Multifunctional wireless charging device, cleaning system and cleaning equipment wireless charging method

Abstract

The invention provides a multifunctional wireless charging device, a cleaning system and a cleaning equipment wireless charging method, and the wireless charging device comprises a charging platform which is provided with a cleaning equipment inlet and a charging moving path, and the cleaning equipment inlet and the charging moving path are used for guiding cleaning equipment to move from an operation surface to a charging position; the wireless charging transmitting end assembly comprises a transmitting end body and a transmitting end supporting piece, the transmitting end body is arranged on the transmitting end supporting piece, and the transmitting end supporting piece is arranged on the charging platform; the transmitting end displacement assembly is arranged between the transmitting end supporting piece and the charging platform, and the transmitting end displacement assembly is used for enabling the wireless charging transmitting end assembly to move in the first direction and / or the second direction along with movement of the cleaning equipment on the charging movement path; wherein the first direction intersects with the second direction, and the first direction and the second direction are both perpendicular to the gravity action line of the cleaning equipment. The charging reliability and safety of the automatic cleaning equipment are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a multifunctional wireless charging device, a cleaning system, and a cleaning equipment wireless charging method. BACKGROUND

[0002] With the development of cleaning technology, automatic cleaning equipment has been widely used in many fields, especially in large-area and high-frequency cleaning scenarios, and has shown significant advantages. For example, in a photovoltaic power station, the solar panels (photovoltaic modules) are exposed to the outdoors for a long time, and the surface is prone to accumulate dust, bird droppings, pollen and other pollutants. These pollutants can seriously hinder light transmission, resulting in a significant decrease in the power generation efficiency of photovoltaic modules. According to statistics, severe pollution can cause a loss of more than 15% of the power generation capacity. Therefore, regular cleaning of photovoltaic modules is a key link to ensure the power generation income of the power station.

[0003] Currently, the main cleaning methods for photovoltaic modules are manual cleaning, semi-automatic cleaning equipment, and fully automatic cleaning robots. Manual cleaning has the problems of low efficiency, high cost, poor safety, and difficulty in ensuring cleaning consistency. Existing automatic or semi-automatic cleaning equipment, although it reduces the labor burden to some extent, still has some technical bottlenecks.

[0004] In existing automatic cleaning equipment, energy supply and charging management has always been one of the difficulties in technical practice. Traditional solutions mostly use fixed wired charging piles or contact charging seats, and the cleaning equipment needs to be accurately driven to a specific location and charged through physical plugging or conductive sliding contact. In the complex and variable photovoltaic field environment, such methods have many drawbacks: first, the accurate alignment between the cleaning equipment and the charging pile requires high accuracy, and is often affected by equipment positioning errors, track deviations or uneven ground, resulting in failed docking or poor contact; second, the exposed electrical contacts are easily eroded by dust, moisture, rain and snow, and have the risk of oxidation and short circuit, which is not reliable and safe.

[0005] In summary, the existing automatic cleaning equipment has the technical problems of low charging reliability and poor safety; therefore, how to improve the charging reliability and safety of the automatic cleaning equipment is a technical problem to be solved. SUMMARY

[0006] The present application provides a multifunctional wireless charging device, a cleaning system, and a cleaning equipment wireless charging method to solve one or more of the above technical problems in the prior art.

[0007] According to an aspect of the present application, a multifunctional wireless charging device for cleaning equipment is disclosed, the wireless charging device comprising: The charging platform has a cleaning device entrance and a charging moving path for communicating with a working surface, the cleaning device entrance and the charging moving path are used to guide the cleaning device to move from the working surface to a charging position of the charging platform; The wireless charging transmitter assembly includes a transmitter body and a transmitter support, the transmitter body is arranged on the transmitter support, and the transmitter support is arranged on the charging platform; The transmitter displacement assembly is arranged between the transmitter support and the charging platform, and is used to move the wireless charging transmitter assembly along a first direction and / or a second direction with the movement of the cleaning device on the charging moving path, so that the position of the receiver body on the cleaning device is adapted to the position of the transmitter body to realize wireless charging; wherein the first direction intersects the second direction, and the first direction and the second direction are both perpendicular to the gravity line of the cleaning device.

[0008] In some embodiments of the present application, the transmitter displacement assembly includes a first displacement assembly and a second displacement assembly, which respectively move the wireless charging transmitter assembly along the first direction and the second direction, and the first direction and the second direction are respectively parallel and perpendicular to the moving direction of the cleaning device.

[0009] In some embodiments of the present application, the transmitter support is provided with a guide groove facing the cleaning device entrance opening of the charging platform, and the cross-sectional width dimension of the guide groove parallel to the second direction gradually decreases from the cleaning device entrance to the charging position; When the cleaning device moves to the charging position, the groove bottom of the guide groove is used to cooperate with the moving guide part on the cleaning device.

[0010] In some embodiments of the present application, the guide groove is a V-shaped groove; and / or, The wireless charging device includes a water adding assembly for adding water into a water tank of the cleaning device, the water adding assembly includes a water pipe and a water outlet part, the water outlet part is arranged at the water outlet end of the water pipe, and the water outlet part is located on the side of the transmitter support away from the cleaning device, the moving guide part on the cleaning device is a water adding pipe, and the water outlet part is used to add water into the water adding pipe when the cleaning device is located at the charging position.

[0011] In some embodiments of the present application, the first displacement assembly and / or the second displacement assembly comprises a sliding rail and a sliding block, a first sliding rail of the first displacement assembly is fixed on the charging platform, a second sliding rail of the second displacement assembly is fixed on a first sliding block of the first displacement assembly, and a second sliding block of the second displacement assembly is fixed on the launch end support.

[0012] In some embodiments of the present application, the charging platform comprises a support column, a cabinet body, and a lap plate, the cabinet body is supported on the support column, a cleaning equipment inlet is located on a side wall of the cabinet body, the lap plate is located between the cleaning equipment inlet and the work surface, the charging movement path is a path composed of the lap plate and a cabinet body bottom plate of the cabinet body, and the wireless charging launch end assembly and the launch end displacement assembly are located inside the cabinet body. The wireless charging device comprises a control unit, the control unit comprises a box body and a functional module, the functional module is arranged in the box body, and the box body is fixed on the side wall of the cabinet body.

