Charging base station and automatic cleaning system

Abstract

The embodiment of the utility model discloses a charging base station and an automatic cleaning system, one charging base station is provided with a plurality of charging positions, each charging position is provided with a guiding assembly and a charging port, and the guiding assembly is used for guiding automatic cleaning equipment to enter one charging position to be connected with the charging port for charging; the guiding signals sent by each guiding assembly have different identifiers, each guiding assembly guides the fixedly paired automatic cleaning devices through the identifiers, and a plurality of automatic cleaning devices can be charged at the same time, so that in an automatic cleaning system realized based on the charging base station, the charging efficiency is improved. According to the embodiment of the invention, the single charging base station can support the superposition of the cleaning capabilities of a plurality of automatic cleaning devices, and in a specific cleaning scene, the single charging base station can realize faster cleaning of a unit area, so that the cleaning capability actually supported by the single charging base station is effectively enhanced, and the cleaning efficiency supported by the single charging base station is improved.

Description

Technical Field

[0001] The embodiments of the present utility model relate to the technical field of robots, and particularly to a charging base station and an automatic cleaning system. Background Art

[0002] With the continuous development of electronic technology, various forms of smart homes have emerged in people's lives, providing convenience for users in multiple aspects and improving the quality of life. For example, automatic cleaning devices can free people from a large part of their housework time, allowing them to have more time to experience other rich aspects of life.

[0003] When using existing automatic cleaning devices, the inventors found that each automatic cleaning device is usually equipped with an independent charging base station for individual use. The single-body charging base station serves a single automatic cleaning device, and the actual cleaning capacity supported by the single-body charging base station is relatively low, resulting in limited cleaning efficiency. Summary of the Utility Model

[0004] The present utility model provides a charging base station and an automatic cleaning system to solve the technical problem that the actual cleaning capacity supported by the existing single-body charging base station is relatively low and the cleaning efficiency is limited.

[0005] In a first aspect, an embodiment of the present utility model provides a charging base station, which includes a base station main body;

[0006] At least two charging positions are provided at the bottom of the base station main body, and each charging position is provided with a guiding component and a charging port;

[0007] The guiding component is used to guide the automatic cleaning device into a charging position to connect to the charging port for charging.

[0008] Wherein, it further includes at least one ramp structure;

[0009] The first end of each ramp structure is respectively connected to a charging position, serving as a channel for the automatic cleaning device to enter the charging position. The first end of the same ramp structure is higher than the second end.

[0010] Wherein, the bottom surface of the base station main body is square, and the charging positions are located at different orientations of the bottom of the base station main body facing the open space, and / or,

[0011] The dust collection ports of each charging position are connected to the same dust collection air duct.

[0012] Wherein, the opening heights of each charging position are different.

[0013] Wherein, at least one ramp structure is detachably connected to the base station main body.

[0014] Wherein, the guiding signals sent by each guiding component have different identifiers, and each guiding component guides the automatically cleaning device with a fixed pairing through the identifier.

[0015] In a second aspect, an embodiment of the present utility model provides an automatic cleaning system, which includes an automatic cleaning device and a charging base station according to any one of the first aspect. The automatic cleaning device includes at least one main cleaning device and at least one slave cleaning device; the main cleaning device includes a first active positioning module.

[0016] Wherein, the slave cleaning device includes a second active positioning module.

[0017] Wherein, the main cleaning device includes a main communication module, and the slave cleaning device includes a slave communication module and an inertial sensor. The main communication module is used to establish a communication link between the main cleaning device and the slave cleaning device;

[0018] The relocalization result of the main cleaning device to the slave cleaning device is sent to the slave cleaning device through the communication link;

[0019] The slave cleaning device moves based on the relocalization result and is navigated by the inertial sensor during the movement.

[0020] Wherein, the main cleaning device includes a main communication module;

[0021] The slave cleaning device includes a slave communication module and a signal reflection area. The main communication module is used to establish a communication link between the main cleaning device and the slave cleaning device;

[0022] The main cleaning device locates the slave cleaning device by sending an infrared signal and receiving the reflection of the infrared signal by the signal reflection area and guides the movement through the communication link.

