Automatic recharging method and system

Abstract

The present invention relates to the technical field of charging equipment. The present invention provides an automatic recharging method and system, the method comprising: after the alignment completion signal is detected by the first single-chip microcomputer, a handshake signal is sent to the spring switch control circuit, the handshake signal is transmitted to the charging circuit of the device to be charged by the spring switch control circuit, and the first spring group is controlled to handshake with the second spring group of the device to be charged; when the handshake success signal is recognized by the first single-chip microcomputer, the spring switch control circuit is controlled to open the switch element in the spring switch control circuit, and the electric quantity is transmitted to the charging circuit through the first spring group. The present invention can enable the device to be charged, such as a robot, to communicate with the charging pile by handshake to ensure the safety of charging, and the circuit designed in the present invention can realize the reuse of the power supply circuit to reduce the cost.

Description

Technical Field

[0001] The present invention relates to the technical field of charging equipment, and in particular to an automatic recharging method and system. Background Art

[0002] During the docking process between the robot and the charging pile, charging can only be performed when safety is ensured. In the prior art, safety confirmation is generally performed by adding sensors or near-field communication equipment, or by measuring voltage.

[0003] However, the solution of interacting through sensors has the problem of high cost, and safety cannot be guaranteed when confirmation is performed by measuring voltage. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic recharging method and system, through which a device to be charged, such as a robot, and a charging pile can perform handshake communication to ensure the safety of charging. The circuit designed in the present invention realizes the reuse of power supply circuits and reduces costs.

[0005] The technical solution provided by the present invention is as follows:

[0006] The present invention provides an automatic recharging system, including a charging device and a device to be charged:

[0007] The charging device is provided with a first spring group, a first single-chip computer and a spring switch control circuit; the device to be charged is provided with a second spring group and a charging circuit;

[0008] A first single chip microcomputer is connected to the spring switch control circuit, and is used to detect and send an alignment completion signal, and send a handshake signal to the spring switch control circuit;

[0009] A spring switch control circuit, connected to the first single-chip computer and the first spring group, and used for sending the handshake signal to the charging circuit of the device to be charged, and controlling the first spring group to handshake with the second spring group of the device to be charged;

[0010] The first single-chip microcomputer is further used to identify a handshake success signal and send the handshake success signal to the spring switch control circuit;

[0011] The shrapnel switch control circuit is further used to open the switch element in the shrapnel switch control circuit under the control of the first single-chip microcomputer, and transmit the electric quantity to the charging circuit through the first shrapnel group;

[0012] The first spring sheet group includes a first charging spring sheet and a first grounding spring sheet; the second spring sheet group includes a second charging spring sheet and a second grounding spring sheet.

[0013] Further preferably, the spring switch control circuit comprises:

[0014] An optocoupler circuit is connected to the data terminal of the first single-chip computer through a first resistor and is also grounded through a second resistor, and is used to isolate the front and rear stages and amplify the control signal of the front stage;

[0015] A spring control subcircuit, connected to the optocoupler subcircuit via a third resistor, and configured to receive a control signal amplified by the optocoupler subcircuit;

[0016] The switch element is connected to the output end of the spring control subcircuit and is used to open or close under the control of the control signal;

[0017] The spring driving subcircuit is connected to the spring control subcircuit through the switch element, and is used to drive the first spring group to transmit a handshake signal or transmit electric quantity under the control of the spring control subcircuit.

[0018] Further preferably, the device to be charged includes:

[0019] A second single chip computer is used to detect the alignment completion signal, receive the handshake signal sent by the charging device through the second spring sheet group, and perform handshake communication with the charging device;

[0020] The second single chip microcomputer is further used to identify a handshake success signal, and control the second spring sheet group and the charging circuit to receive the amount of electricity transmitted by the charging device for automatic recharging.

[0021] Further preferably, the spring driving subcircuit comprises: a first capacitor;

[0022] The first capacitor is connected to the data terminal of the first single-chip microcomputer, and the first capacitor is also connected to the first charging spring for transmitting a handshake signal.