[0013] According to another aspect of the present application, a cleaning system is also disclosed, which comprises a cleaning equipment and a multifunctional wireless charging device for the cleaning equipment as any one of the above embodiments, the receiving end body is located on the top of the cleaning equipment, and when the cleaning equipment moves along the charging movement path to the charging position, the receiving end body on the cleaning equipment is adapted in position with the launch end body on the multifunctional wireless charging device for wireless charging.

[0014] In some embodiments of the present application, the cleaning equipment comprises: a body having a containing cavity and a cover plate for covering the containing cavity; at least two groups of walking assemblies arranged on the body; a water tank arranged on the top of the body, the water tank being provided with a water inlet and a water outlet, the water inlet and the water outlet being respectively located on the top wall and the side wall of the water tank; a water filling pipe arranged at the water inlet of the water tank, the water filling pipe extending from the top wall of the water tank towards the launch end support, the water filling pipe being capable of pushing the wireless charging launch end assembly to move in a first direction and / or a second direction when the cleaning equipment moves along the charging movement path, so that the receiving end body on the cleaning equipment is adapted in position with the launch end body on the multifunctional wireless charging device.

[0015] In some embodiments of the present application, the bottom wall of the water tank and the cover plate are in an integral structure. The first side wall of the cover plate is hingedly connected with the first side wall of the accommodating cavity, and the second side wall of the cover plate is connected with the second side wall of the accommodating cavity through a buckle connection, and the second side wall is arranged opposite to the first side wall.

[0016] According to another aspect of the present application, a wireless charging method for a cleaning device is also disclosed, which is based on the multifunctional wireless charging device for a cleaning device according to any one of the above embodiments, and the method comprises: The cleaning device moves from the working surface to the charging moving path; The cleaning device moves along the charging moving path to the charging position of the charging platform, and the wireless charging transmitting end assembly moves along with the cleaning device in the first direction and / or the second direction based on the transmitting end displacement assembly; After the cleaning device moves to the charging position of the charging platform, the receiving end body on the cleaning device and the transmitting end body on the charging platform cooperate to wirelessly charge the cleaning device.

[0017] The multifunctional wireless charging device for a cleaning device according to the above embodiments of the present application can move along two directions along with the movement of the cleaning device, which solves the problem of position deviation between the transmitting end body and the receiving end body when the cleaning device is charging, avoids the decline in charging efficiency or charging failure caused by misalignment, and improves the charging reliability of the automatic cleaning device.

[0018] In addition, the transmitting end body of the multifunctional wireless charging device for a cleaning device according to the present application and the receiving end body of the cleaning device use non-contact wireless charging and realize automatic alignment, which avoids the problems of wear, corrosion or poor contact that may exist in traditional physical charging contacts, and improves the electrical safety and environmental adaptability.

[0019] The additional advantages, objects, and features of the present application will be apparent to those skilled in the art upon examination of the following detailed description, and will not be described in detail herein. The purposes and other advantages of the present application can be realized and attained by the structure particularly pointed out in the written description and the appended drawings.

[0020] Those skilled in the art will understand that the purposes and advantages achieved by the present application are not limited to the above specific descriptions, and the above and other purposes achieved by the present application will be more clearly understood according to the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the application. The components in the drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the application. For purposes of clarity and a consistent approach, portions of the drawings may have been exaggerated from the actual implementation of the exemplary embodiments of this application, and are included for purposes of illustration and description. In the drawings: Figure 1 Structure diagram of the multifunctional wireless charging device according to an embodiment of the present application.

[0022] Figure 2 Structure diagram of the multifunctional wireless charging device according to an embodiment of the present application. Figure 1 Structure diagram of the multifunctional wireless charging device according to an embodiment of the present application.

[0023] Figure 3 Structure diagram of the multifunctional wireless charging device according to an embodiment of the present application. Figure 1 Structure diagram of the wireless charging transmitting end assembly of the multifunctional wireless charging device according to an embodiment of the present application.

[0024] Figure 4 Structure diagram of the wireless charging transmitting end assembly and the transmitting end displacement assembly according to an embodiment of the present application.

[0025] Figure 5 Structure diagram of the cleaning system according to an embodiment of the present application.

[0026] Figure 6 Structure diagram of the cleaning system according to an embodiment of the present application. Figure 5 Structure diagram of the cleaning system according to an embodiment of the present application.

[0027] Figure 7 Structure diagram of the water supply pipe and the guide groove when the cleaning device is located at the charging position.

[0028] Figure 8 Structure diagram of the water supply pipe and the guide groove when the cleaning device is located at the charging position.

[0029] Figure 9 Structure diagram of the water supply pipe and the guide groove when the cleaning device is located at the charging position.

[0030] Figure 10 Structure diagram of the cleaning device of the cleaning system according to an embodiment of the present application. Figure 1 .

[0031] Figure 11 Structure diagram of the cleaning device of the cleaning system according to an embodiment of the present application. Figure 2 .

[0032] Figure 12 Structure diagram of the cleaning device of the cleaning system according to an embodiment of the present application.

[0033] Figure 13 Structure diagram of the transmitting end support of an embodiment of the present application.

[0034] Reference signs: Wireless charging device 001 Charging platform 100 Support column 110 Cabinet 120 Lapping plate 130 Charging moving path 140 Cleaning equipment entrance 121 Cabinet bottom plate 122 Wireless charging transmitting end assembly 200 Transmitting end body 210 Transmitting end support 220 Guide groove 221 Groove opening 2211 Groove bottom 2212 Transmitting end displacement assembly 300 First displacement assembly 310 Second displacement assembly 320 First sliding rail 311 First sliding block 312 Second sliding rail 321 Second sliding block 322 Water adding assembly 400 Water pipe 410 First pipe section 411 Second pipe section 412 Third pipe section 413 Electromagnetic valve 420 Water outlet component 430 Control unit 500 Cleaning equipment 002 Body 600 Cover plate 620 Walking assembly 700 Running belt 710 Driving wheel 720 Driven wheel 730 Supporting frame of supporting wheel 740 Supporting wheel 750 Receiving end body 810 Hinge 820 Buckle 830 First liquid level sensor 840 Second liquid level sensor 850 RTK receiving end 860 Water tank 900 Water adding pipe 930 DETAILED DESCRIPTION

[0035] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the following examples and the accompanying drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described examples.

