A charging method, a mobile robot, a charging pile, and a charging system

Abstract

An embodiment of the present application discloses a charging method, which is applied to a mobile robot and includes: when the mobile robot returns to the charging pile, obtaining a detection signal, and when the detection signal indicates that the contact resistance between the charging contact of the mobile robot and the charging contact of the charging pile is less than a preset threshold, generating a charging instruction and sending the charging instruction to the charging pile, where the charging instruction is used for the charging pile to switch the charging circuit in the charging pile from an off state to a connected state to charge the mobile robot. In this way, potential safety hazards during the charging of the mobile robot are avoided, and the safety of the charging pile when charging the mobile robot is improved.

Description

Technical Field

[0001] This application relates to the technical field of preventing sparking during the recharge of a mobile robot, and in particular, to a charging method, a mobile robot, a charging pile, and a charging system. Background Art

[0002] Currently, recharge technology is widely used in floor-sweeping robots. The charging piles of floor-sweeping robots are generally energized all the time, and the robot directly moves to the position of the charging pile for charging.

[0003] However, in this recharge method of the floor-sweeping robot, the charging pile is always in the energized state. During the contact process between the charging contacts of the charging pile and the charging contacts of the floor-sweeping robot, due to the large contact resistance, charging sparking is likely to occur, especially when the charging current is large, the risk of sparking is even greater.

[0004] Application Content

[0005] Embodiments of this application are expected to provide a charging method, a mobile robot, a charging pile, and a charging system to solve the problem of sparking during the recharge of a mobile robot in related technologies.

[0006] The technical solution of this application is implemented as follows:

[0007] A charging method, which is applied to a mobile robot and includes:

[0008] When the mobile robot returns to the charging pile, obtain a detection signal;

[0009] When the detection signal indicates that the contact resistance between the charging contacts of the mobile robot and the charging contacts of the charging pile is less than a preset threshold, generate a charging instruction;

[0010] Send the charging instruction to the charging pile;

[0011] Wherein, the charging instruction is used for the charging pile to switch the charging circuit in the charging pile from the disconnected state to the connected state to charge the mobile robot.

[0012] A charging method, which is applied to a charging pile and includes:

[0013] When the charging pile is not charging the mobile robot and receives a charging instruction from the mobile robot, switch the charging circuit in the charging pile from the disconnected state to the connected state to charge the mobile robot.

[0014] A mobile robot, including:

[0015] An obtaining module, configured to obtain a detection signal when the mobile robot returns to the charging pile;

[0016] A generation module, configured to generate a charging instruction when the detection signal indicates that the contact resistance between the charging contacts of the mobile robot and the charging contacts of the charging pile is less than a preset threshold;

[0017] A sending module, configured to send the charging instruction to the charging pile;

[0018] Wherein, the charging instruction is used for the charging pile to switch the charging circuit in the charging pile from an off state to a connected state to charge the mobile robot.

[0019] A charging pile, comprising:

[0020] A switching module, configured to switch the charging circuit in the charging pile from an off state to a connected state to charge the mobile robot when the charging pile is not charging the mobile robot and receives a charging instruction from the mobile robot.

[0021] A mobile robot, comprising:

[0022] A processor and a storage medium storing instructions executable by the processor, the storage medium depends on the processor to execute operations through a communication bus, and when the instructions are executed by the processor, execute the charging method described in one or more of the above embodiments.

[0023] A charging pile, comprising:

[0024] A processor and a storage medium storing instructions executable by the processor, the storage medium depends on the processor to execute operations through a communication bus, and when the instructions are executed by the processor, execute the charging method described in one or more of the above embodiments.

[0025] A charging system, comprising: the mobile robot described in one or more of the above embodiments and the charging pile described in one or more of the above embodiments.

[0026] A computer-readable storage medium stores executable instructions, and when the executable instructions are executed by one or more processors, the processor executes the charging method described in one or more of the embodiments.

[0027] A charging method, a mobile robot, a charging pile, and a charging system provided by an embodiment of the present application. When the mobile robot returns to the charging pile, a detection signal is obtained. When the detection signal indicates that the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile is less than a preset threshold, a charging instruction is generated and sent to the charging pile. The charging instruction is used for the charging pile to switch the charging circuit in the charging pile from an off state to a connected state to charge the mobile robot. That is to say, in the embodiment of the present application, when the mobile robot returns to the charging pile for charging, a detection signal is first obtained. Only when the detection signal indicates that the contact resistance between the mobile robot and the charging pile is less than a preset threshold, at this time, due to the small contact resistance, even if the charging pile starts to charge the mobile robot, it will not cause a sparking phenomenon. Therefore, a charging instruction is sent to the charging pile only when the contact resistance is less than the preset threshold. In this way, the potential fire hazard caused by the charging pile starting to charge the mobile robot when the contact resistance is too large is prevented, the safety hazard during the charging of the mobile robot is avoided, and the safety of the charging pile when charging the mobile robot is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 FIG. is a schematic structural diagram of an optional charging system provided by an embodiment of the present application;

[0029] Figure 2 FIG. is a schematic diagram of the process interaction of an optional charging method provided by an embodiment of the present application;

[0030] Figure 3 FIG. is a schematic flowchart of an example of an optional start charging method and end charging method provided by an embodiment of the present application;

