Charging control method

Abstract

This invention discloses a charging control method. The self-moving device includes a first charging terminal, a first communication terminal, and a first control unit. The first control unit includes a first signal transmitting module. The charging station includes a second charging terminal, a second communication terminal, and a second control unit. The second control unit includes a second signal transmitting module and a signal detection module. The charging control method includes: the first signal transmitting module transmitting a preset first-level signal via the first communication terminal; the second signal transmitting module transmitting a preset second-level signal via the second communication terminal; the signal detection module detecting a first feedback signal from the second communication terminal; determining whether the self-moving device is compatible with the charging station based on the first feedback signal; and controlling the second charging terminal to electrically connect with the first charging terminal when the self-moving device is compatible with the charging station. This avoids accidental charging initiation when an unpaired self-moving device is connected to the charging station, preventing damage to the self-moving device.

Description

Technical Field

[0001] This invention relates to the field of lawnmowers, and in particular to a charging control method. Background Technology

[0002] In related technologies, since the charging terminal structures of existing self-moving devices from various manufacturers are mostly similar, when users mistakenly connect self-moving devices from other companies to charging stations, it is easy to cause misidentification and charging. Since the operating parameters of self-moving devices from different manufacturers are different, connecting an incompatible self-moving device to a charging station will damage the self-moving device. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a charging control method that can prevent unpaired self-moving devices from accidentally starting charging when docked with a charging station, thereby preventing damage to the self-moving devices.

[0004] According to the charging control method of the present invention, a charging station is used to charge a self-moving device. The self-moving device includes a first charging terminal, a first communication terminal, and a first control unit. The first control unit includes a first signal transmitting module electrically connected to the first communication terminal. The charging station includes a second charging terminal, a second communication terminal, and a second control unit. The second control unit includes a second signal transmitting module and a signal detection module electrically connected to the second communication terminal. The first charging terminal can be electrically connected to the second charging terminal, and the first communication terminal can be electrically connected to the second communication terminal. The charging control method includes: the first signal transmitting module transmitting a preset first level signal to the outside via the first communication terminal; the second signal transmitting module transmitting a preset second level signal to the outside via the second communication terminal; the signal detection module detecting a first feedback signal of the second communication terminal; determining whether the self-moving device is compatible with the charging station based on the first feedback signal; and controlling the second charging terminal to be electrically connected to the first charging terminal when the self-moving device is compatible with the charging station.

[0005] According to the charging control method of the present invention, a first signal transmitting module transmits a preset first level signal to the outside through the first communication terminal, and a second signal transmitting module transmits a preset second level signal to the outside through the second communication terminal. A first feedback signal of the second communication terminal is detected by a signal detection module. A second control unit determines whether the self-moving device is compatible with the charging station based on the first feedback signal. When the self-moving device is compatible with the charging station, the second charging terminal is electrically connected to the first charging terminal to enable the charging station to charge the self-moving device. This can prevent mis-matched self-moving devices from accidentally starting charging when connected to the charging station, thus preventing damage to the self-moving device.

[0006] In some examples of the present invention, the first level signal is related to the type of the self-moving device, and the first control unit controls the first signal transmitting module to send out first level signals of different amplitudes according to the type of the self-moving device.

[0007] In some examples of the present invention, determining whether the self-moving device is compatible with the charging station based on the first feedback signal includes: comparing the first feedback signal with a pre-stored reference feedback signal sequence; when the first feedback signal matches the reference feedback signal sequence, determining that the self-moving device currently to be charged is compatible with the charging station.

[0008] In some examples of the present invention, different first-level signals modulate the second-level signal to generate the reference feedback signal sequence.

[0009] In some examples of the present invention, controlling the electrical connection between the second charging terminal and the first charging terminal includes: identifying the type of the self-moving device based on the reference feedback signal matched by the first feedback signal; setting corresponding charging control parameters based on the type of the self-moving device; and controlling the electrical connection between the second charging terminal and the first charging terminal using the charging control parameters.

[0010] In some examples of the present invention, the method further includes the steps of: when the self-moving device is not compatible with the charging station, determining whether the first feedback signal is the same as the second voltage signal; when the first feedback signal is the same as the second voltage signal, controlling the second charging terminal to be electrically connected to the first charging terminal, and disconnecting after a certain period of time.

[0011] In some examples of the present invention, the method further includes the steps of: continuously detecting a second feedback signal of the second communication terminal during the timing period; determining whether the self-moving device is compatible with the charging station based on the second feedback signal; and when the self-moving device is compatible with the charging station, generating corresponding charging control parameters based on the second feedback signal to control the second charging terminal to be continuously electrically connected to the first charging terminal.

[0012] In some examples of the present invention, the voltage waveforms of the first level signal and the second level signal exhibit regular changes.

[0013] In some examples of the present invention, both the first voltage signal and the second voltage signal are square wave signals.

[0014] In some examples of the present invention, the first voltage signal and the second voltage signal are distinguished by the different frequencies of their voltage waveforms.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a schematic diagram of an intelligent lawnmower charging system according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of an intelligent lawnmower according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a charging station according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the first charging terminal assembly and the second charging terminal assembly in a separated state according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the first charging terminal assembly and the second charging terminal assembly in the plugged-in state according to an embodiment of the present invention;

[0022] Figure 6 This is a cross-sectional view of the first charging terminal assembly and the second charging terminal assembly in a plugged-in state according to an embodiment of the present invention;

[0023] Figure 7 This is an exploded view of the first charging terminal assembly according to an embodiment of the present invention;

[0024] Figure 8 This is an exploded view of the second charging terminal assembly according to an embodiment of the present invention;

[0025] Figure 9 This is a partial structural schematic diagram of the second charging terminal assembly according to an embodiment of the present invention;

[0026] Figure 10 This is a block diagram of the internal control circuit of an automatic working system according to an embodiment of the present invention;

[0027] Figure 11 This is a partial schematic diagram of an implementation circuit in a charging station according to an embodiment of the present invention;

[0028] Figure 12 This is a flowchart of one embodiment of the charging control method in a charging station according to an embodiment of the present invention;

[0029] Figure 13This is a flowchart of one embodiment of a charging control method in an automatic working system according to an embodiment of the present invention;

[0030] Figure 14 This is a flowchart of another specific embodiment of the charging control method in an automatic working system according to an embodiment of the present invention.

[0031] Figure label:

[0032] Charging station 200;

[0033] Smart lawnmower 100;

[0034] First charging terminal assembly 10; First charging terminal 11; First communication terminal 12;

[0035] First housing 13; Assembly hole 131; Support platform 132;

[0036] Cavity 14;

[0037] First conductive electrode sheet 15; first protrusion 151; first ridge 152; bend 153;

[0038] Second charging terminal assembly 20; Second charging terminal 21; Second communication terminal 22;

[0039] Second housing 23; through hole 231; upper housing 232; lower housing 233; receiving cavity 234; drain hole 235; mounting structure 236;

[0040] Second conductive electrode sheet 24; Second protrusion 241; Bias member 242; Second ridge 243;

[0041] First control unit 30; first signal transmitting module 31; first control module 32; energy storage component 33;

[0042] 40 charging stations;

[0043] Second control unit 50; second signal transmitting module 51; signal detection module 52; second control module 53;

[0044] Base 60; Power supply component 61;

[0045] Charging control module 62; first switching element 621; second switching element 622; first transistor 623; second transistor 624;

[0046] Charging parameter detection module 63; sampling resistor 631; amplifier 632; first resistor 633; ​​second resistor 634. Detailed Implementation

[0047] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0048] The following is for reference. Figures 1-9 A charging system for an intelligent lawnmower 100 according to an embodiment of the present invention is described.

[0049] like Figures 1-9 As shown, the intelligent lawnmower 100 charging system according to an embodiment of the present invention includes a charging station 200 and an intelligent lawnmower 100. The charging station 200 is used to charge the intelligent lawnmower 100. The intelligent lawnmower 100 includes a first charging terminal assembly 10, and the charging station 200 includes a second charging terminal assembly 20. When the intelligent lawnmower 100 enters the charging station 200 to dock and charge, the first charging terminal assembly 10 moves along the entry direction of the intelligent lawnmower 100 to cooperate with the second charging terminal assembly 20. It should be explained that when the intelligent lawnmower 100 docks and charges with the charging station 200, the first charging terminal assembly 10 and the second charging terminal assembly 20 are plugged in and cooperate. After the first charging terminal assembly 10 and the second charging terminal assembly 20 are plugged in, the charging station 200 connects the charging circuit within the charging station 200 to charge the intelligent lawnmower 100.

[0050] The first charging terminal assembly 10 includes a first charging terminal 11 (composed of electrode plates) and a first communication terminal 12 (composed of electrode plates), and the second charging terminal assembly 20 includes a second charging terminal 21 (composed of electrode plates) and a second communication terminal 22 (composed of electrode plates). Along the direction in which the intelligent lawnmower 100 enters the charging station 200, the first communication terminal 12 and the first charging terminal 11 are arranged in a staggered configuration, and / or the second communication terminal 22 and the second charging terminal 21 are arranged in a staggered configuration. It should be noted that the direction in which the intelligent lawnmower 100 enters the charging station 200 refers to... Figure 1 The front-to-back direction can be such that the first communication terminal 12 and the first charging terminal 11 are arranged in a staggered manner, or the second communication terminal 22 and the second charging terminal 21 are arranged in a staggered manner, or the first communication terminal 12 and the first charging terminal 11 are arranged in a staggered manner and the second communication terminal 22 and the second charging terminal 21 are arranged in a staggered manner. This application will use the arrangement of the second communication terminal 22 and the second charging terminal 21 in a staggered manner as an example for explanation.

[0051] In the prior art, the communication terminals and charging terminals of the charging station 200 and the smart lawnmower 100 are arranged flush. When the smart lawnmower 100 is connected to the charging station 200 for charging, the communication terminals of the charging station 200 and the smart lawnmower 100, as well as the charging terminals of the charging station 200 and the smart lawnmower 100, are simultaneously in electrical contact. Due to the large current in the charging terminal electrodes, creepage can easily occur, causing arcing of the electrodes and damaging the electronic components inside both the smart lawnmower 100 and the charging station 200, thus reducing the charging safety of the lawnmower. Furthermore, during the charging process, because the charging terminals and communication terminals are close together, the current signal on the charging terminals can interfere with the communication signal on the communication terminals, affecting the stability of the communication signal between the charging station 200 and the smart lawnmower 100.