[0036] In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the orientation or positional relationship only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable range of error. "Parallel" is not strictly parallel, but within the allowable range of error. All technical and scientific terms used in the present application have the same meaning as understood by those skilled in the art to which the present application belongs; the terms used in the specification of the present application are only for the purpose of describing the specific examples and are not intended to limit the present application; the terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of the drawings are intended to cover non-exclusive inclusion.

[0037] The directional terms appearing in the following description are the directions shown in the drawings and do not limit the specific structure of the present application. In the description of the present application, it should be further explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] In the present application, the term "embodiment" means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present application can be combined with other embodiments.

[0039] In the present application, the term "and / or" is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent: there is A, there is A and B, and there is B. In addition, the character " / " in the present application generally represents that the front and rear associated objects are in an "or" relationship.

[0040] In the present application, "multiple" refers to more than two (including two), and similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0041] In the embodiments of the present application, the same reference signs represent the same parts, and for the sake of brevity, the detailed description of the same parts is omitted in different embodiments. It should be understood that the thickness, length and width of various components in the embodiments of the present application shown in the drawings, and the overall thickness, length and width of the integrated device are only exemplary and should not constitute any limitation on the present application.

[0042] The multifunctional wireless charging device provided by the embodiments of the present application is suitable for various types of intelligent robots, including wheeled robots, tracked robots and automatic guided vehicles, etc. For the sake of detailed description, the specific application of the multifunctional wireless charging device and the corresponding cleaning system will be described below by taking the photovoltaic cleaning scene as an example. It should be noted that the photovoltaic cleaning scene described here is only an example and does not constitute a limitation on the application range of the present application.

[0043] Figure 1 FIG. 1 is a structural schematic diagram of a multifunctional wireless charging device according to an embodiment of the present application, Figure 2 FIG. 2 is a structural schematic diagram of a multifunctional wireless charging device according to another embodiment of the present application, Figure 1The structure diagram of the multifunctional wireless charging device is shown in FIG. 1, and the structure diagram of the multifunctional wireless charging device after the top plate is removed is shown in FIG. 2. Figure 1 and Figure 2 The multifunctional wireless charging device includes at least a charging platform 100, a wireless charging transmitting end assembly 200, and a transmitting end displacement assembly 300.

[0044] The charging platform 100 has a cleaning equipment entrance 121 and a charging moving path 140 for communication with a working surface, the cleaning equipment entrance 121 and the charging moving path 140 are used to guide the cleaning equipment 002 to move from the working surface to the charging position of the charging platform 100; the wireless charging transmitting end assembly 200 includes a transmitting end body 210 and a transmitting end support 220, the transmitting end body 210 is arranged on the transmitting end support 220, and the transmitting end support 220 is arranged on the charging platform 100; the transmitting end displacement assembly 300 is arranged between the transmitting end support 220 and the charging platform 100, and is used to move the wireless charging transmitting end assembly 200 along a first direction and / or a second direction with the movement of the cleaning equipment 002 on the charging moving path 140, so that the position of the receiving end body 600 on the cleaning equipment 002 is adapted to the position of the transmitting end body 210 to realize wireless charging; wherein the first direction intersects the second direction, and the first direction and the second direction are both perpendicular to the gravity line of the cleaning equipment 002.

[0045] The charging platform 100 is used to support the wireless charging transmitting end assembly 200 and the transmitting end displacement assembly 300, and the charging platform 100 can be arranged on one side of the working surface. In the photovoltaic cleaning application scenario, the charging platform 100 can be located on one side of the photovoltaic panel. The charging platform 100 has a charging position as a parking position when the cleaning equipment 002 is charged, and the cleaning equipment entrance 121 is arranged on the charging platform 100, that is, the cleaning equipment 002 can move from the working surface to the charging position of the charging platform 100 through the cleaning equipment entrance 121 to charge, or the cleaning equipment 002 can move from the charging position to the working surface through the cleaning equipment entrance 121 to clean. The charging moving path 140 is used to realize the movement of the cleaning equipment 002 between the working surface and the cleaning equipment entrance 121, and the movement between the cleaning equipment entrance 121 and the charging position; the specific structure of the charging moving path 140 is not limited, for example, it can be realized by a bottom plate located below the wireless charging transmitting end assembly 200, or it can be realized based on a running track arranged at the bottom of the wireless charging transmitting end assembly 200.

[0046] The transmitting end support 220 is used to support the transmitting end body 210, as shown in FIG. 3. Figure 2As shown, the emission end support 220 can be specifically arranged at the upper half of the charging platform 100, and the emission end support 220 and the charging moving path 140 of the charging platform 100 have a space for the cleaning device 002 to move. As shown in FIG. 1B, the emission end support 220 can be arranged at the lower half of the charging platform 100, and the emission end support 220 and the charging moving path 140 of the charging platform 100 have a space for the cleaning device 002 to move. Figure 3 As shown, the emission end body 210 can be detachably connected with the emission end support 220, and the emission end body 210 is arranged at the bottom of the emission end support 220. The structure of the emission end support 220 is not limited, as long as it can support the emission end body 210 and follow the movement of the cleaning device 002 along the first direction and / or the second direction under the action of the emission end displacement assembly 300. Referring to FIG. 1B, the emission end support 220 can be a plate structure, and the emission end body 210 is arranged at one end of the plate structure away from the cleaning device entrance 121 of the charging platform 100. Figure 13

[0047] It can be understood that the structure of the emission end support 220 and the relative position relationship between the emission end body 210 and the emission end support 220 listed in the above embodiments are only some examples, and in other embodiments, the structure of the emission end support 220 and the relative position relationship between the emission end body 210 and the emission end support 220 can be set based on actual needs.

