阅读说明：本技术 清洁机与基站的通信方法和系统 (Communication method and system of cleaning machine and base station ) 是由 曾雄 谭海军 杨华军 廖庭杰 刘喜兵 于 2021-09-24 设计创作，主要内容包括：本申请涉及一种清洁机与基站的通信方法和系统。该系统包括：清洁机子系统,包括第一控制器,第一控制器用于在检测到清洁机与基站之间的回路电流的情况下,通过清洁机与基站之间的充电回路将携带有清洁机工作数据的第一电平波形发送至基站；和/或,在接收到基站通过充电回路发送的第二电平波形的情况下,解析第二电平波形得到基站工作数据；基站子系统,包括第二控制器,第二控制器用于在接收到第一电平波形的情况下,解析第一电平波形得到清洁机工作数据；和/或,在检测到回路电流的情况下,通过充电回路将携带有基站工作数据的第二电平波形发送至清洁机。本申请解决了在清洁机器人与基站上安装通信设备成本高昂,流程复杂的技术问题。(The application relates to a communication method and a communication system of a cleaning machine and a base station. The system comprises: the cleaning machine subsystem comprises a first controller, a second controller and a third controller, wherein the first controller is used for sending a first level waveform carrying working data of the cleaning machine to a base station through a charging loop between the cleaning machine and the base station under the condition that loop current between the cleaning machine and the base station is detected; and/or analyzing the second level waveform to obtain the working data of the base station under the condition of receiving the second level waveform sent by the base station through the charging loop; the base station subsystem comprises a second controller, and the second controller is used for analyzing the first level waveform to obtain working data of the cleaning machine under the condition of receiving the first level waveform; and/or sending the second level waveform carrying the working data of the base station to the cleaning machine through the charging loop under the condition that the loop current is detected. The technical problems that the cost for installing the communication equipment on the cleaning robot and the base station is high and the flow is complex are solved.)

1. A cleaning machine and base station communication system, comprising:

the cleaning machine subsystem comprises a first controller, a second controller and a third controller, wherein the first controller is used for sending a first level waveform carrying cleaning machine working data to the base station through a charging loop between the cleaning machine and the base station under the condition that loop current between the cleaning machine and the base station is detected; and/or analyzing a second level waveform sent by the base station through the charging loop to obtain base station working data under the condition of receiving the second level waveform;

the base station subsystem comprises a second controller, and the second controller is used for analyzing the first level waveform to obtain the working data of the cleaning machine under the condition of receiving the first level waveform; and/or sending a second level waveform carrying the working data of the base station to the cleaning machine through the charging loop under the condition that the loop current is detected.

2. The system of claim 1, wherein the cleaning machine subsystem further comprises:

a charging management unit connected to the first controller;

the charging management unit is used for:

closing the charging circuit if a charging contact of the cleaning machine is in contact with a power supply contact of the base station;

and under the condition of receiving a first information modulation instruction, modulating a first information code representing the working data of the cleaning machine into the first level waveform.

3. The system of claim 2, wherein the first controller is further configured to:

the method comprises the steps of collecting battery current and battery voltage of the cleaning machine, and sending a first information modulation instruction to a charging management unit under the condition that the battery current and the battery voltage meet preset conditions.

4. The system of claim 2, wherein the base station subsystem further comprises:

a power supply management unit connected to the second controller;

the power supply management unit is used for:

closing the charging circuit if a charging contact of the cleaning machine is in contact with a power supply contact of the base station;

and under the condition of receiving a second information modulation instruction, modulating a second information code representing the working data of the base station into the second level waveform.

5. The system of claim 4, wherein the second controller is further configured to:

and acquiring the battery current and the battery voltage of the cleaning machine through the charging loop, and sending the second information modulation instruction to the power supply management unit under the condition that the battery current and the battery voltage meet preset conditions.