[0031] Figure 4 FIG. is a schematic flowchart of an example of another optional start charging method provided by an embodiment of the present application;

[0032] Figure 5 FIG. is a schematic flowchart of an optional charging method provided by an embodiment of the present application;

[0033] Figure 6 FIG. is a schematic flowchart of another optional charging method provided by an embodiment of the present application;

[0034] Figure 7 FIG. is a schematic structural diagram of an optional mobile robot provided by an embodiment of the present application;

[0035] Figure 8 FIG. is a schematic structural diagram of an optional charging pile provided by an embodiment of the present application;

[0036] Figure 9 FIG. is a schematic structural diagram of another optional mobile robot provided by an embodiment of the present application;

[0037] Figure 10 Another optional structural schematic diagram of the charging pile provided by the embodiment of the present application;

[0038] Figure 11 A structural schematic diagram of an optional charging system provided by the embodiment of the present application. Detailed implementation manners

[0039] To better understand the purpose, structure and function of the present application, the following further describes in detail a charging method, a mobile robot and a charging pile of the present application with reference to the accompanying drawings.

[0040] Embodiment 1

[0041] The embodiment of the present application provides a charging method, which is applied to a charging system. Figure 1 A structural schematic diagram of an optional charging system provided by the embodiment of the present application is shown as Figure 1 shown, and the charging system may include: a mobile robot 11 and a charging pile 12; wherein,

[0042] A communication connection is established between the mobile robot 11 and the charging pile 12, and the mobile robot 11 can send control instructions to the charging pile 12. For example, it is used to send an instruction for indicating charging or an instruction for indicating stopping charging.

[0043] Specifically, when the mobile robot 11 is in a working state, when the power is insufficient, or when it receives the key information indicating charging, or when it receives a charging instruction from the mobile phone bound to the mobile robot 11, it needs to return to the charging pile 12 for charging. When the mobile robot 11 is fully charged, or when it receives the key information indicating work, or when it receives a work instruction from the mobile phone bound to the mobile robot 11, it needs to move away from the charging pile 12 and start working.

[0044] Based on the above Figure 1 , the embodiment of the present application provides a charging method, which is applied to the above charging system. Figure 2 A schematic diagram of the process interaction of an optional charging method provided by the embodiment of the present application is shown in reference to Figure 2 shown, and the charging method may include:

[0045] S201: When the mobile robot 11 returns to the charging pile 12, the mobile robot 11 acquires a detection signal;

[0046] At present, the mobile robot 11 generally charges through the charging pile 12. Usually, the charging pile 12 of the mobile robot 11 is in a long-powered-on state. Specifically, the long-powered-on state means that the charging pile 12 connects the charging circuit in the charging pile 12. In this case, when the mobile robot 11 needs to charge, the mobile robot 11 only needs to directly move to the position of the charging pile 12 to charge.

[0047] However, in the above-mentioned charging-back method, since the charging pile 12 is always in the powered-on state, when the charging contact piece of the charging pile 12 contacts the charging contact piece of the mobile robot 11, there is usually a situation where the contact resistance is relatively large. At this time, since the charging pile 12 is in the powered-on state, when the charging current is large, a charging sparking problem will occur.

[0048] In order to eliminate the above-mentioned safety hazards, in the embodiment of the present application, when the mobile robot 11 returns to the charging pile 12, that is, when the mobile robot 11 moves towards the charging pile 12 and is ready to charge, the mobile robot 11 obtains a detection signal.

[0049] Among them, the mobile robot 11 returns to the charging pile 12 for charging. It can be that when the power of the mobile robot 11 is almost exhausted, the mobile robot 11 returns to the charging pile 12 for charging. It can also be that the mobile robot 11 receives key information for instructing charging, and the mobile robot 11 returns to the charging pile 12 for charging. It can also be that the mobile robot 11 receives a charging instruction sent from the bound mobile phone, and the mobile robot 11 returns to the charging pile 12 for charging. Here, the embodiment of the present application does not make specific limitations on this.

[0050] In addition, when the mobile robot 11 obtains the detection signal, it can be that the mobile robot 11 detects different components of the mobile robot 11 to obtain the detection signal, or it can be the detection signal of the mobile robot 11 detecting the charging pile 12. In an optional embodiment, the mobile robot 11 obtaining the detection signal may include:

[0051] The mobile robot 11 detects the anti-collision plate of the mobile robot 11;

[0052] When a collision signal is detected, the mobile robot 11 determines the collision signal as the detection signal.

[0053] Specifically, in order to obtain a detection signal, a collision avoidance plate is provided on the mobile robot 11. Among them, when the contact resistance between the charging contact piece of the mobile robot 11 and the charging contact piece of the charging pile 12 is less than a preset threshold, the collision avoidance plate collides with the charging pile 12. In practical applications, when the charging contact pieces of the mobile robot 11 and the charging pile 12 are connected for charging, the charging surface of the mobile robot 11 is placed opposite to one side of the charging pile 12. A collision avoidance plate is provided on the charging surface of the mobile robot 11. When the charging contact pieces of the mobile robot 11 and the charging pile 12 are connected for charging, the collision avoidance plate just collides with one side of the charging pile 12, so that when the mobile robot 11 detects the collision avoidance plate of the mobile robot 11, a collision signal can be detected, and the collision signal is determined as the detection signal.