[0023] Further preferably, the charging circuit comprises:

[0024] The second capacitor and the diode;

[0025] The second capacitor is connected to the data terminal of the second single-chip computer, and the second capacitor is also connected to the second charging spring;

[0026] The positive electrode of the diode is connected to the second charging spring sheet, and the negative electrode of the diode is connected to the battery and to the second grounding spring sheet.

[0027] Further preferably, the charging device further comprises: a charging current detection circuit;

[0028] The charging current detection circuit includes a current monitor, a signal output end of the current monitor is connected to the first single-chip microcomputer, and the signal output end of the current monitor is also grounded through a pull-down resistor and a pull-down capacitor, so as to detect direct current during charging and feed back the detection result to the first single-chip microcomputer.

[0029] On the other hand, the present invention also provides an automatic recharging method, using the automatic recharging system, comprising the steps of:

[0030] After the alignment completion signal is detected by the first single-chip microcomputer, a handshake signal is sent to the spring switch control circuit, and the handshake signal is transmitted to the charging circuit of the device to be charged through the spring switch control circuit, so as to control the first spring group to handshake with the second spring group of the device to be charged;

[0031] When the handshake success signal is recognized by the first single chip microcomputer, the spring switch control circuit is controlled to open the switch element in the spring switch control circuit, and the electric power is transmitted to the charging circuit through the first spring group.

[0032] Further preferably, before the first single-chip microcomputer detects and sends the alignment completion signal to the spring switch control circuit, the steps include:

[0033] The device to be charged is docked with the charging device through navigation; when the second spring sheet group is pressed into the first spring sheet group, the second control circuit of the device to be charged sends a stop signal to complete the alignment with the charging device.

[0034] The automatic recharging method and system provided by the present invention have at least the following beneficial effects:

[0035] 1) The present invention enables a device to be charged, such as a robot, and a charging pile to perform handshake communication to ensure the safety of charging. The circuit designed in the present invention realizes the reuse of power supply circuits and reduces costs.

[0036] 2) In the present invention, the capacitor at the output end of the circuit is controlled by a spring switch to couple the AC signal into the circuit to achieve handshake communication, thereby simplifying the circuit structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The following will explain the preferred implementation mode in a clear and understandable manner with reference to the accompanying drawings, and further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of an automatic recharging method and system.

[0038] Figure 1 is a flow chart of an embodiment of an automatic recharging method of the present invention;

[0039] Figure 2It is a principle diagram of an embodiment of an automatic recharging system of the present invention;

[0040] Figure 3 It is a structural schematic diagram of an embodiment of an automatic recharging system of the present invention;

[0041] Figure 4 It is a circuit principle diagram of the spring switch control circuit of the present invention;

[0042] Figure 5 It is a circuit schematic diagram of the first single-chip microcomputer of the present invention. DETAILED DESCRIPTION

[0043] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0044] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0045] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0046] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0047] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0049] Embodiment 1

[0050] One embodiment of the present invention, as Figure 1 As shown, the present invention provides an automatic recharging method, comprising the steps of:

[0051] S100 After the first single-chip microcomputer detects the alignment completion signal, a handshake signal is sent to the spring switch control circuit, and the spring switch control circuit transmits the handshake signal to the charging circuit of the device to be charged, thereby controlling the first spring group to handshake with the second spring group of the device to be charged.

[0052] Specifically, the charging device includes a charging pile, the equipment to be charged includes robots, new energy vehicles and other equipment that need to be charged, and the switching element may include MOS tubes, triodes and other switching tubes that can be used for switching effects.

