Charging control method, charging device and self-propelled device

Abstract

The present application discloses a charging control method, a charging device, and a self-mobile device, belonging to the field of device charging. The method includes: when it is detected that the second charging terminal of the self-mobile device is in contact with the first charging terminal, a first voltage is output through the first charging terminal; when the first voltage lasts for a first preset time, the working mode of the charging device is configured to the communication mode; in the communication mode, a wireless pairing request is sent to the self-mobile device through the first charging terminal; when the wireless pairing result is a pairing failure, the charging type is determined to be a forced charging type, and the working mode of the charging device is configured to the charging mode; in the charging mode, the self-mobile device is charged in a forced charging type through the first charging terminal; wherein, under the forced charging type, the charging parameters are pre-configured parameters. This method can not only ensure that the charging device and the self-mobile device are successfully docked and communicated, but also ensure that the charging device charges the self-mobile device.

Description

Technical Field

[0001] The present application relates to the field of device charging, and in particular to a charging control method, a charging device, and a self-propelled device. Background Art

[0002] With the development of science and technology, the application of self-mobile equipment such as lawn mowing robots, leaf collection robots, sweeping robots, food delivery robots, etc. is becoming more and more widespread, bringing great convenience to people's lives.

[0003] When a mobile device needs to be charged, it automatically returns to a charging device (e.g., a charging station). The charging contacts on the mobile device come into contact with the charging contacts on the charging device, and the charging device then charges the mobile device. The entire process is simple and convenient, requiring no manual operation.

[0004] However, before and during charging, the mobile device needs to communicate with the charging device to exchange necessary information, such as docking parameters and charging parameters. Therefore, ensuring successful docking and charging between the charging device and the mobile device is a problem that needs to be solved. Summary of the Invention

[0005] The present application provides a charging control method, a charging device, and a self-moving device, which can ensure that the charging device and the self-moving device can successfully connect and communicate, and can also ensure that the charging device charges the self-moving device.

[0006] In a first aspect, a charging control method is provided, which is applied to a charging device, the charging device including a first charging terminal, the method comprising:

[0007] When it is detected that the second charging terminal of the self-mobile device is in contact with the first charging terminal, a first voltage is output through the first charging terminal; when the first voltage lasts for a first preset time, the working mode of the charging device is configured to the communication mode; in the communication mode, a wireless pairing request is sent to the self-mobile device through the first charging terminal; when the wireless pairing result is a pairing failure, the charging type is determined to be a forced charging type, and the working mode of the charging device is configured to the charging mode; in the charging mode, the self-mobile device is charged through the first charging terminal in a forced charging type; wherein, under the forced charging type, the charging parameters are pre-configured parameters.

[0008] In some embodiments, when the wireless pairing result is a successful pairing, the charging type is determined to be a negotiated charging type, and the working mode of the charging device is configured to a charging mode; in the charging mode, the self-mobile device is charged through the first charging end with the negotiated charging type; wherein, under the negotiated charging type, the charging parameters are determined by negotiation between the self-mobile device and the charging device.

[0009] In some embodiments, if a first preset condition is met, the wireless pairing result is determined to be a successful pairing, and the first preset condition is: within a second preset time period from the start of the timing, a charging instruction sent from the mobile device is received through the first charging end; the start of the timing is the time when the wireless pairing request was last sent to the mobile device, and the charging instruction is used to instruct the charging device to charge the mobile device; if the second preset condition is met, the wireless pairing result is determined to be a failed pairing, and the second preset condition is: within the second preset time period from the start of the timing, no information sent from the mobile device is received through the first charging end.

[0010] In some embodiments, a second voltage is output through the first charging terminal; the second voltage is greater than the first voltage, and the second voltage is the voltage output by the charging device when providing a wake-up voltage to the mobile device; the second voltage is raised to a third voltage, and the third voltage is a fixed charging voltage under a preconfigured forced charging type.

[0011] In some embodiments, the communication mode includes a receive mode and a two-way communication mode.

[0012] In some embodiments, when it is detected that the second charging terminal is separated from the first charging terminal, outputting voltage through the first charging terminal is stopped.