[0054] That is to say, by setting a collision avoidance plate in the mobile robot 11, when the set collision avoidance plate collides with the charging pile 12, the charging contact pieces between the mobile robot 11 and the charging pile 12 are in contact, and the contact resistance is less than the preset threshold. Therefore, when the mobile robot 11 returns to the charging pile, the mobile robot 11 detects its own collision avoidance plate, and determines the detected collision signal as the detection signal. Since the collision signal is used to indicate that when the contact resistance between the charging contact piece of the mobile robot 11 and the charging contact piece of the charging pile 12 is less than the preset threshold, it collides with the charging pile 12, and this collision indicates that the charging contact pieces between the mobile robot 11 and the charging pile 12 are in contact, and the contact resistance is less than the preset threshold. Therefore, the collision signal can be used to trigger the charging pile 12 to charge the mobile robot 11.

[0055] In addition, in order to obtain a detection signal, in an alternative embodiment, the mobile robot 11 obtaining the detection signal may include:

[0056] When the charging contact piece of the mobile robot 11 is in contact with the charging contact piece of the charging pile 12, the mobile robot 11 detects the contact resistance between the charging contact piece of the mobile robot 11 and the charging contact piece of the charging pile 12;

[0057] The mobile robot 11 determines the contact resistance as the detection signal.

[0058] That is to say, when the charging contact piece of the mobile robot 11 is in contact with the charging contact piece of the charging pile 12, the mobile robot 11 detects the contact resistance through its own charging contact piece, and determines the detected charging resistance as the detection signal. In this way, the detection signal can be obtained.

[0059] S202: When the detection signal indicates that the contact resistance between the charging contact piece of the mobile robot 11 and the charging contact piece of the charging pile 12 is less than the preset threshold, the mobile robot 11 generates a charging instruction;

[0060] Through S201, the mobile robot 11 can obtain a detection signal. Only when the detection signal indicates that the contact resistance between the charging contact piece of the mobile robot 11 and the charging contact piece of the charging pile 12 is less than a preset threshold, it means that the mobile robot 11 has returned to the charging position of the charging pile 12. Therefore, the mobile robot 11 generates a charging instruction.

[0061] It should be noted that when the charging pile 12 is not in the charging state, the charging pile 12 is not in a long-powered-on state, that is, when the charging pile 12 is not charging externally, the charging circuit in the charging pile 12 is disconnected. In this way, when the charging pile 12 contacts the instant charging contact piece of the mobile robot 11, it is still necessary to further determine whether the contact resistance is less than the preset threshold. Only when the contact resistance is less than the preset threshold, the mobile robot 11 generates a charging instruction for charging.

[0062] S203: The mobile robot 11 sends the charging instruction to the charging pile 12;

[0063] S204: The charging pile 12 switches the charging circuit in the charging pile 12 from the disconnected state to the connected state to charge the mobile robot 11.

[0064] Specifically, after the mobile robot 11 generates a charging instruction, it sends the charging instruction to the charging pile 12. Then, since the charging circuit in the charging pile 12 is in the disconnected state when the charging pile 12 is not charging externally, after the charging pile 12 receives the charging instruction, it switches the charging circuit in the charging pile 12 from the disconnected state to the connected state, that is, connects the charging circuit, so that the charging pile 12 charges the mobile robot.

[0065] In addition, in addition to causing arcing when the mobile robot 11 returns to the charging pile 12 for charging, there are also the same potential safety hazards when the mobile robot 11 moves away from the charging pile 12. In an optional embodiment, the above method may include:

[0066] When the charging pile 12 charges the mobile robot 11 and the mobile robot 11 receives a work instruction, it sends a disconnection instruction to the charging pile 12;

[0067] After the charging pile 12 receives the disconnection instruction, it switches the charging circuit in the charging pile 12 from the connected state to the disconnected state to prohibit charging the mobile robot 11.

[0068] Specifically, when the charging pile 12 charges the mobile robot 11 and the mobile robot 11 receives a work instruction, it indicates that the mobile robot 11 needs to leave the charging position at this time. Then, when leaving the charging position, in order to avoid the occurrence of arcing, the mobile robot 11 sends a disconnection instruction to the charging pile 12. After receiving the disconnection instruction, since the charging circuit in the charging pile 12 is connected, at this time, the charging circuit is switched from the connected state to the disconnected state, that is, the charging circuit is disconnected to prohibit charging the mobile robot 11.

[0069] It should be noted that in the above charging method, when the mobile robot 11 determines that it can be charged, it sends a charging instruction to the charging pile 12. It can also be that the charging pile 12 itself judges whether to charge. In an alternative embodiment, the above method may further include:

[0070] When the charging pile 12 does not charge the mobile robot 11, the charging pile 12 obtains a detection signal;

[0071] When the detection signal indicates that the contact resistance between the charging contact piece of the mobile robot 11 and the charging contact piece of the charging pile 12 is less than a preset threshold, the charging pile 12 switches the charging circuit in the charging pile from the disconnected state to the connected state to charge the mobile robot 11.