[0053] Exemplarily, after the robot and the charging pile are aligned, the spring clip groups of the robot and the charging pile are pressed into contact with each other, and both the robot and the charging pile will receive the alignment completion signal. At this time, the first single-chip microcomputer in the charging pile disconnects the transistor in the first spring clip group, so that the first spring clip group sends an AC signal, i.e., a handshake signal, to the robot. Since the spring clip group of the robot and the spring clip group of the charging pile are in contact with each other, the spring clip group can be used as a medium for transmitting the handshake signal, and the handshake signal is transmitted to the first single-chip microcomputer of the robot through the first spring clip group and the second spring clip circuit to match the handshake signal. If the handshake signal is correct, it is confirmed that the charging pile is the charging pile that matches the robot, and subsequent automatic recharging can be performed.

[0054] S200: When the handshake success signal is recognized by the first single-chip microcomputer, the spring switch control circuit is controlled to open the switch element in the spring switch control circuit, and the electric power is transmitted to the charging circuit through the first spring group.

[0055] Specifically, after the robot and the charging pile complete the handshake, the enable terminal EN signal is turned on through the MCU of the charging pile to turn on the transistor. At this time, the charging end in the first shrapnel group is powered on and transmitted to the charging end of the second shrapnel group through the copper sheet. The charging end of the second shrapnel group charges the robot's battery through a unidirectional conducting diode.

[0056] In this embodiment, the state of the switch element in the spring switch control circuit is adjusted by the first single-chip microcomputer, and the signal transmission and voltage transmission between the charging device and the device to be charged are carried out through the contact of each spring group, so that the charging device and the device to be charged can perform handshake communication to ensure the safety of charging, and the circuit is designed to realize the reuse of the power supply circuit to reduce the cost.

[0057] For example, when the charging spring and grounding spring on the robot end are pressed into the charging spring and grounding spring on the charging pile end, the robot and the charging pile are aligned. The spring can be made of conductive materials such as copper sheets.

[0058] For example, the robot can be docked with the charging pile through navigation. When the robot MCU detects that the spring is pressed in, a stop signal is sent to the robot, and the robot completes the alignment.

[0059] Specifically, in this embodiment, the preferred alignment method is navigation alignment, so that the robot can be automatically navigated and aligned with the charging pile, saving labor costs.

[0060] Embodiment 2

[0061] Another embodiment of the present invention, as Figure 2 As shown, the present invention provides an automatic recharging method, comprising the steps of:

[0062] S100 After the first single-chip microcomputer detects the alignment completion signal, a handshake signal is sent to the spring switch control circuit, and the spring switch control circuit transmits the handshake signal to the charging circuit of the device to be charged, thereby controlling the first spring group to handshake with the second spring group of the device to be charged.

[0063] Specifically, the charging device includes a charging pile, the equipment to be charged includes robots, new energy vehicles and other equipment that need to be charged, and the switching element may include MOS tubes, triodes and other switching tubes that can be used for switching effects.

[0064] Exemplarily, after the robot and the charging pile are aligned, the spring clip groups of the robot and the charging pile are pressed into contact with each other, and both the robot and the charging pile will receive the alignment completion signal. At this time, the first single-chip microcomputer in the charging pile disconnects the transistor in the spring clip switch control circuit, so that the first spring clip group sends an AC signal, i.e., a handshake signal, to the robot. Since the spring clip group of the robot and the spring clip group of the charging pile are in contact with each other, the spring clip group can be used as a medium for transmitting the handshake signal, and the handshake signal is transmitted to the first single-chip microcomputer of the robot through the first spring clip group and the second spring clip group to match the handshake signal. If the handshake signal is correct, it is confirmed that the charging pile is the charging pile that matches the robot, and subsequent automatic recharging can be performed.

[0065] S300: When the handshake fails, a charging abnormality signal is sent through the charging device to control the first spring sheet group not to be powered on.

[0066] Specifically, since handshake signals need to be matched before charging, when the robot automatically navigates to the charging pile, the charging pile may not be the charging pile that matches the robot. Therefore, handshake signals need to be matched to ensure the safety of subsequent charging.