[0013] The charging control method provided in the first aspect of this application configures the charging device's operating mode to communication mode before charging. In communication mode, the charging device can communicate with the mobile device, such as exchanging wireless pairing parameters. If wireless pairing fails, the charging device still enters charging mode, but sets the charging type to forced charging and outputs pre-configured charging parameters to the mobile device. This ensures both successful docking and communication between the charging device and the mobile device, and ensures that the charging device charges the mobile device.

[0014] Furthermore, since wireless pairing failures can occur for a variety of reasons when the mobile device and the charging device are docking, the two devices may not be able to communicate normally, or their determination of whether pairing is successful may differ. Therefore, compared to solutions that only enter charging mode after confirming successful pairing and wireless communication, the solution of this application, even if wireless pairing fails, still configures the charging device's operating mode to charging mode and forces charging using pre-configured charging parameters, causing the mobile device to enter charging mode. This allows the mobile device to enter charging mode again if charging negotiation fails, ensuring successful docking, communication, and charging, thereby increasing the probability of successful docking, communication, and charging.

[0015] In a second aspect, a charging control method is provided, which is applied to a self-moving device, wherein the self-moving device includes a second charging terminal, and when the self-moving device is docked with a charging device, the second charging terminal contacts the first charging terminal of the charging device, the method comprising:

[0016] When the second charging terminal is in contact with the first charging terminal, when it is detected that the voltage inputted by the second charging terminal is greater than the fourth voltage, the working mode of the self-mobile device is configured to the communication mode; in the communication mode, a wireless pairing request sent by the charging device is received through the second charging terminal; wireless pairing is performed with the charging device according to the wireless pairing request; when it is detected that the voltage inputted by the second charging terminal meets the charging condition, the working mode of the self-mobile device is configured to the charging mode; in the charging mode, the charging device is charged by the second charging terminal and a charging negotiation request is sent to the charging device through the wireless communication module; when the negotiation fails, the self-mobile device is controlled to re-dock with the charging device.

[0017] In some embodiments, the charging condition is: the voltage input to the second charging terminal is greater than the fifth voltage and lasts for a third preset time, and the fifth voltage is the threshold voltage for starting the charging mode; configuring the working mode of the mobile device to the charging mode includes: turning on the charging circuit and waiting for a fourth preset time before turning off the pre-charging circuit.

[0018] The second aspect of the present application provides a charging control method. When the second charging terminal of a mobile device is in contact with the first charging terminal, and when it is detected that the voltage input to the second charging terminal is greater than a fourth voltage, the mobile device is configured to operate in a communication mode. In the communication mode, the second charging terminal receives a wireless pairing request from the charging device. Based on the wireless pairing request, the mobile device is wirelessly paired with the charging device. When it is detected that the voltage input to the second charging terminal meets the charging condition, the mobile device is configured to operate in a charging mode. In the charging mode, the second charging terminal receives the charge from the charging device and sends a charging negotiation request to the charging device via the wireless communication module. In this way, by switching operating modes, the mobile device can ensure both successful docking and communication between the mobile device and the charging device, and charging of the mobile device by the charging device. In addition, if the negotiation fails, the mobile device is controlled to re-dock with the charging device to successfully communicate with the charging device and negotiate charging. Compared to a solution that directly exits charging mode upon a failed negotiation, the solution of the present application controls the mobile device to re-dock with the charging device upon a failed negotiation, thereby ensuring successful docking, communication, and charging, thereby increasing the probability of successful docking, communication, and charging.

[0019] In a third aspect, a charging device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the above-mentioned charging control method when executed by the processor.

[0020] In a fourth aspect, a self-moving device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the above-mentioned charging control method when executed by the processor.