[0072] Among them, when the mobile robot 11 returns to the charging pile 12 for charging, it can be that when the power of the mobile robot 11 is almost exhausted, the mobile robot 11 returns to the charging pile 12 for charging, or it can be that the mobile robot 11 receives key information for indicating charging, and the mobile robot 11 returns to the charging pile 12 for charging. It can also be that the mobile robot 11 receives a charging instruction sent from the bound mobile phone, and the mobile robot 11 returns to the charging pile 12 for charging. Here, the embodiments of the present application do not make specific limitations in this regard.

[0073] In addition, when the charging pile 12 obtains the detection signal, it can be that the charging pile 12 detects different components of the charging pile to obtain the detection signal, or it can be the detection signal of the charging pile 12 detecting the mobile robot 11. In an alternative embodiment, the charging pile obtaining the detection signal may include:

[0074] The charging pile 12 detects the anti-collision plate of the charging pile 12;

[0075] When a collision signal is detected, the charging pile 2 determines the collision signal as the detection signal;

[0076] Specifically, in order to obtain a detection signal, an anti-collision plate is provided on the charging pile 12. Among them, when the contact resistance between the charging contact piece of the mobile robot 11 and the charging contact piece of the charging pile 12 is less than a preset threshold, the anti-collision plate collides with the mobile robot 11. In practical applications, when the charging contact pieces of the charging pile 12 and the mobile robot 11 are connected for charging, one side of the charging pile 12 is placed opposite to the recharging surface of the mobile robot 11. An anti-collision plate is provided on one side of the charging pile 12. When the charging contact pieces of the charging pile 12 and the mobile robot 11 are connected for charging, the anti-collision plate just collides with the recharging surface of the mobile robot 11, so that when the charging pile 12 detects the anti-collision plate of the charging pile 12, a collision signal can be detected and the collision signal is determined as the detection signal.

[0077] That is to say, by setting an anti-collision plate in the charging pile 12, when the set anti-collision plate collides with the mobile robot 11, the charging contact pieces between the charging pile 12 and the mobile robot 11 are in contact, and the contact resistance is less than the preset threshold. Therefore, when the mobile robot 11 returns to the charging pile 12, the charging pile 12 detects its own anti-collision plate and determines the detected collision signal as the detection signal. Since the collision signal is used to indicate that when the contact resistance between the charging contact piece of the mobile robot 11 and the charging contact piece of the charging pile 12 is less than the preset threshold, it collides with the mobile robot 11, and this collision indicates that the charging contact pieces between the mobile robot 11 and the charging pile 12 are in contact and the contact resistance is less than the preset threshold. Therefore, the collision signal can be used to trigger the charging pile 12 to charge the mobile robot 11.

[0078] In addition, in order to obtain a detection signal, in an optional embodiment, the charging pile to obtain the detection signal may include:

[0079] When the charging contact piece of the mobile robot 11 is in contact with the charging contact piece of the charging pile 12, the charging pile 12 detects the contact resistance between the charging contact piece of the mobile robot 11 and the charging contact piece of the charging pile 12;

[0080] The charging pile 12 determines the contact resistance as the detection signal.

[0081] That is to say, when the charging contact piece of the mobile robot 11 is in contact with the charging contact piece of the charging pile 12, the charging pile 12 detects the contact resistance through its own charging contact piece and determines the detected charging resistance as the detection signal. In this way, the detection signal can be obtained.

[0082] The following examples are given to illustrate the charging method in the above one or more embodiments.

[0083] Figure 3Schematic flowchart of an example of an optional start charging method and end charging method provided by an embodiment of the present application, as Figure 3 shown, the charging method mainly includes two processes, namely, a start charging process and an end charging process; wherein, the start charging process may include:

[0084] S301: The user controls the mobile robot to return to charge through a button or an APP, or the mobile robot automatically returns to charge when the battery level is low;

[0085] Here, a collision avoidance plate is provided on the return charging surface of the mobile robot. When the mobile robot returns to the charging position of the charging pile, the collision avoidance plate of the mobile robot collides with the charging pile. Therefore, when the user presses the charging button of the mobile robot, or the user sends a return charging instruction to the mobile robot through the application program corresponding to the mobile robot on the mobile phone, or the mobile robot automatically returns to charge due to its own low battery level, the mobile robot moves towards the charging pile.

[0086] S302: The mobile robot returns to the charging pile;

[0087] S303: When the mobile robot returns to its normal position, the collision avoidance plate touches the charging pile structure;

[0088] S304: Detect whether the mobile robot has successfully returned to charge through the collision avoidance plate signal;

[0089] Specifically, due to the collision avoidance plate provided on the mobile robot, it can be determined whether the mobile robot has reached the charging position of the charging pile through the collision avoidance plate. Then, when the mobile robot detects the collision avoidance signal, it is determined that the mobile robot has successfully returned to charge, and at this time, the contact resistance is small.

[0090] S305: After the mobile robot successfully returns to its position, connect the charging contact of the charging pile and the charging contact of the mobile robot;

[0091] S306: The mobile robot starts charging.

[0092] Specifically, when it is determined that the mobile robot has successfully returned to charge, the circuit between the charging contact of the charging pile and the charging contact of the mobile robot is connected at this time, so that when the mobile robot is in the charging position, the charging pile starts to charge the mobile robot. In this way, it is possible to prevent the occurrence of arcing due to excessive contact resistance.