6. The system of claim 5,

the first controller is further configured to analyze the second level waveform to obtain the base station operating data as follows: identifying a logic high level and a logic low level in the second level waveform, and arranging the logic high level and the logic low level according to a time sequence to obtain a logic level combination; converting the logic level combination into binary number to obtain a first binary code; converting the first binary code into the base station working data according to a first mapping relation;

the second controller is further configured to analyze the first level waveform to obtain the cleaning machine working data as follows: identifying a logic high level and a logic low level in the first level waveform, and arranging the logic high level and the logic low level according to a time sequence to obtain a logic level combination; converting the logic level combination into binary number to obtain a second binary code; and converting the second binary code into the working data of the cleaning machine according to a second mapping relation.

7. The system of claim 6,

the number of the charging contacts of the cleaning machine is at least one, and the number of the power supply contacts of the base station is the same as the number of the charging contacts;

and under the condition that the number of the charging contacts is multiple, different numbers are pre-allocated to different charging contacts, the numbers of the power supply contacts correspond to the numbers of the charging contacts one to one, and the charging contacts and the power supply contacts corresponding to the numbers are connected when data transmission is carried out between the cleaning machine and the base station.

8. The system according to any one of claims 1 to 7,

the cleaning machine subsystem further comprises: the first amplifying unit is used for amplifying the second level waveform and transmitting an amplification result to the first controller;

the base station subsystem further comprises: and the second amplifying unit is used for amplifying the first level waveform and transmitting an amplification result to the second controller.

9. A communication method of a cleaning machine and a base station is applied to the cleaning machine and is characterized by comprising the following steps:

under the condition that loop current between the cleaning machine and the base station is detected, sending a first level waveform carrying working data of the cleaning machine to the base station through a charging loop between the cleaning machine and the base station;

and analyzing the second level waveform to obtain the working data of the base station under the condition of receiving the second level waveform sent by the base station through the charging loop.

10. A communication method of a cleaning machine and a base station is applied to the base station and is characterized by comprising the following steps:

under the condition of receiving a first level waveform sent by a charging loop between the cleaning machine and the base station, analyzing the first level waveform to obtain working data of the cleaning machine;

and under the condition that loop current between the cleaning machine and the base station is detected, sending a second level waveform carrying base station working data to the cleaning machine through the charging loop.

Technical Field

The application relates to the technical field of cleaning robots, in particular to a communication method and system of a cleaning machine and a base station.

Background

The base station equipped with the cleaning robot is generally used for charging the cleaning robot, automatically cleaning dust box garbage, automatically replenishing water, automatically cleaning a mop, and displaying cleaning condition information of the cleaning robot through the display module. The voice module equipped for the cleaning robot is generally used for playing information prompting a user in the working process of the cleaning robot, and the voice module is also used for playing state information of the base station, so that the voice module does not need to be installed on the base station again, and the cost is reduced. The interactive operation between the cleaning robot and the base station, such as the display module of the base station for displaying the cleaning condition information of the cleaning robot and the voice module of the cleaning robot for playing the state information of the base station, is established on the basis of the data communication required between the cleaning robot and the base station.

At present, in the related art, for the problem that data communication is required between the cleaning robot and the base station, a wireless transmission mode is generally adopted, that is, wireless transceiver modules are respectively installed on the cleaning robot and the base station, such as 433Mhz of Sub 1G, bluetooth, WiFi, and the like, so as to realize point-to-point full duplex data transmission. Although this method can realize data communication between the cleaning robot and the base station, installing the wireless transceiver module on the cleaning robot and the base station is not only costly, but also requires authentication by the radio authentication association, which makes the procedure complicated.

Aiming at the problems of high cost and complex flow of installing communication equipment on a cleaning robot and a base station, no effective solution is provided at present.

Disclosure of Invention

The application provides a communication method and a communication system of a cleaning machine and a base station, and aims to solve the technical problems that cost is high and a flow is complex when communication equipment is installed on a cleaning robot and the base station.

