are threaded in the pin holes, and the connection protrusion is stuck in the corresponding notch. 
     The connection member  234  may move up and down relative to the swinging member  231 , to cause the squeezing board  235  to float up and down. Specifically, as shown in  FIG. 48 , two ends of the connection member  234  are provided with connection shafts  236 , the lower ends of the two swinging members  231  are provided with shaft holes  237  extending along the vertical direction, and the two connection shafts  236  are respectively inserted into the two shaft holes  237 . The connection shafts  236  may move up and down in the shaft holes  237 , to further cause the squeezing board  235  to float. 
     When the working stroke begins, the squeezing board  235  compresses the dirty wiping member on the bottom board  230 . As the working stroke continuously proceeds, a compression force of the squeezing board  235  on the dirty wiping member and the bottom board  230  is gradually increased, to push the connection member  234  to move upward. Subsequently, the compression force of the squeezing board  235  on the dirty wiping member and the bottom board  230  is then gradually reduced, and then the connection member  234  falls back. Therefore, during the entire working stroke, the squeezing board  235  may always keep compression on the dirty wiping member and the bottom board  230 . 
     A guiding member  238  located above the connection member  234  may be disposed between the two swinging members  231 , the guiding member  238  is provided with a guiding hole  238   a,  a guiding pin  239  is movably threaded in the guiding hole  238   a,  and the lower end of the guiding pin  239  and the connection member  234  are fixedly connected. When the squeezing board  235  moves on the bottom board  230  to push the connection member  234  to move up and down relative to the swinging member  231 , the guiding pin  239  may be driven to move up and down in the guiding hole  238   a,  and then up-and-down floating of the connection member  234  and the squeezing board  235  is guided and righted. 
     To improve the compression force on the dirty wiping member and the bottom board  230 , in another embodiment, an elastic member  241  may be disposed to push the connection member  234  and the squeezing board  235 . The elastic member  241  in a compressed state is disposed between the guiding member  238  and the connection member  234 . In this way, during the entire working stroke, as the connection member  234  moves up and down relative to the swinging member  231 , the biased elastic member  241  may apply downward elastic action forces in different extents to the connection member  234 , to further improve the force by which the squeezing board  235  compresses the dirty wiping member and the bottom board  230 , thereby avoiding a case that the dirty wiping member is not dragged by the squeezing board  235  because the compression force applied by the squeezing board  235  is relatively small, and ensuring that the dirty wiping member can smoothly move toward the collection box  240 . 
     A tension spring may be disposed between the squeezing board  235  and the connection member  234 , and a twisting force applied by the tension spring to the squeezing board  235  causes the end portion of the squeezing board  235  close to the collection box  240  to have a trend of rotating around a direction toward the bottom board  230 . In this way, under the action of the twisting force applied by the tension spring, the end portion of the squeezing board  235  close to the collection box  240  always has a trend of rotating downward. Therefore, when the squeezing board  235  begins to switch from a descending stroke to the working stroke, the left end of the squeezing board  235  first comes into contact with the dirty wiping member and the bottom board  230 , and as the squeezing board  235  continues to descend, the squeezing board  235  rotates by using the end portion of the squeezing board coming into contact with the bottom board  230  as a supporting point, until the lower surface of the squeezing board completely comes into contact with the dirty wiping member and the bottom board  230 . In this way, by causing the squeezing board  235  to gradually come into contact with and compress the dirty wiping member and the bottom board  230 , a compression effect of the squeezing board  235  on the dirty wiping member may be improved. 
     The pressing board  240   c  of the collection box  240  is designed to be capable of opening when the squeezing board  235  moves to the end of the working stroke. The lower end of the pressing board  240   c  may form a wedged inclined surface facing the squeezing board  235 , and an end portion of the squeezing board  235  facing the wedged inclined surface is a wedged end. The wedged inclined surface may be formed by tilting a partial lower end surface of the pressing board  240   c  toward the squeezing board  235 , and the wedged end may be a tip end, a cross-sectional area of which is gradually reduced along the working stroke direction. When the squeezing board  235  moves to the wedged end along the working stroke to butt the wedged inclined surface, the pressing board  240   c  may be pushed by the wedged end to slide upward, thereby opening the collection box  240 , and the dirty wiping member compressed at the lower end of the squeezing board  235  enters the collection box  240  through the opened opening. When the working stroke is completed, the squeezing board  235  moves upward, to reach the returning stroke. In this case, the pressing board  240   c  may fall under the action of its own gravity, to cause the lower end of the pressing board to butt the bottom board  230 , thereby pressing the dirty wiping member and causing the dirty wiping member to remain in the current position, to avoid a case that the dirty wiping member has a displacement because of an external factor (for example, wind blowing or airflow). 
     As shown in  FIG. 48 , in an embodiment, a pivoting portion  242  is disposed on the swinging member  231 , and an engaging portion  243  is disposed on the side board  240   b  of the collection box  240 . The pivoting portion  242  may be a strip-shaped sliding groove disposed on the swinging member  231  and extending along the length direction of the swinging member  231 , and the engaging portion  243  may be a guiding component fixed on the side board  240   b  of the collection box  240 . The guiding component is inserted into the strip-shaped sliding groove and can rotate and slide in the strip-shaped sliding groove. The actuation member includes an eccentric structure, and the eccentric structure and the upper end of the swinging member  231  are rotatably connected. 
