CN218005977U

CN218005977U - Wireless charging system, self-propelled equipment and wireless charging station

Info

Publication number: CN218005977U
Application number: CN202221893980.9U
Authority: CN
Inventors: 李胜楠; 李飞; 王鹏宇
Original assignee: Dreame Technology Suzhou Co ltd
Current assignee: Pursuit Technology Suzhou Co Ltd
Priority date: 2022-07-21
Filing date: 2022-07-21
Publication date: 2022-12-09
Anticipated expiration: 2032-07-21

Abstract

The utility model discloses a wireless charging system, self-propelled equipment and wireless charging station, wireless charging system includes wireless charging station and self-propelled equipment, and wireless charging station includes the base and sets up the radio emission module on the base, and the radio emission module has first butt joint face; the self-propelled equipment comprises a shell, a walking assembly arranged on the shell and a radio receiving module arranged at the bottom of the shell, wherein the radio receiving module is provided with a second butt joint surface, and when the radio receiving module is in butt joint with the radio transmitting module, the second butt joint surface is opposite to the first butt joint surface; the base has a certain height, and the height is greater than the height of the wireless receiving module from the ground when the self-propelled equipment moves, so that when the wireless receiving module is aligned with the wireless transmitting module, part of the walking assemblies are suspended relative to the ground under the action of the base. The utility model discloses a wireless charging system can improve charge efficiency, reduces the cost of charging, reduces the place to the restriction of charging.

Description

Wireless charging system, self-propelled equipment and wireless charging station

Technical Field

The utility model relates to a wireless charging technology field especially relates to a wireless charging system, from walking equipment and wireless charging station.

Background

The intelligent self-propelled equipment such as a sweeper, a floor washer or a mower can be low in electric quantity after working and running for a period of time and needs to be charged. The existing device for charging the intelligent self-propelled equipment can start charging only by fully contacting the receiving end of the self-propelled equipment with the elastic conductor of the charging base, and cannot finish charging if the receiving end of the self-propelled equipment is not aligned and does not contact with the elastic conductor; secondly, the elastic conductor on the charging base cannot be stained with water (such as rain), but most charging bases of the lawn mowers are arranged outdoors, so that the intelligent self-propelled equipment charging device is greatly limited by site conditions. Furthermore, the charging device of self-propelled equipment of current intelligence wherein has adopted wireless charging technology to charge, but has the receiving face of self-propelled equipment and the transmitting face of charging base to be counterpointed the inaccuracy, influences coupling and charging efficiency's problem.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a wireless charging system, it can improve charge efficiency, reduces the restriction of the place of charging to charging, has reduced the cost of charging simultaneously.

In order to achieve the above object, an embodiment of the present invention provides a wireless charging system, which includes a wireless charging station and a self-propelled device. The wireless charging station comprises a base and a radio transmission module arranged on the base, wherein the radio transmission module is provided with a first butting surface; the self-propelled device comprises a shell, a walking assembly arranged on the shell and a radio receiving module arranged at the bottom of the shell, wherein the radio receiving module is provided with a second butt joint surface, and when the radio receiving module is aligned with the radio transmitting module, the second butt joint surface is opposite to the first butt joint surface.

The base has a certain height which is larger than the height of the radio receiving module from the ground when the self-propelled device is in moving operation, so that when the radio receiving module is aligned with the radio transmitting module, part of the walking assemblies are suspended relative to the ground under the action of the base.

The utility model discloses an in one or more embodiments, the walking subassembly is including being located the walking wheel group of casing front end, walking wheel group is including two walking wheels that the symmetry set up, two distance more than or equal to between the walking wheel the width of base.

In one or more embodiments of the present invention, the first butt-joint surface is disposed horizontally with respect to the base, and the second butt-joint surface is disposed horizontally with respect to the self-propelled device.

The utility model discloses an in one or more embodiments, from walking equipment still includes the drive module, the drive module set up in connect in the casing walking subassembly, the drive module does walking subassembly provides drive power.

The utility model discloses an in one or more embodiments, the running gear is relative the casing is portable setting in vertical direction, the running gear and/or be provided with response assembly on the casing, response assembly is used for the response the running gear with relative position relation between the casing produces corresponding inductive signal.