[0052] In this application, during the docking process between the smart lawnmower 100 and the charging station 200, the first charging terminal 11 and the second charging terminal 21 first make contact and dock (at this time, the first charging terminal 11 and the second charging terminal 21 are not energized), and then the first communication terminal 12 and the second communication terminal 22 make contact and dock. After the first communication terminal 12 and the second communication terminal 22 are docked, the charging station 200 identifies whether the smart lawnmower 100 and the charging station 200 are successfully docked by detecting the voltage signal of the second communication terminal 22. After successful authentication, the charging station 200 connects the charging circuit to charge the smart lawnmower 100. The second communication terminal 22 and the second charging terminal 21 are arranged in a staggered manner, with a large distance between them. When the first charging terminal 11 and the second charging terminal 21 are connected to a current signal, creepage that could cause arcing at the charging terminals can be avoided. This prevents arcing at the charging terminals from damaging the electronic components inside the charging station 200 and the smart lawnmower 100, thus improving the charging safety of the smart lawnmower 100. Furthermore, during the charging process, the staggered arrangement of the second communication terminal 22 and the second charging terminal 21 reduces electromagnetic interference from the current signal on the charging terminal to the communication signal on the communication terminal, thereby reducing the impact of the current signal on the charging terminal on the communication terminal and ensuring the stability of the communication signal between the charging station 200 and the lawnmower.

[0053] Furthermore, during the process of the intelligent lawnmower 100 exiting the charging station 200, the first communication terminal 12 and the second communication terminal 22 first disconnect from each other, followed by the first charging terminal 11 and the second charging terminal 21. When the charging station 200 detects that the intelligent lawnmower 100 has disconnected from the charging station 200 by detecting the signal of the second communication terminal 22, the charging station 200 immediately disconnects the charging circuit. At this time, the first charging terminal 11 and the second charging terminal 21 are not energized, and the first charging terminal 11 and the second charging terminal 21 will not spark.

[0054] Therefore, by staggering the arrangement of the first communication terminal 12 and the first charging terminal 11, when a current signal is transmitted through the charging terminal, the influence of the current signal on the communication terminal is reduced, ensuring the stability of the communication signal between the charging station 200 and the lawnmower. Furthermore, it can prevent creepage that could cause arcing in the charging terminal, thus preventing damage to the electronic components inside the charging station 200 and the smart lawnmower 100, and improving the charging safety of the smart lawnmower 100.

[0055] In some embodiments of the present invention, such as Figure 2 , Figure 4 , Figure 5 and Figure 7 As shown, the first charging terminal assembly 10 may further include a first housing 13 disposed on the front side of the body of the smart lawnmower 100. The first housing 13 forms a cavity 14 on the front side of the body of the smart lawnmower 100. The first charging terminal assembly 10 is disposed on the first housing 13, and a portion of the structure of the first charging terminal 11 and the first communication terminal 12 protrudes into the cavity 14. When the smart lawnmower 100 enters the charging station 200 and docks for charging, the second charging terminal assembly 20 is inserted into the first housing 13 from the open end of the cavity 14. After the second charging terminal assembly 20 is inserted into the first housing 13, the first communication terminal 12 and the second communication terminal 22 contact and dock, and the first charging terminal 11 and the second charging terminal 21 contact and dock. This arrangement allows for the insertion of the first charging terminal assembly 10 and the second charging terminal assembly 20 during the process of the smart lawnmower 100 entering the charging station 200, and the placement of the first charging terminal assembly 10 is reasonable, facilitating docking between the smart lawnmower 100 and the charging station 200.

[0056] In some embodiments of the present invention, such as Figure 4 As shown, the opening of the cavity 14 is funnel-shaped. It should be noted that, as Figure 2 As shown, the front end of the cavity 14 is open, and the opening of the cavity 14 is located at the front end of the cavity 14. When the smart lawnmower 100 enters the charging station 200, during the docking and charging process between the smart lawnmower 100 and the charging station 200, the opening of the cavity 14 is used to guide the docking between the smart lawnmower 100 and the charging station 200, so that the second charging terminal assembly 20 can be inserted into the cavity 14 from the opening of the cavity 14.

[0057] In some embodiments of the present invention, such as Figure 3 , Figure 4 and Figure 8As shown, the second charging terminal assembly 20 may further include a second housing 23 disposed on the side wall of the charging pile 40 of the charging station 200. The second charging terminal assembly 20 is disposed inside the second housing 23, and a portion of the structure of the second charging terminal 21 and the second communication terminal 22 protrudes outside the second housing 23. When the intelligent lawnmower 100 enters the charging station 200 and docks for charging, after the second charging terminal assembly 20 is inserted into the first housing 13 through the opening of the cavity 14, the portion of the structure of the second charging terminal 21 and the second communication terminal 22 protrudes outside the second housing 23, ensuring contact and docking of the first communication terminal 12 and the second communication terminal 22, and contact and docking of the first charging terminal 11 and the second charging terminal 21. This enables electrical connection between the intelligent lawnmower 100 and the charging station 200, thus making the structural design of the second charging terminal assembly 20 reasonable.

[0058] In some embodiments of the present invention, such as Figures 4-7 As shown, both the first charging terminal 11 and the first communication terminal 12 include the same first conductive electrode sheet 15 with a straight strip structure. The first conductive electrode sheet 15 is provided with a first protrusion 151, which is embedded in the side wall of the cavity 14. Further, the first protrusion 151 extends into the cavity 14. Wherein, as... Figure 7 As shown, the first charging terminal 11 and the first communication terminal 12 can have the same structure. The first housing 13 is provided with a mounting hole 131 that penetrates the first housing 13. The first protrusion 151 is installed in the mounting hole 131 and extends into the cavity 14 through the mounting hole 131. This arrangement can achieve the effect of the first conductive electrode 15 extending into the cavity 14. After the second charging terminal assembly 20 is inserted into the first housing 13, it can ensure that the first communication terminal 12 and the second communication terminal 22 are in contact and docking, and the first charging terminal 11 and the second charging terminal 21 are in contact and docking.

[0059] Furthermore, such as Figure 4 and Figure 7 As shown, both the first charging terminal 11 and the first communication terminal 12 further include a bending portion 153, which is connected to the first protrusion 151. The bending portion 153 and the first protrusion 151 are integrally formed. The bending portion 153 is disposed on the outside of the first housing 13. The outer surface of the first housing 13 is provided with a support platform 132, which is supported between the bending portion 153 and the first housing 13. The bending portion 153 is installed on the support platform 132 by fasteners, which can be bolts. This arrangement can fix the first charging terminal 11 and the first communication terminal 12 on the first housing 13, and also facilitate the installation and removal of the first charging terminal 11 and the first communication terminal 12.

[0060] In some embodiments of the present invention, such as Figure 4 and Figure 8 As shown, both the second charging terminal 21 and the second communication terminal 22 may include the same arc-shaped strip-shaped second conductive electrode sheet 24. One end of the second conductive electrode sheet 24 is bolted to the lower housing 233 of the second housing 23. The second conductive electrode sheet 24 has a second protrusion 241, which is connected to the lower housing 233 of the second housing 23 via a biasing member 242. Multiple through holes 231 are formed on the surface of the upper housing 232 of the second housing 23. The biasing member 242 supports the second protrusion 241 to extend and retract within the through holes 231. For example... Figure 8 As shown, the second charging terminal 21 and the second communication terminal 22 can have the same structure. The second charging terminal 21 and the second communication terminal 22 are disposed in the second housing 23. The second protrusion 241 is installed in the through hole 231, and one second protrusion 241 is installed in each through hole 231. Furthermore, the biasing member 242 can be configured as a spring, with one spring corresponding to one second conductive electrode plate 24. The biasing member 242 is supported between the lower housing 233 and the second conductive electrode plate 24 of the second housing 23. During the insertion of the first charging terminal assembly 10 and the second charging terminal assembly 20, when the second housing 23 is inserted into the cavity 14, the first charging terminal 11 presses against the second protrusion 241 of the second charging terminal 21, causing the second protrusion 241 to move toward the inside of the second housing 23. The first communication terminal 12 presses against the second protrusion 241 of the second communication terminal 22, causing the second protrusion 241 to move toward the inside of the second housing 23. The spring is compressed, and under the action of the spring force, the first charging terminal 11 and the second charging terminal 21 come into contact, and the second communication terminal 22 and the first communication terminal 12 come into contact. When the first charging terminal assembly 10 and the second charging terminal assembly 20 are separated, the spring drives the second protrusion 241 to move away from the second housing 23, causing the second protrusion 241 to protrude to the outside of the second housing 23.

[0061] In some embodiments of the present invention, when the first charging terminal assembly 10 and the second charging terminal assembly 20 are engaged, a portion of the structure of the second housing 23 is housed within the first housing 13, and the first protrusion 151 and the second protrusion 241 contact each other to achieve engagement between the first charging terminal assembly 10 and the second charging terminal assembly 20. Specifically, when the first charging terminal assembly 10 and the second charging terminal assembly 20 are inserted into each other, the second housing 23 is inserted into the first housing 13 through the opening of the cavity 14. After the first charging terminal assembly 10 and the second charging terminal assembly 20 are inserted, the first protrusion 151 of the first charging terminal 11 contacts the second protrusion 241 of the second charging terminal 21, and the first protrusion 151 of the first communication terminal 12 contacts the second protrusion 241 of the second communication terminal 22. When the charging station 200 connects to the charging circuit, it can ensure that the charging station 200 can charge the intelligent lawnmower 100.

[0062] In some embodiments of the present invention, such as Figure 5 and Figure 7 As shown, the first protrusion 151 includes a first ridge 152, the extension direction of which is parallel to the direction in which the smart lawnmower 100 enters the charging station 200. Further, the first ridge 152 extends in the front-rear direction of the smart lawnmower 100. The second protrusion 241 includes a second ridge 243, the extension direction of which is perpendicular to the direction in which the smart lawnmower 100 enters the charging station 200. Figure 5 As shown, the first ridge 152 extends in the front-to-back direction, and the second ridge 243 extends in the left-to-right direction. When the smart lawnmower 100 enters the charging station 200, if the lawnmower 100 is not perpendicular to the side of the charging pile 40, within a first angle range, after the second housing 23 is inserted into the first housing 13, the first ridge 152 and the second ridge 243 ensure good contact, achieving good compatibility between the first charging terminal assembly 10 and the second charging terminal assembly 20, thereby improving the success rate of docking the lawnmower with the charging station 200.