According to an aspect of an embodiment of the present application, there is provided a communication system of a cleaning machine and a base station, including:

the cleaning machine subsystem comprises a first controller, a second controller and a third controller, wherein the first controller is used for sending a first level waveform carrying working data of the cleaning machine to a base station through a charging loop between the cleaning machine and the base station under the condition that loop current between the cleaning machine and the base station is detected; and/or analyzing the second level waveform to obtain the working data of the base station under the condition of receiving the second level waveform sent by the base station through the charging loop;

the base station subsystem comprises a second controller, and the second controller is used for analyzing the first level waveform to obtain working data of the cleaning machine under the condition of receiving the first level waveform; and/or sending the second level waveform carrying the working data of the base station to the cleaning machine through the charging loop under the condition that the loop current is detected.

Optionally, the cleaning machine subsystem further comprises: the charging management unit is connected with the first controller; the charging management unit is used for: closing the charging circuit in the case of a charging contact of the cleaning machine coming into contact with a supply contact of the base station; and under the condition of receiving a first information modulation instruction, modulating a first information code representing the working data of the cleaning machine into a first level waveform.

Optionally, the first controller is further configured to: the method comprises the steps of collecting battery current and battery voltage of the cleaning machine, and sending a first information modulation instruction to a charging management unit under the condition that the battery current and the battery voltage meet preset conditions.

Optionally, the first controller is further configured to: and under the condition that the first information code is modulated into the first level waveform and the cleaning machine is in a static state, sending a first information sending instruction to the charging management unit.

Optionally, the charging management unit is further configured to: in the case where the first information transmission instruction is received, the first level waveform is transmitted to the base station through the charging loop based on the charging and power-off operations.

Optionally, the base station subsystem further includes: the power supply management unit is connected with the second controller; the power supply management unit is used for: closing the charging circuit in the case of a charging contact of the cleaning machine coming into contact with a supply contact of the base station; and under the condition of receiving a second information modulation instruction, modulating a second information code representing the working data of the base station into a second level waveform.

Optionally, the second controller is further configured to: and acquiring the battery current and the battery voltage of the cleaning machine through the charging loop, and sending a second information modulation instruction to the power supply management unit under the condition that the battery current and the battery voltage meet preset conditions.

Optionally, the second controller is further configured to: under the condition that the second information code is modulated into the second level waveform and the cleaning machine is in a static state, a second information sending instruction is sent to the power supply management unit

Optionally, the power supply management unit is further configured to: upon receiving the second information sending instruction, the second level waveform is transmitted to the cleaning machine through the charging circuit based on the charging and power-off operations.

Optionally, the first controller is further configured to parse the second level waveform to obtain the base station operating data as follows: identifying a logic high level and a logic low level in the second level waveform, and arranging the logic high level and the logic low level according to a time sequence to obtain a logic level combination; converting the logic level combination into binary number to obtain a first binary code; and converting the first binary code into the base station working data according to the first mapping relation.

Optionally, the second controller is further configured to parse the first level waveform to obtain the cleaning machine operation data as follows: identifying a logic high level and a logic low level in the first level waveform, and arranging the logic high level and the logic low level according to a time sequence to obtain a logic level combination; converting the logic level combination into binary number to obtain a second binary code; and converting the second binary code into working data of the cleaning machine according to a second mapping relation.

Optionally, the number of charging contacts of the cleaning machine is at least one, and the number of power supply contacts of the base station is the same as the number of charging contacts; under the condition that the number of the charging contacts is multiple, different numbers are pre-allocated to different charging contacts, the numbers of the power supply contacts correspond to the numbers of the charging contacts one to one, and the charging contacts and the power supply contacts corresponding to the numbers are connected when data transmission is carried out between the cleaning machine and the base station.

Optionally, the cleaning machine subsystem further comprises: the first amplifying unit is used for amplifying the second level waveform and transmitting an amplifying result to the first controller; the base station subsystem further comprises: and the second amplifying unit is used for amplifying the first level waveform and transmitting the amplified result to the second controller.

According to another aspect of the embodiments of the present application, there is provided a communication method between a cleaning machine and a base station, applied to the cleaning machine, including: under the condition that loop current between the cleaning machine and the base station is detected, a first level waveform carrying working data of the cleaning machine is sent to the base station through a charging loop between the cleaning machine and the base station; and analyzing the second level waveform to obtain the working data of the base station under the condition of receiving the second level waveform sent by the base station through the charging loop.