[0067] Exemplarily, if the handshake signal matching between the robot and the charging pile fails, a charging abnormality is reported and a charging abnormality signal is sent, and the first single-chip microcomputer controls the transistor in the spring switch control circuit to remain in a disconnected state and not be powered on.

[0068] In this embodiment, the situation of handshake failure is covered. For handshake failure, a mode of feedback of handshake failure signal, i.e., charging abnormality signal, is set to ensure the safety of charging. At the same time, data on charging abnormality can be collected and analyzed to make subsequent charging more perfect.

[0069] Embodiment 3

[0070] On the other hand, Figure 3 As shown, the present invention also provides an automatic recharging system, including a charging device and a device to be charged:

[0071] The charging device is provided with a first spring group, a first single-chip computer and a spring switch control circuit; the device to be charged is provided with a second spring group and a charging circuit.

[0072] For example, Figure 3 As shown, the charging device includes a charging pile, and the device to be charged includes a robot. The charging pile end includes an MCU, a first spring group, and a spring switch control circuit; the robot end includes an MCU, a second spring group, and a charging circuit. The spring groups are respectively provided with charging springs and grounding springs to provide a basis for alignment, communication, and charging between the charging pile and the robot.

[0073] The charging pile includes an MCU, a first capacitor (C2), and a switch element (Q1). The robot docks with the charging pile through navigation. When the robot MCU detects that the spring piece is pressed in, a stop signal is sent to the robot, and the robot completes the alignment.

[0074] At this time, the switch element (Q1) is in the off state, and there is no DC power on VCC_C. The MCU of the charging pile sends a handshake signal to the MCU of the robot through the port (Data) and the port (GND). If the handshake information is correct, it is confirmed that this charging pile is a charging pile for the robot. Because the communication signal is an AC signal, the second capacitor (C1) and the first capacitor (C2) play the role of blocking DC and passing AC.

[0075] After the robot completes the handshake with the charging pile, the enable terminal (EN) signal is turned on through the MCU of the charging pile to turn on the switching element (transistor Q1). At this time, Vcc_C is powered on and transmitted to VCC_R through the copper sheet. Vcc_R charges the robot's battery through a unidirectional conducting diode.

[0076] The first single chip microcomputer is connected to the spring switch control circuit, and is used for detecting and sending an alignment completion signal, sending a handshake signal to the spring switch control circuit, and performing handshake with the device to be charged.

[0077] Exemplarily, the MCU of the robot shown in the figure is the second single-chip microcomputer. When the MCU detects the alignment completion signal, it outputs a control signal through the signal end (Data) to control the second spring group and the charging circuit to receive the handshake signal sent by the charging pile with the charging spring end (Vcc_R). Because the communication signal is an AC signal, the capacitors (C1, C2) play the function of isolating DC and passing AC to realize the transmission of the handshake signal.

[0078] The second single chip microcomputer is further used to identify a handshake success signal and control the charging circuit to receive the amount of electricity transmitted by the charging device for automatic recharging.

[0079] Exemplarily, when the MCU of the robot receives a handshake success signal, it controls the charging circuit to receive the electricity to the unidirectional conducting diode, and finally inputs the electricity to the battery to automatically recharge the robot.

[0080] The spring switch control circuit is connected to the first single-chip computer and the first spring group, and is used to send the handshake signal to the charging circuit of the device to be charged, and control the first spring group to handshake with the second spring group of the device to be charged.

[0081] The first single-chip microcomputer is further used to identify a handshake success signal and send the handshake success signal to the spring switch control circuit;

[0082] The shrapnel switch control circuit is also used to open the switch element in the shrapnel switch control circuit under the control of the first single-chip microcomputer, and transmit electricity to the charging circuit through the first shrapnel group.

[0083] In this embodiment, the state of the switch element in the spring switch control circuit is adjusted by the first single-chip computer of the charging pile, and the signal transmission and voltage transmission between the charging device and the device to be charged are carried out through the contact of each spring group, so that the charging device and the device to be charged can perform handshake communication to ensure the safety of charging, and the circuit is designed to realize the reuse of the power supply circuit to reduce the cost.