[0063] In some embodiments of the present invention, the second housing 23 includes an upper housing 232 and a lower housing 233, with a plurality of mutually isolated receiving cavities 234 provided between the upper housing 232 and the lower housing 233. The second charging terminal 21 and the second communication terminal 22 are each independently disposed within a receiving cavity 234. Further, the upper housing 232 and the lower housing 233 are detachably connected. After the upper housing 232 and the lower housing 233 are assembled together, the upper housing 232 and the lower housing 233 together define a plurality of mutually isolated receiving cavities 234, for example: Figure 8 As shown, the upper housing 232 and the lower housing 233 together define three mutually isolated receiving cavities 234. There are two second charging terminals 21 and one second communication terminal 22. The two second charging terminals 21 are respectively disposed in the receiving cavities 234 on both sides, and the second communication terminal 22 is disposed in the middle receiving cavity 234. This arrangement can separate the second communication terminal 22 and the second charging terminal 21, which can further reduce the impact of the large current on the charging terminal on the communication terminal, thereby further ensuring the stability of the communication signal between the charging station 200 and the intelligent lawnmower 100.

[0064] In some embodiments of the present invention, such as Figure 9As shown, multiple drainage holes 235 are provided on the surface of the lower housing 233, corresponding to the bottom positions of each receiving cavity 234. Furthermore, multiple drainage holes 235 are provided on the bottom wall of the lower housing 233, corresponding to multiple receiving cavities 234. Each receiving cavity 234 has at least one corresponding drainage hole 235, and the drainage hole 235 communicates with its corresponding receiving cavity 234. When liquid (e.g., rainwater) flows into the receiving cavity 234, the liquid in the receiving cavity 234 flows out of the lower housing 233 through the drainage hole 235, preventing liquid residue in the receiving cavity 234 and avoiding accidental electrical contact between the charging terminal and the communication terminal due to rainwater or other factors, further reducing the impact of the large current on the charging terminal on the communication terminal.

[0065] It should be noted that the first charging terminal 11 includes a first positive terminal and a first negative terminal, and the second charging terminal 21 includes a second positive terminal and a second negative terminal. The first positive terminal and the second positive terminal are in contact with each other, and the first negative terminal and the second negative terminal are in contact with each other.

[0066] like Figures 1-10 As shown, the automatic working system according to an embodiment of the present invention can be the intelligent lawnmower 100 charging operation system described in the above embodiment.

[0067] The automated working system includes multiple smart lawnmowers 100 of different types and a charging station 200 (the charging station 200 is the charging station 200 in the above embodiment) for multiple smart lawnmowers 100 to dock and charge. In other words, the automated working system includes a charging station 200 and multiple smart lawnmowers 100 of different types. The intelligent lawnmower 100 includes a body and an energy storage component 33. The intelligent lawnmower 100 also includes a first charging terminal component 10 (the first charging terminal component 10 in the above embodiment) disposed on the body and a first control unit 30 disposed inside the body and connected to the first charging terminal component 10. The first charging terminal component 10 includes a first charging terminal 11 and a first communication terminal 12. The first control unit 30 includes a first signal transmitting module 31 connected to the first communication terminal 12 and a first control module 32 connected to the first signal transmitting module 31. The first signal transmitting module 31 transmits a first level signal to the outside through the first communication terminal 12. The energy storage component 33 receives charging energy through the first charging terminal 11. The intelligent lawnmower 100 and the charging station 200 are connected. After the charging station 200 is connected to the charging circuit, the electrical energy on the side of the charging station 200 is transmitted to the energy storage component 33 through the first charging terminal 11 to realize the charging of the intelligent lawnmower 100.

[0068] The charging station 200 includes a charging pile 40, a second charging terminal assembly 20 (the second charging terminal assembly 20 in the above embodiment) disposed on the charging pile 40, and a second control unit 50 disposed in the charging pile 40 and connected to the second charging terminal assembly 20. The second charging terminal assembly 20 includes a second charging terminal 21 and a second communication terminal 22. The second control unit 50 includes a second signal transmitting module 51 and a signal detection module 52 connected to the second communication terminal 22, and a second control module 53 connected to the second signal transmitting module 51 and the signal detection module 52. The second signal transmitting module 51 transmits a second level signal to the outside via the second communication terminal 22.

[0069] When the smart lawnmower 100 enters the charging station 200 for charging, the first charging terminal 11 and the second charging terminal 21 are connected accordingly, and the first communication terminal 12 and the second communication terminal 22 are connected accordingly. It should be noted that the first charging terminal 11 includes a first positive terminal and a first negative terminal, and the second charging terminal 21 includes a second positive terminal and a second negative terminal. The first positive terminal and the second positive terminal are in contact with each other, and the first negative terminal and the second negative terminal are in contact with each other. The signal detection module 52 detects the first feedback signal from the second communication terminal 22 in real time. The second control module 53 identifies the type of the currently connected smart lawnmower 100 based on the received first feedback signal. The second control module 53 sets the corresponding charging control parameters according to the type of the smart lawnmower 100, and controls the electrical connection between the first charging terminal 11 and the second charging terminal 21.

[0070] Specifically, different types of smart lawnmowers 100 correspond to different first feedback signals. Before the smart lawnmower 100 is connected to the charging station 200, the first charging terminal 11 is not energized when the smart lawnmower 100 is powered on. After the smart lawnmower 100 is connected to the charging station 200, when the charging station 200 is powered on, the first control module 32 sends a first level signal to the first communication terminal 12 through the first signal sending module 31, and the second control module 53 sends a second level signal to the second communication terminal 22 through the second signal sending module 51. The signal detection module 52 in the charging station 200 detects the first feedback signal of the second communication terminal 22 in real time. The second control module 53 identifies the type of the currently connected smart lawnmower 100 based on the received first feedback signal, and sets the corresponding charging control according to the type of the current smart lawnmower 100. The charging station 200 controls the electrical connection of the first charging terminal 11 and the second charging terminal 21 according to the charging control parameters. Specifically, when the second control module 53 identifies, based on the received first feedback signal, that the type of the currently docked smart lawnmower 100 is compatible with the charging station 200, the second control module 53 sets the corresponding charging control parameters according to the type of the current smart lawnmower 100. The charging station 200 then connects the charging circuit and starts charging according to the charging control parameters, enabling the charging station 200 to support charging multiple types of smart lawnmowers 100. When the second control module 53 identifies, based on the received first feedback signal, that the type of the currently docked smart lawnmower 100 is not compatible with the charging station 200, the charging station 200 does not connect the charging circuit, and in this case, the charging station 200 cannot charge the smart lawnmower 100. This setup prevents mis-paired smart lawnmowers 100 from accidentally starting charging when connected to the charging station 200, thus preventing damage to the smart lawnmower 100. Furthermore, the charging station 200 can be configured with different charging control parameters based on the type of smart lawnmower 100, allowing it to meet the charging needs of different types of smart lawnmowers 100 and further preventing damage to the smart lawnmower 100.

[0071] Along the direction in which the intelligent lawnmower 100 enters the charging station 200, the first communication terminal 12 and the first charging terminal 11 are arranged in a staggered manner, and / or the second communication terminal 22 and the second charging terminal 21 are arranged in a staggered manner. It should be explained that the direction in which the intelligent lawnmower 100 enters the charging station 200 refers to... Figure 1The front-to-back direction can be such that the first communication terminal 12 and the first charging terminal 11 are arranged in a staggered manner, or the second communication terminal 22 and the second charging terminal 21 are arranged in a staggered manner, or the first communication terminal 12 and the first charging terminal 11 are arranged in a staggered manner and the second communication terminal 22 and the second charging terminal 21 are arranged in a staggered manner. This application will use the arrangement of the second communication terminal 22 and the second charging terminal 21 in a staggered manner as an example for explanation.

[0072] During the docking process between the smart lawnmower 100 and the charging station 200, the first charging terminal 11 and the second charging terminal 21 first make contact and dock (at this time, the first charging terminal 11 and the second charging terminal 21 are not energized), and then the first communication terminal 12 and the second communication terminal 22 make contact and dock. After the first communication terminal 12 and the second communication terminal 22 are docked, the charging station 200 identifies whether the smart lawnmower 100 and the charging station 200 are successfully docked by detecting the voltage signal of the second communication terminal 22. After successful authentication, the charging station 200 connects the charging circuit to charge the smart lawnmower 100. The second communication terminal 22 and the second charging terminal 21 are arranged in a staggered manner, with a large distance between them. When the first charging terminal 11 and the second charging terminal 21 are connected to a current signal, creepage that could cause arcing at the charging terminals can be avoided. This prevents arcing at the charging terminals from damaging the electronic components inside the charging station 200 and the smart lawnmower 100, thus improving the charging safety of the smart lawnmower 100. Furthermore, during the charging process, the staggered arrangement of the second communication terminal 22 and the second charging terminal 21 reduces electromagnetic interference from the current signal on the charging terminal to the communication signal on the communication terminal, thereby reducing the impact of the current signal on the charging terminal on the communication terminal and ensuring the stability of the communication signal between the charging station 200 and the lawnmower.

[0073] Furthermore, during the process of the intelligent lawnmower 100 exiting the charging station 200, the first communication terminal 12 and the second communication terminal 22 first disconnect from each other, followed by the first charging terminal 11 and the second charging terminal 21. When the charging station 200 detects that the intelligent lawnmower 100 has disconnected from the charging station 200 by detecting the signal of the second communication terminal 22, the charging station 200 immediately disconnects the charging circuit. At this time, the first charging terminal 11 and the second charging terminal 21 are not energized, and the first charging terminal 11 and the second charging terminal 21 will not spark.

[0074] In some embodiments of the present invention, the first level signal and the second level signal are square wave signals with different frequencies or amplitudes, for example: the first level signal and the second level signal are square wave signals with different amplitudes.

