Pile searching module, cleaning equipment and cleaning system

Abstract

The utility model provides a stake seeking module, cleaning equipment and cleaning system wherein the stake seeking module comprises a plane mainboard, the plane mainboard is provided with a communication device and a distance detection device, the communication device comprises a signal emitter and a signal receiver, the signal emitter and the signal receiver face each other in a first direction, and the distance detection device is arranged on the plane mainboard. The distance detection device includes a light emitting component and a reflected light receiving component facing each other in a direction intersecting the first direction. Therefore, the space of the plane main board is reasonably utilized, the structure of the pile searching module is more compact, the size of the pile searching module is reduced, and the space occupied by the pile searching module in the cleaning equipment is more effectively reduced. And more precious space is vacated for other important components in the cleaning equipment, such as a water tank and a dust collection device. Therefore, on the basis that the original functions of the cleaning equipment are kept, the water tank with larger capacity can be carried, and the continuous working capacity of the cleaning equipment is enhanced.

Description

Technical Field

[0001] The utility model belongs to the technical field of smart homes, and particularly relates to a pile-finding module, a cleaning device and a cleaning system. Background Art

[0002] In today's smart home cleaning landscape, cleaning devices, especially sweepers with automatic recharging capabilities, have brought significant convenience to people's lives. However, with the continuous advancement of technology and increasing user demands, some potential technical issues have gradually emerged.

[0003] The design and layout of the pile-finding module in common cleaning equipment currently on the market lack rationality, resulting in a typically large size. However, the pile-finding module occupies a significant portion of the overall cleaning equipment structure, particularly the rear space. This results in a significant lack of space available for other important components at the rear of the cleaning equipment, such as the water tank and vacuum system. This limited space restricts the capacity and performance of these components, which in turn affects the cleaning effectiveness and sustained operation of the cleaning equipment. Utility Model Content

[0004] Therefore, the technical problem to be solved by the present invention is to provide a pile-finding module, a cleaning device and a cleaning system, wherein the communication device and the distance detection device in the pile-finding module are arranged in the vertical direction respectively, which rationally utilizes the space of the flat main board, making the structure of the pile-finding module more compact and reducing the space it occupies inside the cleaning device.

[0005] In order to solve the above problems, the first aspect of the present invention provides a pile-finding module, comprising:

[0006] A planar mainboard is provided with a communication device and a distance detection device, the communication device includes a signal transmitter and a signal receiver, the signal transmitter and the signal receiver face each other in a first direction, and the distance detection device includes a light-emitting component and a reflected light receiving component, the light-emitting component and the reflected light receiving component face each other in a direction intersecting with the first direction.

[0007] Optionally, the light emitting component and the reflected light receiving component face each other in a direction perpendicular to the first direction.

[0008] Optionally, the signal transmitter and the signal receiver are located between the light-emitting component and the reflected light receiving component.

[0009] Optionally, the signal transmitter and the signal receiver are fixed on a planar mainboard in the form of patches.

[0010] Optionally, a connection module is provided on a side of the planar mainboard away from the communication device and the distance detection device, and the connection module is used to conduct electricity between the planar mainboard and an external circuit.

[0011] Optionally, a protective cover is further provided on a side of the planar mainboard facing away from the communication device and the distance detection device, and the connection module is located inside the protective cover.

[0012] Optionally, the thickness of the protective cover is less than 9 mm.

[0013] In a second aspect of the present application, a cleaning device is provided, comprising:

[0014] A pile-finding module such as any of the above;

[0015] Wherein, a signal window is provided on the side wall of the cleaning device, and the pile-finding module is located in the signal window.

[0016] Optionally, a window baffle is provided at the opening of the signal window, and the window baffle is made of an optical lens or a highly light-transmitting material that can transmit the signal of the required wavelength.

[0017] In a third aspect of the present application, a cleaning system is provided, comprising:

[0018] Cleaning equipment such as any of the above;

[0019] A base station is used to dock the cleaning equipment.

[0020] Optionally, the base station includes a controller and at least two communication signal transmitting devices, and the controller is electrically connected to the at least two communication signal transmitting devices respectively.