[0084] Embodiment 4

[0085] Based on the above embodiments, Figure 4 As shown, in this embodiment, the present invention also provides an automatic recharging system, including a charging device and a device to be charged:

[0086] The charging device is provided with a first spring group, a first single-chip computer and a spring switch control circuit; the device to be charged is provided with a second spring group and a charging circuit.

[0087] The spring switch control circuit includes: an optocoupler subcircuit connected to the data terminal of the first single-chip microcomputer through a first resistor and grounded through a second resistor, used to isolate the front and rear stages and amplify the control signal of the front stage. The spring control subcircuit is connected to the optocoupler subcircuit through a third resistor and is used to receive the control signal amplified by the optocoupler subcircuit; the switch element is connected to the output end of the spring control subcircuit and is used to open or close under the control of the control signal; the spring drive subcircuit is connected to the spring control subcircuit through the switch element and is used to drive the first spring group to transmit a handshake signal or transmit electricity under the control of the spring control subcircuit.

[0088] For example, Figure 4 The circuit schematic diagram of the spring switch control circuit shown:

[0089] The port (1) of the optocoupler chip (U70) in the optocoupler circuit is connected to the VOUT_CTRL terminal of the first single-chip computer through a resistor R (135), and the port (1) is also grounded through the resistor R (135) and the resistor R (8). The ports (2, 3) of the optocoupler (U70) are directly grounded, and are used to isolate the front and rear stages and amplify the control signal of the front stage.

[0090] The spring control circuit is connected to the optical coupler circuit via a third resistor R (73) and is used to receive the control signal amplified by the optical coupler circuit. The power supply terminal VCHARGE of the spring control circuit is used to connect to a power supply and is powered on when a power-on signal is received.

[0091] The base of the switching element is connected to the enable terminal of the single-chip microcomputer, the collector of the switching element is connected to the power supply, and the emitter of the switching element is connected to the first charging spring, and is used to receive the charging control signal of the single-chip microcomputer to transfer electricity to the device to be charged.

[0092] The spring-type driving circuit includes a unidirectional voltage regulator (D1, D72) and a bidirectional voltage regulator (D214), which are used to reduce the voltage so as to convert the power supply voltage into a usable voltage. The spring-type driving circuit couples the handshake signal into the circuit through a capacitor (C10), so that the first spring group transmits the handshake signal to perform handshake between the device to be charged and the charging device.

[0093] Embodiment 5

[0094] Based on the above embodiments, Figures 3 to 5 As shown, the present invention also provides an automatic recharging system, including a charging device and a device to be charged.

[0095] For example, Figure 5 The circuit schematic diagram of the first single-chip microcomputer shown in the figure, the first single-chip microcomputer (MCU) includes a plurality of power input terminals VCC_3V3, a port (VBAT) is connected to the power input terminal (VCC_3V3) through a resistor (R100), and is grounded through a capacitor. It also includes a handshake signal transmission terminal (43) for transmitting the handshake signal to the spring switch control circuit, so as to control the switching state of the first spring group through the spring switch control circuit.

[0096] In this embodiment, the robot communicates handshake signals and transmits power with the charging pile through the second single-chip microcomputer, the second spring group and the charging circuit, thereby ensuring charging safety, reducing charging costs and realizing automated robot charging.

