Charging device and method for autonomous charging of an autonomous mobile robot

Abstract

The present invention relates to the technical field of charging of robots. The present invention provides a charging device for automatic charging between an autonomous mobile robot and a charging pile, the charging device comprising a charging module and a power supply module, wherein the charging module comprises a charging terminal configured to enable charging of a battery unit of the autonomous mobile robot, and the power supply module comprises a power supply terminal and a power supply control unit, the power supply terminal being connected to the charging terminal and configured to enable providing of energy from an energy source to the charging terminal, the power supply control unit being configured to automatically control the power supply terminal to be connected to or disconnected from the energy source in response to a communication state between the charging terminal and the power supply terminal. The present invention further relates to a charging system, a method for automatic charging of an autonomous mobile robot and a computer program product.

Description

TECHNICAL FIELD

[0001] The present application relates to a charging device, a charging system, a method for automatic charging of an autonomous mobile robot and a computer program product. BACKGROUND

[0002] At present, autonomous mobile robots are widely used in industrial production and daily life to undertake part of human work. With the complication of task types, the long-time endurance of autonomous mobile robots becomes a basic requirement for efficient operation, and therefore the charging mode of robots is also undergoing continuous innovation. When the robot is out of power, the battery pack is usually replaced manually by a professional or the charging is manually operated. However, this way is relatively primitive, and therefore often means a great waste of manpower and material resources, and cannot meet the timeliness requirement of work response.

[0003] In order to solve this problem, the prior art proposes to make the robot automatically dock with the charging pile for charging. During the execution of the automatic charging process, there are currently three ways of interaction between the robot and the charging pile:

[0004] - Some automatic recharging of robots does not communicate between the vehicle and the pile, and the charging pile maintains a consistent output voltage, which may cause safety hazards, and the multiple circuit components inside the charging pile are always in continuous power working state, affecting the service life of the charging pile.

[0005] - Some robots use a dedicated communication line to realize information interaction with the charging pile, but the use of the pole for dedicated communication increases the size of the docking mechanism, and may result in an increase in the number of charging poles, thereby generating additional costs.

[0006] - Some robots do not directly communicate between the vehicle and the pile, but use a cloud scheduling system to realize information transmission, which severely limits the actual application scenarios.

[0007] The above several ways have many drawbacks in terms of safety and cost. In this background, it is expected to provide an improved scheme based on direct communication to more reliably and more conveniently realize automatic charging of autonomous mobile robots. SUMMARY

[0008] The present application aims to provide a charging device, a charging system and a method for automatic charging of an autonomous mobile robot to at least solve some problems in the prior art.

[0009] According to a first aspect of the present invention, a charging device is provided for automatic charging between an autonomous mobile robot and a charging pile. The charging device includes a charging module and a power supply module. The charging module includes a charging terminal configured to charge the battery cells of the autonomous mobile robot. The power supply module includes a power supply terminal and a power supply control unit. The power supply terminal is connected to the charging terminal and configured to supply energy from an energy source to the charging terminal. The power supply control unit is configured to automatically control the connection and disconnection between the power supply terminal and the energy source in response to the communication status between the charging terminal and the power supply terminal.

[0010] This invention particularly incorporates the following technical concept: controlling the power supply module's on / off state based on the single-wire communication between the charging terminal and the power supply terminal. Therefore, the charging pile does not need to be constantly connected and thus provide a consistent output voltage; instead, it is only activated when needed or when safety conditions are met. This improves the lifespan of the charging pile and its internal circuit components, and also enhances safety. Furthermore, it fully utilizes existing terminals to achieve simple information transmission without requiring additional separate lines for communication, thereby reducing the number of dedicated electrodes, lines, and interfaces, and providing a compact and cost-effective solution for circuit layout.

[0011] Optionally, the communication status is characterized by the engagement status between the charging terminal and the power supply terminal, as well as the charging request from the autonomous mobile robot.