[0021] Beneficial effects

[0022] The embodiments of the present invention provide a pile-finding module, cleaning equipment, and cleaning system. When the communication device and distance detection device are arranged in a column or row, they occupy a relatively long space in a single direction, which may be restricted by the installation environment, especially in space-constrained equipment. In contrast, in this pile-finding module, the communication device and distance detection device are arranged in different directions, fully utilizing the two-dimensional space of the planar motherboard. This makes the overall structure more compact, adaptable to installation scenarios of various sizes and shapes, and improves space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of a pile-finding module according to an optional embodiment of the present invention;

[0024] Figure 2 for Figure 1A schematic structural diagram of one perspective of the illustrated embodiment;

[0025] Figure 3 for Figure 1 A schematic structural diagram of another perspective of the embodiment shown;

[0026] Figure 4 This is a schematic structural diagram of a cleaning device according to an optional embodiment of the present invention;

[0027] Figure 5 This is a cross-sectional view of a signal window according to an optional embodiment of the present invention.

[0028] The reference numerals indicate:

[0029] 1. Flat mainboard; 2. Communication device; 21. Signal transmitter; 22. Signal receiver; 3. Distance detection device; 31. Light-emitting component; 32. Reflected light receiving component; 4. Connection module; 5. Protective cover; 6. Signal window; 7. Window baffle. DETAILED DESCRIPTION

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0032] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0033] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0034] See also Figures 1 to 5 As shown, the embodiment of the first aspect of the present invention provides a pile-finding module, the embodiment of the second aspect of the present invention provides a cleaning device, and the embodiment of the third aspect of the present invention provides a cleaning system.

[0035] Among them, the pile-finding module is used for cleaning equipment, and the cleaning equipment can be a sweeping robot, a mopping robot, an all-in-one sweeping and mopping machine, or other cleaning equipment that meets the requirements.

[0036] Specifically, the cleaning equipment includes, but is not limited to, a machine body, a cleaning system, a drive system, a control system, and the like. These various systems coordinate with each other to enable the cleaning equipment to move autonomously to perform its cleaning function. The functional components of the cleaning equipment that constitute the various systems are integrated within the machine body. It is understood that the cleaning equipment may be a self-propelled cleaning device, wherein a self-propelled cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without user intervention.

[0037] The cleaning system includes a base station, which is used in conjunction with the cleaning equipment.

[0038] Specifically, when the cleaning device starts working, it starts from the base station to perform the cleaning task. When the cleaning device completes the cleaning task or needs to stop the cleaning task, the cleaning device can return to the base station for charging or other operations, such as water replenishment, and / or cleaning, and / or dust collection.

[0039] Furthermore, the pile-finding module is applied to the cleaning equipment. For example, the pile-finding module is connected to the machine body of the cleaning equipment, so that the pile-finding module can move with the cleaning equipment, providing reliable support for accurate navigation and recharging of the cleaning equipment.

[0040] The pile-finding module provided by the embodiment of the first aspect of the present utility model includes: a planar mainboard 1, on which a communication device 2 and a distance detection device 3 are provided, the communication device 2 includes a signal transmitter 21 and a signal receiver 22, the signal transmitter 21 and the signal receiver 22 face each other in a first direction, the distance detection device 3 includes a light-emitting component 31 and a reflected light receiving component 32, the light-emitting component 31 and the reflected light receiving component 32 face each other in a direction intersecting with the first direction.

[0041] For example, the pile-finding module used in a sweeper-and-mop machine can be installed at the rear of the machine. Specifically, it can be mounted on the rear sidewall of the machine's main body. This installation reduces the space occupied by the sweeper-and-mop machine's front cleaning components, allowing the machine to more effectively clean the area in front. Furthermore, the rear sidewall provides greater stability, minimizing vibration and impact on the pile-finding module during movement and operation, thereby ensuring proper operation and accurate detection.

[0042] Specifically, in actual applications, the pile-finding module can exchange signals with the base station by setting the communication device 2 on the flat mainboard 1 to determine the approximate direction and distance of the base station. Then, as it approaches the base station, it uses the distance detection device 3 to more accurately measure the real-time distance to the base station. For example, when the sweeper and mop machine is operating far away from the base station in a larger room, the communication device 2 first receives a weaker signal from the base station, thereby roughly determining that the base station is located in the southeast corner of the room. As the sweeper and mop machine gradually approaches the base station, the light emitted by the light-emitting component 31 in the distance detection device 3 shines on the base station or surrounding objects. The reflected light receiving component 32 receives the reflected light and calculates the precise distance to the base station based on the propagation time and intensity of the light. This gradually precise positioning method enables the sweeper and mop machine to accurately dock with the base station during the recharging process. Even if there are other interfering objects around the base station, the pile-finding module can ensure that the sweeper and mop machine accurately docks at the base station for charging or performing other operations by continuously adjusting and optimizing the measurement data.