The utility model discloses an in one or more embodiments, from walking equipment still includes control module, control module connects drive module and response subassembly, control module can be according to the sensing signal that the response subassembly produced controls the drive module to the walking subassembly provides or cuts off drive power.

The utility model discloses an in one or more embodiments, from walking equipment still includes battery package and electric quantity detection module, battery package and electric quantity detection module all set up in the casing, electric quantity detection module connects control module is used for detecting the electric quantity of battery package.

In one or more embodiments of the present invention, the radio receiving module is disposed at a bottom of a front end of the housing of the mobile device in a moving direction.

In one or more embodiments of the present invention, the walking assembly at least includes a walking wheel set disposed at the front end of the housing, and the sensing assembly is disposed on the walking wheel set; when the self-propelled device moves and operates, the walking wheel set and the shell form a first position relation, the induction assembly forms a first induction signal in the state, and the control module controls the driving module to provide driving force for the walking assembly according to the first induction signal; when the walking wheel set is partially or completely separated from the ground, the walking wheel set and the shell form a second position relation under the self gravity, the sensing assembly forms a second sensing signal in the state, and the control module controls the driving module to cut off the driving force supply to the walking assembly according to the second sensing signal.

The utility model discloses an in one or more embodiments, work as when the electric quantity of the battery package that electric quantity detection module detected the electric quantity less than or equal to predetermine the electric quantity, control module cut off with be connected between the response subassembly, and control the drive module continue to walking subassembly provides drive power, until radio receiving module with the contact of radio transmitting module counterpointing.

In one or more embodiments of the present invention, the base has a guide surface and a contact surface connected to the guide surface, the guide surface is disposed to be inclined with respect to a moving direction of the self-propelled device, the contact surface is disposed to extend horizontally from a top end of the guide surface along the moving direction of the self-propelled device, and the radio transmission module is disposed on the contact surface.

In one or more embodiments of the invention, the angle of inclination of the guide surface with respect to the ground is 5-35 °.

In one or more embodiments of the present invention, the guide surface is inclined at an angle of 10 ° with respect to the ground.

In one or more embodiments of the present invention, when the radio receiving module is in alignment contact with the radio transmitting module, a distance between the first alignment surface and the second alignment surface is between 0 and 20 mm.

The embodiment of the utility model provides a still provide a from walking equipment, including casing, walking assembly, drive module and radio receiving module. The walking assembly is arranged on the shell to drive the shell to move; the driving module is arranged in the shell and connected with the walking assembly to provide driving force for the walking assembly; the wireless receiving module is arranged at the bottom of the shell and is provided with a second butting surface which is horizontally arranged and can be matched with the surface of the corresponding wireless transmitting module to wirelessly charge the self-propelled equipment.

In one or more embodiments of the present invention, the walking assembly at least includes a walking wheel set disposed at the front end of the housing, and the sensing assembly is disposed on the walking wheel set; when the self-propelled equipment moves and operates, the traveling wheel set and the shell form a first position relation, the induction assembly forms a first induction signal in the state, and the control module controls the driving module to provide driving force for the traveling assembly according to the first induction signal; when the walking wheel set is partially or completely separated from the ground, the walking wheel set and the shell form a second position relation under the self gravity, the sensing assembly forms a second sensing signal in the state, and the control module controls the driving module to cut off the supply of the driving force to the walking assembly according to the second sensing signal.

The embodiment of the utility model provides a wireless charging station is still provided for charge foretell from walking equipment, wireless charging station includes base and radio emission module. The radio transmitting module is arranged on the base and provided with a first butting surface which is horizontally arranged and can be matched with a second butting surface of a radio receiving module of the self-propelled equipment to wirelessly charge the self-propelled equipment.

In one or more embodiments of the present invention, the base has a height, and the height is greater than a height of the wireless receiving module from the ground when the self-propelled device is moving.

Compared with the prior art, the utility model discloses embodiment's wireless charging system is through setting up the base of take the altitude to set up wireless transmitting module on the base surface, can partially jack-up from walking equipment when making base and the wireless receiving module contact on the self-walking equipment, guarantee wireless transmitting module and wireless receiving module just to the contact, improve coupling and charge efficiency.

