Autonomous operating system, charging control method, autonomous operating equipment and storage medium

Abstract

This invention relates to an autonomous operating system, a charging control method, an autonomous operating device, and a storage medium, which can effectively prevent battery overcharging. An autonomous operating system of this invention includes a device to be charged and a power supply device; the device to be charged includes a battery and a charging docking unit, and the power supply device includes a power supply docking unit; when the charging docking unit docks with the power supply docking unit, the power supply device can charge the battery; the autonomous operating system is configured to detect the state of the battery; during charging, if the state of the battery meets a first preset condition, a first action is performed; if, after performing the first action, the state of the battery meets a second preset condition, a second action is performed.

Description

Technical Field

[0001] This invention relates to the fields of electronic technology and automatic control, and in particular to an autonomous operating system, a charging control method, an autonomous operating device, and a storage medium. Background Technology

[0002] Autonomous operating systems are known to exist, typically comprising autonomous operating equipment and a docking station. The autonomous equipment is configured to automatically perform specific tasks within a preset work area and return to the docking station at a preset off-duty time or due to insufficient battery power, recharging if necessary. Typical examples include intelligent lawnmower systems and intelligent sweeping systems. Because these autonomous operating systems usually use lithium-ion batteries as their power source, the requirements for charging safety are relatively high. To meet safety requirements and prevent dangers such as combustion and explosion caused by overcharging, it is usually necessary to monitor the battery voltage in real time during charging to stop charging promptly. However, existing technologies that achieve the above functions present an irreconcilable contradiction between high system reliability and low cost. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an autonomous operating device with high system reliability and low cost, which can effectively prevent battery overcharging.

[0004] To address the aforementioned technical problems, the present invention provides an autonomous operating system comprising a device to be charged and a power supply device; the device to be charged includes a battery and a charging docking unit, and the power supply device includes a power supply docking unit; when the charging docking unit docks with the power supply docking unit, the power supply device can charge the battery; the autonomous operating system is configured to detect the state of the battery; during charging, if the state of the battery meets a first preset condition, a first action is performed; if, after performing the first action, the state of the battery meets a second preset condition, a second action is performed.

[0005] In one specific embodiment of the present invention, the device to be charged includes a first control module and a first electronic switch; wherein, the first control module is configured to control a first switch state and a second switch state of the first electronic switch; the first electronic switch is configured to be connected in series with the battery; the first action is that the first control module sends a first signal to the first electronic switch, and the first electronic switch can change to the second switch state according to the first signal.

[0006] In one specific embodiment of the present invention, the device to be charged further includes a displacement driving mechanism, which is configured to change the relative positional relationship between the charging docking unit and the power supply docking unit. The first control module is configured to control the displacement driving mechanism to start and stop operation, so that the charging docking unit and the power supply docking unit switch between a first positional relationship and a second positional relationship. In the first positional relationship, the charging docking unit and the power supply docking unit are docked; in the second positional relationship, the charging docking unit and the power supply docking unit are not docked. The second action is that the first control module sends a second signal to the displacement driving mechanism, and the displacement driving mechanism can start operation according to the second signal to change the charging docking unit and the power supply docking unit to the second positional relationship.

[0007] In one specific embodiment of the present invention, the displacement driving mechanism is configured as a walking prime mover; the second action is that the first control module sends a second signal to the moving mechanism, and the walking prime mover can start running according to the second signal to make the device to be charged move away from the power supply device, thereby making the charging docking unit and the power supply docking unit change to a second positional relationship.

[0008] In one specific embodiment of the present invention, the charging docking unit is configured to be movably connected to the device to be charged; the displacement driving mechanism is configured as a prime mover driving the charging docking unit, and the prime mover driving the charging docking unit is configured to allow the charging docking unit to switch between a first state and a second state; in the first state, the charging docking unit is configured to be suitable for docking with the power supply docking unit; in the second state, the charging docking unit is configured not to be suitable for docking with the power supply docking unit; the second action is that the first control module sends a second signal to the prime mover driving the charging docking unit, and the prime mover driving the charging docking unit can start running according to the second signal to change the charging docking unit to the second state. Further, the charging docking unit is configured to be rotatably connected to the device to be charged, or the charging docking unit is configured to be retractably connected to the device to be charged.

[0009] In one specific embodiment of the present invention, the device to be charged further includes a blocking element and a blocking element driving mechanism; the blocking element is configured to switch between a blocking enabled position and a blocking disabled position; the second action is that the first control module is configured to send a second signal to the blocking element driving mechanism, and the blocking element driving mechanism can start operating according to the second signal to convert the blocking element to the blocking enabled position, thereby blocking the charging docking unit and the power supply docking unit.

[0010] In one specific embodiment of the present invention, the device to be charged further includes a second electronic switch; the first control module is configured to control a first switch state and a second switch state of the second electronic switch; the second electronic switch is configured to be connected in series with the first electronic switch and the battery; the second action is that the first control module sends a second signal to the second electronic switch, and the second electronic switch can change to the second switch state according to the second signal.

[0011] In one specific embodiment of the present invention, the device to be charged includes a first control module and a first electronic switch; wherein, the first control module is configured to control a first switch state and a second switch state of the first electronic switch; the first electronic switch is configured to be connected in series with the battery; the power supply device includes a second control module and a third electronic switch; wherein, the second control module is configured to control a first switch state and a second switch state of the third electronic switch; the power supply docking unit is configured to be connected in series with an external power source through the third electronic switch; the first action is that the first control module sends a first signal to the first electronic switch, and the first electronic switch can change to the second switch state according to the first signal; the second action is that the second control module sends a second signal to the third electronic switch, and the third electronic switch can change to the second switch state according to the second signal; or the first action is that the second control module sends a first signal to the third electronic switch, and the third electronic switch can change to the second switch state according to the first signal; the second action is that the first control module sends a second signal to the first electronic switch, and the first electronic switch can change to the second switch state according to the second signal.