[0093] After charging is completed, the end charging process is executed, wherein the end charging process may include:

[0094] S307: The mobile robot receives a work instruction;

[0095] S308: Disconnect the circuit between the charging contact of the charging pile and the charging contact of the mobile robot;

[0096] S309: The mobile robot starts to leave the charging pile to work and returns to execute S301.

[0097] That is to say, when the mobile robot needs to leave the charging pile, the charging pile disconnects the circuit between the charging contacts of the charging pile and the charging contacts of the mobile robot, so that when the mobile robot leaves the charging pile, the phenomenon of sparking is avoided due to power-off.

[0098] In addition, the above-mentioned start charging process can also adopt other methods. Figure 4 It is a schematic flowchart of an example of another optional start charging method provided by the embodiment of the present application. As Figure 4 shown, the start charging process may include:

[0099] S401: The user controls the mobile robot to return to charge through a button or an APP, or the mobile robot automatically returns to charge when the battery level is low;

[0100] When the user presses the charging button of the mobile robot, or the user sends a return charging instruction to the mobile robot through the corresponding application program on the mobile phone, or the mobile robot automatically returns to charge when its own battery level is low, the mobile robot moves towards the charging pile.

[0101] S402: The mobile robot returns to the charging pile;

[0102] S403: Detect the contact resistance between the charging contacts of the charging pile and the charging contacts of the mobile robot;

[0103] S404: When the contact resistance is less than a certain threshold, it is determined that the charging contacts of the chassis and the charging contacts of the charging pile are in successful contact;

[0104] Specifically, when the mobile robot moves to the charging pile, the contact resistance between the charging contacts of the mobile robot and the charging contacts of the charging pile is detected. In order to prevent sparking, only when the contact resistance is less than a certain threshold, it is determined that the charging contacts of the chassis of the mobile robot and the charging contacts of the charging pile are in successful contact.

[0105] S405: After the mobile robot successfully returns to its position, the circuit between the charging contacts of the charging pile and the charging contacts of the mobile robot is connected again;

[0106] S406: The mobile robot starts to charge.

[0107] Specifically, after it is determined that the mobile robot has successfully returned to charge, the circuit between the charging contacts of the charging pile and the charging contacts of the mobile robot is connected at this time, so that when the mobile robot is in the charging position, the charging pile starts to charge the mobile robot. In this way, the phenomenon of sparking caused by too large contact resistance can be prevented.

[0108] This example notifies the charging pile to connect the charging circuit only after the charging contacts of the mobile robot are in good contact with those of the charging pile, and the charging pile moves away from the charging pile only after disconnecting the charging circuit, reducing the risk of arcing of the charging contacts at the start and end of recharging and improving the safety of user use.

[0109] A charging method provided by an embodiment of the present application, when the mobile robot returns to the charging pile, obtains a detection signal, and when the detection signal indicates that the contact resistance between the charging contacts of the mobile robot and those of the charging pile is less than a preset threshold, generates a charging instruction and sends the charging instruction to the charging pile, where the charging instruction is used for the charging pile to switch the charging circuit in the charging pile from the disconnected state to the connected state to charge the mobile robot; that is, in the embodiment of the present application, when the mobile robot returns to the charging pile for charging, first obtains a detection signal, and only when the detection signal indicates that the contact resistance between the mobile robot and the charging pile is less than a preset threshold, at this time, because the contact resistance is small, even if the charging pile starts to charge the mobile robot, it will not cause an arcing phenomenon, so a charging instruction is sent to the charging pile only when the contact resistance is less than the preset threshold, in this way, preventing the arcing hidden danger caused by the charging pile starting to charge the mobile robot when the contact resistance is too large, avoiding the safety hidden danger when the mobile robot is charging, and improving the safety when the charging pile charges the mobile robot.

[0110] Embodiment 2

[0111] The following describes the above charging method from the perspective of each device deployed in the charging system.

[0112] First, describe the charging method from the perspective of the mobile robot side.

[0113] An embodiment of the present application provides a charging method, which is applied to a mobile robot. Figure 5 For a schematic flowchart of an optional charging method provided by an embodiment of the present application, as Figure 5 shown, the charging method may include:

[0114] S501: When the mobile robot returns to the charging pile, obtain a detection signal;

[0115] S502: When the detection signal indicates that the contact resistance between the charging contacts of the mobile robot and those of the charging pile is less than a preset threshold, generate a charging instruction;

[0116] S503: Send the charging instruction to the charging pile.

[0117] Among them, the charging instruction is used for the charging pile to switch the charging circuit in the charging pile from the disconnected state to the connected state to charge the mobile robot.

[0118] In an alternative embodiment, obtaining a detection signal includes:

[0119] Detecting a bumper of the mobile robot;

[0120] When a collision signal is detected, determining the collision signal as the detection signal;

[0121] Wherein, the bumper is configured to collide with a charging pile when the contact resistance between the charging contact of the mobile robot and the charging contact of the charging pile is less than a preset threshold.

[0122] In an alternative embodiment, obtaining a detection signal includes:

[0123] When the charging contact of the mobile robot is in contact with the charging contact of the charging pile, detecting the contact resistance between the charging contact of the mobile robot and the charging contact of the charging pile;

[0124] Determining the contact resistance as the detection signal.