[0043] Specifically, the planar mainboard 1 may be a circuit board.

[0044] The communication device 2 includes a signal transmitter 21 and a signal receiver 22. The signal transmitter 21 continuously transmits signals of a specific frequency and encoding. These signals may be in the form of radio waves, infrared rays, or other specific electromagnetic waves. The signal receiver 22 decodes and analyzes the received signals. It can determine the relative position and distance between the sweeper and mop machine and the base station based on the signal strength, frequency changes, and encoding information. When the sweeper and mop machine is far away from the base station, the signal receiver 22 is in a state of receiving a weak signal. As the sweeper and mop machine gradually approaches the base station, the signal strength received by the receiver gradually increases. If the received signal strength suddenly increases significantly, it may mean that the sweeper and mop machine is moving in a straight line towards the base station; if the signal strength changes relatively slowly, it may mean that the sweeper and mop machine is approaching the base station at a certain angle. In addition, the signal transmitter 21 and the signal receiver 22 may also obtain base station status information, such as whether it is charging or whether there are other task instructions, through two-way communication with the base station.

[0045] Specifically, in this embodiment, the signal transmitter 21 is an infrared communication transmitting light, and the signal receiver 22 is an infrared communication receiving light. The infrared communication transmitting light and the infrared communication receiving light are arranged opposite each other along a first direction on the planar mainboard 1. In some specific examples, the first direction is the width direction of the planar mainboard 1; in other specific examples, the first direction is the length direction of the planar mainboard 1.

[0046] Among them, the distance detection device 3 includes a light-emitting component 31 and a reflected light receiving component 32. The light-emitting component 31 can emit light of a specific wavelength and intensity. These lights have good directionality and stability, ensuring that they can accurately illuminate the target object; the reflected light receiving component 32 can accurately capture the reflected light and convert it into an electrical signal for processing. In actual work, the light-emitting component 31 and the reflected light receiving component 32 cooperate with each other to measure the distance between the sweeper and mop machine and the base station or surrounding obstacles in real time. For example, when the sweeper and mop machine approaches the base station, the light emitted by the light-emitting component 31 will be quickly reflected back and received by the reflected light receiving component 32, so that the change in distance can be sensed in time, and a signal is sent to the control system to adjust the moving direction and speed of the sweeper and mop machine to avoid collision.

[0047] Specifically, in this embodiment, the light-emitting component 31 is a laser emitter, and the reflected light receiving component 32 is a laser receiver. The laser emitter and the laser receiver are arranged relative to each other on the planar mainboard 1 along a direction intersecting the first direction. It should be noted that when the signal emitter 21, the signal receiver 22, the light-emitting component 31, and the reflected light receiving component 32 are arranged in a column or a row, they occupy a long space in a single direction and may be restricted by the installation environment, especially in equipment with limited space. In this pile-finding module, the communication device and the distance detection device are arranged in different directions, making full use of the two-dimensional space of the planar mainboard, making the overall structure more compact, and being able to adapt to more installation scenarios of different sizes and shapes, thereby improving space utilization.

[0048] In some specific examples, the light emitting component 31 and the reflected light receiving component 32 are arranged opposite to each other along a direction perpendicular to the first direction.

[0049] In this embodiment, the signal transmitter 21 and the signal receiver 22 are arranged relative to each other along a first direction, and the light-emitting assembly 31 and the reflected light-receiving assembly 32 are arranged relative to each other perpendicular to the first direction. That is, when the first direction is the width direction of the planar mainboard 1, the light-emitting assembly 31 and the reflected light-receiving assembly 32 are arranged relative to each other along the length direction of the planar mainboard 1; similarly, when the first direction is the length direction of the planar mainboard 1, the light-emitting assembly 31 and the reflected light-receiving assembly 32 are arranged relative to each other along the width direction of the planar mainboard 1.

[0050] Among them, the signal transmitter 21, the signal receiver 22, the light emitting component 31 and the reflected light receiving component 32 are located on the same side of the flat mainboard 1, specifically on the side of the flat mainboard facing away from the moving direction of the sweeper and mop machine.

[0051] Specifically, the communication device 2 and distance detection device 3 are arranged along the width and length, respectively, fully utilizing the planar space of the planar mainboard 1. This makes the overall structure more compact, reduces the volume occupied by the pile-finding module, and thus reduces its internal space within the sweeper-mop machine. This frees up valuable space for other important components within the sweeper-mop machine, such as the water tank and dust collection device. This allows the sweeper-mop machine to be equipped with a larger water tank, enhancing its continuous operation, while maintaining its original functionality, or to be equipped with a more efficient dust collection device for improved cleaning results.