The utility model discloses embodiment's wireless charging system has got rid of elastic conductor (charging electrode) in the past, has reduced the cost of charging, and has solved the hidden danger of charging of traditional electrode through the radio charging technology, has reduced the restriction of charging the place to charging simultaneously.

The utility model discloses embodiment's wireless charging system, when detecting the electric quantity less than or equal to of walking equipment and predetermine the electric quantity, through cutting off being connected between control module and the response subassembly to control drive module and continue to provide drive power to walking equipment, the radio emission module counterpoint contact on radio receiving module and the base has been guaranteed to be close to with the radio emission module on the base on it from the radio receiving module on the equipment, and finally reach the contact of cooperateing completely, further improve charge efficiency.

Drawings

Fig. 1 is a perspective view of a wireless charging system according to an embodiment of the present invention in an uncharged state;

fig. 2 is a side view of a wireless charging system according to an embodiment of the present invention in an uncharged state;

fig. 3 is a plan view of a wireless charging system according to an embodiment of the present invention in an uncharged state;

fig. 4 is a side view of a wireless charging system according to an embodiment of the present invention in a charging state;

fig. 5 is a plan view of a wireless charging system according to an embodiment of the present invention in a charging state.

Detailed Description

The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited by the following detailed description.

Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.

As background art, most of the existing devices for charging intelligent self-propelled devices (such as lawn mowers) can start charging only by fully contacting their receiving terminals with the elastic conductors on the charging base, and the elastic conductors on the charging base cannot be stained with water, so that the existing intelligent self-propelled devices (such as lawn mowers) are greatly limited by site conditions during charging, and have the problem of poor charging efficiency due to poor contact.

In order to solve the problem, the utility model discloses innovatively provide a wireless charging system, through set up radio emission module and radio receiving module on charging base and self-propelled equipment respectively, set for the base simultaneously and have a take advantage of self-propelled equipment in order to jack-up when both dock and make radio emission module and radio receiving module fully dock, improve coupling and charge efficiency greatly, reduced the restriction of the place of charging to charging simultaneously, also reduced the cost of charging.

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings.

As shown in fig. 1 to 3, an embodiment of the present invention provides a wireless charging system, which includes a self-propelled device 10 and a wireless charging station 20 cooperating with the self-propelled device 10 to charge the self-propelled device 10.

The self-propelled device 10 includes a housing 11, a walking assembly 12, a driving module, a sensing assembly, and a radio receiving module 13.

The traveling unit 12 is provided on the housing 11 and is used for moving the self-propelled apparatus 10. The walking assembly 12 comprises a walking wheel set 121 positioned at the front end of the housing 11 and a driving wheel set 122 positioned at the rear end of the housing 11, wherein the walking wheel set 121 comprises two walking wheels which are symmetrically arranged and are separated by a certain distance; the driving wheel set 122 includes two driving wheels symmetrically disposed. The walking assembly 12 is movably disposed in a vertical direction relative to the housing 11, so that the self-propelled device 10 triggers a lift protection mechanism when the chassis encounters an obstacle with a certain height or the self-propelled device 10 is in an empty state (in both states, the walking assembly 12 is away from the housing 11), for example, a cutting blade of a mower stops cutting or a roller of a sweeper stops operating.

The driving module is disposed in the housing 11 and connected to the traveling assembly 12, and at least drives the driving wheel set 122 of the traveling assembly 12 to operate, so that the self-propelled apparatus 10 can continuously provide driving force when it is ready to be charged (the traveling wheel set 121 is lifted). Of course, the driving module can also drive the traveling wheel set 121 and the driving wheel set 122 to work together. The traveling and direction changing of the self-propelled apparatus 10 are completed by the driving module and the traveling assembly.

The sensing assembly is arranged on the walking assembly 12 and/or the shell 11 and is used for sensing the relative position relation between the walking assembly 12 and the shell 11 and generating a corresponding sensing signal.

The radio receiving module 13 is disposed at the bottom of the front end of the housing 11 of the mobile apparatus 10 in the moving direction, and the radio receiving module 13 has a second contact surface horizontally disposed relative to the bottom of the mobile apparatus 10, and the second contact surface can be matched with the surface of the corresponding radio transmitting module to wirelessly charge the mobile apparatus 10.