[0012] In one specific embodiment of the present invention, the power supply device includes a second control module, a third electronic switch, and a fourth electronic switch. The third electronic switch and the fourth electronic switch are connected in series, and the power supply docking unit is connected to an external power source through the third electronic switch and the fourth electronic switch. The second control module is configured to control a first switch state and a second switch state of the third electronic switch and the fourth electronic switch, respectively. The first action is that the second control module sends a first signal to the third electronic switch, and the third electronic switch can change to the second switch state according to the first signal. The second action is that the second control module sends a second signal to the fourth electronic switch, and the second electronic switch can change to the second switch state according to the second signal.

[0013] In one specific embodiment of the present invention, the device to be charged includes a first control module and a displacement driving mechanism. The displacement driving mechanism is configured to change the relative positional relationship between the charging docking unit and the power supply docking unit. The first control module is configured to control the displacement driving mechanism to start and stop operation, so that the charging docking unit and the power supply docking unit switch between a first positional relationship and a second positional relationship. In the first positional relationship, the charging docking unit and the power supply docking unit are docked; in the second positional relationship, the charging docking unit and the power supply docking unit are not docked. Alternatively, the device to be charged includes a first control module, a blocking member, and a blocking member driving mechanism. The blocking member is configured to switch between a blocking enabled position and a blocking disabled position. The power supply device includes a second control module and a third electronic switch. The power supply docking unit is connected to an external power source via the third electronic switch; the second control module is configured to control the first and second switch states of the third and fourth electronic switches respectively; the first action is that the second control module sends a first signal to the third electronic switch, and the third electronic switch can change to the second switch state according to the first signal; the second action is that the first control module sends a second signal to the displacement driving mechanism or the blocking member driving mechanism, and the displacement driving mechanism can start running according to the second signal to make the charging docking unit and the power supply docking unit change to a second position relationship, and the blocking member driving mechanism can start running according to the second signal to make the blocking member change to the blocking enabled position, thereby blocking the charging docking unit and the power supply docking unit.

[0014] In one specific embodiment of the present invention, the power supply device includes a second control module and a displacement driving mechanism. The displacement driving mechanism is configured to change the relative positional relationship between the charging docking unit and the power supply docking unit. The second control module is configured to control the displacement driving mechanism to start and stop operation, so that the charging docking unit and the power supply docking unit switch between a first positional relationship and a second positional relationship. In the first positional relationship, the charging docking unit and the power supply docking unit are docked; in the second positional relationship, the charging docking unit and the power supply docking unit are not docked. Alternatively, the device to be charged includes a second control module, a blocking member, and a blocking member driving mechanism. The blocking member is configured to switch between a blocking enabled position and a blocking disabled position. The device to be charged includes a first control module and a third electronic switch. The power supply docking unit is connected to an external power source via the third electronic switch; the first control module is configured to control the first and second switch states of the third and fourth electronic switches respectively; the first action is that the first control module sends a first signal to the third electronic switch, and the third electronic switch can change to the second switch state according to the first signal; the second action is that the second control module sends a second signal to the displacement driving mechanism or the blocking member driving mechanism, and the displacement driving mechanism can start running according to the second signal to make the charging docking unit and the power supply docking unit change to a second position relationship, and the blocking member driving mechanism can start running according to the second signal to make the blocking member change to the blocking enabled position, thereby blocking the charging docking unit and the power supply docking unit.

[0015] In one specific embodiment of the present invention, the device to be charged further includes a first communication module, and the power supply device further includes a second communication module; the first communication module is configured to be connected to the first control module, and the second communication module is configured to be connected to the second control module; the first control module is configured to acquire the status information of the battery, and transmit the status information of the battery to the second control module through the first communication module and the second communication module.

[0016] In one specific embodiment of the present invention, the device to be charged is configured as an autonomous operating device, and the power supply device is configured as a docking station.

[0017] In one specific embodiment of the present invention, the autonomous operating system is configured to perform a third action if the state of the battery meets a second preset condition after the second action is performed; the device to be charged includes a load, and the third action is to start the load; preferably, the load is configured as a prime mover; preferably, the third action further includes adjusting the power of the load after starting the load.

[0018] To solve the above-mentioned technical problems, a charging control method of the present invention is as follows: when the battery is in a charging state, if the battery state meets a first preset condition, a first action is performed; if the battery state meets a second preset condition after the first action is performed, a second action is performed; preferably, the third action further includes adjusting the power of the load after the load is started.

[0019] To address the aforementioned technical problems, the present invention provides an autonomous operating device, comprising a first control module, a battery, and a charging docking unit. The first control module is configured to detect the state of the battery. When the autonomous operating device is in a charging state, if the state of the battery meets a first preset condition, the first control module performs a first action. If, after performing the first action, the state of the battery meets a second preset condition, the first control module performs a second action. Preferably, the third action further includes adjusting the power of the load after starting the load.

[0020] To solve the above-mentioned technical problems, the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the steps of the above-mentioned charging control method.

[0021] The technical effects achievable by this invention are explained in detail in the section on specific embodiments. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the charging control system of the autonomous operating system according to the first, second and third embodiments of the present invention.

[0023] Figure 2 This is a schematic diagram of the charging control system of the autonomous operating system according to the fourth embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the charging control system of the autonomous operating system according to the fifth embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the charging control system of the autonomous operating system according to the sixth embodiment of the present invention.