[0012] Here, the following technical advantages are particularly achieved: As the trigger condition for "energizing" the power supply module, the mating and connection status between the terminals is considered to avoid safety hazards such as overheating and electrical sparks caused by poor contact or loose connections. Furthermore, it considers whether the robot actually has a charging need, ensuring that power is only activated when necessary. Thus, charging efficiency is improved while ensuring safety.

[0013] Optionally, the charging module includes a charging control unit configured to send a charging request signal to the charging terminal, and the power supply control unit of the power supply module is configured to sample the electrical signal on the power supply terminal and connect the power supply terminal to the energy source when the sampling result meets a first preset condition.

[0014] Here, the following technical advantages are particularly achieved: by actively issuing a charging request on the charging module side (and thus from the autonomous mobile robot side), and having this request received and checked by the power supply module, the power supply module does not need to be constantly powered on, but can selectively connect to the energy source. Therefore, this not only ensures the safety of the robot's recharge circuit but also improves the lifespan of the charging station.

[0015] Optionally, the power supply control unit is configured to disconnect the connection between the power supply terminal and the energy source when the sampling result meets a second preset condition, the second preset condition being different from the first preset condition.

[0016] In particular, the following technical advantages are achieved: it not only automatically triggers the power-on mechanism in response to specific conditions, but also autonomously disconnects the connection between the power supply terminal and the energy source, realizing fully autonomous intelligent charging management.

[0017] Optionally, the power supply module also includes an AC / DC converter disposed between the power supply terminal and the energy source, which is used to rectify the AC power from the energy source into DC power. The power supply control unit is also configured to send an enable signal to the AC / DC converter when the communication state meets the requirements, so that the AC / DC converter enters the turn-on state.

[0018] In particular, the following technical advantages are achieved: ensuring that the AC / DC converter does not have to be in a state of continuous power supply, thus extending the service life of the component.

[0019] Optionally, the power supply module further includes a relay switch, which is arranged in series with the AC / DC converter, wherein the relay switch is particularly arranged between the power supply terminal and the AC / DC converter.

[0020] Here, the following technical advantages are particularly achieved: by arranging the relay switch on the side close to the charging terminal, the sampling circuit can be isolated from the rest of the power supply module by disconnecting the relay switch during the voltage sampling phase. This reduces the influence or interference of other circuit components (such as the internal resistance or parasitic circuit elements of the AC / DC converter) on the sampling results, thus allowing for a more accurate reflection of the true electrical signal state on the power supply terminal.

[0021] Optionally, the charging control unit is configured to acquire battery information of the autonomous mobile robot and send a charging request signal based on the battery information.

[0022] In particular, the following technical advantages are achieved: charging requests can be triggered based on information such as battery power, charging and discharging current, battery voltage, temperature, and version, thereby enabling more reasonable control of charging and discharging start and stop.

[0023] Optionally, the charging terminal includes a positive electrode and a negative electrode, and the power supply terminal includes a positive electrode and a negative electrode. The positive electrode and the negative electrode are respectively connected to the positive electrode and the negative electrode. The charging control unit is configured to apply a test voltage as a charging request signal between the positive electrode and the negative electrode. The power supply control unit is configured to sample the electrical signal between the positive electrode and the negative electrode, and connect the power supply terminal to the energy source when the sampling result meets a first preset condition.

[0024] According to a second aspect of the present invention, a charging system is provided, the charging system comprising a charging device according to a first aspect of the present invention and at least one battery cell for an autonomous mobile robot, the at least one battery cell being capable of being charged by means of the charging device.

[0025] According to a third aspect of the present invention, a method for automatic charging of an autonomous mobile robot is provided, the method being performed by means of a charging device according to a first aspect of the present invention, the method comprising the following steps: after the autonomous mobile robot is docked with a charging pile, checking the communication status between the charging terminal and the power supply terminal by means of a power supply control unit of a power supply module, and automatically controlling the on / off state of the power supply terminal and the energy source in response to the communication status.