     The eccentric structure may be an eccentric wheel  244 , and the eccentric wheel  244  and the input shaft  233  are eccentrically disposed. The upper end of the swinging member  231  may be provided with a wheel ring  245 , and the eccentric wheel  244  is disposed in the wheel ring  245 . Alternatively, the eccentric structure may be a connecting rod, the extending direction of the connecting rod and the axial direction of the input shaft  233  are perpendicular, and the upper end of the swinging member  231  and the connecting rod are rotatably connected. 
     As shown in  FIG. 49 , the input shaft  233  drives the eccentric structure to rotate, the eccentric structure may drive the upper end of the swinging member  231  rotatably connected to the eccentric structure to rotate around the axis of the input shaft  233 , and a rotation track of the upper end of the swinging member  231  is a circle. The position in the swinging member  231  close to the middle is limited by the pivoting portion  242  and the engaging portion  243 . Therefore, the swinging member  231  rotates by using a junction of the pivoting portion  242  and the engaging portion  243  as a supporting point, so that the lower end of the swinging member may swing. Therefore, the connection member  234  and the squeezing board  235  that are disposed at the lower end of the swinging member  231  are driven to swing accordingly. 
     A working process of the embodiment is described below: 
     The squeezing board  235  of the raking assembly is initially located at a raised position, the cleaning robot works and then enters the base station  200 , and the dirty wiping member is released onto the bottom board  230  of the base station  200 . 
     Subsequently, the motor  232  drives the input shaft  233  to clockwise rotate, and under the driving of the eccentric structure, the squeezing board  235  gradually moves downward, until the dirty wiping member is pressed. 
     The motor  232  drives the input shaft  233  to continue to clockwise rotate, the squeezing board  235  is driven to move toward the working stroke direction, and then the dirty wiping member is dragged to move together, until the wedged end of the squeezing board  235  butts the wedged inclined surface of the pressing board  240   c  of the collection box  240 . As the squeezing board  235  continues to move forward, the pressing board  240   c  is pushed away, and the dirty wiping member is fed into the collection box  240 . 
     The squeezing board  235  moves to the end of the working stroke, the motor  232  drives the input shaft  233  to continue to clockwise rotate, and the squeezing board  235  begins to rise and move backward, until the wedged end is detached from the wedged inclined surface. The pressing board  240   c  moves downward under the action of gravity, to press the dirty wiping member, and a part of the dirty wiping member is inputted to the collection box  240 . 
     The motor  232  drives the input shaft  233  to continue to clockwise rotate, and the squeezing board  235  moves along the returning stroke. The foregoing process is repeated, until the dirty wiping member is completely received into the collection box  240 . 
     As shown in  FIG. 49  and  FIG. 50 , in another embodiment, a slidable member  246  capable of moving along the working stroke direction or the returning stroke direction is disposed on the side board  240   b  of the collection box  240 , a first reset member  247  is disposed between the slidable member  246  and the side board  240   b,  and a reset force applied by the first reset member  247  to the slidable member  246  causes the slidable member to have a trend of moving toward the returning stroke direction. A guiding hoop  248  is disposed on the side board  240   b  of the collection box  240 , and the slidable member  246  is threaded in the guiding hoop  248  and is vertically limited by the guiding hoop  248 , so that the slidable member  246  may horizontally move on the side board  240   b.    
     A notch  246   a  is formed on the slidable member  246 , and a first hanging member  246   b  is disposed in the notch  246   a.  The outer wall of the side board  240   b  may be provided with a second hanging member  240   f.  The first reset member  247  may be a spring, two ends of which are respectively hung on the first hanging member  246   b  and the second hanging member  240   f.  The first hanging member  246   b  may be a pin shaft structure vertically disposed in the notch  246   a,  and the second hanging member  240   f  may be a protrusion structure disposed on the outer wall of the side board  240   b.  The first reset member  247  is in the stretched state, to apply a tensile force toward the returning stroke direction to the slidable member  246 . 
     The swinging member  231  may be slidably disposed on the side board  240   b,  and the swinging member  231  and the slidable member  246  are fixed between each other along the working stroke direction or the returning stroke direction. A second reset member  249  is disposed between the swinging member  231  and the slidable member  246 , and a reset force applied by the second reset member  249  to the swinging member  231  causes the swinging member to have a trend of moving in a direction departing from the bottom board  230 . 
     As shown in  FIG. 50 , the outer wall at the upper end of the swinging member  231  is provided with a third hanging member  231   a,  the outer wall at the lower end of the slidable member  246  is provided with a fourth hanging member  246   c,  and the second reset member  249  is a spring, two ends of which are respectively hung on the third hanging member  231   a  and the fourth hanging member  246   c.  The third hanging member  231   a  may be a protrusion structure disposed on the outer wall of the swinging member  231 , and the fourth hanging member  246   c  may be a hook-shaped structure disposed on the outer wall of the slidable member  246 . The second reset member  249  is in the stretched state, to apply an upward tensile force to the swinging member  231 . 