[0026] Figure 5This is a schematic diagram of the charging control system of the autonomous operating system according to the seventh embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram of the charging control system of the autonomous operating system according to the eighth embodiment of the present invention. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0029] It should be understood that in the description of the specific embodiments of the present invention, terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0030] In specific embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a movable connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0031] In specific embodiments of the present invention, unless otherwise explicitly specified and limited, the first feature "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0032] In specific embodiments of the present invention, unless otherwise explicitly specified and limited, the term "more" refers to two or more.

[0033] The first embodiment of this invention provides an autonomous operating system, including a charging device 100 and a power supply device 200. The system is described using the charging device 100 as an autonomous operating device and the power supply device 200 as a docking station as an example. Typically, the autonomous operating system also includes boundaries. The autonomous operating device is particularly a robot capable of autonomously moving within a preset area and performing specific tasks, typically such as a smart sweeper / vacuum cleaner performing cleaning tasks, or a smart lawnmower performing mowing tasks. The specific tasks specifically refer to tasks that process the work surface and change its state. This invention uses a smart lawnmower as an example for detailed description. The autonomous operating device can autonomously walk on the surface of the work area, and in particular, as a smart lawnmower, it can autonomously perform mowing tasks on the ground. The autonomous operating device includes at least a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module.

[0034] The main structure typically includes a chassis and a housing. The chassis is used to install and house functional mechanisms and modules such as the moving mechanism, working mechanism, energy module, detection module, interaction module, and control module. The housing is typically constructed to at least partially cover the chassis, primarily serving to enhance the aesthetics and recognizability of the autonomous operating equipment. In this embodiment, the housing is constructed to be able to translate and / or rotate relative to the chassis under external force, and, in conjunction with an appropriate detection module, such as a Hall sensor, can further detect events such as collisions and lifting.

[0035] The mobile mechanism is configured to support the main body on the ground and drive it to move on the ground. It typically includes wheeled, tracked, or half-tracked mobile mechanisms and walking mobile mechanisms. In this embodiment, the mobile mechanism is a wheeled mobile mechanism, including at least one drive wheel and at least one prime mover. The prime mover is preferably an electric motor, but in other embodiments it can be an internal combustion engine or a machine powered by other types of energy. In this embodiment, preferably, a left drive wheel, a left prime mover driving the left drive wheel, a right drive wheel, and a right prime mover driving the right drive wheel are provided. In this embodiment, the straight-line movement of the autonomous operating device is achieved by the same-speed rotation of the left and right drive wheels in the same direction, and turning is achieved by differential rotation or opposite rotation of the left and right drive wheels in the same direction. In other embodiments, the mobile mechanism may also include a steering mechanism independent of the drive wheels and a steering prime mover independent of the prime mover. In this embodiment, the moving mechanism further includes at least one driven wheel, which is typically constructed as a caster wheel. The drive wheel and the driven wheel are located at the front and rear ends of the autonomous operating device, respectively.

[0036] The working mechanism is configured to perform specific tasks and includes working parts and a prime mover that drives the working parts. For example, in a smart sweeper / vacuum cleaner, the working parts include a roller brush, a suction pipe, and a dust collection chamber; in a smart lawnmower, the working parts include cutting blades or a cutting disc, and further include other components such as a height adjustment mechanism for adjusting the mowing height to optimize or adjust the mowing effect. The prime mover is preferably an electric motor, but in other embodiments it can also be an internal combustion engine or a machine powered by other types of energy. In some other embodiments, the prime mover and the driving prime mover are constructed as the same prime mover.

[0037] The energy module is configured to provide energy for various tasks of the autonomous operating equipment. In this embodiment, the energy module includes a battery 140 and a charging connection structure, wherein the battery is preferably a rechargeable battery, more preferably a lithium-ion battery, and the charging connection structure is preferably a charging docking unit 170 that can be exposed to the outside of the autonomous operating equipment.

[0038] The detection module is constructed as at least one sensor that senses environmental parameters of the autonomous operating equipment or its own operating parameters. Typically, the detection module may include sensors related to the defined working area, such as magnetic induction, impact, ultrasonic, infrared, and radio sensors, with the sensor type corresponding to the location and number of the corresponding signal generating devices. The detection module may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, accelerometers, odometers, angle sensors, and geomagnetic sensors. The detection module may also include sensors related to its own operational safety, such as obstacle sensors, lift sensors, and battery pack temperature sensors. The detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, light sensors, and rain sensors.

[0039] The interaction module is configured to at least receive user-input control commands, issue information that the user needs to perceive, and communicate with other systems or devices to send and receive information. In this embodiment, the interaction module includes an input device installed on the autonomous operating device for receiving user-input control commands, typically such as a control panel or emergency stop button; the interaction module also includes a display screen, indicator lights, and / or a buzzer installed on the autonomous operating device to make the information perceptible to the user through light or sound. In other embodiments, the interaction module includes a communication module installed on the autonomous operating device and a terminal device independent of the autonomous operating device, such as a mobile phone, computer, or network server; user control commands or other information can be input on the terminal device and reach the autonomous operating device via wired or wireless communication modules.

[0040] The control module typically includes at least one processor and at least one non-volatile memory. The memory stores pre-written computer programs or instruction sets, and the processor controls the execution of actions such as movement and operation of the autonomous operating device according to the computer programs or instruction sets. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous operating device and modify parameters in the memory based on signals from the detection module and / or user control commands.

[0041] The boundary is used to define the working area of ​​the robot system, and typically includes an outer boundary and an inner boundary. The autonomous operating device is confined to move and operate within the outer boundary, outside the inner boundary, or between the outer and inner boundaries. The boundary can be physical, typically such as a wall, fence, or railing; it can also be virtual, typically such as a virtual boundary signal emitted by a boundary signal generator, which is usually an electromagnetic or optical signal, or, for autonomous operating devices equipped with positioning devices (such as GPS), a virtual boundary set in an electronic map, exemplarily formed by two-dimensional or three-dimensional coordinates. In this embodiment, the boundary is constructed as a closed energized wire electrically connected to the boundary signal generator, which is typically located within a docking station.