[0026] Optionally, the method further includes the following steps: sending a charging request signal to the charging terminal using the charging control unit of the charging module, sampling the electrical signal on the power supply terminal using the power supply control unit of the power supply module, and connecting the power supply terminal to the energy source if the sampling result meets the first preset condition.

[0027] Optionally, the method further includes the following steps: if the sampling result meets the second preset condition, disconnect the connection between the power supply terminal and the energy source by means of the power supply control unit, wherein the second preset condition is different from the first preset condition.

[0028] Optionally, the power supply module further includes an AC / DC converter disposed between the power supply terminal and the energy source, which is used to rectify the AC power from the energy source into DC power. The method further includes the following steps: the power supply control unit sends an enable signal to the AC / DC converter when the communication status meets the requirements, so that the AC / DC converter enters the turn-on state.

[0029] According to a fourth aspect of the present invention, a computer program product is provided, wherein the computer program product includes a computer program configured to implement the method according to a third aspect of the present invention when executed by a computer. Attached Figure Description

[0030] The invention will now be described in more detail with reference to the accompanying drawings, which will provide a better understanding of its principles, features, and advantages. The drawings include:

[0031] Figure 1 A schematic diagram of a charging system according to an exemplary embodiment of the present invention is shown;

[0032] Figure 2 A block diagram of a charging device according to an exemplary embodiment of the present invention is shown;

[0033] Figure 3 A block diagram of a charging device according to another exemplary embodiment of the present invention is shown;

[0034] Figure 4 A block diagram of a charging device according to another exemplary embodiment of the present invention is shown; and

[0035] Figure 5 A flowchart of an automatic charging method for an autonomous mobile robot according to an exemplary embodiment of the present invention is shown. Detailed Implementation

[0036] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of this invention.

[0037] Figure 1 A schematic diagram of a charging system 100 according to an exemplary embodiment of the present invention is shown. The charging system 100 includes a charging device 1 and a battery cell 11 of an autonomous mobile robot 10, the battery cell 11 (e.g., a lithium battery) being able to be charged by means of the charging device 1.

[0038] like Figure 1 As shown, the charging device 1 includes a charging module 30 and a power supply module 40. The charging module, for example, is arranged in the autonomous mobile robot 10 and includes a charging terminal 31, which can be constructed as a metal electrode, an electrical plug, or metal contacts. The charging module 30 also includes, for example, a charging control unit 32, which is connected to the battery cell 11 and the charging terminal 31 to acquire basic information about the battery cell 11 (e.g., power information, battery voltage, temperature, charging / discharging current, version, etc.) and, for example, generate a charging request signal in the form of a test voltage signal based on this basic information. The charging control unit 32 can apply this charging request signal to the charging terminal 31 through a connection line with the charging terminal 31.

[0039] The power supply module 40 is arranged, for example, in the charging pile 20 and includes a power supply terminal 41 and a power supply control unit 42. The power supply terminal 41 is used to transfer energy from the energy source 21 (especially an AC energy source) to the charging terminal 31, which then provides the energy for the operation of the battery unit 11. Here, the power supply terminal 41 is configured as a charging electrode and can be connected to the charging terminal 31 via various mating methods such as plugging or locking. The power supply control unit 42 is connected to the power supply terminal 41 to obtain the communication status between the charging terminal 31 and the power supply terminal 41. This communication status can be characterized, for example, by the engagement status between the charging terminal 31 and the power supply terminal 41 and the charging request of the charging module 30 (or the autonomous mobile robot 10). In response to whether this communication status meets the requirements, the power supply control unit 42 can control the on / off state between the power supply terminal 41 and the energy source 21 by controlling the switching device 44 (especially a relay switch). For example, when the connection is good and there is an active charging demand, the power supply control unit 42 controls the switch device 44 to close, so that the energy from the energy source is fed to the power supply terminal 41, and then further supplied to the charging module 30 via the charging terminal 31. Conversely, if poor contact is found between the charging terminal 31 and the power supply terminal 41, or if no charging demand is received, the switch device 44 remains open to isolate the charging terminal 41 from the energy source 21. Thus, the internal circuit of the charging pile can continue to be kept in a power-off protection state.