[0023] In the above-mentioned charging base station and automatic cleaning system, one charging base station is configured with multiple charging positions, which can simultaneously supply power to multiple automatic cleaning devices for charging. Therefore, in the automatic cleaning system implemented based on this charging base station, a single charging base station can support the superimposition of the cleaning capabilities of multiple automatic cleaning devices. In a specific cleaning scenario, a single charging base station can achieve faster cleaning of a unit area, effectively enhancing the actual cleaning capacity supported by the single charging base station and improving the cleaning efficiency supported by the single charging base station. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0025] Figure 1Reserve a perspective view of the ramp structure for the charging base station provided in the embodiments of the present application;

[0026] Figure 2 The front view of the charging base station provided in the embodiments of the present application;

[0027] Figure 3 The top view of the charging base station provided in the embodiments of the present application;

[0028] Figure 4 The rear view of the automatic cleaning device provided in the embodiments of the present application;

[0029] Figure 5 The sectional view of the automatic cleaning device provided in the embodiments of the present application when the charging port and the external charging port are in contact during the charging state;

[0030] Figure 6 The method flowchart of a device control method provided in the embodiments of the present application;

[0031] Figure 7 The method flowchart of another device control method provided in the embodiments of the present application.

[0032] Wherein: 1 - charging base station; 11 - base station main body; 12 - main ramp structure; 121 - main charging port; 122 - main guiding component; 13 - secondary ramp structure; 131 - secondary charging port; 231 - external charging port. Detailed implementation manners

[0033] To make the objectives, technical solutions, and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. It can be understood that the specific embodiments described herein are used to explain the present invention, rather than to limit the present invention. Additionally, it should be noted that for the sake of convenience of description, only the parts related to the present invention rather than all the structures are shown in the drawings.

[0034] It should be noted that due to space limitations, the present application specification does not enumerate all optional implementation manners. After reading the present application specification, those skilled in the art should be able to think that as long as the technical features do not conflict with each other, any combination of technical features can constitute an optional implementation manner.

[0035] The following will explain each embodiment in detail.

[0036] Please refer to Figure 1 、 Figure 2 and Figure 3 where Figure 1 is a perspective view of the charging base station with a ramp structure reserved in the embodiments of the present application, Figure 2 is the front view of the charging base station provided in the embodiments of the present application, Figure 3The top view of the charging base station provided by the embodiment of the present application. As shown in the figure, the embodiment of the present utility model provides a charging base station 1, which includes a base station main body 11; at least two charging positions are opened at the bottom of the base station main body 11, and each charging position is provided with a guiding component and a charging port; the guiding component is used to guide the automatic cleaning device into a charging position to connect to the charging port for charging.

[0037] In the specifically implemented charging base station 1, the base station main body 11 can be regarded as the main body that provides service support for the automatic cleaning device, such as providing services such as charging, self-cleaning, garbage collection, and hair removal for the automatic cleaning device, so that the automatic cleaning device can better complete the cleaning task. The base station main body 11 is mostly in a columnar structure, for example Figure 3 is a structure approximately like a prism (because the chamfer is different from the standard prism). At the bottom of this columnar structure, a structure recessed inward from the side is opened, and a guiding component and a charging port are arranged in the inwardly recessed structure, serving as a charging position that can accommodate the automatic cleaning device for charging, where the guiding component is used to guide the automatic cleaning device to align with the charging position and control the moving direction to move into the charging position to achieve contact conduction charging with the charging port. In the specific implementation process, multiple charging ports corresponding to each charging position can share a charging circuit, that is, one charging circuit in the base station main body 11 leads out multiple charging branches to different charging ports, thereby simplifying the internal circuit of the base station main body 11 and reducing the production cost.