     The inner side wall of the slidable member  246  is provided with a guiding sliding groove  246   d  extending along the vertical direction, and the swinging member  231  is threaded in the guiding sliding groove  246   d  and is limited by the guiding sliding groove  246   d  along the horizontal direction. 
     The swinging member  231  is provided with a first contour tracing groove  231   c,  and the actuation member includes a first cam  224  disposed in the first contour tracing groove  231   c.  The first cam  224  is driven by the input shaft  233  to rotate in the first contour tracing groove  231   c,  and may drive, by butting the surface of the first contour tracing groove  231   c,  the swinging member  231  to move, the swinging member  231  is reset under the action of the first reset member  247  and the second reset member  249 , and then movement of the swinging member  231  is cycled. 
     The swinging member  231  as a whole is in an inverted “F” shape, including a rod body  231   d,  and a first extending portion  231   e  disposed on the rod body  231   d.  A right surface of the rod body  231   d  and a lower surface of the first extending portion  231   e  define the first contour tracing groove  231   c.  The rod body  231   d  is threaded in the guiding sliding groove  246   d,  and the first extending portion  231   e  is located below the slidable member  246 . The swinging member  231  further includes a second extending portion  231   b  disposed at the lower end of the rod body  231   d,  and the connection member  234  is rotatably disposed on an end portion of the second extending portion  231   b.    
     The first cam  224  includes two flat contour tracing surfaces disposed oppositely, and arc-shaped contour tracing surfaces in smooth transition with the two flat contour tracing surfaces, and a connection point between the first cam  224  and the input shaft  233  is located at a circle center of one of the arc-shaped contour tracing surfaces. The first contour tracing groove  231   c  includes an arc-shaped smooth transition surface connected between the right surface of the rod body  231   d  and the lower surface of the first extending portion  231   e,  and the curvature of the arc-shaped smooth transition surface and the curvature of the arc-shaped contour tracing surface match. The arc-shaped contour tracing surface close to the connection point between the first cam  224  and the input shaft  233  forms the lowest potential energy point of the first cam  224 . Correspondingly, the arc-shaped contour tracing surface away from the connection point between the first cam  224  and the input shaft  233  forms the highest potential energy point of the first cam  224 . 
     When the squeezing board  235  is located at the working stroke, the lowest potential energy point of the first cam  224  rotates in the arc-shaped smooth transition surface, and the highest potential energy point of the first cam  224  slides on the right surface of the rod body  231   d.  The lower surface of the first extending portion  231   e  and the lowest potential energy point of the first cam  224  come into contact, and then the swinging member  231  is located at the lowest position. In this way, the connection member  234  and the squeezing board  235  that are disposed at the lower end of the swinging member  231  can be compressed on the bottom board  230 . Meanwhile, the highest potential energy point of the first cam  224  slides on the right surface of the rod body  231   d,  and a distance between connection points between the swinging members  231  and the input shaft  233  is gradually increased. Because the input shaft  233  is fixed relative to the collection box  240 , the swinging member  231  gradually moves away from the input shaft  233 . In this way, the connection member  234  and the squeezing board  235  that are disposed at the lower end of the swinging member  231  move toward the collection box  240  accordingly. Therefore, the squeezing board  235  compresses the dirty wiping member on the bottom board  230 , and the swinging member  231  is pushed by the first cam  224  to cause the squeezing board  235  to move toward the collection box  240 , thereby recycling the dirty wiping member. 
     When the squeezing board  235  is located at the returning stroke, the lowest potential energy point of the first cam  224  slides on the right surface of the rod body  231   d,  and the highest potential energy point of the first cam  224  slides on the lower surface of the first extending portion  231   e.  The lower surface of the first extending portion  231   e  and the highest potential energy point of the first cam  224  come into contact, and then the swinging member  231  is located at the highest position. In this way, the connection member  234  and the squeezing board  235  that are disposed at the lower end of the swinging member  231  are raised away from the bottom board  230 . Meanwhile, the lowest potential energy point of the first cam  224  slides on the right surface of the rod body  231   d.  In this case, under the action of the first reset member  247 , the slidable member  246  and the swinging member  231  are pulled to move toward the returning stroke direction, and the connection member  234  and the squeezing board  235  that are disposed at the lower end of the swinging member  231  also move toward the returning stroke direction accordingly. Therefore, the squeezing board  235  is raised to be higher than the bottom board  230 , and under the action of the first reset member  247 , the swinging member  231 , and the connection member  234  and the squeezing board  235  that are disposed at the lower end of the swinging member  231  are driven to move toward the returning stroke direction, to implement returning of the swinging member  231 . 
     A second contour tracing groove  240   g  is formed on a surface of the pressing board  240   c  facing the returning stroke direction. A second cam  225  accommodated in the second contour tracing groove  240   g  is disposed on the input shaft  233 , and the highest potential energy point of the second cam  225  and the highest potential energy point of the first cam  224  are located at two sides of the input shaft  233 . 