[0048] The emission end displacement assembly 300 is used to realize the movement of the wireless charging emission end assembly 200 along the first direction and / or the second direction, and the emission end displacement assembly 300 is arranged between the wireless charging emission end assembly 200 and the charging platform 100. As shown in FIG. 1B, the emission end displacement assembly 300 can be arranged between the emission end body 210 and the charging platform 100. Figure 5 As shown in FIG. 1B, the cleaning device 002 moves along the first direction X to the charging position, the first direction can be parallel to the movement direction of the cleaning device 002, and the second direction can be perpendicular to the first direction, and the wireless charging emission end assembly 200 and the emission end displacement assembly 300 are arranged at the top of the cleaning device 002 along the third direction Z.

[0049] It can be understood that when the first direction and the second direction are parallel and perpendicular to the movement direction of the cleaning device 002 respectively, the wireless charging emission end assembly 200 and the emission end displacement assembly 300 can be arranged at the bottom of the cleaning device 002 along the third direction Z, in addition to being arranged at the top of the cleaning device 002 along the third direction Z; only in this embodiment, the receiving end body 810 on the cleaning device 002 can be arranged at the bottom of the cleaning device 002 opposite to the emission end body 210.

[0050] ​In addition to the above, the wireless charging transmitting end assembly 200 and the transmitting end displacement assembly 300 can also be arranged on the left side or the right side of the cleaning equipment 002 along the second direction Y, at this time, the transmitting end support 220 of the wireless charging transmitting end assembly 200 is also arranged on the charging platform 100, and the transmitting end displacement assembly 300 is specifically located between the wireless charging transmitting end assembly 200 and the cleaning equipment 002; in this embodiment, the receiving end body 810 on the cleaning equipment 002 is correspondingly arranged on the left side wall or the right side wall of the cleaning equipment 002 corresponding to the transmitting end body 210.

[0051] In the above embodiment, the first direction and the second direction are respectively parallel and perpendicular to the movement direction of the cleaning equipment 002 along the charging movement path 140, in addition to this, the first direction and the second direction can also be respectively other directions intersecting the movement direction of the cleaning equipment 002 and perpendicular to the gravity line of the cleaning equipment 002.

[0052] The multifunctional wireless charging device 001 for the cleaning equipment 002 in the above embodiment of the application reduces the harsh requirements on the positioning accuracy of the cleaning equipment 002 during automatic charging by using non-contact charging, and allows successful charging within a larger tolerance range. Effectively overcome the docking failure problem caused by uneven ground or equipment driving error, greatly improve the success rate and stability of the charging process. And the cleaning equipment 002 uses wireless charging, cancels the exposed electrical contacts, physically isolates dust, moisture, rain, snow and other environmental factors from eroding the charging interface, completely avoids the risk of poor contact or short circuit caused by oxidation and contamination, and improves the safety and reliability of the cleaning equipment 002 in complex outdoor conditions.

[0053] And the multifunctional wireless charging device 001 for the cleaning equipment 002 in the application can drive the wireless charging transmitting end assembly 200 to move along with the cleaning equipment 002 when moving to the charging position along the charging movement path 140, so that the transmitting end body 210 and the receiving end body 810 on the cleaning equipment 002 are adapted (or aligned) in position for effective wireless charging. This structure further reduces the positioning accuracy requirement of the cleaning equipment 002, and improves the reliability and efficiency of the automatic charging of the cleaning equipment 002.

[0054] In some embodiments of the application, the transmitting end displacement assembly 300 includes a first displacement assembly 310 and a second displacement assembly 320, which respectively move the wireless charging transmitting end assembly 200 along the first direction and the second direction, and the first direction and the second direction are respectively parallel and perpendicular to the movement direction of the cleaning equipment 002.

[0055] The first displacement component 310 is used to move the wireless charging transmitter component 200 along a first direction, and the second displacement component 320 is used to move the wireless charging transmitter component 200 along a second direction. Figure 2 and Figure 6 In the illustrated embodiment, the first direction and the second direction are perpendicular to each other, and the first direction is parallel to the moving direction of the cleaning device 002, while the second direction is perpendicular to the moving direction of the cleaning device 002.

[0056] In this embodiment, the wireless charging transmitter assembly 200 moves along a first direction parallel to the moving direction of the cleaning device 002 and a second direction perpendicular to the moving direction of the cleaning device 002 based on the first displacement assembly 310 and the second displacement assembly 320. This enables the wireless charging transmitter assembly 200 to move along a preset direction, thereby improving the alignment efficiency between the receiver body 810 on the cleaning device 002 and the transmitter body 210 in the wireless charging transmitter assembly 200.

[0057] For example, the first displacement component 310 and / or the second displacement component 320 include a slide rail and a slider. The first slide rail 311 of the first displacement component 310 is fixed on the charging platform 100, the second slide rail 321 of the second displacement component 320 is fixed on the first slider 312 of the first displacement component 310, and the second slider 321 of the second displacement component 320 is fixed on the transmitter support 220.

[0058] In the above embodiments, the movement of the wireless charging transmitter assembly 200 along the first and second directions is achieved based on a slide rail slider assembly, referring to... Figure 4 The first displacement component 310 includes two sets of slide rail and slider structures, which are arranged symmetrically from left to right. The two first slide rails 311 of the first displacement component 310 are arranged along a first direction X, and each first slide rail 311 has two spaced-apart first sliders 312. The second displacement component 320 also includes two sets of slide rail and slider structures, which are arranged symmetrically from front to back. The two second slide rails 321 of the second displacement component 320 are arranged along a second direction Y, and each second slide rail 321 of the second displacement component 320 also has two second sliders 322. In this embodiment, the two second slide rails 321 of the second displacement component 320 are respectively disposed on the corresponding first sliders 312 of the first displacement component 310, and the second sliders 322 of the second displacement component 320 are all connected to the transmitter support 220.

[0059] In this embodiment, when the cleaning device 002 moves along the first direction on the charging moving path 140, the second displacement component 320 as a whole can move synchronously along the first direction X with the first slider 312 of the first displacement component 310, and the second slider 322 of the second displacement component 320 can also drive the wireless charging transmitter component 200 as a whole to move along the second direction Y.