[0075] In some embodiments of the present invention, the amplitude of the first level signal corresponding to different types of smart lawnmowers 100 is different. When the smart lawnmower 100 is docked with the charging station 200, the first control module 32 sends the first level signal to the first communication terminal 12 through the first signal sending module 31, and the second control module 53 sends the second level signal to the second communication terminal 22 through the second signal sending module 51. By having different amplitudes of the first level signals corresponding to different types of smart lawnmowers 100, the signal detection module 52 in the charging station 200 can detect different first feedback signals from the second communication terminal 22. The second control module 53 can identify the type of smart lawnmower 100 currently docked based on the received first feedback signal.

[0076] In some embodiments of the present invention, the second control unit 50 further includes a memory, which pre-stores multiple reference feedback signal sequences generated by modulating a second level signal with multiple different first level signals. The second control module 53 compares the received first feedback signal with the reference feedback signal sequence. When the first feedback signal matches the reference feedback signal sequence, it determines that the currently docked smart lawnmower 100 is a smart lawnmower 100 paired with the charging station 200. The second control module 53 identifies the type of the currently docked smart lawnmower 100 according to the corresponding reference feedback signal. Then, the second control module 53 sets the corresponding charging control parameters according to the type of the current smart lawnmower 100. The charging station 200 connects the charging circuit and starts charging according to the charging control parameters. This setting enables the second control module 53 to identify the type of the currently docked smart lawnmower 100 and allows the charging station 200 to adjust to a charging mode that matches the smart lawnmower 100.

[0077] Furthermore, when the feedback signal does not match the reference feedback signal sequence, the second control module 53 determines whether the first feedback signal corresponds to the second level signal. When the first feedback signal corresponds to the second level signal, it controls the first charging terminal 11 and the second charging terminal 21 to be electrically connected, and disconnects after a certain period of time. Specifically, when the feedback signal does not match the reference feedback signal sequence, and the first feedback signal corresponds to the second level signal, the second control module 53 determines that the intelligent lawnmower 100 is either not powered on or has run out of power. The charging station 200 first connects the charging circuit to electrically connect the first charging terminal 11 and the second charging terminal 21. The charging station 200 disconnects the charging circuit after a certain period of time to prevent the charging station 200 from charging an incompatible intelligent lawnmower 100, which could damage the intelligent lawnmower 100.

[0078] It should be noted that when the feedback signal does not match the reference feedback signal sequence, the second control module 53 determines whether the first feedback signal corresponds to the second level signal. When the first feedback signal does not correspond to the second level signal, the charging station 200 does not connect the charging circuit and issues an alarm message. The alarm message can be an audible alarm message and / or an image alarm message, but the present invention is not limited to this, and the form of the alarm message can also be other alarm forms.

[0079] Furthermore, during the timing period, the signal detection module 52 continuously monitors the second feedback signal of the second communication terminal 22. When the second control module 53 determines that the second feedback signal matches the reference feedback signal sequence, it adjusts to the corresponding charging control parameters and controls the first charging terminal 11 and the second charging terminal 21 to maintain continuous electrical connection. When the first feedback signal does not match the reference feedback signal sequence, and the first feedback signal corresponds to the second level signal, the second control module 53 determines that the smart lawnmower 100 is not powered on or has run out of power. The charging station 200 first connects the charging circuit to electrically connect the first charging terminal 11 and the second charging terminal 21. The charging station 200 connects the charging circuit for a period of time and then disconnects it. During the timeout period, the signal detection module 52 monitors the second feedback signal of the second communication terminal 22 in real time. If the second control module 53 determines that the second feedback signal matches the reference feedback signal sequence, the second control module 53 identifies the type of the currently connected smart lawnmower 100 according to the corresponding reference feedback signal. Then, the second control module 53 sets the corresponding charging control parameters according to the type of the current smart lawnmower 100. The charging station 200 adjusts to the corresponding charging mode according to the charging control parameters and connects the charging circuit to start charging.

[0080] Furthermore, the charging station 200 also includes a display unit. When the timing period ends, which can also be understood as the intelligent lawnmower 100 charging for a period of time, if the second control module 53 determines that the second feedback signal does not match the reference feedback signal sequence, the display unit will issue an alarm message and prohibit the electrical connection between the first charging terminal 11 and the second charging terminal 21. Specifically, when the feedback signal does not match the reference feedback signal sequence, and the first feedback signal corresponds to the second level signal, the second control module 53 determines that the intelligent lawnmower 100 is either not powered on or has run out of power. The charging station 200 first connects the charging circuit to electrically connect the first charging terminal 11 and the second charging terminal 21. The charging station 200 disconnects the charging circuit after a timing period. When the timing period ends, if the second control module 53 determines that the second feedback signal does not match the reference feedback signal sequence, it indicates that the intelligent lawnmower 100 cannot currently be paired with the charging station 200. Yes, the second control module 53 controls the display unit to issue alarm information (the alarm information can be an audible alarm and / or an image alarm, but the present invention is not limited to this, and the form of the alarm information can also be other alarm forms). In addition, the charging station 200 does not connect the charging circuit and prohibits the first charging terminal 11 and the second charging terminal 21 from being electrically connected, so as to prevent the charging station 200 from charging the unpaired smart lawnmower 100. This can further prevent the unpaired smart lawnmower 100 from accidentally starting charging when it is connected to the charging station 200, and further prevent the smart lawnmower 100 from being damaged.

[0081] It should be noted that the intelligent lawnmower 100 and the charging station 200 can communicate by the first signal sending module 31 sending different level signals to the first communication terminal 12 and the second signal sending module 51 sending different level signals to the second communication terminal 22 to transmit data.

[0082] In some embodiments of the present invention, such as Figure 2 , Figure 4 , Figure 5 and Figure 7 As shown, the first charging terminal assembly 10 also includes a first housing 13 disposed on the front side of the machine body, with the first charging terminal 11 and the first communication terminal 12 disposed within the first housing 13. Further, the first housing 13 forms a cavity 14 on the front side of the intelligent lawnmower 100, with the first charging terminal 11 and the first communication terminal 12 disposed on the first housing 13, and portions of the first charging terminal 11 and the first communication terminal 12 protruding into the cavity 14. Figure 3 , Figure 4 and Figure 8As shown, the second charging terminal assembly 20 also includes a second housing 23 disposed on the side wall of the charging pile 40, and the second charging terminal 21 and the second communication terminal 22 are disposed on the upper surface of the second housing 23. Further, a portion of the structure of the second charging terminal 21 and the second communication terminal 22 protrudes outside the second housing 23.

[0083] When the smart lawnmower 100 enters the charging station 200, a portion of the second housing 23 is housed within the first housing 13, allowing the first charging terminal 11 to contact the second charging terminal 21, and the first communication terminal 12 to contact the second communication terminal 22, thereby achieving the docking and engagement of the first charging terminal assembly 10 and the second charging terminal assembly 20. Specifically, during the docking and charging process of the smart lawnmower 100 entering the charging station 200, the second housing 23 is inserted into the first housing 13 from the open end of the cavity 14. After the second charging terminal assembly 20 is inserted into the first housing 13, the first communication terminal 12 and the second communication terminal 22 contact and engage, and the first charging terminal 11 and the second charging terminal 21 contact and engage. This arrangement enables the insertion of the first charging terminal assembly 10 and the second charging terminal assembly 20 during the process of the smart lawnmower 100 entering the charging station 200, and ensures that the first charging terminal assembly 10 is positioned appropriately, facilitating docking between the smart lawnmower 100 and the charging station 200.

[0084] In some embodiments of the present invention, both the first charging terminal 11 and the first communication terminal 12 are composed of the same first conductive electrode sheet 15 with a linear strip structure. The first housing 13 is provided with a recessed cavity 14 with a funnel-shaped opening. The first conductive electrode sheet 15 is provided with a first protrusion 151, which is embedded in the side wall of the recessed cavity 14. Further, the first protrusion 151 extends into the recessed cavity 14. Wherein, as... Figure 7 As shown, the first charging terminal 11 and the first communication terminal 12 can have the same structure. The first housing 13 is provided with a mounting hole 131 that penetrates the first housing 13. The first protrusion 151 is installed in the mounting hole 131 and extends into the cavity 14 through the mounting hole 131. This arrangement can achieve the effect of the first conductive electrode 15 extending into the cavity 14. After the second charging terminal assembly 20 is inserted into the first housing 13, it can ensure that the first communication terminal 12 and the second communication terminal 22 are in contact and docking, and the first charging terminal 11 and the second charging terminal 21 are in contact and docking.

[0085] Furthermore, such as Figure 4 and Figure 7As shown, both the first charging terminal 11 and the first communication terminal 12 further include a bending portion 153, which is connected to the first protrusion 151. The bending portion 153 and the first protrusion 151 are integrally formed. The bending portion 153 is disposed on the outside of the first housing 13. The outer surface of the first housing 13 is provided with a support platform 132, which is supported between the bending portion 153 and the first housing 13. The bending portion 153 is installed on the support platform 132 by fasteners, which can be bolts. This arrangement can fix the first charging terminal 11 and the first communication terminal 12 on the first housing 13, and also facilitate the installation and removal of the first charging terminal 11 and the first communication terminal 12.

[0086] like Figure 4 and Figure 8 As shown, both the second charging terminal 21 and the second communication terminal 22 are composed of the same arc-shaped strip-shaped second conductive electrode sheet 24. One end of the second conductive electrode sheet 24 is provided with a second protrusion 241, which protrudes out of the second housing 23. Wherein, as... Figure 8 As shown, the first charging terminal 11 and the first communication terminal 12 can have the same structure. During the insertion process of the first charging terminal assembly 10 and the second charging terminal assembly 20, since the second protrusion extends to the outside of the second housing 23, when the second housing 23 is inserted into the cavity 14, it can ensure that the first charging terminal 11 and the second charging terminal 21 are in contact, and the second communication terminal 22 and the first communication terminal 12 are in contact.