     The second contour tracing groove  240   g  includes a surface facing the returning stroke direction (briefly referred to as a front side surface below) and a lower surface. The highest potential energy point of the second cam  225  and the highest potential energy point of the first cam  224  are located at the two sides of the input shaft  233 . Therefore, when the squeezing board  235  is located at the working stroke, the highest potential energy point of the first cam  224  is located below. In this case, the highest potential energy point of the second cam  225  is located above, to butt the lower surface of the second contour tracing groove  240   g,  the pressing board  240   c  is pushed away by the second cam  225  and is in the opened state, and then the dirty wiping member dragged by the squeezing board  235  enters the collection box  240 . 
     When the squeezing board  235  is located at the returning stroke, the highest potential energy point of the first cam  224  is located above. In this case, the highest potential energy point of the second cam  225  is located below. That is, the lowest potential energy point of the second cam  225  butts the lower surface of the second contour tracing groove  240   g,  and therefore the pressing board  240   c  falls under the action of its own gravity, and then presses the dirty wiping member. 
       FIG. 51  to  FIG. 56  are accompanying drawings involved in a fourth embodiment of the present invention. The fourth embodiment specifically provides a base station  200 , capable of automatically recycling a dirty wiping member detached by a cleaning robot  100 , and including: a rack  11 , a wiping member separating position  13  disposed on the rack  11  and used for the cleaning robot  100  to release a wiping member, a receiving module  15  disposed on the rack  11  and configured to accommodate a wiping member, a delivery device  17  disposed on the rack  11 , a clamping mechanism  19  disposed on the delivery device  17 , and a driving mechanism configured to drive the delivery device  17 . The clamping mechanism  19  has a first working state of moving between the receiving module  15  and the wiping member separating position  13 , a second working state of clamping a wiping member on the wiping member separating position  13 , and a third working state of releasing a wiping member into the receiving module  15 . The driving mechanism drives the delivery device  17  to cause the clamping mechanism  19  to move between the wiping member separating position  13  and the receiving module  15  and then switch among the first working state, the second working state, and the third working state. 
     During use, after the wiping member completes mopping, the cleaning robot  100  may park in the wiping member separating position  13 , and release the wiping member onto the wiping member separating position  13 . Then, the driving mechanism is started to drive the delivery device  17  to then cause the clamping mechanism  19  to move between the wiping member separating position  13  and the receiving module  15  and switch among the first working state, the second working state, and the third working state. When clamping the wiping member on the wiping member separating position  13  and clamping the wiping member to move until moving to the receiving module  15 , the clamping mechanism  19  opens toward the receiving module  15 , to release the wiping member into the receiving module  15 . In this way, the wiping member is automatically recycled, and an operator does not need to manually take out the wiping member, to avoid manual intervention. 
     The rack  11  includes a first framework  41  and a second framework  43  that are vertically disposed, the first framework  41  and the second framework  43  as a whole are rectangular and respectively form a first opening and a second opening, and the cleaning robot  100  can pass through the first opening to enter the rack  11 , and is threaded in the second opening. 
     The wiping member separating position  13  and the receiving module  15  are both disposed between the first framework  41  and the second framework  43 , and the wiping member separating position  13  is a parking board located at the bottom of the rack  11  and used for the cleaning robot  100  to park in and receiving the released wiping member. The receiving module  15  is located above the wiping member separating position  13 , and has an upper end opened, to collect the dirty wiping member. 
     The delivery device  17  includes a first delivery portion  37  and a second delivery portion  39 , the first delivery portion  37  includes a plurality of first synchronization wheels  45  disposed on the first framework  41  and a first synchronization belt  49  surrounding the plurality of first synchronization wheels  45 . The driving mechanism is in a transmission connection to the first synchronization wheels  45 , to drive the first synchronization wheels  45  to rotate. The driving mechanism may be a motor. 
     A controller connected to the driving mechanism is disposed on the rack  11 , configured to receive a signal sent by the cleaning robot  100  and control the driving mechanism according to the signal sent by the cleaning robot  100 . The signal sent by the cleaning robot  100  may be a wiping member replacement signal, and when the cleaning robot  100  sends the wiping member replacement signal to the controller, the controller controls the driving mechanism, to enable the driving mechanism to drive the delivery device to perform delivery. In another implementation, the controller is connected to the clamping mechanism  19  and configured to control the clamping mechanism to perform separation and attaching. The controller is a control electromagnet. 
     A plurality of third rotatable shafts  53  is disposed on the first framework  41  and corresponds to the plurality of first synchronization wheels  45 , and each first synchronization wheel  45  is fixedly sleeved on a corresponding third rotatable shaft  53 , thereby driving the third rotatable shaft  53  to rotate to drive the first synchronization wheel  45  to rotate, and then drive the first synchronization belt  49  to rotate. 
     Similarly, with reference to the foregoing description on the first delivery portion  37 , the second delivery portion  39  includes a plurality of second synchronization wheels  47  disposed on the second framework  43  and a second synchronization belt  51  surrounding the plurality of second synchronization wheels  47 . The driving mechanism is in a transmission connection to the second synchronization wheels  47 , to drive the second synchronization wheels  47  to rotate. 