[0042] The docking station is typically constructed on or within a boundary to provide parking for autonomous operating equipment. In particular, the docking station is equipped with a power supply docking unit adapted to the charging docking unit 170. When the charging docking unit 170 and the power supply docking unit 270 are docked, the docking station can supply energy to the autonomous operating equipment parked there. Typically, the docking station is connected to an external power source via an external power interface 201. This external power source can be municipal AC power or a separately installed high-capacity battery pack or battery array. The term "connection" as used here should be interpreted broadly. In the case of contact charging, connection refers to the formation of a stable electrical connection between the positive charging terminal 171 of the charging connection unit and the positive charging terminal 271 of the power supply connection unit, and simultaneously, the formation of a stable electrical connection between the negative charging terminal 172 of the charging connection unit and the negative charging terminal 272 of the power supply connection unit. In the case of contactless charging, typically such as electromagnetic induction wireless charging, connection refers to the fact that the relative state between the charging connection unit 170 (i.e., the receiving coil) and the power supply connection unit 270 (i.e., the power supply coil) meets the charging requirements (e.g., the relative positional relationship meets the charging requirements, there are no objects between them that affect charging, etc.), thus enabling stable charging.

[0043] In this first embodiment, the autonomous operating system is configured to detect the state of the battery 140; during charging, if the state of the battery 140 meets a first preset condition, a first action is performed; if, after performing the first action, the state of the battery 140 meets a second preset condition, a second action is performed; if, after performing the second action, the state of the battery 140 meets the second preset condition, a third action is performed. The "battery state" mentioned in this invention specifically refers to the current remaining battery power. Methods for detecting or estimating the remaining battery power have mature solutions in the prior art. In the specific application of this first embodiment, the remaining battery power is typically reflected by detecting the open-circuit voltage value. The first preset condition is used to reflect whether the battery is fully charged, specifically referring to the current remaining battery power reaching the rated full charge capacity. "Reaching" should be understood as the current remaining power equal to the rated full charge capacity, or the current remaining power value falling within the full charge capacity range. In this first embodiment, the first preset condition specifically refers to the rated open-circuit voltage when the detected battery open-circuit voltage reaches the full charge state. The second preset condition reflects whether there is a risk of overcharging the battery, specifically referring to the battery's current remaining charge exceeding its rated full charge capacity. The second preset condition further refers to the battery's current remaining charge exceeding its rated full charge capacity, and the excess charge reaching a preset charge threshold. The second preset condition even further refers to the battery's current remaining charge exceeding its rated full charge capacity, the excess charge reaching a preset charge threshold, and the duration reaching a preset time threshold. The second preset condition can also refer to the battery's current remaining charge exceeding its rated full charge capacity, and the current remaining charge continuously increasing. In the specific application of this first embodiment, the determination of the second preset condition is also exemplarily applicable to the battery's open-circuit voltage value and rated full charge voltage value.

[0044] Specifically, refer to Figure 1The control module of the autonomous operating equipment includes a first control module 110, and the autonomous operating equipment also includes a first electronic switch 121. In this invention, "electronic switch" should be understood as an operating unit that uses electronic circuits and power electronic devices to realize circuit switching, including at least one controllable electronic driving device, such as a thyristor, transistor, field-effect transistor, silicon controlled rectifier, relay, etc. The first control module 110 is configured to control a first switching state and a second switching state of the first electronic switch 121. The first switching state and the second switching state are two opposite switching states, corresponding to the electronic switch being on and off, respectively. In this first embodiment, specifically, the first switching state is the on state, and the second switching state is the off state; in other embodiments, according to the design needs of the specific electronic circuit, the first switching state can be set to the off state, and correspondingly, the second switching state is the on state. The first electronic switch 121 is configured to be connected in series with the battery 140; the first action is that the first control module 110 sends a first signal to the first electronic switch 121, and under normal circumstances, the first electronic switch 121 should change to the second switching state according to the first signal. Furthermore, the autonomous operating device also includes a displacement drive mechanism 130, which is configured to change the relative positional relationship between the charging docking unit 170 and the power supply docking unit 270. The first control module 110 is configured to control the displacement drive mechanism 130 to start and stop operation, thereby switching the charging docking unit 170 and the power supply docking unit 270 between a first positional relationship and a second positional relationship. In the first positional relationship, the charging docking unit 170 and the power supply docking unit 270 are docked. In the second positional relationship, the charging docking unit 170 and the power supply docking unit 270 are not docked. The second action involves the first control module 110 sending a second signal to the displacement drive mechanism 130, which then starts operation according to the second signal to change the charging docking unit 170 and the power supply docking unit 270 to the second positional relationship.

[0045] In this first embodiment, the displacement drive mechanism 130 is configured as a walking prime mover; the second action is that the first control module 110 sends a second signal to the moving mechanism, and the walking prime mover can start running according to the second signal, so that the charging device moves away from the power supply device 200, thereby changing the charging docking unit 170 and the power supply docking unit 270 into a second positional relationship. The autonomous operating equipment using the above technical solution works in a preset working area. When the first control module 110 detects that the battery 140 has insufficient remaining power, it drives the autonomous operating equipment to return to the docking station and complete the charging docking. The autonomous operating equipment typically also includes a docking detection circuit 150. After the first control module 110 detects that the charging docking unit 170 and the power supply docking unit 270 are docked through the docking detection circuit 150, it controls the first electronic switch 121 to be turned on, the charging circuit is closed, and the battery 140 is charged. When the first control module 110 detects that the first preset condition is met, it sends a first signal to the first electronic switch 121. If the first electronic switch 121 functions normally, the charging circuit is disconnected and charging of the battery 140 is stopped when the first signal changes from the on state to the off state. If the first electronic switch 121 malfunctions, typically due to a short circuit, the charging circuit remains closed, causing the open-circuit voltage of the battery 140 to rise continuously. When the first control module 110 detects that the second preset condition is met, it controls the walking prime mover to drive the walking wheels, causing the autonomous working equipment to move in the direction away from the docking station until the docking between the charging docking unit 170 and the power supply docking power source 270 is disconnected, physically cutting off the charging circuit of the battery 140 and preventing overcharging. Furthermore, the autonomous working equipment sends a signal or information indicating that the first electronic switch 121 has malfunctioned to the user through the interaction module.