[0038] In a charging base station with the ability to clean the automatic cleaning device while charging, the functional components for realizing this cleaning function need to be located at the bottom of the automatic cleaning device in the charging state. The bottom of the opening of the charging position is correspondingly higher than the bottom surface of the base station main body 11 to leave space for arranging these functional components. For the automatic cleaning device to smoothly enter the charging position, a ramp structure is required to provide channel support, that is, at both ends of the ramp structure, the first end is flush with the bottom of the opening of the charging position, and the second end is flush with the ground. The automatic cleaning device can enter the ramp structure from the ground and climb to the charging position to complete charging. An automatic cleaning device can be provided with at least one ramp structure ( Figure 2 and Figure 3 exemplarily includes two ramp structures, namely a main ramp structure 12 and a secondary ramp structure 13). Figure 2 The main guiding component 122 and the main charging port 121 in the main ramp structure 12 are also presented in the figure.

[0039] In a specific implementation, the bottom surface of the base station body 11 is square, and the charging position is located at different positions of the bottom of the base station body 11. When the bottom surface of the base station body 11 is square (for example, a standard square or a rounded square), when the charging base station 1 is arranged in a specific usage scenario, one or two sides can be placed against the wall, and each of the remaining sides can be set with a charging position, that is, the charging position is located at different positions of the bottom of the base station body 11 facing the open space, that is, the charging position is only set on the side that is not against the wall. For example Figure 3 In the top view shown, with the orientation presented therein as a reference, the side corresponding to the top may be the side against the wall, the side corresponding to the left may be the side against the wall, and the sides corresponding to the top and the left may both be the side against the wall. The charging base station 1 also has the ability to collect garbage collected by the automatic cleaning device during the cleaning process. Usually, a dedicated dust collection port is connected to the dust box of the automatic cleaning device to form negative pressure, and the garbage in the automatic cleaning device is extracted. In the embodiment of the present application, the dust collection port of each charging position is connected to the same dust collection duct, and the volume control of the charging base station 1 is achieved by reusing the same functional structure as much as possible. It should be understood that among the multiple automatic cleaning devices used in conjunction with a charging base station 1, it is possible that only some of the automatic cleaning devices return to the charging position to extract garbage at the same time. The dust collecting port at each charging position is connected to the same dust collecting air duct. If a dust collecting port is in an open state, it may affect the formation of a negative pressure state, resulting in a reduction in the effect of garbage extraction. Therefore, a reversing valve is set in each dust collecting port or a branch channel used to connect the dust collecting port and the dust collecting air duct, and the reversing valve corresponding to the dust collecting port where no automatic cleaning device currently returns to the charging position to extract garbage is closed, ensuring that the dust collecting port currently performing garbage extraction maintains a standard negative pressure state and ensures the garbage extraction effect. If a charging base station 1 is provided with two charging positions, a three-way reversing valve is set at the intersection of the branch channels corresponding to the two dust collecting ports. Switching to three different directions can control the closure of any dust collecting port to extract garbage from the other dust collecting port, or open the two dust collecting ports to extract garbage from both dust collecting ports at the same time.

[0040] For charging positions arranged in different directions, the opening height of each charging position can be different, which is equivalent to that the charging positions are not arranged on the same horizontal plane, but the overall or partial projections overlap, so that the base station body 11 can be increased by approximately the height of an automatic cleaning device, that is, while keeping the bottom surface size of the single charging base station 1 unchanged, it is possible to support the operation of multiple automatic cleaning devices in this solution, thereby effectively controlling the floor area of ​​the single charging base station 1.