The self-propelled apparatus 10 further includes a control module, a battery pack and an electric quantity detection module, which are all disposed in the housing 11. The control module is connected with the driving module, the sensing assembly and the electric quantity detection module, and the control module can control the driving module to provide or cut off driving force for the walking assembly according to sensing signals generated by the sensing assembly. The electric quantity detection module is used for detecting the electric quantity of the battery pack.

The self-propelled device 10 has a lift protection mechanism. Specifically, the sensing assembly is disposed on the traveling wheel set 121 or the housing 11, when the self-propelled device 10 moves, the traveling wheel set 121 and the housing 11 form a first positional relationship, the sensing assembly forms a first sensing signal in this state, and the control module controls the driving module to provide driving force to the traveling assembly 12 according to the first sensing signal; when the walking wheel set 121 is partially or completely separated from the ground, the walking wheel set 121 forms a second position relationship with the housing 11 under the self-gravity, the sensing component forms a second sensing signal in this state, and the control module controls the driving module to cut off the supply of the driving force to the walking component 12 according to the second sensing signal. However, when the electric quantity detection module detects that the electric quantity of the battery pack of the self-propelled device 10 is less than or equal to the preset electric quantity, the control module cuts off the connection with the induction component, and controls the driving module to continuously provide driving force for the walking component 12 until the radio receiving module at the bottom of the self-propelled device 10 is in alignment contact with the corresponding radio transmitting module.

In the present embodiment, the self-propelled device 10 may be a lawn mower, and may further include other components capable of automatic mowing such as a cutting assembly, for example, a cutting blade driven to rotate for mowing, which are provided in the existing lawn mower, and are connected to the control module.

In other embodiments, the mobile device 10 may also be a sweeper or scrubber.

The wireless charging station 20 includes a base 21 and a radio transmission module 22. The radio transmission module 22 is disposed on the base 21. The width of the base 21 in the moving direction of the self-propelled device 10 is less than or equal to (preferably less than) the distance between the two travelling wheels of the self-propelled device 10; the base 21 has a height which is only larger than the height of the wireless receiving module from the ground when the self-propelled device 10 is moving, so that when the wireless receiving module is aligned with the wireless transmitting module, the upper traveling assembly 12 of the self-propelled device 10 is suspended from the ground under the action of the base 21.

In one embodiment, the base 21 has a guide surface 211 and a contact surface 212 connected to the guide surface 211, the guide surface 211 is disposed obliquely to the moving direction of the self-propelled apparatus 10, the inclination angle of the guide surface 211 to the ground surface is 5 to 35 °, and preferably, the inclination angle of the guide surface 211 to the ground surface is 10 °. The contact surface 212 is provided to extend horizontally from the tip end of the guide surface 211 in the moving direction of the self-propelled apparatus 10, and the radio transmission module 22 is provided on the contact surface 212.

The radio transmitter module 22 has a first contact surface horizontally disposed relative to the contact surface 212 of the base 21, and when the radio receiver module 13 of the mobile apparatus 10 is aligned with the radio transmitter module 22 on the base 21, the first contact surface and the second contact surface are opposite to each other for wirelessly charging the mobile apparatus 10. When the radio receiving module and the radio transmitting module are in contraposition contact, the distance between the first butt joint surface and the second butt joint surface is between 0 and 20 mm.

Referring to fig. 4 and 5, fig. 4 and 5 are a side view and a top view of the wireless charging system in a charging state, respectively. When the electric quantity detection module of the self-propelled device 10 detects that the electric quantity of the internal battery pack is lower than the preset electric quantity, the control module controls the driving module to drive the walking assembly to operate, and the self-propelled device 10 automatically searches for the wireless charging station 20 (provided with the navigation module and capable of automatically navigating). At this time, the control module simultaneously cuts off the connection with the sensing assembly and controls the driving module to continuously provide the driving force to the walking assembly 12. After the wireless charging station 20 is found, the base 21 is inserted between the traveling wheel sets of the self-propelled device 10, after the wireless receiving module at the bottom of the self-propelled device 10 is in contact with the base 21, under the action force of the traveling component 12 and the abutting force of the base 10, the self-propelled device 10 climbs upwards along the guide surface 211 of the base 21, the front end of the self-propelled device 10 is jacked up, at this time, because the control module cuts off the contact with the induction component, the lifting protection mechanism of the self-propelled device 10 fails, the driving module continues to provide driving force for the traveling component 12 until the wireless receiving module at the bottom is sufficiently close to the wireless transmitting module on the base 21 and starts to be aligned and contacted, the driving module cuts off the provision of the driving force, and the self-propelled device 10 starts to be charged.