[0125] In an alternative embodiment, the method further includes:

[0126] When the charging pile charges the mobile robot and receives a work instruction, sending a disconnection instruction to the charging pile;

[0127] Wherein, the work instruction instructs the mobile robot to move away from the charging pile; the disconnection instruction is used for the charging pile to switch the charging circuit in the charging pile from a connected state to a disconnected state to prohibit charging the mobile robot.

[0128] Then, the charging method is described from the perspective of the charging pile side.

[0129] An embodiment of the present application provides a charging method, which is applied to a charging pile. Figure 6 For another alternative charging method provided by the embodiment of the present application, the flowchart of the charging method may include:

[0130] S601: When the charging pile does not charge the mobile robot and receives a charging instruction from the mobile robot, switching the charging circuit in the charging pile from a disconnected state to a connected state to charge the mobile robot.

[0131] In an alternative embodiment, the above method further includes:

[0132] When the charging pile does not charge the mobile robot, obtaining a detection signal;

[0133] When the detection signal indicates that the contact resistance between the charging contact of the mobile robot and the charging contact of the charging pile is less than a preset threshold, switching the charging circuit in the charging pile from a disconnected state to a connected state to charge the mobile robot.

[0134] In an alternative embodiment, obtaining a detection signal includes:

[0135] Detecting the anti-collision plate of the charging pile;

[0136] When a collision signal is detected, determining the collision signal as the detection signal;

[0137] Wherein, the anti-collision plate collides with the mobile robot when the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile is less than a preset threshold.

[0138] In an alternative embodiment, obtaining a detection signal includes:

[0139] When the charging contact piece of the mobile robot contacts the charging contact piece of the charging pile, detecting the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile;

[0140] Determining the contact resistance as the detection signal.

[0141] In an alternative embodiment, the above method further includes:

[0142] When the charging pile charges the mobile robot, receiving a disconnection instruction sent from the mobile robot to the charging pile;

[0143] Switching the charging circuit in the charging pile from a connected state to a disconnected state to prohibit charging the mobile robot.

[0144] Based on the same inventive concept as the foregoing embodiments, an embodiment of the present invention provides a mobile robot, which is consistent with the mobile robot provided in one or more of the above embodiments.

[0145] Figure 7 It is a schematic structural diagram of an alternative mobile robot in an embodiment of the present invention, as Figure 7 shown, the mobile robot includes:

[0146] An obtaining module 71, configured to obtain a detection signal when the mobile robot returns to the charging pile;

[0147] A generating module 72, configured to generate a charging instruction when the detection signal indicates that the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile is less than a preset threshold;

[0148] A sending module 73, configured to send the charging instruction to the charging pile;

[0149] Wherein, the charging instruction is used for the charging pile to switch the charging circuit in the charging pile from a disconnected state to a connected state to charge the mobile robot.

[0150] In an alternative embodiment, the obtaining module 71 obtains a detection signal, including:

[0151] Detect the anti-collision plate of the mobile robot;

[0152] When a collision signal is detected, determine the collision signal as the detection signal;

[0153] Wherein, the anti-collision plate is used to collide with the charging pile when the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile is less than a preset threshold.

[0154] In an alternative embodiment, the obtaining module 71 obtains a detection signal, including:

[0155] When the charging contact piece of the mobile robot is in contact with the charging contact piece of the charging pile, detect the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile;

[0156] Determine the contact resistance as the detection signal.

[0157] In an alternative embodiment, the above-mentioned mobile robot is further configured to:

[0158] When the charging pile charges the mobile robot and receives a work instruction, send a disconnection instruction to the charging pile;

[0159] Wherein, the work instruction instructs the mobile robot to move away from the charging pile; the disconnection instruction is used for the charging pile to switch the charging circuit in the charging pile from a connected state to a disconnected state to prohibit charging the mobile robot.

[0160] In practical applications, the above-mentioned obtaining module 71, generating module 72 and sending module 73 can be implemented by a processor located on the mobile robot, specifically a central processing unit (CPU, Central Processing Unit), a microprocessor (MPU, Microprocessor Unit), a digital signal processor (DSP, Digital Signal Processing) or a field programmable gate array (FPGA, Field Programmable Gate Array), etc.

[0161] An embodiment of the present invention provides a charging pile, which is consistent with the charging pile described in one or more of the above embodiments.

[0162] Figure 8 For a schematic structural diagram of an alternative charging pile provided by an embodiment of the present invention, as Figure 8 shown, the charging pile includes:

[0163] The switching module 81 is configured to switch the charging circuit in the charging pile from the disconnected state to the connected state to charge the mobile robot when the charging pile is not charging the mobile robot and a charging instruction from the mobile robot is received.

[0164] In an alternative embodiment, the charging pile is further configured to:

[0165] Obtain a detection signal when the charging pile is not charging the mobile robot;

[0166] When the detection signal indicates that the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile is less than a preset threshold, switch the charging circuit in the charging pile from the disconnected state to the connected state to charge the mobile robot.

[0167] In an alternative embodiment, when the charging pile obtains the detection signal, it includes:

[0168] Detect the anti-collision plate of the charging pile;

[0169] When a collision signal is detected, determine the collision signal as the detection signal;

[0170] Wherein, the anti-collision plate is configured to collide with the mobile robot when the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile is less than a preset threshold.