     A plurality of fourth rotatable shafts  55  is disposed on the second framework  43  and corresponds to the plurality of second synchronization wheels  47 , and each second synchronization wheel  47  can be fixedly sleeved on a corresponding fourth rotatable shaft  55 , thereby driving the fourth rotatable shaft  55  to rotate to drive the second synchronization wheel  47  to rotate, and then drive the second synchronization belt  51  to rotate. 
     The clamping mechanism  19  includes a first rotatable shaft  31  and a second rotatable shaft  33  that are disposed oppositely and a first clamping jaw  21  and a second clamping jaw  23  that are respectively sleeved on the first rotatable shaft  31  and the second rotatable shaft  33 , the first clamping jaw  21  and the second clamping jaw  23  can respectively rotate around extending directions of the first rotatable shaft  31  and the second rotatable shaft  33 , and two ends of the first rotatable shaft  31  and two ends of the second rotatable shaft  33  are respectively connected to the first synchronization belt and the second synchronization belt of the delivery device  17 . A tension spring  35  is disposed between the first clamping jaw  21  and the second clamping jaw  23 , and the first clamping jaw  21  and the second clamping jaw  23  are separated from each other under an action force of the tension spring  35 , to cause the clamping mechanism  19  to be in an opened state. 
     One end of the first clamping jaw  21  away from the first rotatable shaft  31  is provided with magnet configured to attach to the second clamping jaw  23 . When the clamping mechanism  19  is in the opened state, a spacing between magnets of the first clamping jaw  21  and the second clamping jaw  23  is large, the force of the tension spring  35  is greater than a magnetic force between the first clamping jaw  21  and the second clamping jaw  23 , and the clamping mechanism  19  may be kept in the opened state. When the clamping mechanism  19  is in the closed state, a spacing between the magnets of the first clamping jaw  21  and the second clamping jaw  23  is small, a magnetic force between the first clamping jaw  21  and the second clamping jaw  23  is greater than the force of the tension spring  35 , and the clamping mechanism  19  is kept closed and provides a clamping force. 
     As shown in  FIG. 54 , a first guiding portion  27  located on a side of the wiping member separating position  13  is further disposed on the rack  11  and configured to apply an action force to the second clamping jaw  23 , to enable the second clamping jaw  23  to rotate relative to the first clamping jaw  21  and attach to the first clamping jaw  21 , to clamp the wiping member. After the cleaning robot  100  parks in the wiping member separating position  13  and releases the wiping member, the driving mechanism drives the first synchronization wheel  45  and the second synchronization wheel  47  to respectively drive the first synchronization belt  49  and the second synchronization belt  51  to counterclockwise rotate, and the clamping mechanism  19  moves downward. When the second clamping jaw  23  moves to come into contact with the first guiding portion  27 , the first guiding portion  27  applies an action force to the second clamping jaw  23 , and the second clamping jaw  23  counterclockwise rotates, and then attaches to the magnet on the first clamping jaw  21 , to clamp the wiping member. 
     The first guiding portion  27  is a first groove opened upward, and when the second clamping jaw  23  moves to come into contact with the inner wall of the first groove, the inner wall of the first groove applies a resisting force to the second clamping jaw  23 . As the delivery device  17  rotates, the second clamping jaw  23  rotates around the second rotatable shaft  33  under the action of the resisting force and attaches to the magnet on the first clamping jaw  21 , to clamp the wiping member. 
     A second guiding portion  29  located on a side of the receiving module  15  is further disposed on the rack  11  and configured to apply an action force to the second clamping jaw  23 , to enable the second clamping jaw  23  to rotate relative to the first clamping jaw  21  and separate from the first clamping jaw  21 , to release the wiping member. Specifically, after the first clamping jaw  21  and the second clamping jaw  23  attach and clamp the wiping member, the driving mechanism drives the delivery device  17  to clockwise rotate, to cause the clamping mechanism  19  to move upward. When the clamping mechanism moves to directly face the second guiding portion  29 , the second guiding portion  29  applies an action force to the second clamping jaw  23 , to cause the second clamping jaw  23  to clockwise rotate and separate from the magnet on the first clamping jaw  21 , to release the wiping member. 
     The second guiding portion  29  is a rod body capable of stretching in between the first clamping jaw  21  and the second clamping jaw  23 , and is configured to butt the second clamping jaw  23 . When the clamping mechanism  19  moves toward the rod body with the delivery of the delivery device  17 , the rod body stretches in between the first clamping jaw  21  and the second clamping jaw  23 , to apply an action force to the second clamping jaw  23 . With the continuous delivery of the delivery device  17 , the second clamping jaw  23  rotates around the second rotatable shaft  33  under the action force of the rod body and separates from the magnet on the first clamping jaw  21 , and the wiping member can drop into the receiving module  15  under the action of gravity. 
     The first clamping jaw  21  is provided with a second groove used for the rod body to thread, and the second groove is opened toward the second clamping jaw  23 . The second groove can guide the rod body to move toward the second clamping jaw  23 , to ensure that the second clamping jaw  23  and the first clamping jaw  21  are separated. 
       FIG. 57  to  FIG. 63  are accompanying drawings involved in a fifth embodiment of the present invention. The fifth embodiment provides a base station  200  for a cleaning robot  100  to park in, and an automatic cleaning system  300  equipped with the base station  200 . The base station  200  may automatically replace a wiping member such as mopping paper or mopping cloth for the cleaning robot  100 , thereby reducing intervention by a user and improving use experience of the user. 