[0046] In this first embodiment, the autonomous operating device further includes a load, and the third action is to activate the load. In this embodiment, the load exemplarily refers to other energy-consuming devices or energy-dissipating channels on the autonomous operating device besides the displacement drive mechanism 130. Typically, the load is configured as a prime mover. Specifically, after the second action is performed, if the prime mover fails to operate according to the second signal to separate the charging docking unit 170 and the power supply docking unit 270, and the battery 140 still faces the risk of overcharging, the load is activated to release the electrical energy of the battery 140. Further, the third action also includes adjusting the power of the load after activating it to ensure that the charging current is not greater than the discharging current. At this time, the autonomous operating device sends a signal or information indicating that the displacement drive mechanism 130 has malfunctioned to the user through the interaction module.

[0047] To address the technical problem to be solved, the second embodiment of the present invention provides another technical solution. For the sake of brevity, features identical to those in the first embodiment described above will not be elaborated in detail, but will only be briefly mentioned when necessary. This second embodiment provides an autonomous operating system, still referring to... Figure 1 The autonomous operating device includes a first control module 110 and a first electronic switch 121. The first control module 110 is configured to control a first switching state and a second switching state of the first electronic switch 121. The first electronic switch 121 is configured to be connected in series with the battery 140. The first action is that the first control module 110 sends a first signal to the first electronic switch 121, and the first electronic switch 121 can change to the second switching state according to the first signal. The difference from the technical solution of the first embodiment is that the charging docking unit 170 of this second embodiment is configured to be movably connected to the autonomous operating device. Further, the charging docking unit 170 is configured to be rotatably connected to the device to be charged 100, or the charging docking unit 170 is configured to be retractably connected to the device to be charged 100. The rotatable connection structure or the retractable connection structure can be selected by those skilled in the art according to the actual size and functional requirements, combined with the overall characteristics of the autonomous operating device, using common knowledge or existing technology, and will not be described in detail here. The displacement drive mechanism 130 is configured as the prime mover for driving the charging docking unit, and is usually configured as an electric motor. The charging docking unit drive prime mover is configured to allow the charging docking unit 170 to switch between a first charging docking unit state and a second charging docking unit state. In the first charging docking unit state, the charging docking unit 170 is configured to dock with the power supply docking unit 270; in the second charging docking unit state, the charging docking unit 170 is configured not to dock with the power supply docking unit 270. The second action involves the first control module 110 sending a second signal to the charging docking unit drive prime mover, which then starts operating according to the second signal to change the charging docking unit 170 to the second charging docking unit state. Specifically, for a charging docking unit 170 with a rotatable connection structure, it can rotate from a docking position to a disengaged position according to the second signal; for a charging docking unit 170 with a retractable structure, it can retract from an extended position to a retracted position according to the second signal. Compared to the first embodiment described above, the technical solution of this second embodiment, in the event of a potential overcharge hazard, achieves separation of the charging docking unit 170 and the power supply docking unit 270 by changing the relative positions of the charging docking unit 170 and the main body of the autonomous operating device. In this embodiment, the load typically includes a working prime mover and / or a walking prime mover.

[0048] To address the technical problem to be solved, the third embodiment of the present invention provides another technical solution. The difference between this third embodiment and the second embodiment described above is that, similarly, reference can be made to... Figure 1 The displacement driving mechanism in the second embodiment described above is replaced with a barrier driving mechanism 130, and a barrier 131 is added accordingly. The barrier 131 is configured to switch between a barrier-enabled position and a barrier-disable position. Those skilled in the art can easily achieve this position switching using common knowledge or by finding a suitable structure in the prior art. For contact charging, the barrier 131 can be specifically constructed as an insulating member. In the barrier-enabled position, the insulating member is disposed between the charging docking unit 170 and the power supply docking unit 270. Specifically, for cases where the charging docking unit 170 and / or the power supply docking unit 270 are constructed as metal springs, the insulating member is inserted between the charging positive terminal and the power supply positive terminal and / or the charging negative terminal and the power supply negative terminal to disconnect the charging circuit. For contactless charging, the barrier 131 is constructed using an electromagnetic barrier material. In the barrier-enabled position, the barrier 131 is disposed between the receiving coil and the power supply coil to disconnect the charging circuit. Accordingly, in the blocking position, the blocking member 131 is positioned so as not to affect the docking, thereby closing the charging circuit. The second action is that the first control module 110 is configured to send a second signal to the blocking member driving mechanism 130, which can start operating according to the second signal to convert the blocking member 131 to the blocking enabled position, thereby blocking the charging docking unit 170 and the power supply docking unit 270.