[0087] like Figure 5 and Figure 7 As shown, the first protrusion 151 has a first ridge 152, and the second protrusion 241 has a second ridge 243. The extending direction of the first ridge 152 is parallel to the direction in which the intelligent lawnmower 100 enters the charging station 200. Furthermore, the first ridge 152 extends in the front-rear direction of the intelligent lawnmower 100. The extending direction of the second ridge 243 is perpendicular to the direction in which the intelligent lawnmower 100 enters the charging station 200. Figure 5 As shown, the first ridge 152 extends in the front-to-back direction, and the second ridge 243 extends in the left-to-right direction. When the smart lawnmower 100 enters the charging station 200, the body of the smart lawnmower 100 is not perpendicular to the side of the charging pile 40. Within a first angle range, after the second housing 23 is inserted into the first housing 13, the first ridge 152 and the second ridge 243 ensure good contact, achieving good fit between the first charging terminal assembly 10 and the second charging terminal assembly 20, thereby improving the success rate of docking the lawnmower with the charging station 200.

[0088] In some embodiments of the present invention, the second housing 23 includes an upper housing 232 and a lower housing 233, with a plurality of mutually separated receiving cavities 234 disposed between the upper housing 232 and the lower housing 233. The second charging terminal 21 and the second communication terminal 22 are respectively independently disposed within the plurality of receiving cavities 234. Further, the upper housing 232 and the lower housing 233 are detachably connected. After the upper housing 232 and the lower housing 233 are assembled together, the upper housing 232 and the lower housing 233 together define a plurality of mutually isolated receiving cavities 234, for example: Figure 8 As shown, the upper housing 232 and the lower housing 233 together define three mutually isolated receiving cavities 234. There are two second charging terminals 21 and one second communication terminal 22. The two second charging terminals 21 are respectively disposed in the receiving cavities 234 on both sides, and the second communication terminal 22 is disposed in the middle receiving cavity 234. This arrangement can separate the second communication terminal 22 and the second charging terminal 21, which can further reduce the impact of the large current on the charging terminal on the communication terminal, thereby further ensuring the stability of the communication signal between the charging station 200 and the intelligent lawnmower 100.

[0089] Furthermore, the top of the receiving cavity 234 is provided with multiple through holes 231. One end of the second conductive electrode plate 24, which has a second protrusion 241, is connected to the lower housing 233 via a biasing member 242. The biasing member 242 supports the second protrusion 241 as it protrudes through the through holes 231 to the outside of the second housing 23. Further, the second protrusion 241 is connected to the lower housing 233 of the second housing 23 via the biasing member 242. Multiple through holes 231 are formed on the surface of the upper housing 232 of the second housing 23. The biasing member 242 supports the second protrusion 241 as it extends and retracts within the through holes 231. For example... Figure 8As shown, the first charging terminal 11 and the first communication terminal 12 can have the same structure. The second charging terminal 21 and the second communication terminal 22 are disposed in the second housing 23. The second protrusion 241 is installed in the through hole 231, and one second protrusion 241 is installed in each through hole 231. Furthermore, the biasing member 242 can be configured as a spring, with one spring corresponding to one second conductive electrode plate 24. The biasing member 242 is supported between the lower housing 233 and the second conductive electrode plate 24 of the second housing 23. During the insertion of the first charging terminal assembly 10 and the second charging terminal assembly 20, when the second housing 23 is inserted into the cavity 14, the first charging terminal 11 presses against the second protrusion 241 of the second charging terminal 21, causing the second protrusion 241 to move toward the inside of the second housing 23. The first communication terminal 12 presses against the second protrusion 241 of the second communication terminal 22, causing the second protrusion 241 to move toward the inside of the second housing 23. The spring is compressed, and under the action of the spring force, the first charging terminal 11 and the second charging terminal 21 come into contact, and the second communication terminal 22 and the first communication terminal 12 come into contact. When the first charging terminal assembly 10 and the second charging terminal assembly 20 are separated, the spring drives the second protrusion 241 to move away from the second housing 23, causing the second protrusion 241 to protrude to the outside of the second housing 23.

[0090] Furthermore, such as Figure 6 and Figure 8 As shown, a mounting structure 236 is provided at the bottom of the receiving cavity 234. The other end of the second conductive electrode plate 24 is fixed to the lower housing 233 through the mounting structure 236. The other end of the second conductive electrode plate 24 can be bolted to the mounting structure 236, thereby securing the second conductive electrode plate 24 within the receiving cavity 234 and facilitating its installation and removal. Figure 9 As shown, in the area where the mounting structure 236 is located, a plurality of drainage holes 235 are provided at the bottom of the corresponding receiving cavity 234. Furthermore, each receiving cavity 234 is provided with at least one drainage hole 235, and the drainage hole 235 is connected to the corresponding receiving cavity 234. When liquid (e.g., rainwater) flows into the receiving cavity 234, the liquid in the receiving cavity 234 flows out of the lower housing 233 through the drainage hole 235, which can prevent liquid from remaining in the receiving cavity 234 and prevent rainwater or other situations from accidentally triggering electrical contact between the charging terminal and the communication terminal, further reducing the impact of the large current on the charging terminal on the communication terminal.

[0091] like Figures 1-11 As shown, a charging station 200 according to an embodiment of the present invention is the same as the charging station 200 in the above embodiment, and the charging station 200 is used to charge the smart lawnmower 100.

[0092] The charging station 200 includes: a base 60, a charging pile 40 disposed on the base 60, a power supply component 61 for supplying power to the charging station 200, a charging terminal assembly (the charging terminal assembly is the second charging terminal assembly 20 in the above embodiment), and a control unit (the control unit is the second control unit 50 in the above embodiment). The charging terminal assembly is disposed on the side wall of the charging pile 40. The charging terminal assembly includes a charging terminal (the second charging terminal 21 in the above embodiment) and a communication terminal (the second communication terminal 22 in the above embodiment). The charging connector on the smart lawnmower 100 (the first charging terminal assembly 10 in the above embodiment) is connected to it to receive charging power. Further, the first charging terminal assembly 10 includes a first charging terminal 11 and a first communication terminal 12. When the smart lawnmower 100 and the charging station 200 are connected, the first charging terminal assembly 10 and the second charging terminal assembly 20 are plugged in, the first charging terminal 11 is connected to the second charging terminal 21, and the first communication terminal 12 is connected to the second communication terminal 22.

[0093] The control unit is located inside the charging pile 40. The control unit includes a signal detection module 52 (signal detection module 52 in the above embodiment), a charging control module 62, a charging parameter detection module 63, and a main control module (second control module 53 in the above embodiment) connected to the signal detection module 52, the charging control module 62, and the charging parameter detection module 63. The charging control module 62 is located on the charging circuit formed between the charging terminal and the power supply component 61. The charging control module 62 is used to set the electrical energy transmitted outward from the charging terminal. The charging control module 62 includes a first switching element 621 and a second switching element 622. The first switching element 621 is used to connect or disconnect the electrical connection between the power supply component 61 and the charging control module 62, and the second switching element 622 is used to connect or disconnect the electrical connection between the charging terminal and the charging control module 62.

[0094] When the smart lawnmower 100 enters the charging station 200 for charging, the signal detection module 52 receives the feedback signal from the communication terminal (which can be the first feedback signal in the above embodiment) and transmits it to the main control module. The main control module generates a charging control command based on the feedback signal. The charging control module 62 controls the first switching element 621 and the second switching element 622 to close according to the charging control command to conduct the charging circuit. The current of the power supply component 61 in the charging station 200 flows to the charging terminal, thereby realizing the effect of charging the energy storage component 33 inside the smart lawnmower 100 by the charging station 200.

[0095] Specifically, when the smart lawnmower 100 enters the charging station 200 for charging, the signal detection module 52 detects the feedback signal from the second communication terminal 22 and transmits the feedback signal to the main control module. The main control module identifies the type of the smart lawnmower 100 currently connected based on the received feedback signal. When the main control module identifies that the type of the smart lawnmower 100 currently connected is a compatible smart lawnmower 100 with the charging station 200, the main control module generates a charging control command based on the feedback signal and outputs the charging control command signal to the charging control module 62. The charging control module 62 controls the first switching element 621 and the second switching element 622 to close to conduct the charging circuit according to the charging control command. When the main control module identifies, based on the received feedback signal, that the type of the currently docked smart lawnmower 100 is not compatible with the charging station 200, the main control module generates a non-charging control command based on the feedback signal. The charging control module 62 controls the first switching element 621 and the second switching element 622 to disconnect according to the non-charging control command to cut off the charging circuit, thereby preventing the non-paired smart lawnmower 100 from accidentally starting charging when docked with the charging station 200, and preventing damage to the smart lawnmower 100.

[0096] When the smart lawnmower 100 is in the charging state of being connected to the charging station 200, the charging parameter detection module 63 continuously detects the charging parameters on the charging circuit. When the charging parameters are abnormal, the charging control module 62 controls the first switch element 621 and the second switch element 622 to disconnect in order to prevent the current in the smart lawnmower 100 from flowing back into the charging station 200. Among them, the charging parameter is the charging current. When the charging current is less than the set threshold, it is determined that the charging status of the current charging station 200 is abnormal. When the smart lawnmower 100 is charging with the charging station 200, the charging parameter detection module 63 continuously detects the value of the charging current on the charging circuit. The charging parameter detection module 63 transmits the real-time value of the charging current on the charging circuit to the main control module. When the main control module determines that the charging current is less than the set threshold, the charging parameter is abnormal, and it is determined that the charging station 200 is powered off or malfunctioning. At this time, the voltage of the energy storage component 33 (battery) in the smart lawnmower 100 is greater than the charging voltage. The main control module outputs a control signal to the charging control module 62, so that the charging control module 62 controls the first switch element 621 and the second switch element 622 to disconnect, preventing the current in the smart lawnmower 100 from flowing back into the charging station 200, thereby improving the charging safety of the smart lawnmower 100.

[0097] In some embodiments of the present invention, such as Figure 11As shown, the charging control module 62 includes a first transistor 623 and a second transistor 624. The first transistor 623 is connected between the main control module and the first switching element 621, and the second transistor 624 is connected between the main control module and the second switching element 622. When the intelligent lawnmower 100 enters the charging station 200 for charging, the main control module outputs a level signal to the first transistor 623 to control the first switching element 621 to close. The main control module also outputs a level signal to the second transistor 624 to control the second switching element 622 to close, thereby achieving the effect of connecting the charging circuit. When the charging station 200 loses power or malfunctions, the main control module outputs a SHUT signal to the first transistor 623 to cause the first transistor 623 to control the first switching element 621 to open. The main control module also outputs a SHUT signal to the second transistor 624 to cause the second transistor 624 to control the second switching element 622 to open, thus preventing the current in the intelligent lawnmower 100 from flowing back into the charging station 200.