[0052] In some possible embodiments provided by the present invention, see Figure 1 As shown, the signal transmitter 21 and the signal receiver 22 are fixed on the planar mainboard 1 in the form of patches.

[0053] In this embodiment, the signal transmitter 21 and the signal receiver 22 are both in the form of SMD lamps.

[0054] Specifically, the two components, the signal transmitter 21 and the signal receiver 22, are directly mounted on the surface of the planar mainboard 1 through surface mount technology (SurfaceMount Technology, abbreviated as SMT). The patch form means that the two components have a flat, miniaturized package, and their pins or connection ends are designed to be accurately matched with the corresponding pads on the planar mainboard 1. During the installation process, the pins of the components are soldered to the pads on the planar mainboard 1 through processes such as reflow soldering, thereby achieving a firm electrical connection and mechanical fixation. This fixing method makes the contact between the component and the mainboard closer, reduces the length of the connection line and the adverse effects of parasitic inductance, capacitance, etc., and helps to improve the quality and speed of signal transmission. At the same time, due to the small size of the patch component, it can effectively save space on the planar mainboard 1, which is conducive to the miniaturization and high-density integration of the pile-finding module, thereby reducing the space it occupies inside the sweeping and mopping all-in-one machine.

[0055] In some possible embodiments provided by the present invention, see Figure 1 As shown, the signal transmitter 21 and the signal receiver 22 are located between the light emitting component 31 and the reflected light receiving component 32 .

[0056] Among them, on the flat mainboard 1, the light-emitting component 31 and the reflected light receiving component 32 are arranged in sequence in one direction, and the positions of the signal transmitter 21 and the signal receiver 22 are within the area occupied by the light-emitting component 31 and the reflected light receiving component 32.

[0057] Specifically, in this embodiment, the position of the light emitting component 31 is marked as point A, and the position of the reflected light receiving component 32 is marked as point B, and the installation positions of the signal transmitter 21 and the signal receiver 22 are within the interval from point A to point B.

[0058] It should be noted that when the signal transmitter 21 and the signal receiver 22 are located between the light-emitting component 31 and the reflected light receiving component 32, on the one hand, the arrangement of the various components on the planar mainboard 1 is made more compact, thereby reducing the overall size of the pile-finding module; on the other hand, physical isolation can be formed to a certain extent, reducing the impact of light and electromagnetic interference generated by the light-emitting component 31 and the reflected light receiving component 32 during operation on signal transmission and reception, thereby ensuring the accuracy and stability of the signal. At the same time, this layout is also conducive to optimizing the heat dissipation design. Since the positions of the various components are relatively concentrated, the heat dissipation channels can be set more specifically, allowing heat to be dissipated more effectively, avoiding local overheating that affects the performance and life of various components. In addition, the compact layout also facilitates unified protective treatment of these components. For example, an integrated shielding cover or protective coating can be used to reduce damage to the components from external environmental factors and improve the reliability and durability of the pile-finding module.

[0059] In some possible embodiments provided by the present invention, see Figure 2 and Figure 3 As shown, a connection module 4 is provided on the side of the planar mainboard 1 away from the communication device 2 and the distance detection device 3 , and the connection module 4 is used to conduct the planar mainboard 1 with the external circuit.

[0060] The planar mainboard 1 includes two surfaces, a front surface and a back surface, wherein the communication device 2 and the distance detection device 3 are arranged on one surface. On the other surface opposite thereto, that is, the back surface of the planar mainboard 1, a connection module 4 is installed.

[0061] Specifically, connection module 4 can be connected to external power lines, signal lines, etc. via pins, interfaces, or flat cables, establishing a conductive path between planar motherboard 1 and the external circuit. This allows planar motherboard 1 to obtain power from the external circuit to support the normal operation of components such as communication device 2 and distance detection device 3. Furthermore, it can transmit signals and data detected by planar motherboard 1 to the external circuit, enabling information exchange and collaborative operation with an external control system or other related components. In this embodiment, the external circuit is specifically the circuit board of the cleaning device.