According to another aspect of the embodiments of the present application, there is provided a communication method between a cleaning machine and a base station, applied to the base station, including: under the condition of receiving a first level waveform sent by a charging loop between the cleaning machine and a base station, analyzing the first level waveform to obtain working data of the cleaning machine; and under the condition that loop current between the cleaning machine and the base station is detected, sending a second level waveform carrying working data of the base station to the cleaning machine through the charging loop.

According to another aspect of the embodiments of the present application, there is provided a communication device between a cleaning machine and a base station, applied to the cleaning machine, including: the first sending module is used for sending a first level waveform carrying working data of the cleaning machine to the base station through a charging loop between the cleaning machine and the base station under the condition that loop current between the cleaning machine and the base station is detected; and the first receiving module is used for analyzing the second level waveform to obtain the working data of the base station under the condition of receiving the second level waveform sent by the base station through the charging loop.

According to another aspect of the embodiments of the present application, there is provided a communication device between a cleaning machine and a base station, applied to the base station, including: the second receiving module is used for analyzing the first level waveform to obtain working data of the cleaning machine under the condition of receiving the first level waveform sent by a charging loop between the cleaning machine and the base station; and the second sending module is used for sending a second level waveform carrying the working data of the base station to the cleaning machine through the charging loop under the condition that loop current between the cleaning machine and the base station is detected.

Compared with the related art, the technical scheme provided by the embodiment of the application has the following advantages:

the application provides a communication system of cleaning machine and basic station includes: the cleaning machine subsystem comprises a first controller, a second controller and a third controller, wherein the first controller is used for sending a first level waveform carrying working data of the cleaning machine to a base station through a charging loop between the cleaning machine and the base station under the condition that loop current between the cleaning machine and the base station is detected; and/or analyzing the second level waveform to obtain the working data of the base station under the condition of receiving the second level waveform sent by the base station through the charging loop; the base station subsystem comprises a second controller, and the second controller is used for analyzing the first level waveform to obtain working data of the cleaning machine under the condition of receiving the first level waveform; and/or sending the second level waveform carrying the working data of the base station to the cleaning machine through the charging loop under the condition that the loop current is detected. According to the cleaning machine, the information code is modulated to the high and low levels, the working data of the cleaning machine and the working data of the base station are transmitted through the transmission of the high and low levels, the data communication between the cleaning machine and the base station can be realized without installing a wireless transceiver module, and the technical problems that the cost for installing communication equipment on a cleaning robot and the base station is high and the flow is complex are solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without any creative effort.

FIG. 1 is a block diagram of an alternative cleaning machine and base station communication system according to an embodiment of the present disclosure;

FIG. 2 is a block diagram of an alternative cleaning machine and base station communication system provided in accordance with an embodiment of the present application;

FIG. 3 is a schematic diagram of an alternative logic level discrimination scheme according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an alternative cleaning machine transmitting information encoding waveforms to a base station according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of an alternative base station transmitting information encoding waveforms to a cleaning machine according to an embodiment of the present application;

FIG. 6 is a schematic diagram of an alternative contact provided in accordance with an embodiment of the present application;

fig. 7 is a block diagram of a communication system between an alternative cleaning machine and a base station according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the related art, for the problem that data communication is required between the cleaning robot and the base station, a wireless transmission mode is generally adopted, that is, wireless transceiver modules, such as bluetooth and WiFi, are respectively installed on the cleaning robot and the base station, so as to realize point-to-point full duplex data transmission. Although this method can realize data communication between the cleaning robot and the base station, installing the wireless transceiver module on the cleaning robot and the base station is not only costly, but also requires authentication by the radio authentication association, which makes the procedure complicated.