[0098] In some embodiments of the present invention, such as Figure 11 As shown, both the first switching element 621 and the second switching element 622 are P-type MOSFETs, arranged back-to-back in the circuit layout. This back-to-back arrangement of the first switching element 621 and the second switching element 622 avoids leakage caused by reverse current generated by the parasitic diodes of the P-type MOSFETs, thus improving the safety of the charging station 200.

[0099] In some embodiments of the present invention, such as Figure 11 As shown, the charging parameter detection module 63 includes a sampling resistor 631, which is located between the first switching element 621 and the second switching element 622. The charging parameter detection module 63 also includes an amplifier 632, which amplifies the charging current sampled by the sampling resistor 631 and outputs it to the main control module. Amplifier 632 is connected to both ends of sampling resistor 631. The sampling resistor 631 detects the charging current signal. The charging current signal is amplified by amplifier 632 and output to the main control module. The main control module determines whether the charging station 200 is powered off or faulty based on the value of the charging current. When the charging current value is 0, it is determined that the charging station 200 is powered off. When the charging current value is less than the threshold, it is determined that the charger is faulty. At this time, the voltage of the energy storage component 33 (battery) in the smart lawnmower 100 is greater than the charging voltage. The main control module outputs control signals to the first transistor 623 and the second transistor 624 to control the first switching element 621 and the second switching element 622 to disconnect, preventing the current in the smart lawnmower 100 from flowing back into the charging station 200, thus improving the charging safety of the smart lawnmower 100.

[0100] Furthermore, such as Figure 11As shown, the sampling resistor 631 includes a first resistor 633 and a second resistor 634 connected in parallel. This configuration enables the sampling resistor 631 to better detect the charging current signal, making the charging current value detection more accurate. It can further prevent the current in the smart lawnmower 100 from flowing back into the charging station 200, thereby further improving the charging safety of the smart lawnmower 100.

[0101] In some embodiments of the present invention, such as Figure 4 and Figure 5 As shown, along the direction from which the intelligent lawnmower 100 enters the charging station 200, the charging terminals and communication terminals are arranged in a staggered manner, specifically, the second charging terminal 21 and the second communication terminal 22 are arranged in a staggered manner. This staggered arrangement of the second communication terminal 22 and the second charging terminal 21, with a larger distance between them, prevents creepage and arcing of the charging terminals when current is applied to the first charging terminal 11 and the second charging terminal 21. This prevents damage to the electronic components within the charging station 200 and the intelligent lawnmower 100, improving the charging safety of the intelligent lawnmower 100. Furthermore, during charging, the staggered arrangement of the second communication terminal 22 and the second charging terminal 21 reduces electromagnetic interference from the current signal on the charging terminal to the communication signal on the communication terminal, minimizing the impact of the current signal on the communication terminal and ensuring stable communication between the charging station 200 and the lawnmower.

[0102] Furthermore, during the process of the intelligent lawnmower 100 exiting the charging station 200, the first communication terminal 12 and the second communication terminal 22 first disconnect from each other, followed by the first charging terminal 11 and the second charging terminal 21. When the charging station 200 detects that the intelligent lawnmower 100 has disconnected from the charging station 200 by detecting the signal of the second communication terminal 22, the charging station 200 immediately disconnects the charging circuit. At this time, the first charging terminal 11 and the second charging terminal 21 are not energized, and the first charging terminal 11 and the second charging terminal 21 will not spark.

[0103] In some embodiments of the present invention, the charging station 200 further includes a charging terminal housing (the second housing 23 in the above embodiments). The housing includes an upper housing 232 and a lower housing 233, with a plurality of mutually separated receiving cavities 234 between the upper housing 232 and the lower housing 233. The charging terminal and the communication terminal are independently disposed in the receiving cavities 234. Further, the upper housing 232 and the lower housing 233 are detachably connected. After the upper housing 232 and the lower housing 233 are assembled together, the upper housing 232 and the lower housing 233 together define a plurality of mutually isolated receiving cavities 234, for example: Figure 8As shown, the upper housing 232 and the lower housing 233 together define three mutually isolated receiving cavities 234. There are two second charging terminals 21 and one second communication terminal 22. The two second charging terminals 21 are respectively disposed in the receiving cavities 234 on both sides, and the second communication terminal 22 is disposed in the middle receiving cavity 234. This arrangement can separate the second communication terminal 22 and the second charging terminal 21, which can further reduce the impact of the large current on the charging terminal on the communication terminal, thereby further ensuring the stability of the communication signal between the charging station 200 and the intelligent lawnmower 100.

[0104] Furthermore, the bottom of each of the multiple receiving cavities 234 is provided with multiple drainage holes 235, such as... Figure 9 As shown, the bottom wall of the lower housing 233 is provided with multiple drainage holes 235, which are correspondingly arranged with multiple receiving cavities 234. Each receiving cavity 234 has at least one corresponding drainage hole 235, and the drainage hole 235 is connected to the corresponding receiving cavity 234. When liquid (e.g., rainwater) flows into the receiving cavity 234, the liquid in the receiving cavity 234 flows out of the lower housing 233 through the drainage hole 235, which can prevent liquid from remaining in the receiving cavity 234 and prevent accidental electrical contact between the charging terminal and the communication terminal caused by rainwater or other factors, further reducing the impact of the large current on the charging terminal on the communication terminal.

[0105] In some embodiments of the present invention, both the charging terminal and the communication terminal are composed of the same arc-shaped strip-shaped conductive electrode sheet (i.e., the second conductive electrode sheet 24 in the above embodiments). One end of the conductive electrode sheet is provided with a protrusion (i.e., the second protrusion 241 in the above embodiments), which is supported by a spring and can extend and retract within the through hole 231 provided in the upper housing 232. Further, the other end of the second conductive electrode sheet 24 is bolted to the lower housing 233 of the second housing 23. Multiple through holes 231 are provided in the upper housing 232 of the second housing 23, and the biasing member 242 supports the second protrusion 241 to extend and retract within the through holes 231. For example... Figure 8As shown, the second charging terminal 21 and the second communication terminal 22 can have the same structure. The second charging terminal 21 and the second communication terminal 22 are disposed in the second housing 23. The second protrusion 241 is installed in the through hole 231. One second protrusion 241 is installed in each through hole 231. One spring supports one second conductive electrode plate 24. The spring is supported between the lower housing 233 and the second conductive electrode plate 24. During the insertion of the first charging terminal assembly 10 and the second charging terminal assembly 20, when the second housing 23 is inserted into the cavity 14, the first charging terminal 11 presses against the second protrusion 241 of the second charging terminal 21, causing the second protrusion 241 to move toward the second housing 23. The first communication terminal 12 presses against the second protrusion 241 of the second communication terminal 22, causing the second protrusion 241 to move toward the second housing 23. The spring is compressed, and under the action of the spring force, the first charging terminal 11 and the second charging terminal 21 come into contact, and the second communication terminal 22 and the first communication terminal 12 come into contact. When the first charging terminal assembly 10 and the second charging terminal assembly 20 are separated, the spring drives the second protrusion 241 to move away from the second housing 23, so that the second protrusion 241 protrudes to the outside of the second housing 23.

[0106] In some embodiments of the present invention, such as Figure 10 As shown, the control unit 50 also includes a signal transmission module (the second signal transmission module 51 in the above embodiment), which is connected to the main control module (the second control module 53 in the above embodiment). The signal transmission module is connected to a communication terminal (i.e., the second communication terminal 22 in the above embodiment), and sends a level signal encoded according to a preset rule to the communication terminal. When the smart lawnmower 100 enters the charging station 200 for charging, the first charging terminal 11 is connected to the second charging terminal 21, and the first communication terminal 12 is connected to the second communication terminal 22. The first control module 32 transmits a first level signal to the first communication terminal 12 via the first signal sending module 31, and the second control module 53 transmits a level signal with a preset rule code (which can be the second level signal in the above embodiment) to the second communication terminal 22 via the second signal sending module 51. The signal detection module 52 detects the first feedback signal of the second communication terminal 22 in real time and transmits the first feedback signal to the second control module 53. The second control module 53 identifies the type of the smart lawnmower 100 currently connected based on the received first feedback signal. The second control module 53 sets the corresponding charging control parameters according to the type of the smart lawnmower 100 and controls the first charging terminal 11 and the second charging terminal 21 to be electrically connected.

[0107] like Figure 12 As shown, according to an embodiment of the present invention, the charging control method is applied to the charging station 200 in the above embodiment. The charging control method includes the following steps:

[0108] S10. Start the charging station and initialize the control circuit within the charging station.

[0109] It should be noted that after the first charging terminal assembly of the smart lawnmower and the second charging terminal assembly of the charging station are connected, the charging station is started and the control circuit inside the charging station is initialized.

[0110] S20, Detect the feedback signal transmitted by the communication terminal.

[0111] It should be noted that the signal detection module detects the feedback signal transmitted by the second communication terminal.

[0112] S30. Determine whether the currently connected smart lawnmower meets the preset charging requirements based on the feedback signal.

[0113] It should be noted that the signal detection module transmits the feedback signal from the second communication terminal to the second control module. The second control module determines whether the currently connected smart lawnmower meets the preset charging requirements based on the feedback signal. Specifically, the second control module can identify whether the type of the currently connected smart lawnmower is a compatible smart lawnmower with the charging station based on the feedback signal.

[0114] S40. Determine that the currently docked smart lawnmower meets the charging requirements, generate a control command, and control the first switching element and the second switch to close sequentially to connect the charging circuit.

[0115] It should be explained that when the second control module determines that the currently docked smart lawnmower is a smart lawnmower that can be paired with the charging station, the second control module generates a charging control command. The main control module (the second control module 53 in the above embodiment) outputs the charging control command signal to the charging control module. The charging control module controls the first and second switching elements to close according to the charging control command to conduct the charging circuit.

[0116] S50 continuously monitors and detects the charging parameters of the charging circuit.

[0117] It should be explained that during the charging process of the smart lawnmower, the charging parameter detection module continuously monitors the charging parameters on the charging circuit.

[0118] S60. Determine whether the charging status of the current charging station is abnormal based on the charging parameters.