     The base station  200  includes: a base belt  216 , a plurality of wiping members arranged along the base belt  216  and detachably disposed on the base belt  216 , a movable mechanism configured to drive the base belt  216  to move, and a wiping member operating position  218  used for the cleaning robot  100  to replace a wiping member. After a wiping member on the base belt  216  located at the wiping member operating position  218  is carried by the cleaning robot  100 , a vacant region  222  is formed on the base belt. The movable mechanism can receive, in the vacant region  222 , a wiping member  21   b  detached from the cleaning robot  100  and then move the base belt  216 , to cause another wiping member  21   a  to be located at the wiping member operating position  218 . 
     The base station  200  provided in this embodiment is provided with the base belt  216  driven by the movable mechanism to move and the wiping member operating position  218  for the cleaning robot  100  to replace a wiping member, so that the cleaning robot  100  enters the wiping member operating position  218  in need of replacing a wiping member, to place the used wiping member  21   b  in the vacant region  222  on the base belt  216 , the base belt  216  is driven by the movable mechanism, to switch the to-be-used wiping member  21   a  to the wiping member operating position  218 , and the cleaning robot  100  performs replacement with the to-be-used wiping member  21   a  and then completes automatic replacement of the wiping member. Therefore, the base station  200  of this embodiment can facilitate automatic replacement of the wiping member, reduce intervention by the user in replacement of the wiping member, and improve the use experience of the user. 
     The plurality of wiping members attaches to a surface of the base belt  216 , and is arranged along an extending direction of the base belt  216 . The base belt  216  is in a flat structure, and is made of a cloth material or paper material. The base belt  216  passes through the wiping member operating position  218 , to carry a wiping member to the wiping member operating position  218  in the form of facing the cleaning robot  100 . The cleaning robot  100  enters the wiping member operating position  218 , but does not interfere with movement of the base belt  216 . The base belt  216  may carry and deliver the wiping member, and in a process of carrying the wiping member, the wiping member may park in the wiping member operating position  218 , to be replaced by the cleaning robot  100 . 
     Wiping members may be continuously arranged on the base belt  216 , and neighboring wiping members are not connected to each other. Two neighboring wiping members are spaced apart by a specific distance or closely adjacent to each other. Preferably, the plurality of wiping members is arranged at intervals on the base belt  216 , and is distributed in a breakpoint form. The plurality of wiping members attaches to the surface of the base belt  216  at intervals along a length direction of the base belt  216 , and neighboring wiping members are equal in spacing. A preset distance by which neighboring wiping members are spaced may cause only one wiping member to be attached to the base belt  216  in the wiping member operating position  218 , for the cleaning robot  100  to perform replacement. As shown in  FIG. 61 , after the wiping member is carried and removed, the base belt  216  in the wiping member operating position  218  is in a vacant state, and no wiping member is attached in the vacant region  222 . The vacant region  222  located in the wiping member operating position  218  is in a motionless state until receiving the used wiping member  21   b,  and the another to-be-used wiping member  21   a  is still wound around a second roller  227  and stored, to avoid a case that the to-be-used used wiping member  21   a  is unfolded in advance and exposed in air to affect a cleaning effect. Correspondingly, the used wiping member  21   b  is wound around a first roller  226  and is collected. 
     The plurality of wiping members sequentially moves to the wiping member operating position  218  along a moving direction of the base belt  216 , to switch and move to the wiping member operating position  218  without repetition. In this way, it is ensured that a wiping member replaced by the cleaning robot  100  is an unused wiping member, to effectively clean the ground. 
     There is a specific storage space on the base station  200 , to-be-used wiping members  21   a  may be stacked in the storage space, and the base belt  216  sequentially carries and removes the to-be-used wiping members through the storage space. Alternatively, the base belt  216  may be folded and stored in the storage space, and through pulling of the first roller  226 , the base belt  216  carries the wiping member and moves out of the storage space together. 
     The base station  200  is provided with a first storage portion configured to store the to-be-used wiping member  21   a,  and a second storage portion configured to store a wiping member detached from the cleaning robot  100 . The wiping member in the first storage portion moves to the wiping member operating position  218  through the base belt  216 , is carried and detached by the cleaning robot  100  in the wiping member operating position  218 , and then moves to the second storage portion. By disposing the second storage portion, the used wiping member  21   b  is automatically collected and stored. 
     The movable mechanism includes the first roller  226  that can rotate to be wound with the base belt  216 , thereby driving the base belt  216  to move. The first roller  226  is wound with the base belt  216  to cause the base belt  216  to move, and movement of the base belt  216  may be used for conveying the used wiping member  21   b  to a designated region or designated storage space. 
     The first roller  226  is wound with the used wiping member  21   b  to form the foregoing second storage portion, to automatically collect the used wiping member  21   b,  thereby reducing intervention by the user. While being wound with the base belt  216 , the first roller  226  is wound with the wiping member on the base belt  216  together, thereby collecting the used wiping member  21   b.  By disposing the first roller  226 , the winding of the base belt  216  and the collection of the used wiping member  21   b  are combined, to automatically collect the used wiping member  21   b,  and the structure is simple, to facilitate manufacturing. 