To solve the problems mentioned in the background, according to an aspect of the embodiments of the present application, there is provided an embodiment of a communication system of a cleaning machine and a base station, as shown in fig. 1, the system including:

the cleaning machine subsystem 100 comprises a first controller 101, wherein the first controller is used for sending a first level waveform carrying working data of the cleaning machine to a base station through a charging loop between the cleaning machine and the base station under the condition that loop current between the cleaning machine and the base station is detected; and/or analyzing the second level waveform to obtain the working data of the base station under the condition of receiving the second level waveform sent by the base station through the charging loop;

the base station subsystem 200 comprises a second controller 201, and the second controller is used for analyzing the first level waveform to obtain working data of the cleaning machine under the condition of receiving the first level waveform; and/or sending the second level waveform carrying the working data of the base station to the cleaning machine through the charging loop under the condition that the loop current is detected.

In the embodiment of the application, the cleaning machine can be a sweeper, a mopping machine, a sweeping and mopping integrated machine and the like. The base station is a station for providing functions of charging, water replenishing, garbage dumping, parking, standby and the like for the cleaning machine. There are many useful information that need to transmit each other between cleaner and the basic station, for example the basic station needs to send basic station dirt bag laying dust capacity, operating condition information to the cleaner, if the fault is unusual, so that the cleaner sends out the warning prompt tone through voice module, and the cleaner needs to send the situation information of cleaning to the basic station simultaneously, so that the basic station utilizes the screen display at the fuselage to show, and convenience of customers directly perceived understanding the situation of cleaning.

In this embodiment, the information sent by the cleaning machine to the base station may be: cleaning machine electrical quantity information; information such as current distribution network and networking state, map, cleaning time, cleaning intensity, cleaning residual area and the like; cleaner charging cycle number information; capacity information of the remaining water in the water tank of the cleaning machine; the dust-accumulating capacity information in the dust box of the cleaning machine; abnormal and fault alarm information of the cleaning machine and the like. The information sent by the base station to the cleaning machine may be: information of normal working state of the base station; a robot control instruction; dust collection frequency, times, dust collection log information; frequency and times of water replenishing/mop drying, and log information of water replenishing/mop drying; the volume of sewage and residual clear water; a dust bag/dust cup replacement prompt message; alarm information of abnormal operation of the base station, and the like.

In the embodiment of the application, wireless communication equipment does not need to be installed between the cleaning machine and the base station, the information code is modulated to the high and low levels only on the basis of the charging function, and the working data of the cleaning machine and the working data of the base station are transmitted by transmitting the high and low levels. By means of a charging loop between the cleaning machine and the base station, a first controller of a cleaning machine subsystem controls an internal circuit module of the cleaning machine to modulate signals and control the receiving and sending of the signals, and a second controller of a base station subsystem controls the internal circuit module of the base station to modulate the signals and control the receiving and sending of the signals, so that data communication between the cleaning machine and the base station is achieved, and the technical problems that communication equipment is high in cost and complex in process when the cleaning robot and the base station are installed are solved.

Optionally, as shown in fig. 2, the cleaning machine subsystem further comprises:

a charging management unit 102 connected to the first controller;

the charging management unit is used for:

closing the charging circuit in the case of contact of the charging contacts 103 of the cleaning machine with the supply contacts of the base station;

and under the condition of receiving a first information modulation instruction, modulating a first information code representing the working data of the cleaning machine into a first level waveform.

In the embodiment of the present application, the charging management unit has a basic function of receiving the electric energy supplied by the base station to charge the battery of the cleaning machine, and a closed loop, that is, the charging loop, needs to be formed between the cleaning machine and the base station during charging, and the charging management unit is in a closed state. On this basis, the charging management unit provided by the present application may further modulate a first information code representing the working data of the cleaning machine into the first level waveform under the control of the first controller of the cleaning machine, that is, the first controller is further configured to:

the method comprises the steps of collecting battery current and battery voltage of the cleaning machine, and sending a first information modulation instruction to a charging management unit under the condition that the battery current and the battery voltage meet preset conditions.

In the embodiment of the application, the cleaning machine can be driven to normally work only when the battery current and the battery voltage of the cleaning machine reach certain threshold values, and whether the battery current and the battery voltage meet the preset conditions or not is judged, namely whether the battery current and the battery voltage reach the corresponding required threshold values or not is judged.