[0119] It should be explained that the charging parameter detection module transmits the charging parameters to the main control module, and the main control module determines whether the charging status of the current charging station is abnormal based on the charging parameters.

[0120] S70. In case of charging abnormality, the second switching element and the first switching element are disconnected in sequence to cut off the charging circuit.

[0121] It should be explained that when the charging station malfunctions, the main control module controls the first and second switching elements to disconnect via the charging control module to prevent current from flowing back into the charging station from the smart lawnmower.

[0122] Specifically, see Figures 10 to 12 After the first charging terminal assembly 10 of the smart lawnmower 100 and the second charging terminal assembly 20 of the charging station are connected, the charging station 200 is started and the control circuit within the charging station 200 is initialized. The signal detection module 52 detects the feedback signal transmitted by the second communication terminal 22 and transmits the detected feedback signal to the second control module 53. The second control module 53 determines whether the currently connected smart lawnmower 100 is a compatible smart lawnmower with the charging station 200 based on the feedback signal. When the second control module 53 determines that the currently connected smart lawnmower is a compatible smart lawnmower with the charging station, the second control module 53 generates a charging control command. The main control module (the second control module 53 in the above embodiment) outputs the charging control command signal to the charging control module 62. The charging control module 62 controls the first switch element 621 and the second switch element 622 to close according to the charging control command to conduct the charging circuit, so that the charging station 200 charges the smart lawnmower 100. During the charging process of the intelligent lawnmower 100, the charging parameter detection module 63 continuously monitors the charging parameters on the charging circuit. The charging parameter is the charging current. When the charging current is less than a set threshold, it is determined that the charging status of the current charging station is abnormal. When the intelligent lawnmower is charging while docked with the charging station, the charging parameter detection module 63 continuously monitors the value of the charging current on the charging circuit. The charging parameter detection module 63 transmits the real-time value of the charging current on the charging circuit to the main control module. The main control module determines that when the charging current is less than the set threshold, the charging parameter is abnormal and determines that the charging is not charging properly. If the power station experiences a power outage or malfunction, the voltage of the energy storage component 33 (battery) inside the smart lawnmower 100 will be higher than the charging voltage. If the charging circuit is not disconnected in time, the energy storage component 33 will generate current that flows back into the charging station 200, damaging the electronic components of the charging station 200. Therefore, in this embodiment, the main control module outputs a control signal to the charging control module 62, causing the charging control module 62 to control the first switching element 621 and the second switching element 622 to disconnect, preventing the current inside the smart lawnmower 100 from flowing back into the charging station 200, thus ensuring the charging safety of the charging station 200.

[0123] like Figures 1-10 , Figure 13As shown, according to an embodiment of the present invention, the charging control method is used in the automatic working system of the aforementioned embodiment to enable the charging station 200 to charge the self-moving device. The self-moving device is a mobile device that needs to be charged. This application takes a smart lawnmower as an example of the self-moving device. The smart lawnmower is the smart lawnmower 100 in the above embodiment. The self-moving device 100 includes a first charging terminal (first charging terminal 11 in the above embodiment), a first communication terminal (first communication terminal 12 in the above embodiment), and a first control unit (first control unit 30 in the above embodiment). The first control unit 30 includes a first signal transmitting module 31 electrically connected to the first communication terminal 12. The charging station includes a second charging terminal (second charging terminal 21 in the above embodiment), a second communication terminal (second communication terminal 22 in the above embodiment), and a second control unit (second control unit 50 in the above embodiment). The second control unit 50 includes a second signal transmitting module (second signal transmitting module 51 in the above embodiment) and a signal detection module (signal detection module 52 in the above embodiment) electrically connected to the second communication terminal 22. The first charging terminal 11 can be electrically connected to the second charging terminal 21, and the first communication terminal 12 can be electrically connected to the second communication terminal 22. It should be noted that after the smart lawnmower 100 is docked with the charging station 200, the first charging terminal 11 is electrically connected to the second charging terminal 21, and the first communication terminal 12 is electrically connected to the second communication terminal 22.

[0124] The charging control method includes the following steps:

[0125] S100, the first signal transmitting module transmits a preset first level signal to the outside via the first communication terminal.

[0126] It should be noted that the first control unit 30 also includes a first control module (the first control module 32 in the above embodiment) connected to the first signal sending module 31. The first control module 32 controls the first signal sending module 31 to send a preset first level signal to the first communication terminal 12.

[0127] S200, the second signal transmitting module transmits a preset second level signal to the outside via the second communication terminal.

[0128] It should be noted that the second control unit 50 also includes a second control module (the second control module 53 in the above embodiment) that connects the second signal sending module 51 and the signal detection module 52. The second control module 53 controls the second signal sending module to send a preset second level signal to the second communication terminal 22.

[0129] S300, the signal detection module detects the first feedback signal (the voltage signal resulting from the superposition of the first level signal and the second level signal) of the second communication terminal.

[0130] It should be noted that when the smart lawnmower enters the charging station to connect for charging, the signal detection module 52 detects the first feedback signal of the second communication terminal 22.

[0131] S400: Determine whether the self-moving device is compatible with the charging station based on the first feedback signal.

[0132] It should be noted that different types of smart lawnmowers 100 correspond to different first feedback signals. Before the smart lawnmower 100 is connected to the charging station 200, the first charging terminal 11 is not powered when the smart lawnmower 100 is powered on. After the smart lawnmower is connected to the charging station, when the charging station 200 is powered on, the first control module 32 sends a first level signal to the first communication terminal 12 through the first signal sending module 31, and the second control module 53 sends a second level signal to the second communication terminal 22 through the second signal sending module 51. The signal detection module 52 in the charging station 200 detects the first feedback signal of the second communication terminal 22 in real time. The second control module 53 identifies the type of the smart lawnmower 100 currently connected based on the received first feedback signal. After identifying the type of the smart lawnmower 100 currently connected, the second control module 53 can determine whether the smart lawnmower is compatible with the charging station.

[0133] S500: When the mobile device is adapted to the charging station, the second charging terminal is electrically connected to the first charging terminal.

[0134] It should be noted that when the second control module 53 identifies, based on the received first feedback signal, that the type of the currently docked smart lawnmower is compatible with the charging station, the charging station 200 connects the charging circuit to electrically connect the second charging terminal 21 with the first charging terminal 11, and the charging station charges the smart lawnmower.

[0135] Specifically, after the smart lawnmower 100 is connected to the charging station 200, when the charging station 200 is powered on, the first control module 32 sends a first level signal to the first communication terminal 12 through the first signal sending module 31, and the second control module 53 sends a second level signal to the second communication terminal 22 through the second signal sending module 51. The signal detection module 52 in the charging station 200 detects the first feedback signal of the second communication terminal 22 in real time. The second control module 53 identifies the type of the smart lawnmower 100 currently connected based on the received first feedback signal. After identifying the type of the smart lawnmower currently connected, the second control module 53 can determine whether the smart lawnmower is compatible with the charging station. When the second control module 53 identifies that the type of the smart lawnmower currently connected is compatible with the charging station based on the received first feedback signal, the charging station connects the charging circuit to make the second charging terminal electrically connected to the first charging terminal, and the charging station charges the smart lawnmower. When the second control module identifies, based on the received first feedback signal, that the type of the currently docked smart lawnmower is incompatible with the charging station, the charging station 200 will not connect the charging circuit, and thus cannot charge the smart lawnmower. This setting prevents mis-paired mobile devices from accidentally starting charging when docked with the charging station, thus preventing damage to the mobile devices.

[0136] In some embodiments of the present invention, the first level signal is related to the type of the self-moving device. The first control unit 32 controls the first signal transmitting module 31 to send out first level signals of different amplitudes according to the type of the self-moving device. Different types of self-moving devices correspond to different first level signals. Preferably, one self-moving device corresponds to one first level signal. When the self-moving device is docked with the charging station, the first control module 32 sends the first level signal to the first communication terminal 12 through the first signal transmitting module 31, and the second control module 53 sends a second level signal to the second communication terminal 22 through the second signal transmitting module 51. By controlling the first signal transmitting module 31 to send out first level signals of different amplitudes according to the type of the self-moving device, the signal detection module 52 in the charging station 200 can detect different first feedback signals from the second communication terminal 22. The second control module 53 can identify the type of the currently docked smart lawnmower based on the received first feedback signals.

[0137] In some embodiments of the present invention, determining whether a self-moving device is compatible with a charging station based on a first feedback signal may include: comparing the first feedback signal with a pre-stored reference feedback signal sequence; when the first feedback signal matches the reference feedback signal sequence, determining that the currently docked self-moving device is compatible with the charging station. Further, the second control unit 53 also includes a memory pre-stored with multiple reference feedback signal sequences. The second control module 53 compares the received first feedback signal with the reference feedback signal sequence; when the first feedback signal matches the reference feedback signal sequence, determining that the currently docked smart lawnmower is a smart lawnmower paired with the charging station; when the first feedback signal does not match the reference feedback signal sequence, determining that the currently docked smart lawnmower is a smart lawnmower not paired with the charging station. This configuration allows for the determination of whether the currently docked smart lawnmower is compatible with the charging station.

[0138] Furthermore, different first-level signals modulate the second-level signal to generate a reference feedback signal sequence. The memory pre-stores multiple reference feedback signal sequences generated by modulating the second-level signal with multiple different first-level signals. This configuration enables the storage of multiple reference feedback signal sequences.

[0139] In some embodiments of the present invention, controlling the electrical connection between the second charging terminal and the first charging terminal may include: identifying the type of the self-moving device according to a reference feedback signal matched by the first feedback signal, setting corresponding charging control parameters according to the type of the self-moving device, and controlling the electrical connection between the second charging terminal and the first charging terminal with the charging control parameters.