[0040] like Figure 1 As exemplarily shown, the power supply module 40 also includes a signal processing unit 43, which may in particular be an AC / DC converter 43 for rectifying the energy from the energy source 21. The AC / DC converter 43 is disposed between the power supply terminal 41 and the energy source 21. The power supply control unit 42 can communicate with the AC / DC converter 43 via a CAN bus or a 485 bus, thereby sending an enable signal to the AC / DC converter 43 to control it to turn on when communication requirements are met.

[0041] Figure 2 A block diagram of a charging device according to an exemplary embodiment of the present invention is shown.

[0042] exist Figure 2In the exemplary embodiment shown, the charging terminal 31 includes a positive electrode 31' and a negative electrode 31'". Correspondingly, the power supply terminal 41 includes a positive electrode 41' and a negative electrode 41'". When the autonomous mobile robot 10 is docked with the charging pile 20, the positive and negative electrodes 31' and 31' are connected to the positive and negative electrodes 41' and 41', respectively. The power supply module also includes a relay switch 44, a contactor switch 45, and an AC / DC converter 43. The relay switch 44 is located, for example, between the positive electrode 41' and the AC / DC converter 43, and the contactor switch 45 is located, for example, between the AC / DC converter 43 and the energy source 21.

[0043] In this embodiment, the power supply module also includes a series circuit of switch 46 and resistor 47, so that the positive and negative plates 31', 31”, positive and negative electrodes 41', 41”, and switch 46 and resistor 47 can form a complete circuit.

[0044] In the initial state, the relay switch 44 and contactor switch 45 in the power supply module are in the open state, the switch 46 is in the closed state, and the AC / DC converter 43 is in the closed state.

[0045] To check the communication status between the charging terminal and the power supply terminal, the charging control unit 32 outputs a control signal to close the relay switch 36. Simultaneously, the charging control unit 32 applies a test voltage signal between the positive electrode 31' and the negative electrode 31" using a voltage output circuit. This voltage output circuit includes, for example, a transistor 33, a diode 34, and a resistor 35 arranged in series, with the diode 34 positioned between the charging control unit 32 and the positive electrode 31' along the conduction direction. When the charging control unit 32 detects that the battery cell 11's charge level is less than a threshold (e.g., 30%), it outputs a trigger signal of appropriate magnitude to the gate of the transistor 33 to control the transistor 33 to become conductive, thereby applying a corresponding voltage signal between the positive electrode 31' and the negative electrode 31".

[0046] On the power supply module side (or the charging pile 20 side), a series circuit consisting of a switch 46 and a resistor 47 is connected between the positive and negative electrodes 41' and 41" respectively. The voltage between the positive and negative electrodes 41' and 41" can be sampled by the sampling circuit in the power supply control unit 42, for example, by measuring and acquiring the voltage across the resistor 47. The sampling results can then be analyzed to control the on / off state of the relay switch 44 and the contactor switch 45. Furthermore, the AC / DC converter 43 can be turned on or off based on the sampling results.

[0047] Here, when the sampling result meets the first preset condition, the relay switch 44 and the contactor switch 45 can be closed, and an enable signal can be sent to the AC / DC converter 43, thereby connecting the positive electrode 41' to the energy source 21. To mitigate the impact of the sampling circuit on the charging process, switch 46 is also additionally opened.

[0048] As an example, if the sampling circuit in the power supply control unit 42 detects an electrical signal between the positive and negative electrodes 41' and 41" respectively, it indicates that the docking has been completed and there is a charging requirement, so the power supply terminal is powered on.