Alternatively, the sending of the waveform data may be specifically performed by the first controller controlling the charging management unit based on the charging operation and the power-off operation, that is, the first controller is further configured to: under the condition that the first information code is modulated into the first level waveform and the cleaning machine is in a static state, sending a first information sending instruction to the charging management unit; the charging management unit is further configured to: in the case where the first information transmission instruction is received, the first level waveform is transmitted to the base station through the charging loop based on the charging and power-off operations.

Optionally, as shown in fig. 2, the base station subsystem further includes:

a power supply management unit 202 connected to the second controller;

the power supply management unit is used for:

closing the charging circuit in the case of contact of the charging contacts 103 of the cleaning machine with the supply contacts 203 of the base station;

and under the condition of receiving a second information modulation instruction, modulating a second information code representing the working data of the base station into a second level waveform.

In the embodiment of the present application, the power supply management unit has a basic function of supplying electric energy to the cleaning machine to charge the battery of the cleaning machine, and a closed loop, that is, the charging loop, needs to be formed between the cleaning machine and the base station during charging, and the power supply management unit is in a closed state at this time. On this basis, the power management unit provided in the present application may further modulate a second information code representing the operating data of the base station into a second level waveform under the control of a second controller of the base station, that is, the second controller is further configured to:

and acquiring the battery current and the battery voltage of the cleaning machine through the charging loop, and sending a second information modulation instruction to the power supply management unit under the condition that the battery current and the battery voltage meet preset conditions.

In the embodiment of the application, the battery current and the battery voltage of the cleaning machine can be driven to normally work only when the battery current and the battery voltage of the cleaning machine reach certain threshold values, so that the second controller of the base station can acquire the battery current and the battery voltage of the cleaning machine through the charging loop. And judging whether the battery current and the battery voltage meet preset conditions, namely judging whether the battery current and the battery voltage reach corresponding required thresholds.

Optionally, the sending of the waveform data may be specifically performed by the second controller controlling the power supply management unit based on the charging operation and the power-off operation, that is, the second controller is further configured to: under the condition that the second information code is modulated into the second level waveform and the cleaning machine is in a static state, sending a second information sending instruction to the power supply management unit; the power supply management unit is further configured to: upon receiving the second information sending instruction, the second level waveform is transmitted to the cleaning machine through the charging circuit based on the charging and power-off operations.

Optionally, the first controller is further configured to parse the second level waveform to obtain the base station operating data as follows: identifying a logic high level and a logic low level in the second level waveform, and arranging the logic high level and the logic low level according to a time sequence to obtain a logic level combination; converting the logic level combination into binary number to obtain a first binary code; and converting the first binary code into the base station working data according to the first mapping relation.

Optionally, the second controller is further configured to parse the first level waveform to obtain the cleaning machine operation data as follows: identifying a logic high level and a logic low level in the first level waveform, and arranging the logic high level and the logic low level according to a time sequence to obtain a logic level combination; converting the logic level combination into binary number to obtain a second binary code; and converting the second binary code into working data of the cleaning machine according to a second mapping relation.

As shown in fig. 3, the charging management unit of the cleaning machine realizes the high-low logic level jump of the current input/output ports of the cleaning machine and the base station by changing the on-off of the charging current under the control of the first controller, the second controller of the base station can recognize and arrange the high-low logic level jump according to the time sequence, and convert the high-low logic level jump into the binary code, and finally recognize and obtain the working data of the cleaning machine according to the preset first mapping relation between the binary code and the working data of the cleaning machine. Similarly, the power supply management unit of the base station realizes the jump of high and low logic voltages of the current input and output ports of the cleaning machine and the base station by changing the on-off of the charging current under the control of the second controller, the first controller of the cleaning machine can recognize and arrange the jump of high and low logic levels according to the time sequence and convert the jump into binary codes, and finally the base station working data are obtained by recognizing according to the preset second mapping relation between the binary codes and the base station working data. In fig. 3, the output of the comparator is the output of the first controller and the second controller for determining the logic level of high or low.