[0062] It should be noted that placing the connection module 4 on the other side of the planar mainboard 1 effectively utilizes space, avoids interference with the communication device 2 and the distance detection device 3, and ensures a simple layout on the front of the planar mainboard 1 and the normal operation of the functional components. This also helps improve the maintainability of the pile-finding module. When the connection module 4 needs to be inspected, repaired, or replaced, it can be conveniently accessed from the back of the planar mainboard 1 without affecting the key components on the front. For example, if the circuit design of the cleaning equipment changes, only the connection module 4 needs to be adjusted accordingly, without having to redesign and manufacture the entire pile-finding module, significantly reducing costs and development time.

[0063] In some possible embodiments provided by the present invention, see Figure 3 As shown, a protective cover 5 is further provided on the side of the planar mainboard 1 facing away from the communication device 2 and the distance detection device 3 , and the connection module 4 is located in the protective cover 5 .

[0064] The planar motherboard 1 includes a front and back surface, with the communication device 2 and distance detection device 3 mounted on the front surface. A protective cover 5 is additionally mounted on the back surface of the planar motherboard 1, the side opposite the front surface, and the connection module 4 is placed within the interior space of the protective cover 5.

[0065] Specifically, the protective cover 5 completely wraps or covers the connection module 4, forming a relatively closed space, which isolates the connection module 4 from the external environment to a certain extent. On the one hand, it can prevent dust, water vapor, etc. from entering the connection module 4, avoiding poor contact due to dust accumulation, or short circuit and other faults caused by a humid environment, thereby improving the service life and stability of the connection module 4; on the other hand, it makes the lines of the connection module 4 more regular and orderly, reducing mutual interference and faults that may be caused by line chaos.

[0066] In some possible embodiments provided by the present invention, the thickness of the protective cover 5 is less than 9 mm. This minimizes the thickness of the protective cover 5, occupies less space, and makes it easier to integrate the pile-finding module into cleaning equipment without being restricted by the space constraints of an excessively thick protective cover. Furthermore, the thinnest design of the protective cover 5 generally requires less material. This reduces the manufacturing cost of the protective cover 5, thereby reducing the cost of the entire pile-finding module, resulting in excellent economic benefits.

[0067] The thickness of the protective cover 5 may be the distance between the surface of the protective cover 5 away from the planar main board 1 and the planar main board 1 .

[0068] Specifically, in this embodiment, the distance between the surface of the protective cover 5 away from the planar mainboard 1 and the planar mainboard 1 is less than 9 mm.

[0069] The cleaning device provided by the embodiment of the second aspect of the present utility model includes: any one of the above-mentioned pile-finding modules; wherein a signal window 6 is provided on the side wall of the cleaning device, and the pile-finding module is located in the signal window 6. It can be understood that the setting of the signal window provides a good signal transmission environment for the pile-finding module. By placing the pile-finding module in the signal window 6, it can be ensured that the signal transmitter 21 and the signal receiver 22 can effectively communicate with the base station, thereby improving the strength and stability of the signal. At the same time, the distance detection device 3 can also more accurately measure the distance between the cleaning device and the base station, providing precise guidance for the movement and positioning of the cleaning device.

[0070] A signal window 6 is provided on the side wall of the cleaning device, specifically, a signal window 6 is provided on the rear side wall of the machine body of the cleaning device.

[0071] Specifically, the signal window 6 is a groove structure. In actual application, the pile-finding module is placed in the signal window 6, which hides and protects the pile-finding module, ensuring its normal operation and reducing the risk of damage to the pile-finding module due to collision during the operation of the cleaning equipment.

[0072] In some possible embodiments provided by the present invention, see Figure 4 and Figure 5 As shown, a window baffle 7 is provided at the opening of the signal window 6. The window baffle 7 is made of an optical lens or a highly light-transmitting material that can transmit the required wavelength signal.

[0073] Among them, a window baffle 7 is provided at the opening of the signal window 6, that is, a window baffle 7 is provided at the open part of the signal window 6. The window baffle 7 can protect the pile-finding module and reduce the external dust, water vapor, debris, etc. from directly entering the signal window 6, thereby reducing the risk of pollution and damage to the pile-finding module and extending its service life.

[0074] Specifically, since the window baffle 7 adopts optical lenses or highly light-transmitting materials that can transmit signals of the required wavelength, it can ensure that the signals of the specific wavelength required by the pile-finding module pass through smoothly without causing obvious attenuation or blocking, thereby ensuring the quality and stability of signal transmission; at the same time, it can play a filtering role to a certain extent, reducing external clutter and interference signals from entering the signal window 6, thereby improving the signal reception and recognition accuracy of the pile-finding module.