[0097] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned program modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program units or modules to complete all or part of the functions described above. The program modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into a processing unit, and the above-mentioned integrated unit can be implemented in the form of hardware or in the form of software program units. In addition, the specific names of the program modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0098] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0099] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed with hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0100] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. Exemplarily, the device embodiments described above are merely schematic. Exemplarily, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation. Exemplarily, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0101] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0102] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0103] It should be noted that the above embodiments can be freely combined as needed. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. An automatic recharging system, characterized in that: Including charging device and equipment to be charged: The charging device is provided with a first spring group, a first single-chip computer and a spring switch control circuit; the device to be charged is provided with a second spring group and a charging circuit; A first single chip microcomputer is connected to the spring switch control circuit, and is used to detect and send an alignment completion signal, and send a handshake signal to the spring switch control circuit; A spring switch control circuit, connected to the first single-chip computer and the first spring group, and used for sending the handshake signal to the charging circuit of the device to be charged, and controlling the first spring group to handshake with the second spring group of the device to be charged; The first single-chip microcomputer is further used to identify a handshake success signal and send the handshake success signal to the spring switch control circuit; The shrapnel switch control circuit is further used to open the switch element in the shrapnel switch control circuit under the control of the first single-chip microcomputer, and transmit the electric quantity to the charging circuit through the first shrapnel group; Wherein, the first spring sheet group includes a first charging spring sheet and a first grounding spring sheet; the second spring sheet group includes a second charging spring sheet and a second grounding spring sheet; The spring switch control circuit includes: an optocoupler subcircuit, connected to the data terminal of the first single-chip computer through a first resistor, and grounded through a second resistor, for isolating the front and rear stages and amplifying the control signal of the front stage; a spring control subcircuit, connected to the optocoupler subcircuit through a third resistor, for receiving the control signal amplified by the optocoupler subcircuit; the switch element, connected to the output terminal of the spring control subcircuit, for opening or closing under the control of the control signal; a spring drive subcircuit, connected to the spring control subcircuit through the switch element, for driving the first spring group to transmit a handshake signal or transmit electric quantity under the control of the spring control subcircuit; The device to be charged includes: a second single-chip microcomputer, used to detect a positioning completion signal, receive a handshake signal sent by the charging device through the second spring group, and perform handshake communication with the charging device; the second single-chip microcomputer is also used to identify a handshake success signal, control the second spring group and the charging circuit to receive the power transmitted by the charging device for automatic recharging.

2. The automatic recharging system according to claim 1, characterized in that: The spring driving subcircuit includes: a first capacitor; The first capacitor is connected to the data terminal of the first single-chip microcomputer, and the first capacitor is also connected to the first charging spring for transmitting a handshake signal.

3. The automatic recharging system according to claim 2, characterized in that: The charging circuit comprises: The second capacitor and the diode; The second capacitor is connected to the data terminal of the second single-chip computer, and the second capacitor is also connected to the second charging spring; The positive electrode of the diode is connected to the second charging spring sheet, and the negative electrode of the diode is connected to the battery and to the second grounding spring sheet.

4. The automatic recharging system according to any one of claims 1 to 3, characterized in that: The charging device further includes: a charging current detection circuit; The charging current detection circuit includes a current monitor, a signal output end of the current monitor is connected to the first single-chip microcomputer, and the signal output end of the current monitor is also grounded through a pull-down resistor and a pull-down capacitor, so as to detect direct current during charging and feed back the detection result to the first single-chip microcomputer.

5. An automatic recharging method, characterized in that: The automatic recharging system according to any one of claims 1 to 4 is applied, comprising the steps of: After the alignment completion signal is detected by the first single-chip microcomputer, a handshake signal is sent to the spring switch control circuit, and the handshake signal is transmitted to the charging circuit of the device to be charged through the spring switch control circuit, so as to control the first spring group to handshake with the second spring group of the device to be charged; When the handshake success signal is recognized by the first single-chip microcomputer, the spring switch control circuit is controlled to open the switch element in the spring switch control circuit, and the electric power is transmitted to the charging circuit through the first spring group.

6. The automatic recharging method according to claim 5, characterized in that: Before the first single-chip microcomputer detects and sends the alignment completion signal to the spring switch control circuit, the steps include: The device to be charged is docked via the navigation and charging device; When the second spring sheet group is pressed into the first spring sheet group, the second control circuit of the device to be charged sends a stop signal to complete the alignment with the charging device.

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