[0041] For the multiple ramp structures of the base station body 11, at least one ramp structure may be detachably connected to the base station body 11, for example Figure 3 If the base station body 11 shown in FIG. 1 also has a detachable ramp structure on the right side, then Figure 3The shown base station 1 can have different usage states. For example, one side is against the wall, and charging positions are respectively arranged on the other three sides to support three automatic cleaning devices, or as Figure 3 shown in Figure 1 supports two automatic cleaning devices, and the ramp structure 13 can be further disassembled. When the automatic cleaning device corresponding to the main ramp structure 12 is sufficient to complete cleaning efficiently and quickly, only one automatic cleaning device (such as the main cleaning device) corresponding to the main ramp structure 12 can be retained for daily cleaning. For example Figure 1 shown in

[0042] For a charging position without a ramp structure, if the bottom of the charging position is directly flush with the ground, to ensure that when the corresponding automatic cleaning device returns to the charging position, the external charging port on the automatic cleaning device can be accurately docked with the charging port in the charging position, a more refined corresponding design can be carried out for the charging port in the charging position and the external charging port on the automatic cleaning device. For example, the two poles of the charging port in the charging position are set as two columnar structures (cylindrical or prismatic), two frustum-shaped structures (frustum of a cone or frustum of a prism), or one columnar structure and one frustum-shaped structure; among them, the size of the columnar structure is the same from the inner end connected to the inner side wall of the charging position to the opposite outer end, the frustum-shaped structure gradually becomes smaller from the inner end to the outer end, and the outer ends of the columnar structure and the frustum-shaped structure are electrically connected to the external charging port in the automatic cleaning device for power supply to realize the charging of the automatic cleaning device.

[0043] Adapting to the electrodes of the charging port with a columnar structure, the two poles of the external charging port on the automatic cleaning device are respectively recessed into the bottom of a blind hole. The blind hole is a flared opening or a combination of a flared opening and a circular hole. The opening of the blind hole is the larger end of the flared opening, and the opening of the blind hole is significantly larger than the outer end of the columnar structure. The size of the bottom of the blind hole is slightly larger than the outer end of the columnar structure. When the automatic cleaning device enters the charging position for charging, the outer end of the columnar structure can easily enter the opening of the blind hole. As the automatic cleaning device continues to move, the moving space of the outer end of the columnar structure in the blind hole becomes smaller and smaller, and finally the outer end of the columnar structure is precisely contacted with the bottom of the blind hole by the constraint of the blind hole to start charging.

[0044] The electrodes adapted to the charging port of the table-like structure, the two poles of the external charging port on the automatic cleaning device are respectively recessed into the bottom of a blind hole, and the blind hole is a flared opening. The opening of the blind hole is the larger end of the flared opening. The electrodes of the table-like structure can be fully or partially embedded in the blind hole, and the outer end of the table-like structure is in contact with the bottom of the blind hole. When the automatic cleaning device enters the charging position for charging, the outer end of the table-like structure can easily enter the opening of the blind hole. As the automatic cleaning device continues to move, the activity space of the outer end of the table-like structure in the blind hole becomes smaller and smaller. Finally, the outer end of the table-like structure is constrained and guided by the blind hole to precisely contact the bottom of the blind hole to start charging.

[0045] Flexible combinations can be made in specific implementations. For example, the two electrodes of the charging port can be arranged on a table-like structure or a columnar structure, and the external charging port on the automatic cleaning device can be correspondingly adjusted. Figure 1 An implementation where the two electrodes in the charging port 131 are frustum-shaped is exemplarily presented. Figure 4 An implementation where the two electrodes of the external charging port 231 of the cleaning device are flared is exemplarily presented. Figure 4 It is the rear view of the cleaning device. Figure 4 As shown, when the cleaning device Figure 1 is charging through the charging base station 1 shown, the charging circuit is conducted by the contact between the charging port 131 and the external charging port 231. At this time, the cooperation state of the charging port 131 and the external charging port 231 is as shown in Figure 5 the cross-sectional view in.

[0046] The guiding component responsible for moving the automatic cleaning device to the charging position in a standard orientation is, for example, an infrared guiding component. The infrared guiding component includes an infrared signal transmitter and an infrared signal receiver. The infrared signal transmitter includes a seat avoidance lamp (omnidirectional infrared signal transmitter), an infrared signal transmitter with an emission angle, etc. The signal emission distance of the seat avoidance lamp is relatively shorter than that of the infrared signal transmitter with an emission angle. It should be understood that the automatic cleaning device already has corresponding devices for infrared transceiver to cooperate with the implementation of guiding. In specific implementations, the guiding signals sent by each guiding component can have different identifiers, and each guiding component guides the automatically cleaning device with a fixed pairing through the identifier. For example, the main ramp structure 12 is dedicated to the main cleaning device. The infrared guiding component in the charging position corresponding to the main ramp structure 12 emits infrared signals that can only guide the main cleaning device. Through this configuration, it can be ensured that there is no process conflict of random charging of the automatic cleaning device when each charging position is charging.