[0049] Regarding the technical problem to be solved, refer to Figure 2The fourth embodiment of the present invention provides another technical solution. For the sake of brevity, features identical to those in the first embodiment described above will not be elaborated in detail, but will only be briefly mentioned when necessary. This fourth embodiment provides an autonomous operating system, the autonomous operating device of which includes a first control module 110, a first electronic switch 121, and a second electronic switch 122. The first control module 110 is configured to control the first and second switching states of the first electronic switch 121 and the second electronic switch 122, respectively. The first electronic switch 121 and the second electronic switch 122 are connected in series with a battery 140. The first action is that the first control module 110 sends a first signal to the first electronic switch 121, and the first electronic switch 121 can change to the second switching state according to the first signal. The second action is that the first control module 110 sends a second signal to the second electronic switch 122, and the second electronic switch 122 can change to the second switching state according to the second signal. In this embodiment, the load typically includes a prime mover and / or a walking prime mover.

[0050] Regarding the technical problem to be solved, refer to Figure 3The fifth embodiment of the present invention provides another technical solution. For the sake of brevity, features identical to those in the first embodiment described above will not be described in detail, but will only be briefly mentioned when necessary. This fifth embodiment provides an autonomous operating system, the autonomous operating equipment of which includes a first control module 110 and a first electronic switch 121; wherein, the first control module 110 is configured to control a first switching state and a second switching state of the first electronic switch 121; the first electronic switch 121 is configured to be connected in series with the battery 140. The docking station includes a second control module 210 and a third electronic switch 221; wherein, the second control module 210 is configured to control the first switching state and the second switching state of the third electronic switch 221; the power supply docking unit 270 is configured to be connected in series with an external power supply through the third electronic switch 221. The first action is that the first control module 110 sends a first signal to the first electronic switch 121, and the first electronic switch 121 changes to the second switching state according to the first signal; the second action is that the second control module 210 sends a second signal to the third electronic switch 221, and the third electronic switch 221 changes to the second switching state according to the second signal; or the first action is that the second control module 210 sends a first signal to the third electronic switch 221, and the third electronic switch 221 changes to the second switching state according to the first signal; the second action is that the first control module 110 sends a second signal to the first electronic switch 121, and the first electronic switch 121 changes to the second switching state according to the second signal. In this embodiment, the load typically includes a prime mover and / or a traveling prime mover.

[0051] Regarding the technical problem to be solved, refer to Figure 4The sixth embodiment of the present invention provides another technical solution. For the sake of brevity, features identical to those in the first embodiment described above will not be elaborated in detail, but will only be briefly mentioned when necessary. This sixth embodiment provides an autonomous operating system, the docking station of which includes a second control module 210, a third electronic switch 221, and a fourth electronic switch 222. The third electronic switch 221 and the fourth electronic switch 222 are connected in series. The power supply docking unit 270 is connected to an external power source through the third electronic switch 221 and the fourth electronic switch 222. The second control module 210 is configured to control a first switching state and a second switching state of the third electronic switch 221 and the fourth electronic switch 222, respectively. The first action is that the second control module 210 sends a first signal to the third electronic switch 221, and the third electronic switch 221 can change to the second switching state according to the first signal. The second action is that the second control module 210 sends a second signal to the fourth electronic switch 222, and the fourth electronic switch 222 can change to the second switching state according to the second signal. In this embodiment, the load typically includes a working prime mover and / or a walking prime mover.

[0052] Regarding the technical problem to be solved, refer to Figure 5The seventh embodiment of the present invention provides another technical solution. For the sake of brevity, features identical to those in the first embodiment described above will not be elaborated in detail, but will only be briefly mentioned when necessary. This seventh embodiment provides an autonomous operating system, the autonomous operating device of which includes a first control module 110 and a displacement driving mechanism 130. The displacement driving mechanism 130 is configured to change the relative positional relationship between the charging docking unit 170 and the power supply docking unit 270. The first control module 110 is configured to control the displacement driving mechanism 130 to start and stop operation, so that the charging docking unit 170 and the power supply docking unit 270 switch between a first positional relationship and a second positional relationship. In the first positional relationship, the charging docking unit 170 and the power supply docking unit 270 are docked; in the second positional relationship, the charging docking unit 170 and the power supply docking unit 270 are not docked; or the device to be charged 100 includes a first control module 110, a blocking member 131 and a blocking member driving mechanism 130, the blocking member 131 being configured to switch between a blocking enabled position and a blocking disabled position. The docking station includes a second control module 210 and a third electronic switch 221. The power supply docking unit 270 is connected to an external power source through the third electronic switch 221. The second control module 210 is configured to control the first and second switching states of the third electronic switch 221 and the fourth electronic switch 222, respectively. The first action is that the second control module 210 sends a first signal to the third electronic switch 221, and the third electronic switch 221 can change to the second switching state according to the first signal. The second action is that the first control module 210 sends a second signal to the displacement drive mechanism 130 or the barrier drive mechanism 130, and the displacement drive mechanism 130 can start operating according to the second signal to change the charging docking unit 170 and the power supply docking unit 270 to a second positional relationship. The barrier drive mechanism 130 can start operating according to the second signal to change the barrier 131 to the barrier enabled position, thereby blocking the charging docking unit 170 and the power supply docking unit 270. In this embodiment, the load typically includes a working prime mover and / or a walking prime mover.