[0140] Different types of smart lawnmowers can have different charging parameters, such as charging current and charging voltage. After the smart lawnmower is connected to the charging station, with the charging station 200 powered on, the first control module 32 sends a first level signal to the first communication terminal 12 through the first signal sending module 31, and the second control module 53 sends a second level signal to the second communication terminal 22 through the second signal sending module 51. The signal detection module 52 in the charging station 200 detects the first feedback signal of the second communication terminal 22 in real time. The second control module 53 compares the first feedback signal with a pre-stored reference feedback signal sequence to identify the type of smart lawnmower currently connected. The second control module 53 sets the corresponding charging control parameters according to the type of smart lawnmower. The charging station 200 adjusts the charging mode and controls the electrical connection of the first charging terminal 11 and the second charging terminal 21 according to the charging control parameters. The charging station 200 then connects the charging circuit to start charging, enabling the charging station to support charging of various types of smart lawnmowers. When the second control module 53 identifies, based on the received first feedback signal, that the type of the currently paired smart lawnmower is incompatible with the charging station, the charging station will not connect the charging circuit, and thus cannot charge the smart lawnmower. This setting prevents incompatible smart lawnmowers from accidentally starting charging when paired with the charging station, preventing damage to the smart lawnmower. Furthermore, the charging station can set different charging control parameters according to the type of smart lawnmower, allowing it to meet the charging needs of different types of smart lawnmowers, thereby achieving the effect of charging different types of smart lawnmowers and further preventing damage to the smart lawnmower.

[0141] In some embodiments of the present invention, the charging control method further includes the step of: when the self-moving device and the charging station are incompatible, determining whether the first feedback signal is the same as the second voltage signal; when the first feedback signal and the second voltage signal are the same, controlling the second charging terminal to be electrically connected to the first charging terminal, and disconnecting after a time period. Specifically, when the feedback signal does not match the reference feedback signal sequence, the second control module determines whether the first feedback signal is the same as the second voltage signal; when the first feedback signal and the second voltage signal are the same, the second control module determines that the smart lawnmower is not powered on or has depleted its power. The charging station 200 first connects the charging circuit to electrically connect the first charging terminal and the second charging terminal. The charging station 200 connects the charging circuit and charges the smart lawnmower with a small current for a period of time to avoid the self-moving device having low power. The small current prevents the smart lawnmower from malfunctioning, while a large current charging could lead to danger. The charging station disconnects the charging circuit after a period of time to prevent the charging station from charging an incompatible smart lawnmower, which could damage the smart lawnmower.

[0142] If the first feedback signal detected by the signal detection module 52 matches the reference feedback signal, the second control module 53 identifies the type of smart lawnmower based on the first feedback signal, thereby facilitating the second control module to identify whether the currently docked smart lawnmower is a smart lawnmower that matches the charging station.

[0143] Furthermore, during the timing period, the signal detection module 52 continuously detects the second feedback signal of the second communication terminal. The second control module 53 determines whether the self-moving device is compatible with the charging station based on the second feedback signal. When the self-moving device is compatible with the charging station, it generates corresponding charging control parameters based on the second feedback signal to control the second charging terminal and the first charging terminal to maintain continuous electrical connection. Specifically, when the first feedback signal does not match the reference feedback signal sequence, and the first feedback signal corresponds to the second level signal, the second control module 53 determines that the smart lawnmower is not powered on or has run out of power. The charging station 200 first connects the charging circuit to electrically connect the first and second charging terminals. After a timed period, the charging station disconnects the charging circuit. During the timing period, the signal detection module continuously detects the second feedback signal of the second communication terminal. If the second control module determines that the second feedback signal matches the reference feedback signal sequence, indicating that the self-moving device is compatible with the charging station, the second control module identifies the type of the currently connected smart lawnmower based on the corresponding reference feedback signal. Then, the second control module generates corresponding charging control parameters based on the second feedback signal, and the charging station adjusts to the corresponding charging mode based on the charging control parameters to continuously power the first and second charging terminals.

[0144] Furthermore, the charging station also includes a display unit. When the timing period ends, which can also be understood as the intelligent lawnmower charging for a period of time, if the second control module determines that the second feedback signal does not match the reference feedback signal sequence, the control display unit will issue an alarm message and prohibit the electrical connection between the first charging terminal and the second charging terminal. Specifically, when the feedback signal does not match the reference feedback signal sequence, and the first feedback signal corresponds to the second level signal, the second control module determines that the smart lawnmower is not powered on or has run out of power. The charging station first connects the charging circuit to electrically connect the first charging terminal and the second charging terminal. The charging station connects the charging circuit for a time and then disconnects it. When the timer expires, if the second control module determines that the second feedback signal does not match the reference feedback signal sequence, it means that the current smart lawnmower cannot be paired with the charging station. The second control module controls the display unit to issue an alarm message (the alarm message can be an audible alarm message and / or an image alarm message, but the present invention is not limited to this, and the form of the alarm message can also be other alarm forms). Furthermore, the charging station does not connect the charging circuit and prohibits the electrical connection between the first charging terminal and the second charging terminal to prevent the charging station from charging an unpaired smart lawnmower. This can further prevent unpaired smart lawnmowers from accidentally starting charging when connected to the charging station, and further prevent damage to the smart lawnmower.

[0145] The following reference Figure 14 Another embodiment of the charging control method for the automatic working system described in this invention specifically includes the following steps.

[0146] Step S100: The first signal transmitting module transmits a preset first level signal to the outside via the first communication terminal, and then executes step S200;

[0147] Step S200: The second signal transmitting module transmits a preset second level signal to the outside via the second communication terminal, and then executes step S300;

[0148] Step S300: The signal detection module detects the first feedback signal of the second communication terminal, and then executes step S410;

[0149] Step S410: Compare the first feedback signal with the pre-stored reference feedback signal sequence, and then execute step S420;

[0150] Step S420: Determine whether the first feedback signal matches the reference feedback signal sequence. If yes, proceed to step S430; otherwise, proceed to step S621.

[0151] Step S430: Determine that the current self-moving device to be charged is compatible with the charging station, and then proceed to step S510.

[0152] Step S510: Generate corresponding charging control parameters according to the first feedback signal, control the second charging terminal to be continuously electrically connected to the first charging terminal, and then execute step S300.

[0153] Step S621: Determine whether the first feedback signal and the second voltage signal are the same. If they are, proceed to step S6221; otherwise, proceed to step S623.

[0154] Step S6221: Control the second charging terminal to be electrically connected to the first charging terminal, and time t, where t is the time for the second charging terminal to be electrically connected to the first charging terminal, or the charging time for the self-moving device by the charging station, and then execute step S6222.

[0155] Step S6222: Determine whether t is greater than T1, where T1 is a preset time. If yes, proceed to step S623; otherwise, proceed to step S6223.

[0156] Step S623: Prevent the second charging terminal from being electrically connected to the first charging terminal, and trigger an alarm at the charging station.

[0157] Step S6223: The second signal receiving module receives the second feedback signal transmitted to it by the second communication terminal, and then executes step S6224;

[0158] Step S6224: Compare the second feedback signal with the pre-stored reference feedback signal sequence, and then execute step S6225;

[0159] Step S6225: Determine whether the second feedback signal matches the reference feedback signal sequence. If yes, proceed to step S6226; otherwise, proceed to step S6222.

[0160] Step S6226: Determine whether the current self-mobile device to be charged is compatible with the charging station, and then execute step S6227.

[0161] Step S6227: Generate corresponding charging control parameters based on the second feedback signal, and control the second charging terminal to maintain a continuous electrical connection with the first charging terminal.

[0162] In some embodiments of the present invention, the voltage waveforms of the first level signal and the second level signal exhibit regular changes. Further, the voltage waveforms of the first level signal and the second level signal are square wave or sine wave signals. Further, both the first voltage signal and the second voltage signal are square wave signals. Further, the difference between the first voltage signal and the second voltage signal lies in the different frequencies of their voltage waveforms.

[0163] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0164] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A charging control method for enabling a charging station to charge a self-moving device, the self-moving device including a first charging terminal, a first communication terminal, and a first control unit, the first control unit including a first signal transmitting module electrically connected to the first communication terminal, the charging station including a second charging terminal, a second communication terminal, and a second control unit, the second control unit including a second signal transmitting module and a signal detection module electrically connected to the second communication terminal, the first charging terminal being electrically connected to the second charging terminal, and the first communication terminal being electrically connected to the second communication terminal, characterized in that... The charging control method includes: The first signal transmitting module transmits a preset first level signal to the outside via the first communication terminal; The second signal transmitting module transmits a preset second-level signal to the outside via the second communication terminal; The signal detection module detects the first feedback signal of the second communication terminal, wherein the first feedback signal is a voltage signal resulting from the superposition of a first level signal and a second level signal; Based on the first feedback signal, determine whether the self-moving device is compatible with the charging station; When the self-moving device is adapted to the charging station, the second charging terminal is controlled to be electrically connected to the first charging terminal; Determining whether the self-moving device is compatible with the charging station based on the first feedback signal includes: The first feedback signal is compared with a pre-stored reference feedback signal sequence; When the first feedback signal matches the reference feedback signal sequence, it is determined that the self-moving device currently to be charged is compatible with the charging station; The method further includes the following steps: When the self-moving device is not compatible with the charging station, it is determined whether the first feedback signal is the same as the second level signal; When the first feedback signal is the same as the second level signal, the second charging terminal is electrically connected to the first charging terminal, and disconnected after a certain period of time.

2. The charge control method according to claim 1, characterized by, The first level signal is related to the type of the self-moving device, and the first control unit controls the first signal transmitting module to send out first level signals of different amplitudes according to the type of the self-moving device.

3. The charging control method according to claim 2, characterized in that, Different first-level signals modulate the second-level signal to generate the reference feedback signal sequence.

4. The charging control method according to claim 1, characterized in that, Controlling the electrical connection between the second charging terminal and the first charging terminal includes: The type of the self-moving device is identified based on the reference feedback signal matched with the first feedback signal; Set the corresponding charging control parameters according to the type of the self-moving device; The charging control parameters are used to control the electrical connection between the second charging terminal and the first charging terminal.

5. The charging control method according to claim 1, characterized in that, The method further includes the following steps: During the timing period, the second feedback signal of the second communication terminal is continuously detected; The second feedback signal is used to determine whether the self-moving device is compatible with the charging station. When the self-moving device is adapted to the charging station, it generates corresponding charging control parameters based on the second feedback signal to control the second charging terminal to be continuously electrically connected to the first charging terminal.

6. The charging control method according to claim 1, characterized in that, The voltage waveforms of the first level signal and the second level signal exhibit regular changes.

7. The charging control method according to claim 6, characterized in that, Both the first level signal and the second level signal are square wave signals.

8. The charging control method according to claim 7, characterized in that, The difference between the first level signal and the second level signal lies in the different frequencies of their voltage waveforms.

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