[0075] The cleaning system provided by the embodiment of the third aspect of the present invention includes: any one of the cleaning devices described above; a base station for docking the cleaning device; a controller and at least two communication signal transmitting devices, wherein the controller is electrically connected to the at least two communication signal transmitting devices.

[0076] Among them, the optical signal emitted by each of the at least two communication signal transmitting devices is encoded to form a corresponding radiation coding area. The pile-finding module can distinguish the area where the cleaning is located by analyzing the code, and then perform pile-finding and pile-returning operations according to different areas. There is no need to create additional pile-finding and pile-returning maps, nor is there any need to add corresponding hardware.

[0077] Specifically, the at least two communication signal transmitting devices include a first communication signal transmitting device and a second communication signal transmitting device. A controller is installed in the base station and is configured to control the first and second communication signal transmitting devices to transmit optical signals according to a set optical signal transmission sequence and to encode the transmitted optical signals. The optical signals transmitted by the first communication signal transmitting device are encoded to form a first radiation coding region, and the optical signals transmitted by the second communication signal transmitting device are encoded to form a second radiation coding region.

[0078] It should be noted that by setting up multiple communication signal transmitting devices, the range and strength of signal coverage are increased, so that the cleaning equipment can receive clear signals from the base station at a longer distance or in a more complex environment, thereby improving the reliability of the cleaning equipment's recharging and communication with the base station. The controller is electrically connected to multiple communication signal transmitting devices respectively, and can flexibly control the working status and signal parameters of each communication signal transmitting device to achieve more accurate signal scheduling and optimization, thereby better guiding the actions of the cleaning equipment. When one of the communication signal transmitting devices fails, the other normally working devices can still ensure basic signal transmission, improving the stability and fault tolerance of the entire system. In addition, this configuration helps to improve the accuracy and speed of the cleaning equipment when docking with the base station. Multiple signal sources can provide more accurate location information, allowing the cleaning equipment to dock at the designated location of the base station more quickly and accurately.

[0079] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0080] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. The above are only preferred embodiments of the present invention. It should be noted that for those skilled in the art, several improvements and variations can be made without departing from the technical principles of the present invention, and such improvements and variations shall also be considered within the scope of protection of the present invention.

Claims

1. A pile-finding module, characterized in that: include: A planar mainboard (1) is provided with a communication device (2) and a distance detection device (3), the communication device (2) comprising a signal transmitter (21) and a signal receiver (22), the signal transmitter (21) and the signal receiver (22) facing each other in a first direction, the distance detection device (3) comprising a light-emitting component (31) and a reflected light receiving component (32), the light-emitting component (31) and the reflected light receiving component (32) facing each other in a direction intersecting the first direction.

2. The pile-finding module according to claim 1, characterized in that: The light emitting component (31) and the reflected light receiving component (32) face each other in a direction perpendicular to the first direction.

3. The pile-finding module according to claim 1, characterized in that: The signal transmitter (21) and the signal receiver (22) are located between the light-emitting component (31) and the reflected light receiving component (32).

4. The pile-finding module according to claim 1, characterized in that: The signal transmitter (21) and the signal receiver (22) are fixed on the planar mainboard (1) in the form of patches.

5. The pile-finding module according to claim 1, characterized in that: A connection module (4) is provided on the side of the planar mainboard (1) facing away from the communication device (2) and the distance detection device (3), and the connection module (4) is used to conduct the planar mainboard (1) with an external circuit.

6. The pile-finding module according to claim 5, characterized in that: A protective cover (5) is further provided on the side of the planar mainboard (1) facing away from the communication device (2) and the distance detection device (3), and the connection module (4) is located inside the protective cover (5).

7. The pile-finding module according to claim 6, characterized in that: The thickness of the protective cover (5) is less than 9 mm.

8. A cleaning device, characterized in that: include: The pile-finding module according to any one of claims 1 to 7; Wherein, a signal window (6) is provided on the side wall of the cleaning device, and the pile-finding module is located in the signal window (6).

9. The cleaning device according to claim 8, characterized in that A window baffle (7) is provided at the opening of the signal window (6), and the window baffle (7) is made of an optical lens or a high-light-transmittance material that transmits signals of a required wavelength.

10. A cleaning system, characterized in that: include: The cleaning device according to any one of claims 8 to 9; A base station is used to dock the cleaning device.

11. The cleaning system according to claim 10, characterized in that The base station includes a controller and at least two communication signal transmitting devices, and the controller is electrically connected to the at least two communication signal transmitting devices respectively.

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