[0060] It is understood that the above embodiments of realizing the movement of the wireless charging transmitter assembly 200 along the first and second directions based on the slide rail slider mechanism are only some examples. In other embodiments, other mechanisms that can realize linear displacement may also be used.

[0061] In some embodiments of this application, the transmitter support 220 is provided with a guide groove 221 that opens toward the cleaning device inlet 121 of the charging platform 100. The cross-sectional width of the guide groove 221, which is parallel to the second direction, gradually decreases from the cleaning device inlet 121 to the charging position. When the cleaning device 002 moves to the charging position, the bottom 2212 of the guide groove 221 is used to cooperate with the moving guide component on the cleaning device 002.

[0062] As shown in Figure 2, the slot 2211 of the guide groove 221 on the transmitter support 220 faces the opening of the cleaning equipment inlet 121 of the charging platform 100. (Reference) Figure 13 The guide groove 221 is recessed from the outer edge of the transmitter support 220, and in the second direction Y, the guide groove 221 is located in the middle of the transmitter support 220. During the movement of the cleaning device 002, the moving guide component on the cleaning device 002 abuts against the side wall of the guide groove 221 and pushes the transmitter support 220 to move with the cleaning device 002; the side wall of the guide groove 221 serves as a guide side wall for the movement of the transmitter support 220, thereby realizing the follow-up movement of the transmitter support 220.

[0063] exist Figure 13 In the illustrated embodiment, the sidewall of the guide groove 221 gradually narrows inward from the groove opening 2211 to the groove bottom 2212, that is, the width of the guide groove 221 gradually decreases from bottom to top. For example, when the cleaning device 002 moves along the charging movement path 140 from the cleaning device inlet 121 to the charging position, the moving guide component on the cleaning device 002 also moves along the sidewall of the guide groove 221 from the groove opening 2211 position to the groove bottom 2212 position (in... Figure 13 This can also be understood as the movement from the bottom to the top of the side wall of the guide groove 221), and when the cleaning device 002 stops at the charging position of the charging platform 100, the moving guide component on the cleaning device 002 and... Figure 13 It mates with the top of the guide groove 221 shown (also called the bottom of the groove 2212).

[0064] In addition, when the movable guide component on the cleaning device 002 initially contacts the guide groove 221, its initial contact point can specifically be located in the middle of the side wall of the guide groove 221. That is, as the cleaning device 002 moves, the contact point moves from the middle of the side wall of the guide groove 221 to the top of the side wall (groove bottom 2212). For example, the movable guide component on the cleaning device 002 can be a tubular structure extending vertically from the top of the cleaning device 002 toward the transmitter support 220, and the top of the tubular structure protrudes from the top of the transmitter support 220.

[0065] Understandably, when the initial contact position between the moving guide component of the cleaning device 002 and the transmitter support 220 is located at the opening position (groove 2211) of the side wall of the guide groove 221 (e.g.) Figure 9 As shown in the figure, the travel range of the wireless charging transmitter assembly 200 in this embodiment is the largest; if the initial contact position between the moving guide component of the cleaning device 002 and the transmitter support 220 is located in the middle of the side wall of the guide groove 221, then the travel range of the wireless charging transmitter assembly 200 is reduced accordingly.

[0066] An inclined guide groove 221 is provided on the transmitter support 220 for cooperating with the moving guide component on the cleaning device 002. Based on the cooperation between the moving guide component and the inclined guide groove 221, the active movement of the cleaning device 002 is efficiently and reliably converted into the movement of the wireless charging transmitter assembly 200 along the first and second directions. That is, the inclined sidewall of the guide groove 221 is used to achieve forced guidance, so that the motion conversion is precise and synchronized, and the reliable movement of the wireless charging transmitter assembly 200 is realized. This improves the alignment efficiency between the receiver body 810 on the cleaning device 002 and the transmitter body 210 in the wireless charging transmitter assembly 200, and further improves the wireless charging efficiency and charging reliability of the cleaning device 002.

[0067] In some embodiments of this application, the guide groove 221 on the transmitter support 220 may be a V-groove. For example... Figure 13 As shown, the V-shaped groove is symmetrical about the center plane of the transmitter support 220, and is located in the middle of the transmitter support 220 in the second direction. In this embodiment, the guide groove 221 on the transmitter support 220 is a V-shaped groove, which is only one example. In other embodiments, the shape of the guide groove 221 can be other, such as T-shaped.

[0068] If the guide groove 221 is set as a V-shaped groove, then the two symmetrical inclined surfaces of the V-shaped groove can cooperate with the moving guide component to realize the moving guide of the wireless charging transmitter assembly 200. This structure allows the guide groove 221 to have a large positional deviation from the moving guide component on the cleaning device 002.

[0069] In some embodiments, the wireless charging device 001 includes a water filling assembly 400 for adding water to the water tank 900 of the cleaning device 002. The water filling assembly 400 includes a water pipe 410 and a water outlet component 430. The water outlet component 430 is disposed at the water outlet end of the water pipe 410 and is located on the side of the transmitter support 220 away from the cleaning device 002. The movable guide component on the cleaning device 002 is specifically the water filling pipe 930. When the cleaning device 002 is in the charging position, the water outlet component 430 is used to correspond with the water filling pipe 930 so that the water outlet component 430 adds water to the water filling pipe 930.

[0070] In the above embodiment, the water inlet pipe 930 on the cleaning device 002 is used as a moving guide component, with reference to... Figure 2 The water inlet pipe 930 on the cleaning device 002 is located at its top, specifically extending vertically upwards along the third direction Z from the top wall of the water tank 900 on the cleaning device 002. When the cleaning device 002 is wirelessly charged based on the multi-functional wireless charging device 001, water can also be added to the cleaning device 002 based on the water inlet component 400 on the wireless charging device 001.