The utility model also provides a self-propelled equipment promotes the control incapability method that leads to power failure, include: acquiring the electric quantity of the battery pack detected by the electric quantity detection module; judging whether the electric quantity is less than or equal to a preset electric quantity; and if the electric quantity is less than or equal to the preset electric quantity, controlling the control module to cut off the connection between the control module and the induction assembly.

The utility model discloses embodiment's wireless charging system, when detecting the electric quantity less than or equal to of self-propelled equipment and predetermine the electric quantity, through cutting off being connected between control module and the response subassembly to control drive module and continue to provide drive power to self-propelled equipment, until the radio emission module counterpoint contact on radio receiving module and the base on it, guaranteed that the radio receiving module on the self-propelled equipment is fully close to with the radio emission module on the base, and finally reach the contact of cooperateing completely, further improve charge efficiency.

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.

Claims

1. A wireless charging system, comprising:

a wireless charging station (20), the wireless charging station (20) comprising a base (21) and a radio transmission module (22) disposed on the base (21), the radio transmission module (22) having a first mating face;

a self-propelled device (10), the self-propelled device (10) comprising a housing (11), a walking assembly (12) disposed on the housing (11), and a radio receiving module (13) disposed at the bottom of the housing (11), the radio receiving module (13) having a second mating face, the second mating face being opposite to the first mating face when the radio receiving module (13) is aligned with the radio transmitting module (22);

wherein the base (21) has a height which is larger than the height of the radio receiving module (13) from the ground when the self-propelled device (10) moves to operate, so that when the radio receiving module (13) is aligned with the radio transmitting module (22), part of the walking assembly (12) is suspended relative to the ground under the action of the base (21).

2. The wireless charging system of claim 1, wherein the walking assembly (12) comprises a walking wheel set (121) positioned at the front end of the housing (11), the walking wheel set (121) comprises two walking wheels symmetrically arranged, and the distance between the two walking wheels is greater than or equal to the width of the base (21).

3. The wireless charging system according to claim 1, wherein the first mating surface is horizontally disposed with respect to the base (21), and the second mating surface is horizontally disposed with respect to the self-propelled device (10).

4. The wireless charging system according to claim 1, wherein the self-propelled device (10) further comprises a driving module, the driving module is disposed in the housing (11) and connected to the walking assembly (12), and the driving module provides a driving force for the walking assembly (12);

the walking assembly (12) is movably arranged relative to the shell (11) in the vertical direction, and the walking assembly (12) and/or the shell (11) are/is provided with an induction assembly which is used for inducing the relative position relationship between the walking assembly (12) and the shell (11) and generating a corresponding induction signal;

the self-propelled equipment (10) further comprises a control module, the control module is connected with the driving module and the induction assembly, and the control module can control the driving module to provide or cut off driving force for the walking assembly (12) according to induction signals generated by the induction assembly.

5. The wireless charging system according to claim 4, wherein the self-propelled device (10) further comprises a battery pack and a power detection module, the battery pack and the power detection module are both disposed in the housing (11), and the power detection module is connected to the control module for detecting the power of the battery pack.

6. The wireless charging system according to claim 5, wherein the radio receiving module (13) is provided at a bottom of a front end of the housing (11) of the self-propelled device (10) in a moving direction.

7. The wireless charging system of claim 6, wherein the walking assembly (12) comprises at least a walking wheel set (121) disposed at the front end of the housing (11), and the induction assembly is disposed on the walking wheel set (121);

when the self-propelled device (10) moves and operates, the traveling wheel set (121) and the shell (11) form a first position relation, the sensing assembly forms a first sensing signal in the state, and the control module controls the driving module to provide driving force for the traveling assembly (12) according to the first sensing signal;

when the walking wheel set (121) is partially or completely separated from the ground, the walking wheel set (121) and the shell (11) form a second position relation under the self gravity, the sensing assembly forms a second sensing signal in the state, and the control module controls the driving module to cut off the driving force supply to the walking assembly (12) according to the second sensing signal.