[0171] In an alternative embodiment, when the charging pile obtains the detection signal, it includes:

[0172] When the charging contact piece of the mobile robot is in contact with the charging contact piece of the charging pile, detect the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile;

[0173] Determine the contact resistance as the detection signal.

[0174] In an alternative embodiment, the charging pile is further configured to:

[0175] When the charging pile is charging the mobile robot and a disconnection instruction sent from the mobile robot to the charging pile is received;

[0176] Switch the charging circuit in the charging pile from the connected state to the disconnected state to prohibit charging the mobile robot.

[0177] In practical applications, the above-mentioned switching module 81 can be implemented by a processor located on the charging pile, specifically implemented by a CPU, MPU, DSP, or FPGA, etc.

[0178] Figure 9 Another alternative structural schematic diagram of the mobile robot provided by the embodiment of the present invention is shown in Figure 9As shown in the figure, an embodiment of the present invention provides a mobile robot 900, including:

[0179] A processor 91 and a storage medium 92 storing executable instructions of the processor 91. The storage medium 92 operates depending on the processor 91 through a communication bus 93. When the instructions are executed by the processor 91, the charging method described in one or more embodiments executed by the above-mentioned mobile robot is executed.

[0180] It should be noted that in actual application, each component in the terminal is coupled together through the communication bus 93. It can be understood that the communication bus 93 is used to realize the connection and communication between these components. The communication bus 93 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clear illustration, in Figure 9 all kinds of buses are labeled as the communication bus 93.

[0181] Figure 10 As shown in the figure, it is a schematic structural diagram of another optional charging pile provided by an embodiment of the present invention. Figure 10 As shown in the figure, an embodiment of the present invention provides a charging pile 1000, including:

[0182] A processor 101 and a storage medium 102 storing executable instructions of the processor 101. The storage medium 102 operates depending on the processor 101 through a communication bus 103. When the instructions are executed by the processor 101, the charging method described in one or more embodiments executed by the above-mentioned charging pile is executed.

[0183] It should be noted that in actual application, each component in the terminal is coupled together through the communication bus 103. It can be understood that the communication bus 103 is used to realize the connection and communication between these components. The communication bus 103 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clear illustration, in Figure 10 all kinds of buses are labeled as the communication bus 103.

[0184] An embodiment of the present invention provides a charging system. Figure 11 As shown in the figure, it is a schematic structural diagram of an optional charging system provided by an embodiment of the present invention. Figure 11 As shown in the figure, the charging system 1100 includes the mobile robot 111 described in one or more of the above embodiments and the charging pile 112 described in one or more of the above embodiments.

[0185] Based on the foregoing embodiments, an embodiment of the present application provides a computer-readable storage medium storing executable instructions. When the executable instructions are executed by one or more processors, the processors execute the charging method of one or more embodiments executed by a mobile robot, or the charging method of one or more embodiments executed by a charging pile.

[0186] The present application provides a computer-readable storage medium. When a mobile robot returns to the charging pile, a detection signal is obtained. When the detection signal indicates that the contact resistance between the charging contact of the mobile robot and the charging contact of the charging pile is less than a preset threshold, a charging instruction is generated and sent to the charging pile. The charging instruction is used for the charging pile to switch the charging circuit in the charging pile from an open state to a connected state to charge the mobile robot. That is to say, in the embodiment of the present application, when the mobile robot returns to the charging pile for charging, a detection signal is first obtained. Only when the detection signal indicates that the contact resistance between the mobile robot and the charging pile is less than the preset threshold, at this time, because the contact resistance is small, even if the charging pile starts to charge the mobile robot immediately, it will not cause a sparking phenomenon. Therefore, a charging instruction is sent to the charging pile only when the contact resistance is less than the preset threshold. In this way, the potential safety hazard of sparking caused by the charging pile starting to charge the mobile robot when the contact resistance is too large is prevented, the safety hazard during the charging of the mobile robot is avoided, and the safety of the charging pile when charging the mobile robot is improved.

[0187] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0188] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowcharts and / or block diagrams, and the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processors of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processors of the computer or other programmable data processing devices generate a device for realizing the functions specified in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0189] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means that implements the function specified in one or more of the procedures and / or blocks Figure 1 one or more of the procedures and / or blocks Figure 1 specified in the block or blocks.

[0190] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the function specified in one or more of the procedures and / or blocks Figure 1 one or more of the procedures and / or blocks Figure 1 specified in the block or blocks.

[0191] As described above, the foregoing is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application.

Claims

1. A charging method, which is applied to a mobile robot, characterized in that, Including: When the mobile robot returns to the charging pile, obtain a detection signal; When the detection signal indicates that the contact resistance between the charging contact of the mobile robot and the charging contact of the charging pile is less than a preset threshold, generate a charging instruction; Send the charging instruction to the charging pile; Wherein, the charging instruction is used for the charging pile to switch the charging circuit in the charging pile from a disconnected state to a connected state to charge the mobile robot; The method further includes: When the charging pile charges the mobile robot and receives a work instruction, send a disconnection instruction to the charging pile; Wherein, the work instruction instructs the mobile robot to move away from the charging pile; the disconnection instruction is used for the charging pile to switch the charging circuit in the charging pile from a connected state to a disconnected state to prohibit charging the mobile robot when the mobile robot needs to leave the charging pile; The obtaining the detection signal includes: Detect the anti-collision plate of the mobile robot; When a collision signal is detected, determine the collision signal as the detection signal; Wherein, the anti-collision plate is used to collide with the charging pile when the contact resistance between the charging contact of the mobile robot and the charging contact of the charging pile is less than a preset threshold; Or, when the charging contact of the mobile robot is in contact with the charging contact of the charging pile, detect the contact resistance between the charging contact of the mobile robot and the charging contact of the charging pile; Determine the contact resistance as the detection signal.