[0071] Specifically, the water supply assembly 400 includes at least a water pipe 410 and a water outlet component 430. The water pipe 410 is mounted on the charging platform 100, and the water outlet component 430 is located at the water outlet end of the water pipe 410. Figure 4 As shown, the water outlet component 430 is specifically located on the top of the transmitter support 220, and directly above the bottom 2212 of the guide groove 221 on the transmitter support 220. This ensures that when the cleaning device 002 moves to the charging position, the water inlet pipe 930 on the cleaning device 002 not only mates with the bottom 2212 of the guide groove 221, but also that the water flowing out of the water outlet component 430 flows directly from the water inlet pipe 930 on the cleaning device 002 into the water tank 900. For example, the water pipe 410 in the water inlet assembly 400 may specifically include a first pipe section 411, a second pipe section 412, and a third pipe section 413. The first pipe section 411 is specifically fixed to the charging platform 100, the third pipe section 413 is specifically fixed to the transmitter support 220, and the second pipe section 412 is located between the first pipe section 411 and the third pipe section 413 to connect the first pipe section 411 and the third pipe section 413. In this embodiment, the water outlet component 430 is specifically located at the end of the third pipe section 413 away from the second pipe section 412. The second pipe section 412 can be a flexible hose, so that when the transmitter support 220 moves with the cleaning device 002, the third pipe section 413 fixed on the transmitter support 220 also moves synchronously with the transmitter support 220 relative to the first pipe section 411.

[0072] Optionally, in addition to the water pipe 410 and the water outlet component 430, the water filling assembly 400 may also include a solenoid valve 420, which may be specifically installed on the first pipe section 411.

[0073] By further incorporating a water-filling component 400 into the multi-functional wireless charging device 001, the cleaning device 002 can simultaneously add water during wireless charging. This structure further improves the water-filling efficiency of the cleaning device 002, thereby further enhancing its operational efficiency.

[0074] In some embodiments of this application, the charging platform 100 includes a support column 110, a cabinet 120, and a connecting plate 130. The cabinet 120 is supported on the support column 110. The cleaning equipment inlet 121 is located on the side wall of the cabinet 120. The connecting plate 130 is located between the cleaning equipment inlet 121 and the working surface. The charging movement path 140 is a path formed by the connecting plate 130 and the cabinet bottom plate 122 of the cabinet 120. The wireless charging transmitter assembly 200 and the transmitter displacement assembly 300 are located inside the cabinet 120.

[0075] like Figure 1 and Figure 2 As shown, when the charging platform 100 includes a support column 110, a cabinet 120, and a connecting plate 130, the wireless charging transmitter assembly 200 and the transmitter displacement assembly 300 are both located inside the cabinet 120, and the guide rail of the first displacement assembly 310 of the transmitter displacement assembly 300 is set on the top wall of the cabinet 120. The first pipe section 411 of the water pipe 410 of the water supply assembly 400 is fixed on the side wall of the cabinet 120. At this time, the bottom wall of the cabinet 120 serves as part of the charging movement path 140, and the connecting plate 130 is located between the working surface and the cleaning equipment inlet 121 of the charging platform 100, and also serves as part of the charging movement path 140. In this embodiment, when the cleaning equipment 002 moves from the working surface (such as a photovoltaic panel) to the charging position of the charging platform 100, it first moves from the working surface to the connecting plate 130, and then moves from the connecting plate 130 through the cleaning equipment inlet 121 to the charging position inside the cabinet 120.

[0076] The support column 110 is used to support the cabinet 120. The number of support columns 110 is not specifically limited, and the height of the support column 110 can be set based on the height of the working surface. The cabinet 120 can be square in shape, and the overlapping plate 130 can also be square.

[0077] In the above embodiment, the charging platform 100 is further configured to include a support column 110, a cabinet 120, and a connecting plate 130. The wireless charging transmitter component 200, the transmitter displacement component 300, and the water filling component 400 are all installed inside the cabinet 120. This further achieves effective protection for the wireless charging transmitter component 200, the transmitter displacement component 300, and the water filling component 400, effectively isolating them from outdoor pollutants such as rainwater, dust, and sand, extending the service life of the multi-functional wireless charging device 001, and improving the maintainability of the multi-functional wireless charging device 001.

[0078] In some embodiments, the wireless charging device 001 includes a control unit 500, which includes a housing and a functional module. The functional module is disposed in the housing, and the housing is fixed to the side wall of the cabinet 120.

[0079] like Figure 1 and Figure 2 As shown, the control unit 500 can be fixed on the left side wall of the cabinet 120. The control unit 500 has multiple functional modules inside. The control unit 500 is used to control the charging process and water filling process of the wireless charging device 001.

[0080] According to another aspect of this application, a cleaning system is also disclosed, the cleaning system including a cleaning device 002 and a multi-functional wireless charging device 001 for the cleaning device 002 as described in any of the above embodiments, wherein the receiving end body 810 is located on top of the cleaning device 002, and when the cleaning device 002 moves to the charging position along the charging moving path 140, the receiving end body 810 on the cleaning device 002 is adapted to the position of the transmitting end body 210 on the multi-functional wireless charging device 001 for wireless charging.

[0081] The diagram shows the state of the cleaning device 002 as it moves along the charging path 140 to the charging position on the charging platform 100. Figure 7 and Figure 8 As shown, at this time, the water inlet pipe 930 on the cleaning device 002 corresponds to the bottom 2212 of the guide groove 221 on the transmitter support 220, and at this time, the receiver body 810 on the cleaning device 002 is aligned with the transmitter body 210 on the charging platform 100.

[0082] In some embodiments, the cleaning device 002 includes: a body 600 having a receiving cavity and a cover 620 for sealing the receiving cavity; at least two sets of walking assemblies 700 disposed on the body 600; a water tank 900 disposed on the top of the body 600, the water tank 900 having an inlet and an outlet located on the top wall and side wall of the water tank 900, respectively; and a water inlet pipe 930 disposed at the inlet of the water tank 900. The water inlet pipe 930 extends from the top wall of the water tank 900 toward the transmitter support 220. When the cleaning device 002 moves along the charging moving path 140, the water inlet pipe 930 can contact the transmitter support 220 and push the wireless charging transmitter assembly 200 to move in a first direction and / or a second direction, so that the receiver body 810 on the cleaning device 002 is adapted to the transmitter body 210 on the multifunctional wireless charging device 001 in position.