8. The wireless charging system according to claim 7, wherein when the power of the battery pack detected by the power detection module is less than or equal to a predetermined power, the control module cuts off the connection with the sensing assembly and controls the driving module to continuously provide driving force to the traveling assembly (12) until the radio receiving module (13) and the radio transmitting module (22) are in aligned contact.

9. The wireless charging system according to claim 1, wherein the base (21) has a guide surface (211) and a contact surface (212) connected to the guide surface (211), the guide surface (211) is disposed obliquely with respect to a moving direction of the self-propelled apparatus (10), the contact surface (212) is disposed to extend horizontally from a tip end of the guide surface (211) in the moving direction of the self-propelled apparatus (10), and the radio transmission module (22) is disposed on the contact surface (212).

10. The wireless charging system of claim 9, wherein the guide surface (211) is inclined at an angle of 5-35 ° with respect to the ground.

11. The wireless charging system of claim 1, wherein the distance between the first and second mating surfaces is between 0 and 20mm when the radio receiving module (13) is in mating contact with the radio transmitting module (22).

12. A self-propelled device (10), characterized by comprising:

a housing (11);

the walking assembly (12) is arranged on the shell (11) to drive the shell (11) to move;

the driving module is arranged in the shell (11) and connected with the walking assembly (12) to provide driving force for the walking assembly (12);

a radio receiving module (13) disposed at the bottom of the housing (11), the radio receiving module (13) having a horizontally disposed second mating surface, the second mating surface being mateable with a surface of a corresponding radio transmitting module (22) to wirelessly charge the self-propelled device (10).

13. The self-propelled device (10) of claim 12, wherein the walking assembly (12) is movably arranged in a vertical direction relative to the housing (11), and a sensing assembly is arranged on the walking assembly (12) and/or the housing (11) and is used for sensing the relative position relationship between the walking assembly (12) and the housing (11) and generating a corresponding sensing signal;

14. The self-propelled device (10) of claim 13, wherein said self-propelled device (10) further comprises a battery pack and a power detection module, said battery pack and said power detection module being disposed within said housing (11), said power detection module being connected to said control module for detecting the power of said battery pack.

15. The autonomous device (10) of claim 14, characterized in that said radio reception module (13) is arranged at the bottom of the front end of the housing (11) of the autonomous device (10) in the direction of movement.

16. The self-propelled device (10) according to claim 15, characterized in that said walking assembly (12) comprises at least a walking wheel set (121) arranged at the front end of said housing (11), said induction assembly being arranged on said walking wheel set (121);

when the walking wheel set (121) is partially or completely separated from the ground, the walking wheel set (121) and the shell (11) form a second position relation under the self gravity, the sensing assembly forms a second sensing signal in the state, and the control module controls the driving module to cut off the supply of the driving force to the walking assembly (12) according to the second sensing signal.

17. The self-propelled device (10) of claim 16, wherein when the power of the battery pack detected by the power detection module is less than or equal to a preset power, the control module cuts off the connection with the sensing assembly and controls the driving module to continuously provide the driving force to the traveling assembly (12) until the radio receiving module (13) is in alignment contact with the radio transmitting module (22).

18. A wireless charging station (20) for charging a self-propelled device (10) according to any of the claims 12 to 17, characterized in that said wireless charging station (20) comprises:

a base (21);

a radio transmission module (22) disposed on the base (21), the radio transmission module (22) having a first mating surface disposed horizontally, the first mating surface being mateable with a second mating surface of a radio reception module (13) of the self-propelled device (10) to wirelessly charge the self-propelled device (10).

19. The wireless charging station (20) according to claim 18, wherein said base (21) has a guide surface (211) and a contact surface (212) connected to said guide surface (211), said guide surface (211) being arranged obliquely with respect to the moving direction of said self-propelled device (10), said contact surface (212) being arranged extending horizontally from the top end of said guide surface (211) along the moving direction of said self-propelled device (10), said radio transmission module (22) being arranged on said contact surface (212).

20. A wireless charging station (20) according to claim 19, wherein the angle of inclination of the guiding surface (211) with respect to the ground is 5-35 °.

21. The wireless charging station (20) according to claim 18, wherein said base (21) has a height greater than the height of the radio receiving module (13) from the ground when said self-propelled device (10) is moving.