Fig. 4 shows an example of waveforms for transmitting information from the cleaner to the base station, where CHG _ CTR is an enable signal of the charging management unit, BAT _ CURRENT _ ADC is an information code modulation signal, CHG _ EN is an enable signal of the power supply management unit of the base station, and CHG _ ADC is a demodulation signal obtained by demodulating a logic level by the second controller of the base station.

Fig. 5 shows an example of waveforms for transmitting information from the base station to the cleaning machine, where CHG _ EN is an enable signal of the power supply management unit, CHG _ CTR is an enable signal of the charging management unit of the cleaning machine, BAT _ CURRENT _ ADC is an information code modulation signal, and CHG _ ADC is a demodulation signal obtained by demodulating a logic level by the second controller of the base station.

Optionally, the number of charging contacts of the cleaning machine is at least one, and the number of power supply contacts of the base station is the same as the number of charging contacts; under the condition that the number of the charging contacts is multiple, different numbers are pre-allocated to different charging contacts, the numbers of the power supply contacts correspond to the numbers of the charging contacts one to one, and the charging contacts and the power supply contacts corresponding to the numbers are connected when data transmission is carried out between the cleaning machine and the base station.

In the embodiment of the present application, one or more contacts may be used for level transmission. Taking the number of the charging contacts and the power supply contacts as an example, as shown in fig. 6, the charging contacts disposed on the cleaning machine include a first contact and a second contact, the power supply contacts disposed on the base station include a third contact and a fourth contact, and during charging and power transmission, the first contact is connected with the third contact, and the second contact is connected with the fourth contact.

Optionally, as shown in fig. 7, the cleaning machine subsystem further comprises: a first amplifying unit 104 for amplifying the second level waveform and transmitting the amplified result to the first controller; the base station subsystem further comprises: and a second amplifying unit 204 for amplifying the first level waveform and transmitting the amplified result to the second controller.

According to the cleaning machine, the information code is modulated to the high and low levels, the working data of the cleaning machine and the working data of the base station are transmitted through the transmission of the high and low levels, the data communication between the cleaning machine and the base station can be realized without installing a wireless transceiver module, and the technical problems that the cost for installing communication equipment on a cleaning robot and the base station is high and the flow is complex are solved.

According to another aspect of the embodiments of the present application, there is provided a communication method between a cleaning machine and a base station, applied to the cleaning machine, including:

under the condition that loop current between the cleaning machine and the base station is detected, a first level waveform carrying working data of the cleaning machine is sent to the base station through a charging loop between the cleaning machine and the base station;

and analyzing the second level waveform to obtain the working data of the base station under the condition of receiving the second level waveform sent by the base station through the charging loop.

In the embodiment of the present application, the first level waveform and the second level waveform are both a combination of a plurality of logic high levels and logic low levels, and the combination manner is the same as the combination manner of the information code.

According to another aspect of the embodiments of the present application, there is provided a communication method between a cleaning machine and a base station, applied to the base station, including:

under the condition of receiving a first level waveform sent by a charging loop between the cleaning machine and a base station, analyzing the first level waveform to obtain working data of the cleaning machine;

and under the condition that loop current between the cleaning machine and the base station is detected, sending a second level waveform carrying working data of the base station to the cleaning machine through the charging loop.

According to another aspect of the embodiments of the present application, there is provided a communication device between a cleaning machine and a base station, applied to the cleaning machine, including:

the first sending module is used for sending a first level waveform carrying working data of the cleaning machine to the base station through a charging loop between the cleaning machine and the base station under the condition that loop current between the cleaning machine and the base station is detected;

and the first receiving module is used for analyzing the second level waveform to obtain the working data of the base station under the condition of receiving the second level waveform sent by the base station through the charging loop.

According to another aspect of the embodiments of the present application, there is provided a communication device between a cleaning machine and a base station, applied to the base station, including:

the second receiving module is used for analyzing the first level waveform to obtain working data of the cleaning machine under the condition of receiving the first level waveform sent by a charging loop between the cleaning machine and the base station;

and the second sending module is used for sending a second level waveform carrying the working data of the base station to the cleaning machine through the charging loop under the condition that loop current between the cleaning machine and the base station is detected.

The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.