     The base station  200  further includes the second roller  227  that can be wound with the base belt  216  and the to-be-used wiping member  21   a.  The first roller  226  is wound with the base belt  216 , to drive the second roller  227  to synchronously release the base belt  216 . As the base belt  216  is released, the to-be-used wiping member  21   a  enters the wiping member operating position  218  along with the base belt  216 , for the cleaning robot  100  to perform replacement. In this way, collection of the used wiping member  21   b  and supply of the to-be-used wiping member  21   a  may be combined, to ensure that the cleaning robot  100  automatically replaces the wiping member smoothly. The second roller  227  is wound with the to-be-used wiping member  21   a  to form the foregoing first storage portion. 
     During use, a part of the base belt  216  is wound around the first roller  226 , and a part of the base belt  216  may be wound around the second roller  227 . In an initial state, most or all of the wiping member is wound around the second roller  227 , and the first roller  226  is only wound with a part of the base belt  216  or the first roller  226  is only fixedly connected to one end of the base belt  216  and is not wound with the base belt  216 . One wiping member is located at the wiping member operating position  218  or is mounted on a mopping board of the cleaning robot  100  in advance. When the cleaning robot  100  performs replacement, the wiping members on the base belt  216  are sequentially replaced to the cleaning robot  100 . 
     The base belt  216  is wound layer by layer around the first roller  226  or the second roller  227 , and an attaching space of the wiping member is formed between neighboring layers of the base belt  216 . In this way, not only the base belt  216  can be used as a transmission member to drive the second roller  227  to rotate, to release and provide the to-be-used wiping member  21   a  to the wiping member operating position  218 , but also the used wiping member  21   b  can be automatically collected. 
     One end of the base belt  216  is fixed to the first roller  226 , and the other end is fixed to the second roller  227 . The first roller  226  is driven to rotate, and the second roller  227  is driven through the base belt  216  to rotate. A driving mechanism such as a motor configured to drive the first roller  226  to rotate is disposed on the base station  200 . 
     The base station  200  includes a casing, the first roller  226  and the second roller  227  are mounted on the casing in a manner in which rotatable shafts are parallel, the wiping member operating position  218  is located in the casing, and the first roller  226  and the second roller  227  are located outside the wiping member operating position  218 . The casing has a bottom board  219 , and a front board  228  and a back board  229  that are disposed on the bottom board  219 . The front board  228  is provided with an access  2881  leading to the wiping member operating position  218 , for the cleaning robot  100  to enter or move out of the wiping member operating position  218 . 
     The front board  228  and the back board  229  cause the first roller  226  and the second roller  227  to be suspended, to make it convenient for the first roller  226  and the second roller  227  to rotate. The casing is provided with steering shafts  223  respectively on two sides of the wiping member operating position  218  in the horizontal direction, the second roller  227  is located above the wiping member operating position  218 , and the base belt  216  passes through the steering shaft  223  from the second roller  227 , has the extending direction changed, and then extends to the first roller  226 . 
     The base belt  216  located at the wiping member operating position  218  is disposed close to the bottom board  219 , and the wiping member is attached to the base belt  216  in the form of having the back facing the bottom board  219 . To cause the base belt  216  and the bottom board  219  to be disposed in parallel, the steering shafts  223  disposed on the two sides of the wiping member operating position  218  in the horizontal direction are at the same height relative to the bottom board  219 , and when passing through the steering shafts  223 , the base belt  216  has the extending direction changed. The base belt  216  is in a stretched state or tightened state between the first roller  226  and the second roller  227 , and therefore may cause the wiping member to face the cleaning robot  100  in an unfolded form in the wiping member operating position  218 , making it convenient for the cleaning robot  100  to perform replacement. 
     The base station  200  is further provided with a positioning mechanism, configured to position the wiping member in the wiping member operating position  218 . The positioning mechanism may be a structure positioning assembly, for example, a liftable obstruction board, the base belt  216  has a limit slot cooperating with the obstruction board. When the base belt  216  needs to be limited to motionlessness, the obstruction board is raised or unfolded, to stretch into the limit slot, to stop the base belt  216  and prevent the base belt  216  from moving. When the limit needs to be removed, the obstruction board is lowered and moved out of the limit slot, and the base belt  216  normally moves. 
     To implement automatic control and reduce operations of the user, the positioning mechanism includes a controller, and a measurement assembly configured to measure a quantity of loops by which a steering shaft  223  rotates, and the controller is configured to determine a position of the wiping member according to the quantity of loops measured by the measurement assembly. The measurement assembly may measure a quantity of loops by which either of the two steering shafts  223  rotates. After the base belt  216  carries the used wiping member  21   b,  an original loop quantity of each steering shaft  223  is zeroed out, and a loop quantity begins to be measured again; and when a designated loop quantity is reached, the base belt  216  is stopped from moving, and a next to-be-used wiping member  21   a  is moved to the wiping member operating position  218 . Additionally, the controller may further determine, according to a loop quantity increased each time, the position of the wiping member carried by the base belt  216 , and determine a quantity of the remaining to-be-used wiping members  21   a  through a finally accumulated loop quantity. 