[0053] Regarding the technical problem to be solved, refer to Figure 6The eighth embodiment of the present invention provides another technical solution. For the sake of brevity, features identical to those in the first embodiment described above will not be elaborated in detail, but will only be briefly mentioned when necessary. This eighth embodiment provides an autonomous operating system whose docking station includes a second control module 210 and a displacement drive mechanism 130. The displacement drive mechanism 130 is configured to change the relative positional relationship between the charging docking unit 170 and the power supply docking unit 270. The second control module 210 is configured to control the displacement drive mechanism 130 to start and stop operation, so that the charging docking unit 170 and the power supply docking unit 270 switch between a first positional relationship and a second positional relationship. In the first positional relationship, the charging docking unit 170 and the power supply docking unit 270 are docked. In the second positional relationship, the charging docking unit 170 and the power supply docking unit 270 are not docked; or the device to be charged 100 includes a second control module 210, a blocking member 131, and a blocking member drive mechanism 130, wherein the blocking member 131 is configured to switch between a blocking enabled position and a blocking disabled position. The autonomous operating device includes a first control module 110 and a third electronic switch 221, wherein the power supply docking unit 270 is connected to an external power source via the third electronic switch 221; the first control module 110 is configured to control the first and second switching states of the third electronic switch 221 and the fourth electronic switch 222, respectively. The first action is that the first control module 110 sends a first signal to the third electronic switch 221, and the third electronic switch 221 can change to the second switching state according to the first signal. The second action is that the second control module 210 sends a second signal to the displacement drive mechanism 130 or the barrier drive mechanism 130. The displacement drive mechanism 130 can start running according to the second signal to make the charging docking unit 170 and the power supply docking unit 270 change to a second position relationship. The barrier drive mechanism 130 can start running according to the second signal to make the barrier 131 change to the barrier enable position, thereby blocking the charging docking unit 170 and the power supply docking unit 270.

[0054] In the fifth, sixth, seventh, and eighth embodiments described above, the autonomous operating equipment further includes a first communication module 160, and the docking station further includes a second communication module 360. The first communication module 160 is configured to connect to the first control module 110, and the second communication module 360 ​​is configured to connect to the second control module 210. The first control module 110 is configured to acquire the status information of the battery 140 and transmit the status information of the battery 140 to the second control module 210 through the first communication module 160 and the second communication module 360. Those skilled in the art can, based on the characteristics and functional requirements of the autonomous operating system, select appropriate communication technologies, using common knowledge or existing technology, to achieve communication between the autonomous operating equipment and the docking station in a wireless or wired manner.

[0055] It should be further clarified that the first control module 110 described above can be configured as a single controller, or it can be configured as a module with control functions formed by combining at least two controllers in a specific manner. Similarly, the second control module 210 described above can also be configured as a single controller, or it can be configured as a module with control functions formed by combining at least two controllers in a specific manner.

[0056] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0057] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. An autonomous work system comprising a device to be charged and a power supply device; the device to be charged comprising a battery and a charging docking unit, the power supply device comprising a power supply docking unit; the power supply device being capable of charging the battery when the charging docking unit and the power supply docking unit are docked; characterized in that, The autonomous operation system is configured to detect the state of the battery; When charging, if the state of the battery meets a first preset condition, a first action is performed; If after performing the first action, the state of the battery meets a second preset condition, a second action is performed; The first preset condition is that the current remaining capacity of the battery reaches a rated full capacity, and the second preset condition is that the current remaining capacity of the battery exceeds the rated full capacity; the reaching is that the value of the current remaining capacity falls within the full capacity interval; One of the to-be-charged device and the power supply device includes a control module and an electronic switch, the control module is configured to control the first switch state and the second switch state of the electronic switch; the electronic switch is configured to be connected in series with the battery or connected with an external power supply; The first action is that the control module sends a first signal to the electronic switch, and the electronic switch can change to the second switch state according to the first signal; The second action is to disconnect the docking between the charging docking unit and the power supply docking unit, and physically cut off the charging circuit of the battery.

2. The autonomous work system according to claim 1, characterized by, The to-be-charged device includes a first control module and a first electronic switch; wherein the first control module is configured to control the first switch state and the second switch state of the first electronic switch; the first electronic switch is configured to be connected in series with the battery; the first action is that the first control module sends a first signal to the first electronic switch, and the first electronic switch can change to the second switch state according to the first signal.

3. The autonomous work system according to claim 2, characterized by, The to-be-charged device further includes a displacement driving mechanism, which is configured to change the relative position relationship between the charging docking unit and the power supply docking unit; The first control module is configured to control the displacement driving mechanism to start and stop running, so as to switch the charging docking unit and the power supply docking unit between the first position relationship and the second position relationship; in the first position relationship, the charging docking unit and the power supply docking unit are docked; in the second position relationship, the charging docking unit and the power supply docking unit are not docked; The second action is that the first control module sends a second signal to the displacement driving mechanism, and the displacement driving mechanism can start running according to the second signal, so as to change the charging docking unit and the power supply docking unit to the second position relationship.

4. The autonomous work system according to claim 3, characterized in that, The displacement driving mechanism is configured as a walking prime mover; the second action is that the first control module sends a second signal to the displacement driving mechanism, and the walking prime mover can start running according to the second signal, so as to move the to-be-charged device away from the power supply device, and then change the charging docking unit and the power supply docking unit to the second position relationship.

5. The autonomous work system of claim 3, wherein, The charging docking unit is configured to be movably connected with the device to be charged; the displacement driving mechanism is configured as a charging docking unit driving prime mover, which is configured to enable the charging docking unit to be converted between a charging docking unit first state and a charging docking unit second state; in the charging docking unit first state, the charging docking unit is configured to be suitable for docking with the power supply docking unit; in the charging docking unit second state, the charging docking unit is configured to be unsuitable for docking with the power supply docking unit; the second action is that the first control module sends a second signal to the charging docking unit driving prime mover, and the charging docking unit driving prime mover can start to operate according to the second signal to make the charging docking unit become the charging docking unit second state.

6. The autonomous work system of claim 5, wherein, The charging docking unit is configured to be rotatably connected with the device to be charged, or the charging docking unit is configured to be telescopically connected with the device to be charged.

7. The autonomous work system of claim 2, wherein, The device to be charged further comprises a barrier and a barrier driving mechanism; the barrier is configured to be converted between a barrier enabled position and a barrier disabled position; the second action is that the first control module is configured to send a second signal to the barrier driving mechanism, and the barrier driving mechanism can start to operate according to the second signal to make the barrier be converted to the barrier enabled position, so that the charging docking unit is blocked from the power supply docking unit.