[0047] The embodiment of the present utility model also provides an automatic cleaning system. The automatic cleaning system includes an automatic cleaning device and a charging base station according to any one of the previous embodiments. The automatic cleaning device includes at least one main cleaning device and at least one slave cleaning device; the main cleaning device includes a first active positioning module. The active positioning module refers to a module that can actively detect the external environment and confirm the specific position of the electronic device itself in the external environment, such as a radar, a depth camera, etc. The main cleaning device includes a first active positioning module, which is used to enable at least one automatic cleaning device in an automatic cleaning system to actively complete independent positioning.

[0048] In an optional implementation manner, the slave cleaning device includes a second active positioning module, that is, the slave cleaning device can also actively complete independent positioning, which is basically the same as the main cleaning device in terms of basic capabilities, and is correspondingly regarded as another peer level, and there is no automatic cleaning device corresponding to the slave cleaning device.

[0049] In another optional implementation manner, the main cleaning device includes a main communication module, and the slave cleaning device includes a slave communication module and an inertial sensor. The main communication module is used to establish a communication link between the main cleaning device and the slave cleaning device with the slave communication module; the repositioning result of the main cleaning device for the slave cleaning device is sent to the slave cleaning device through the communication link; the slave cleaning device moves based on the repositioning result and performs navigation through the inertial sensor during the movement. In the case where the slave cleaning device does not have the ability of active positioning, the main cleaning device with the ability of active positioning can, while completing its own positioning, also assist in completing the repositioning of the slave cleaning device.

[0050] In yet another optional implementation manner, the main cleaning device includes a main communication module, and the slave cleaning device includes a slave communication module and a signal reflection area. The main communication module is used to establish a communication link between the main cleaning device and the slave cleaning device with the slave communication module; the main cleaning device locates the slave cleaning device by sending an infrared signal and receiving the reflection of the infrared signal by the signal reflection area and guides the movement through the communication link. In the case where the slave cleaning device does not have any ability to judge its own posture, the detection module in the main cleaning device sends an infrared signal and receives the infrared signal reflected by the signal emission area in the slave communication module, and the main cleaning device completes the positioning, path planning and motion control of the slave cleaning device, and the slave cleaning device realizes automatic cleaning with a very simple hardware composition.

[0051] In the specific implementation process, if the slave cleaning device requires fewer hardware components compared to the main cleaning device, it can correspondingly be made into a smaller overall structure, and the base station main body 11 can be provided with a relatively smaller charging position and a slave ramp structure 13 (if any), and the occupation of the indoor space by the base station main body 11 is controlled as much as possible.

[0052] Please refer to Figure 6, which is the flowchart of the device control method provided by the embodiment of the present application. As Figure 6 shown, the device control method for the automatic cleaning system of the slave cleaning device including a slave communication module and an inertial sensor in the previous embodiment includes:

[0053] Step S410: When the master cleaning device is in a preset recharge trigger state or cleaning preparation state, reposition the slave cleaning device.

[0054] Step S420: The master cleaning device sends the repositioning result of the slave cleaning device to the slave cleaning device.

[0055] Step S430: The slave cleaning device plans a recharge path or a cleaning path according to the received repositioning result.

[0056] Step S440: The slave cleaning device navigates based on the inertial sensor and moves along the recharge path or the cleaning path.