     The cleaning robot  100  is provided with a universal wheel and a mopping board that are capable of moving up and down, and the universal wheel and the mopping board are retracted and lowered by moving up and down. The cleaning robot  100  has a cleaning mode and an obstacle crossing mode, and in the cleaning mode, the mopping board moves downward to support the cleaning robot  100 , and the universal wheel is retracted. In the obstacle crossing mode, the mopping board is retracted, and the universal wheel is lowered to support the cleaning robot  100 . The cleaning robot  100  in the obstacle crossing mode enters the wiping member operating position  218 . A clamping mechanism is disposed on the mopping board, and the clamping mechanism has a clamping position of fixing the wiping member to the lower surface of the mopping board, and a release position of allowing the wiping member to be detached from the mopping board. 
     After the cleaning robot  100  carries a wiping member in the base station  200  located at the wiping member operating position  218  and moves the wiping member out of the wiping member operating position  218 , the base belt  216  in the wiping member operating position  218  presents a vacant state in which no wiping member is disposed, to form the vacant region  222 . When the cleaning robot  100  needs to replace the wiping member, the cleaning robot  100  switches from the cleaning mode to the obstacle crossing mode. 
     In the cleaning mode, the wiping member is clamped by the clamping mechanism and fixed to the mopping board, to clean the floor along with the mopping board. The mopping board moves downward to cause the wiping member to come into contact with the ground. In the obstacle crossing mode, the cleaning robot  100  is supported by using the universal wheel, and the mopping board moves upward to suspend the wiping member. With reference to  FIG. 60  and  FIG. 61 , by using the obstacle crossing mode, the cleaning robot  100  approaches the base station  200  according to an instruction of the internal controller to enter the wiping member operating position  218  from the access  2881 , and crosses above the base belt  216 . In this case, the mopping board faces the vacant region  222 . As shown in  FIG. 63 , the mopping board carrying the used wiping member  21   b  moves downward until the wiping member comes into contact with and is attached to the base belt  216 . 
     In this case, the clamping mechanism switches from the clamping position to the release position, and the wiping member and the mopping board are separated. Then, the mopping board and the clamping mechanism move upward, and the used wiping member  21   b  is located on the base belt  216  in the wiping member operating position  218 . Then, the first roller  226  is driven through the motor to rotate, to drive the base belt  216  to move, until a next to-be-used wiping member  21   a  is released from the second roller  227  and enters the wiping member operating position  218  along with the base belt  216 . Correspondingly, the used wiping member  21   b  is wound around the first roller  226  together with the base belt  216 . 
     Then, the mopping board moves downward until coming into contact with the to-be-used wiping member  21   a.  In this case, the clamping mechanism switches from the release position to the clamping position, to fix the wiping member to the lower surface of the mopping board, to complete mounting of the wiping member. Afterward, the mopping board then ascends, and the clamping mechanism is kept in the clamping position. In this way, replacement of the wiping member is completed. Then, the cleaning robot  100  in the obstacle crossing mode moves out of the base station  200  from the access  2881 , and finally switches to the cleaning mode to perform cleaning. The base belt  216  keeps motionless until the cleaning robot  100  repeats the foregoing steps to place the used wiping member  21   b  and then perform replacement with the to-be-used wiping member  21   a.    
     The automatic cleaning system  300  provided in this embodiment includes: a cleaning robot  100 , and the base station  200  for the cleaning robot  100  to park in according to the foregoing embodiment. The cleaning robot  100  and the base station  200  can communicate. For example, the cleaning robot  100  and the base station  200  perform position information communication, or the base station  200  communicates with the cleaning robot  100  about information indicating whether a wiping member is located at the wiping member operating position  218 . 
     The automatic cleaning system  300  or the base station  200  provided in this embodiment of this application may further include a reminding mechanism, configured to send a reminding signal when a quantity of to-be-used wiping members  21   a  is less than a predetermined quantity. If the length of the entire base belt  216  is specific, a loop quantity of the steering shaft  223  or the first roller  226  or the second roller  227  may be accumulated. When the loop quantity reaches a specific loop quantity, it indicates that the quantity of to-be-used wiping members  21   a  is less than the predetermined quantity. Certainly, the current diameter of the first roller  226  or the second roller  227  may be alternatively measured. When the diameter of the first roller  226  is greater than a preset diameter or the diameter of the second roller  227  is less than a predetermined diameter, it indicates that the quantity of to-be-used wiping members  21   a  is less than the predetermined quantity, and replacement with a new base belt  216  needs to be performed as a whole, to improve use experience of the user. 
     It should be noted that, in the descriptions of the present invention, terms “first” and “second” are only used to describe the objective and distinguish similar objects without a limitation on a sequence between the two, and cannot be understood as indicating or implying relative importance. In addition, in descriptions of the present invention, “a plurality of” means two or more, unless otherwise stated. 
     Only several embodiments of the present invention are described above. A person skilled in the art can make various modifications or variations to the embodiments of the present invention according to the content disclosed in the application document without departing from the spirit and scope of the present invention.