[0049] As another example, the power supply control unit 42 also includes a corresponding comparison circuit that can further check the magnitude and quality of the sampled electrical signal by comparing it with a preset reference electrical signal. For example, the connection between the power supply terminal and the energy source 21 is only established when the magnitude or variation of the electrical signal matches the pre-stored reference signal, and only when the sampled signal remains stable within a fixed value range or maintains its waveform within a predefined time period. This not only determines whether the robot and the charging station have successfully docked, but also allows for a more detailed check of the docking quality, effectively eliminating faults such as loose connections or poor contact.

[0050] As another example, power can also be supplied with different adaptive power based on the sampling results.

[0051] Furthermore, the power supply control unit 42 can also disconnect the connection between the power supply terminal and the energy source 21 if the sampling result meets a second preset condition, which is different from the first preset condition. For example, on the charging module side, when the charging control unit 32 recognizes that the battery is fully charged based on the battery's basic information, it closes the relay switch 36 on the charging module side, thereby reducing the charging current to 0. After this current change is detected on the power supply module side, the relay switch 44 and contactor switch 45 can be disconnected, and a shutdown signal can be sent to the AC / DC converter 43 to control the power supply module and the energy source 21 to be electrically isolated.

[0052] In an embodiment not shown, after completing the above sampling process, the power supply module can send a power request signal to the power supply terminal, and correspondingly sample the electrical signal on the charging terminal on the charging module side. When the sampling result meets preset conditions, the connection between the charging terminal and the battery cell is established. This achieves redundant bidirectional communication checks, further avoiding unidirectional power supply line obstruction or unstable connection.

[0053] Figure 3 A block diagram of a charging device according to another exemplary embodiment of the present invention is shown.

[0054] Figure 3 The circuit structure shown is similar to Figure 2 The difference lies in the fact that, here, by swapping the connection pin order of the positive and negative terminals 31' and 31" of the charging control unit 32 and the charging terminal, the relative... Figure 2 In this embodiment, a reverse test voltage is applied between the positive electrode 31' and the negative electrode 31"". Therefore, on the power supply module side, a diode 46' can replace the switch 46 located between the positive and negative electrodes 41' and 41" with the diode 46 connected to the positive electrode 41' on the cathode side. The advantage of this is that there is no need for additional control of the switch 46 during the transition from the sampling phase to the charging phase; instead, the risk of short circuits can be automatically eliminated directly through the preset conduction direction of the diode 46', thereby further reducing control costs.

[0055] Figure 4 A block diagram of a charging device according to another exemplary embodiment of the present invention is shown.

[0056] Figure 4 The circuit structure shown is similar to Figures 2-3 The difference lies in that, instead of determining the communication status by sampling the voltage between the positive and negative electrodes 41' and 41" respectively, the test voltage is sequentially applied to the positive and negative electrodes 31' and 31" by controlling the on / off state of relay switches 36 and 37 on the charging module side. On the power supply module side, the connection state between the positive electrode 31' and the positive electrode 41' and the negative electrode 31" and the negative electrode 41" can be determined sequentially by detecting the voltage signals on the positive and negative electrodes 41' and 41" respectively. For example, the communication status between the charging terminal and the power supply terminal is identified as meeting the requirements only when the voltage sampling circuit in the power supply control unit 42 detects a sequential electrical signal sequence. In this case, the power supply control unit 42 can determine whether to connect the power supply terminal 41 and the energy source 21 by controlling the corresponding switches 44 and 45 and by sending an enable signal to the AC / DC converter 43.

[0057] Figure 5 A flowchart of an automatic charging method for an autonomous mobile robot according to an exemplary embodiment of the present invention is shown.

[0058] In step S1, the autonomous mobile robot docks with the charging station. For example, the autonomous mobile robot moves to the charging station and connects its charging terminals with the power supply terminals of the charging station.