2. A charging method, characterized in that, The method is applied to a charging pile of a mobile robot and includes: When the charging pile does not charge the mobile robot and receives a charging instruction from the mobile robot, switch the charging circuit in the charging pile from a disconnected state to a connected state to charge the mobile robot; The method further includes: when the charging pile does not charge the mobile robot, obtain a detection signal; When the detection signal indicates that the contact resistance between the charging contact of the mobile robot and the charging contact of the charging pile is less than a preset threshold, switch the charging circuit in the charging pile from a disconnected state to a connected state to charge the mobile robot; The method further includes: When the charging pile is charging the mobile robot and receives a disconnection instruction sent by the mobile robot to the charging pile; When the mobile robot needs to leave the charging pile, switch the charging circuit in the charging pile from a connected state to a disconnected state to prohibit charging the mobile robot; The obtaining the detection signal includes: Detect the anti-collision plate of the charging pile; When a collision signal is detected, determine the collision signal as the detection signal; Wherein, the anti-collision plate is used to collide with the mobile robot when the contact resistance between the charging contact of the mobile robot and the charging contact of the charging pile is less than a preset threshold; Alternatively, when the charging contacts of the mobile robot are in contact with the charging contacts of the charging pile, detect the contact resistance between the charging contacts of the mobile robot and the charging contacts of the charging pile; Determine the contact resistance as the detection signal.

3. A mobile robot, characterized in that, It includes: An acquisition module, configured to acquire a detection signal when the mobile robot returns to the charging pile; A generation module, configured to generate a charging instruction when the detection signal indicates that the contact resistance between the charging contacts of the mobile robot and the charging contacts of the charging pile is less than a preset threshold; A sending module, configured to send the charging instruction to the charging pile; Wherein, the charging instruction is used for the charging pile to switch the charging circuit in the charging pile from a disconnected state to a connected state to charge the mobile robot; The mobile robot is further configured to: when the charging pile charges the mobile robot and receives a work instruction, send a disconnection instruction to the charging pile; wherein, the work instruction instructs the mobile robot to move away from the charging pile; the disconnection instruction is used for when the mobile robot needs to leave the charging pile, the charging pile switches the charging circuit in the charging pile from a connected state to a disconnected state to prohibit charging the mobile robot; The acquisition module acquires the detection signal, including: detecting the anti-collision plate of the mobile robot; when a collision signal is detected, determining the collision signal as the detection signal; wherein, the anti-collision plate is used to collide with the charging pile when the contact resistance between the charging contacts of the mobile robot and the charging contacts of the charging pile is less than a preset threshold; alternatively, when the charging contacts of the mobile robot are in contact with the charging contacts of the charging pile, detect the contact resistance between the charging contacts of the mobile robot and the charging contacts of the charging pile; determine the contact resistance as the detection signal.

4. A charging pile, characterized in that, It includes: A switching module, configured to switch the charging circuit in the charging pile from a disconnected state to a connected state to charge the mobile robot when the charging pile does not charge the mobile robot and receives a charging instruction from the mobile robot; Wherein, the charging pile is further configured to acquire a detection signal when the charging pile does not charge the mobile robot; When the detection signal indicates that the contact resistance between the charging contacts of the mobile robot and the charging contacts of the charging pile is less than a preset threshold, switch the charging circuit in the charging pile from a disconnected state to a connected state to charge the mobile robot; The charging pile is further configured to: when the charging pile charges the mobile robot, receive a disconnection instruction sent by the mobile robot to the charging pile; when the mobile robot needs to leave the charging pile, switch the charging circuit in the charging pile from a connected state to a disconnected state to prohibit charging the mobile robot; The charging pile obtains a detection signal, including: detecting an anti-collision plate of the charging pile; when a collision signal is detected, determining the collision signal as the detection signal; wherein, the anti-collision plate collides with the mobile robot when the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile is less than a preset threshold; or, when the charging contact piece of the mobile robot contacts the charging contact piece of the charging pile, detecting the contact resistance between the charging contact piece of the mobile robot and the charging contact piece of the charging pile; and determining the contact resistance as the detection signal.

5. A mobile robot, characterized in that, including: a processor and a storage medium storing executable instructions of the processor, the storage medium depends on the processor to execute operations through a communication bus, and when the instructions are executed by the processor, the charging method described in claim 1 above is executed.

6. A charging pile, characterized in that, including: a processor and a storage medium storing executable instructions of the processor, the storage medium depends on the processor to execute operations through a communication bus, and when the instructions are executed by the processor, the charging method described in claim 2 above is executed.

7. A charging system, characterized in that, including: the mobile robot described in claim 5 and the charging pile described in claim 6.

8. A computer-readable storage medium, characterized in that, storing executable instructions, and when the executable instructions are executed by one or more processors, the processor executes the charging method described in claim 1, or executes the charging method described in claim 2.

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