8. The autonomous work system of claim 1, wherein, The device to be charged comprises a first control module and a displacement driving mechanism, and the displacement driving mechanism is configured to change the relative position relationship between the charging docking unit and the power supply docking unit; The first control module is configured to control the displacement driving mechanism to start to operate and stop to operate, so that the charging docking unit and the power supply docking unit are converted between a first position relationship and a second position relationship; in the first position relationship, the charging docking unit and the power supply docking unit are docked; in the second position relationship, the charging docking unit and the power supply docking unit are not docked; or the device to be charged comprises a first control module, a barrier and a barrier driving mechanism, and the barrier is configured to be converted between a barrier enabled position and a barrier disabled position; The power supply device comprises a second control module and a third electronic switch, and the power supply docking unit is connected with an external power supply through the third electronic switch; the second control module is configured to control a first switch state and a second switch state of the third electronic switch; The first action is that the second control module sends a first signal to the third electronic switch, and the third electronic switch can become the second switch state according to the first signal; The second action is that the second control module sends a second signal to the displacement driving mechanism or the barrier driving mechanism; the displacement driving mechanism can start running according to the second signal, so that the charging docking unit and the power docking unit become a second positional relationship; the barrier driving mechanism can start running according to the second signal, so that the barrier is converted to the barrier enabled position, and the charging docking unit and the power docking unit are blocked.

9. The autonomous work system of claim 1, wherein, The power supply device comprises a second control module and a displacement driving mechanism, and the displacement driving mechanism is configured to change the relative positional relationship between the charging docking unit and the power docking unit. The second control module is configured to control the displacement driving mechanism to start running and stop running, so that the charging docking unit and the power docking unit are converted between a first positional relationship and a second positional relationship; in the first positional relationship, the charging docking unit and the power docking unit are docked; in the second positional relationship, the charging docking unit and the power docking unit are not docked; or the device to be charged comprises a second control module, a barrier and a barrier driving mechanism, and the barrier is configured to be converted between a barrier enabled position and a barrier disabled position. The device to be charged comprises a first control module and a third electronic switch, and the power docking unit is connected with an external power supply through the third electronic switch; the first control module is configured to control the third electronic switch to be in a first switch state and a second switch state. The first action is that the first control module sends a first signal to the third electronic switch, and the third electronic switch can change to the second switch state according to the first signal. The second action is that the second control module sends a second signal to the displacement driving mechanism or the barrier driving mechanism; the displacement driving mechanism can start running according to the second signal, so that the charging docking unit and the power docking unit become a second positional relationship; the barrier driving mechanism can start running according to the second signal, so that the barrier is converted to the barrier enabled position, and the charging docking unit and the power docking unit are blocked.

10. The autonomous work system according to any one of claims 8 to 9, characterized by, The device to be charged further comprises a first communication module, and the power supply device further comprises a second communication module; the first communication module is configured to be connected with the first control module, and the second communication module is configured to be connected with the second control module. The first control module is configured to obtain the state information of the battery, and transmit the state information of the battery to the second control module through the first communication module and the second communication module.

11. The autonomous work system according to any one of claims 1 to 9, characterized by, The device to be charged is configured as an autonomous working device, and the power supply device is configured as a docking station.

12. The autonomous work system of claim 1, wherein, The autonomous working system is configured to perform a third action if the state of the battery satisfies a second preset condition after the second action is performed; the device to be charged comprises a load, and the third action is to start the load.

13. The autonomous work system of claim 12, wherein, The load is configured as a working prime mover. The load is configured as a working prime mover.

14. The autonomous work system of claim 12, wherein, The third action further comprises adjusting the power of the load after starting the load.

15. A charge control method characterized by, When the self-propelled working device is in the charging state, if the state of the battery meets a first preset condition, the first control module executes a first action; If after executing the first action, the state of the battery meets a second preset condition, the first control module executes a second action; The first preset condition is that the current remaining power of the battery reaches a rated full power, and the second preset condition is that the current remaining power of the battery exceeds the rated full power. One of the to-be-charged device and the power supply device comprises a control module and an electronic switch, the control module is configured to control a first switch state and a second switch state of the electronic switch, and the electronic switch is configured to be connected in series with the battery or connected with an external power supply. The first action is that the control module sends a first signal to the electronic switch, and the electronic switch can change to the second switch state according to the first signal. The second action is to disconnect the docking between the charging docking unit and the power supply docking unit, and physically cut off the charging circuit of the battery.

16. The charge control method according to claim 15, wherein If after executing the second action, the state of the battery meets a second preset condition, a third action is executed.

17. An autonomous work apparatus comprising a first control module configured to detect a state of a battery, a battery, and a charging docking unit, characterized in that, When the self-propelled working device is in the charging state, if the state of the battery meets a first preset condition, the first control module executes a first action; If after executing the first action, the state of the battery meets a second preset condition, the first control module executes a second action; The first preset condition is that the current remaining power of the battery reaches a rated full power, and the second preset condition is that the current remaining power of the battery exceeds the rated full power. The self-propelled working device further comprises an electronic switch, and the first control module is configured to control a first switch state and a second switch state of the electronic switch; the electronic switch is configured to be connected in series with the battery or connected with an external power supply. The first action is that the first control module sends a first signal to the electronic switch, and the electronic switch can change to the second switch state according to the first signal. The second action is to disconnect the docking between the charging docking unit and the power supply docking unit, and physically cut off the charging circuit of the battery.

18. The autonomous work equipment of claim 17, characterized by If after executing the second action, the state of the battery meets a second preset condition, a third action is executed.

19. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to realize the steps of the charging control method in claim 15 or 16.

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