[0057] In the embodiment of the present application, when the slave cleaning device has a clear moving target and has not started moving yet, for example, when triggered to return to the charging base for charging or a new cleaning task is about to start, and the slave cleaning device is in a preset recharge trigger state or cleaning preparation state, the master cleaning device reposition the slave cleaning device. Specifically, it can be completed by detecting the shape through radar and identifying by collecting images through a camera and other technical means, and then repositioning is achieved. For the slave cleaning device, when its own position is clear and the moving target is clear, it can navigate and move according to the inertial sensor.

[0058] Please refer to Figure 7 , which is the flowchart of the device control method provided by the embodiment of the present application. As Figure 7 shown, the device control method for the automatic cleaning system of the slave cleaning device including a slave communication module and a signal reflection area in the previous embodiment includes:

[0059] Step S510: When the master cleaning device is in a preset recharge trigger state or cleaning preparation state, reposition the slave cleaning device through an infrared signal;

[0060] Step S520: The master cleaning device plans a recharge path or a cleaning path according to the repositioning result of the slave cleaning device, generates a guiding instruction and sends it to the slave cleaning device through the communication link to control the movement of the slave cleaning device. During the process of controlling the movement of the slave cleaning device, the master cleaning device keeps detecting the position of the slave cleaning device and updates and sends the guiding instruction.

[0061] In an embodiment of the present application, before the cleaning device has a clear moving target and has not started moving yet, for example, when triggered to return to the charging base for charging or when a new cleaning task is about to start, when the cleaning device is in a preset recharging trigger state or a cleaning preparation state, the main cleaning device relocates the slave cleaning device. Specifically, it can locate the slave cleaning device by emitting an infrared signal and receiving the reflected infrared signal. For the slave cleaning device, it does not have the ability of independent positioning or attitude detection. At this time, the main cleaning device can perform real-time positioning, path planning, and generate guiding instructions for controlling the operating state during the movement process. It is equivalent to the main cleaning device preprocessing the movement processes of two automatic cleaning devices at the same time, and the slave cleaning device only needs to receive the guiding instructions to complete the specific movement control.

[0062] In a specific implementation manner, the device control method further includes: when the collision signal detected by the slave cleaning device through the collision sensor satisfies a preset lost condition, a relocation request is sent through the communication link; the main cleaning device responds to the relocation request, searches for the slave cleaning device, and relocates the slave cleaning device after finding the slave cleaning device.

[0063] For the slave cleaning device that navigates through the inertial sensor, the position error confirmed during the movement process is relatively large. After this error accumulates for a period of time, it may no longer be able to find the originally planned path. For example, when moving along the cleaning path, it may get out of the detection range of the guiding component in the charging base. If the positioning error through the inertial sensor has accumulated to a certain extent at the same time, it may occur that the slave cleaning device cannot complete the navigation normally, and finally collides multiple times in a space due to the mismatch between its own positioning and the environmental map. If the collision sensor detects multiple or high-frequency collision information, it is considered that the current information satisfies the preset lost condition, and a relocation request can be sent through the communication link; the main cleaning device responds to the relocation request, searches for the slave cleaning device purposefully according to information such as the nearest cleaning area of the slave cleaning device, and relocates the slave cleaning device after finding the slave cleaning device.

[0064] In another specific implementation manner, the device control method further includes: in the first cleaning mode, the main cleaning device guides the slave cleaning device to a side-by-side position; correspondingly, the slave cleaning device plans the return charging path or the cleaning path according to the received relocation result, including: in the first cleaning mode, the slave cleaning device plans a cleaning path parallel to the main cleaning path with reference to the main cleaning path of the main cleaning device according to the received relocation result; the slave cleaning device navigates based on the inertial sensor and moves along the cleaning path to move side by side with the main cleaning device.

[0065] For an environment with heavy cleaning tasks, multiple cleaning devices can be used to clean in parallel. The space to be cleaned can be quickly cleaned by area, improving the user experience during the cleaning process. For example, multiple cleaning devices can first quickly clean the living room and then the bedroom. The user can wait briefly and then enter the cleaned living room, avoiding the impact on people's activities caused by a single cleaning device cleaning the living room for a long time.