[0083] Figure 10 This is a schematic diagram of the structure of a cleaning device in a cleaning system according to an embodiment of this application. Figure 1 , Figure 11 This is a schematic diagram of the structure of a cleaning device in a cleaning system according to an embodiment of this application. Figure 2 , Figure 12 This is a top view of a cleaning device according to an embodiment of this application, such as... Figure 10 , Figure 11 and Figure 12 As shown, the body 600 can be square in shape, in which case the body 600 includes at least a bottom wall and four outer side walls, and the receiving cavity is a cavity enclosed by the four outer side walls of the body 600. The receiving cavity can be used to house the power module, control module, and functional modules of the cleaning device 002. The cover plate 620 is used to seal the receiving cavity for dustproofing, waterproofing, and protection of the various modules inside the receiving cavity. At least two sets of walking components 700 are located on both sides of the body 600 along the second direction.

[0084] The water tank 900 can also be square in shape. Specifically, the water tank 900 is located on top of the cover plate 620, that is, the water tank 900 is also specifically located above the main body 600. In this application, the water tank 900 and the receiving cavity are located on the upper and lower sides of the cover plate 620, respectively. The layout of the water tank 900 being on top and the receiving cavity being on the bottom saves the internal storage space of the main body 600. Furthermore, the water tank 900 located on top of the cover plate 620 and the various modules in the receiving cavity achieve weight balance, improving the driving stability of the cleaning equipment 002.

[0085] The water inlet pipe 930 on the water tank 900 is connected to the water outlet component 430 on the wireless charging device 001 to simultaneously add water while the cleaning setup is wirelessly charging. The water outlet on the water tank 900 is connected to the cleaning component of the cleaning device 002. If the cleaning component is equipped with a nozzle, the water outlet on the water tank 900 is connected to the nozzle on the cleaning component to spray liquid onto the surface to be cleaned during the cleaning process. For example, the water outlet on the water tank 900 and the nozzle on the cleaning component can be connected via a flexible hose.

[0086] In some embodiments of this application, the bottom wall of the water tank 900 and the cover plate 620 are integral structures; the first side wall of the cover plate 620 is hinged to the first side wall of the receiving cavity by a hinge 820, and the second side wall of the cover plate 620 is connected to the second side wall of the receiving cavity by a fastener 830, with the second side wall and the first side wall being disposed opposite to each other.

[0087] Specifically, the cover plate 620 and the bottom wall of the water tank 900 can share a single plate. This structure not only reduces the overall weight of the cleaning equipment 002 but also reduces the number of connection points in the water tank 900, thereby lowering the risk of leakage. To improve the supporting strength of the cover plate 620, the cover plate 620 may specifically include a top plate and four side walls respectively disposed around the top plate, the four side walls of the cover plate 620 extending vertically downward from the outer edge of the top plate.

[0088] like Figure 10 and Figure 11 As shown, the front wall of the cover plate 620 and the front wall of the receiving cavity are hinged together by a hinge 820, and the rear wall of the cover plate 620 and the rear wall of the receiving cavity are further connected by a latch 830. The number of hinges 820 on the body 600 can be two, and the number of latches 830 can also be two, with the two hinges 820 spaced apart and the two latches 830 also spaced apart.

[0089] In addition to the above, the cleaning device 002 may also include a first liquid level sensor 840 and a second liquid level sensor 850, both of which are disposed on the side wall of the water tank 900. The first liquid level sensor 840 and the second liquid level sensor 850 are respectively used as a lower limit sensor and an upper limit sensor for the water level in the water tank 900. During the water filling process of the cleaning device 002, if the first liquid level sensor 840 detects that the liquid in the water tank 900 has reached the upper limit, the second liquid level sensor 850 is used to send a control signal to stop the water filling component 400 in the wireless charging device 001 from adding water to the water tank 900.

[0090] Furthermore, the cleaning device 002 includes an RTK receiver 860, which, similar to a wireless charging receiver, is positioned on top of the water tank 900. The RTK receiver 860 and the receiver body 600 are located on opposite sides of the water inlet pipe 930. The RTK receiver 860 acts as a location sensor, receiving satellite signals and calibration data from a base station to perform real-time differential calculations, thereby providing the cleaning device 002 with latitude and longitude positioning information.

[0091] In some embodiments of this application, the walking assembly 700 is a tracked walking mechanism, which includes a track 710, a drive wheel 720, a driven wheel 730, a support roller support frame 740, and multiple support rollers 750. The support roller support frame 740 is disposed on the body 600, and the support rollers 750 are supported on the support roller support frame 740 and mesh with the track 710. Specifically, the cleaning device 002 has two tracked walking mechanisms, which are symmetrically arranged on the left and right sides of the body 600. The support roller support frame 740 of each tracked walking mechanism is fixedly connected to the side wall of the body 600.

[0092] In some embodiments of this application, a power supply accommodating area and a main control function module accommodating area are sequentially provided in the accommodating cavity along a second direction parallel to the moving direction of the cleaning device 002. A processing unit accommodating area and a function module accommodating area are sequentially provided in the main control function module accommodating area along a third direction Z perpendicular to the surface to be cleaned.

[0093] For example, the power supply area is located in front of the main control function module area. The power supply area is equipped with a power supply module, which is used to supply power to the drive motor, liquid level sensor, RTK receiver 860, and other function modules. The main control function module area is used to house the main control module and each function module.

[0094] The main control function module accommodating area is further divided along the height direction of the main body 600 into a processing unit accommodating area and a function module accommodating area. Specifically, the function module accommodating area may be located below the processing unit accommodating area. For example, the processing unit accommodating area may house the main control circuit board and industrial computer, while the function module accommodating area may house motor drivers, distribution boards, voltage regulator modules, communication modules, IMU modules, wireless remote control switch modules, RTK-4G modules, and LoRa modules, etc.

[0095] In the above embodiments, by dividing the accommodating cavity inside the main body into zones and further layering the accommodating zone of the main control function module, not only is sufficient accommodating space inside the accommodating cavity ensured, but this layout also further improves the structural compactness of the cleaning equipment.

[0096] In addition to the above, the cleaning equipment also includes a camera, laser sensor, and antenna, all of which can be fixed to the side wall of the main body. The camera, laser sensor, and antenna are all fixed to the front side wall of the main body. The camera is used to acquire images of the work surface to adjust the angle of the cleaning equipment, and the laser sensor is used to detect the boundary of the work surface.