[0059] In step S2, the charging control unit of the autonomous mobile robot outputs a charging request signal based on battery information. For example, the charging control unit communicates with the battery cell and receives the battery's power information. When the battery's power information is below a threshold (e.g., 30%), the charging control unit applies a charging request signal in the form of a test voltage to the charging terminal.

[0060] In step S3, the communication status between the charging terminal and the power supply terminal is detected using the power supply control module. For example, the voltage on the power supply terminal is sampled at the charging pile side.

[0061] In step S4, the power supply control unit determines whether the sampling result meets the first preset condition. This first preset condition may specifically refer to: detecting an electrical signal at the power supply terminal, detecting an electrical signal sequence, and / or detecting an electrical signal that meets the preset condition in terms of amplitude or quality.

[0062] If the sampling results meet the first preset condition, it indicates that the autonomous mobile robot has successfully docked with the charging station and has a charging requirement. In this case, the connection between the power supply terminal and the energy source is established in step S5. Here, for example, the relay switch and contactor switch in the power supply module are closed, and an enable signal is sent to the AC / DC converter.

[0063] If the sampling result does not meet the first preset condition, it means that the autonomous mobile robot does not currently need charging or has not yet successfully docked. In this case, the process jumps from step S4 back to step S3 and continues to check the communication status between the charging terminal and the power supply terminal.

[0064] During the charging of the robot via the charging station, step S6 continues to check the communication status and, for example, determine whether the sampling results meet a second preset condition. This second preset condition may specifically refer to the inability to detect an electrical signal at the power supply terminal.

[0065] If this is the case, charging is stopped in step S8. Here, for example, the charging control unit detects that the battery is fully charged and thus disconnects the relay switch in the charging module. Consequently, the sampling circuit of the power supply module detects that the current in the loop has become 0, and therefore disconnects the respective switches in the power supply module and shuts down the AC / DC converter accordingly.

[0066] If the second preset condition is not met, that is, if an electrical signal can still be detected on the power supply terminal, then in step S9, the connection between the power supply terminal and the energy source is kept on and the robot continues to be charged.

[0067] Although specific embodiments of the invention have been described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications can be conceived without departing from the spirit and scope of the invention.

Claims

1. A charging device (1) for automatic charging between an autonomous mobile robot (10) and a charging pile (20), the charging device (1) comprising a charging module (30) and a power supply module (40), wherein, The charging module (30) includes a charging terminal (31) configured to charge the battery unit (11) of the autonomous mobile robot (10). The charging module (30) includes a charging control unit (32) configured to send a charging request signal to the charging terminal (31). The charging module (30) also includes a voltage output circuit. The power supply module (40) includes a power supply terminal (41) and a power supply control unit (42). The power supply terminal (41) is connected to the charging terminal (31) and is configured to supply energy from the energy source (21) to the charging terminal (31). The power supply control unit (42) is configured to automatically control the connection and disconnection between the power supply terminal (41) and the energy source (21) in response to the communication status between the charging terminal (31) and the power supply terminal (41). The communication status is transmitted via a power supply line between the charging terminal and the power supply terminal, without the need for additional dedicated communication lines and dedicated communication electrodes to obtain the communication status. The charging terminal (31) includes a positive electrode (31') and a negative electrode (31''), and the power supply terminal (41) includes a positive electrode (41') and a negative electrode (41''). The positive electrode (31'') and the negative electrode (31'') are connected to the positive electrode (41'') and the negative electrode (41'') respectively during charging to provide energy from the energy source to the charging module 30. The charging control unit (32) is configured to apply a test voltage, which serves as a charging request signal, between the positive electrode (31'') and the negative electrode (31'') via the voltage output circuit. The voltage output circuit includes a transistor (33) and a resistor (35) arranged in series between the charging control unit and the positive electrode (31'). The charging control unit is also equipped with... The power supply control unit (42) is configured to output a trigger signal to the gate of the transistor (33) to control the transistor (33) to become in the on state. The power supply control unit (42) is configured to sample the electrical signal between the positive electrode (41') and the negative electrode (41''), and connect the power supply terminal (41) and the energy source (21) when the sampling result meets the first preset condition. The power supply control unit (42) also includes a comparison circuit. The power supply control unit (42) is also configured to compare the sampled electrical signal with a preset reference electrical signal, and connect the power supply terminal (41) and the energy source (21) only when the change process of the electrical signal is consistent with the reference electrical signal and only when the electrical signal maintains the waveform within a predetermined time range.