[0066] For the device control method in the embodiments of the present application, it may further include: the main cleaning device divides the pre-stored cleaning map into areas according to the restricted height, confirms the first map area and the second map area, and the restricted height of the first map area is greater than the restricted height of the second map area; the first map area is assigned as the cleaning area of the main cleaning device, and the second map area is assigned as the cleaning area of the slave cleaning device.

[0067] For an automatic cleaning device, the active positioning module usually needs to be set on the top. For the main cleaning device with active positioning ability, it will have a greater height accordingly. The main cleaning device may not be able to clean areas with restricted heights such as under the sofa. By dividing the cleaning map into areas according to the restricted height, the areas in the cleaning map can be cleaned quickly and comprehensively.

[0068] In the above charging base station and automatic cleaning system, one charging base station is configured with multiple charging positions, which can simultaneously charge multiple automatic cleaning devices. Thus, in the automatic cleaning system implemented based on this charging base station, a single charging base station can support the superposition of the cleaning capabilities of multiple automatic cleaning devices. In a specific cleaning scenario, a single charging base station can achieve faster cleaning of a unit area, effectively enhancing the actual cleaning ability supported by the single charging base station and improving the cleaning efficiency supported by the single charging base station.

[0069] It should be noted that the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, commodity or device including the element.

[0070] Note that the above is only a preferred embodiment of the present utility model and the applied technical principles. Those skilled in the art will understand that the present utility model is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present utility model. Therefore, although the present utility model has been described in more detail through the above embodiments, the present utility model is not limited to the above embodiments only. Without departing from the concept of the present utility model, more other equivalent embodiments can be included, and the scope of the present utility model is determined by the scope of the appended claims.

Claims

1. A charging base station, characterized in that: Including a base station body; At least two charging positions are provided at the bottom of the base station body, and each of the charging positions is provided with a guide component and a charging port; The guiding component is used to guide the automatic cleaning device to enter a charging position and connect to a charging port for charging; the guiding signal sent by each guiding component has a different identifier, and each guiding component guides a fixed paired automatic cleaning device through the identifier.

2. The charging base station according to claim 1, characterized in that: Also included is at least one ramp structure; The first end of each of the ramp structures is respectively connected to one of the charging positions, serving as a passage for the automatic cleaning device to enter the charging position, and the first end of the same ramp structure is higher than the second end.

3. The charging base station according to claim 1, characterized in that: The bottom surface of the base station body is square, the charging position is located at different positions of the bottom of the base station body facing the open space, and / or, The dust collection port of each charging position is connected to the same dust collection air duct.

4. The charging base station according to claim 2, characterized in that: The opening height of each charging position is different.

5. The charging base station according to claim 2, characterized in that: At least one of the ramp structures is detachably connected to the base station body.

6. Automatic cleaning system, characterized in that, It comprises an automatic cleaning device and the charging base station according to any one of claims 1 to 5, wherein the automatic cleaning device comprises at least one main cleaning device and at least one slave cleaning device; the main cleaning device comprises a first active positioning module.

7. The automatic cleaning system according to claim 6, characterized in that: The slave cleaning device includes a second active positioning module.

8. The automatic cleaning system according to claim 6, characterized in that: The master cleaning device comprises a master communication module, the slave cleaning device comprises a slave communication module and an inertial sensor, and the master communication module is used to establish a communication link between the master cleaning device and the slave cleaning device with the slave communication module; The master cleaning device sends the repositioning result of the slave cleaning device to the slave cleaning device via the communication link; The slave cleaning device moves based on the repositioning result and navigates through the inertial sensor during the movement.

9. The automatic cleaning system according to claim 6, characterized in that: The main cleaning device includes a main communication module; The slave cleaning device comprises a slave communication module and a signal reflection area, and the master communication module is used to establish a communication link between the master cleaning device and the slave cleaning device with the slave communication module; The master cleaning device positions the slave cleaning device and guides its movement through the communication link by sending infrared signals and receiving reflections of the infrared signals from the signal reflection area.

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