[0097] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A multifunctional wireless charging device for cleaning equipment, characterized in that, The wireless charging device (001) includes: The charging platform (100) has a cleaning equipment inlet (121) and a charging movement path (140) for communicating with the work surface. The cleaning equipment inlet (121) and the charging movement path (140) are used to guide the cleaning equipment (002) from the work surface to the charging position of the charging platform (100). The wireless charging transmitter assembly (200) includes a transmitter body (210) and a transmitter support (220), wherein the transmitter body (210) is disposed on the transmitter support (220) and the transmitter support (220) is disposed on the charging platform (100); A transmitter displacement component (300) is disposed between the transmitter support (220) and the charging platform (100). The transmitter displacement component (300) is used to move the wireless charging transmitter component (200) along a first direction and / or a second direction as the cleaning device (002) moves on the charging movement path (140), so that the receiver body (600) on the cleaning device (002) is adapted to the position of the transmitter body (210) to achieve wireless charging; wherein the first direction intersects the second direction, and both the first direction and the second direction are perpendicular to the line of action of gravity of the cleaning device (002).

2. The multifunctional wireless charging device for cleaning equipment according to claim 1, characterized in that, The transmitter displacement component (300) includes a first displacement component (310) and a second displacement component (320). The first displacement component (310) and the second displacement component (320) respectively move the wireless charging transmitter component (200) along the first direction and the second direction, which are parallel and perpendicular to the moving direction of the cleaning device (002), respectively.

3. The multifunctional wireless charging device for cleaning equipment according to claim 2, characterized in that, The transmitter support (220) is provided with a guide groove (221) that opens toward the cleaning equipment inlet (121) of the charging platform (100). The cross-sectional width of the guide groove (221) parallel to the second direction gradually decreases from the cleaning equipment inlet (121) to the charging position. When the cleaning device (002) moves to the charging position, the bottom (2212) of the guide groove (221) is used to cooperate with the moving guide component on the cleaning device (002).

4. The multifunctional wireless charging device for cleaning equipment according to claim 3, characterized in that, The guide groove (221) is a V-groove; and / or, The wireless charging device (001) includes a water filling assembly (400) for adding water to the water tank of the cleaning device (002). The water filling assembly (400) includes a water pipe (410) and a water outlet component (430). The water outlet component (430) is disposed at the water outlet end of the water pipe (410) and is located on the side of the transmitter support (220) away from the cleaning device (002). The moving guide component on the cleaning device (002) is the water filling pipe (930). When the cleaning device (002) is in the charging position, the water outlet component (430) is used to add water to the water filling pipe (930).

5. The multifunctional wireless charging device for cleaning equipment according to claim 2, characterized in that, The first displacement component (310) and / or the second displacement component (320) include a slide rail and a slider. The first slide rail (311) of the first displacement component (310) is fixed on the charging platform (100), the second slide rail (321) of the second displacement component (320) is fixed on the first slider (312) of the first displacement component (310), and the second slider (321) of the second displacement component (320) is fixed on the transmitter support (220).

6. The multifunctional wireless charging device for cleaning equipment according to any one of claims 1 to 5, characterized in that, The charging platform (100) includes a support column (110), a cabinet (120), and a connecting plate (130). The cabinet (120) is supported on the support column (110). The cleaning equipment inlet (121) is located on the side wall of the cabinet (120). The connecting plate (130) is located between the cleaning equipment inlet (121) and the working surface. The charging movement path (140) is a path composed of the connecting plate (130) and the cabinet bottom plate (122) of the cabinet (120). The wireless charging transmitter assembly (200) and the transmitter displacement assembly (300) are located inside the cabinet (120). The wireless charging device (001) includes a control unit (500), which includes a housing and a functional module. The functional module is located inside the housing, and the housing is fixed to the side wall of the cabinet (120).

7. A cleaning system, characterized in that, The cleaning system includes a cleaning device (002) and a multi-functional wireless charging device for the cleaning device as described in any one of claims 1 to 6. The receiver body (600) is located on top of the cleaning device (002). When the cleaning device (002) moves to the charging position along the charging moving path (140), the receiver body (600) on the cleaning device (002) and the transmitter body (210) on the multi-functional wireless charging device (001) are adapted in position to perform wireless charging.

8. The cleaning system according to claim 7, characterized in that, The cleaning equipment (002) includes: The body (600) has a receiving cavity and a cover plate (620) for sealing the receiving cavity. At least two sets of walking components are disposed on the body (600); A water tank (900) is provided on the top of the main body (600). The water tank (900) is provided with an inlet and an outlet, which are located on the top wall and side wall of the water tank (900), respectively. A water inlet pipe (930) is provided at the water inlet (910) of the water tank (900). The water inlet pipe (930) extends from the top wall of the water tank (900) toward the transmitter support (220). When the cleaning device (002) moves along the charging moving path (140), the water inlet pipe (930) can push the wireless charging transmitter assembly (200) to move in a first direction and / or a second direction so that the receiver body (600) on the cleaning device (002) is positionally adapted to the transmitter body (210) on the multi-functional wireless charging device (001).

9. The cleaning system according to claim 8, characterized in that, The bottom wall of the water tank (900) and the cover plate (620) are an integral structure; The first side wall of the cover plate (620) is hinged to the first side wall of the receiving cavity by a hinge (820), and the second side wall of the cover plate (620) is connected to the second side wall of the receiving cavity by a snap (830). The second side wall is disposed opposite to the first side wall.

10. A method for wireless charging of a cleaning device, characterized in that, The wireless charging method is based on a multifunctional wireless charging device for cleaning equipment as described in any one of claims 1 to 6, the method comprising: The cleaning equipment moves from the work surface to the charging movement path; The cleaning device moves along the charging moving path to the charging position of the charging platform, and the wireless charging transmitter component moves along the first direction and / or the second direction based on the transmitter displacement component. After the cleaning device moves to the charging position on the charging platform, the cleaning device is wirelessly charged based on the receiver on the cleaning device and the transmitter on the charging platform.

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