2. The charging device (1) according to claim 1, wherein, The communication status is characterized by the engagement status between the charging terminal (31) and the power supply terminal (41) and the charging request of the autonomous mobile robot (10).

3. The charging device (1) according to claim 1, wherein, The power supply control unit (42) of the power supply module (40) is configured to sample the electrical signal on the power supply terminal (41) and connect the power supply terminal (41) to the energy source (21) when the sampling result meets the first preset condition.

4. The charging device (1) according to any one of claims 1 to 3, wherein, The power supply control unit (42) is configured to disconnect the connection between the power supply terminal (41) and the energy source (21) when the sampling result meets the second preset condition, the second preset condition being different from the first preset condition.

5. The charging device (1) according to any one of claims 1 to 3, wherein, The power supply module (40) also includes an AC / DC converter (43) disposed between the power supply terminal (41) and the energy source (21), which is used to rectify the AC power from the energy source (21) into DC power. The power supply control unit (42) is also configured to send an enable signal to the AC / DC converter (43) when the communication state meets the requirements, so that the AC / DC converter (43) enters the turn-on state.

6. The charging device (1) according to claim 5, wherein, The power supply module (40) also includes a relay switch (44), which is arranged in series with the AC / DC converter (43).

7. The charging device (1) according to any one of claims 1 to 3, wherein, The charging control unit (32) is configured to acquire battery information of the autonomous mobile robot (10) and send a charging request signal based on the battery information.

8. The charging device (1) according to claim 6, wherein, The relay switch (44) is arranged between the power supply terminal (41) and the AC / DC converter (43).

9. A charging system (100) comprising a charging device (1) according to any one of claims 1 to 8 and at least one battery cell (11) for an autonomous mobile robot (10), the at least one battery cell (11) being capable of being charged by means of the charging device (1).

10. A method for automatically charging an autonomous mobile robot (10), the method being performed using a charging device (1) according to any one of claims 1 to 8, the method comprising the following steps: After the autonomous mobile robot (10) docks with the charging pile (20), the power supply control unit (42) of the power supply module (40) checks the communication status between the charging terminal (31) and the power supply terminal (41), and automatically controls the on / off of the power supply terminal (41) and the energy source (21) in response to the communication status.

11. The method according to claim 10, wherein, The method further includes the following steps: The charging control unit (32) of the charging module (30) sends a charging request signal to the charging terminal (31), and the power supply control unit (42) of the power supply module (40) samples the electrical signal on the power supply terminal (41). If the sampling result meets the first preset condition, the connection between the power supply terminal (41) and the energy source (21) is connected.

12. The method according to claim 11, wherein, The method further includes the following steps: If the sampling result meets the second preset condition, the connection between the power supply terminal (41) and the energy source (21) is disconnected by the power supply control unit (42). The second preset condition is different from the first preset condition.

13. The method according to any one of claims 10 to 12, wherein, The power supply module (40) also includes an AC / DC converter (43) disposed between the power supply terminal (41) and the energy source (21), which is used to rectify the AC power from the energy source (21) into DC power. The method further includes the step of sending an enable signal to the AC / DC converter (43) by means of the power supply control unit (42) when the communication state meets the requirements, so that the AC / DC converter (43) enters the turn-on state.

14. A computer program product, wherein, The computer program product includes a computer program that, when executed by a computer, performs the method according to any one of claims 10 to 13.

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