[0021] It can be understood that the beneficial effects of the third to fourth aspects can be found in the relevant descriptions of the first and second aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 This is a schematic diagram of a charging system for a mobile device provided in an embodiment of the present application;

[0024] Figure 2 This is a schematic diagram of the structure of the charging device provided in an embodiment of the present application;

[0025] Figure 3 This is a schematic diagram of the structure of a self-propelled device provided in an embodiment of the present application;

[0026] Figure 4 This is a schematic diagram of the structure of a charging system for a mobile device provided in an embodiment of the present application;

[0027] Figure 5 is a flow chart of a charging control method provided in an embodiment of the present application;

[0028] Figure 6 is another flow chart of the charging control method provided in an embodiment of the present application;

[0029] Figure 7 This is a schematic diagram of the implementation principle of the charging control method on the charging device side provided in an embodiment of the present application;

[0030] Figure 8 is another flow chart of the charging control method provided in an embodiment of the present application;

[0031] Figure 9A schematic diagram illustrating the implementation principle of the charging control method from the mobile device side provided in an embodiment of the present application;

[0032] Figure 10 is another flow chart of the electrical control method provided in an embodiment of the present application;

[0033] Figure 11 This is another flow chart of the charging control method provided in the embodiment of the present application;

[0034] Figure 12 This is another flow chart of the charging control method provided in the embodiment of the present application;

[0035] Figure 13 This is a schematic structural diagram of a charging device provided in an embodiment of the present application;

[0036] Figure 14 This is a schematic structural diagram of a self-propelled equipment device provided in an embodiment of the present application;

[0037] Figure 15 This is another structural diagram of the charging device provided in an embodiment of the present application;

[0038] Figure 16 This is another structural diagram of the self-moving device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0040] It should be understood that the “multiple” mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, words such as “first” and “second” are used to distinguish between identical or similar items with basically the same functions and effects. Those skilled in the art can understand that words such as “first” and “second” do not limit the quantity and execution order, and words such as “first” and “second” do not necessarily limit them to be different.

[0041] Before explaining the embodiments of the present application in detail, the application scenarios of the embodiments of the present application are first explained.

[0042] The present invention provides a charging control method that can be applied to Figure 1 The self-mobile device charging system 10 is shown. Figure 1 As shown, the self-mobile device charging system 10 includes a charging device 100 and a self-mobile device 200. The charging device 100 can be a charging base station, a charging pile, etc., for charging the self-mobile device 200. The self-mobile device 200 is a self-mobile robot that can move autonomously and can dock with the charging device 100 for charging. Optionally, the self-mobile device 200 can be, for example, a lawn mower robot, a sweeping robot, a fallen leaf collection robot, a food delivery robot, or a robot that integrates multiple functions of the above. The embodiment of the present application does not impose any restrictions on the type of the self-mobile device 200.

[0043] For example, Figure 2 A schematic diagram of the structure of the charging device provided in the embodiment of the present application. Figure 2 As shown, the charging device 100 may include a first charging terminal. In a specific embodiment, the first charging terminal may include a first charging contact 11 and a second charging contact 12. It is understood that the first charging terminal is not limited to the form of a charging contact, and may also be a charging ring, etc., and the embodiment of the present application does not impose any limitation on this. In addition, a spring and a micro switch may be installed under the first charging contact 11 and the second charging contact 12. When the first charging contact 11 and the second charging contact 12 are pressed down, the charging device 100 can detect it through the micro switch.

[0044] For example, Figure 3 This is a schematic diagram of the structure of the self-moving device provided in the embodiment of the present application. Figure 3 As shown, the mobile device 200 may include a second charging terminal. In a specific embodiment, the second charging terminal may include a first charging contact 21 and a second charging contact 22. It is understood that the second charging terminal is not limited to the form of charging contacts and may also be a charging pin, etc., and this embodiment of the application does not impose any limitation on this.

[0045] When the mobile device 200 needs to be charged, the mobile device 200 can autonomously move to the charging device 100, dock with the charging device 100, and bring the second charging terminal into contact with the first charging terminal. The charging device 100 then outputs a voltage to the second charging terminal through the first charging terminal to charge the mobile device 200. Specifically, when the second charging terminal contacts the first charging terminal, the first charging contact 21 contacts the first charging contact 11, and the second charging contact 22 contacts the second charging contact 12.

[0046] According to the above process, the self-mobile device 200 can realize charging autonomously without manual operation, which is simple and convenient. However, during the docking and charging process, the self-mobile device 200 needs to communicate with the charging device 100 to exchange some necessary information, such as the need to exchange docking parameters, the need to exchange charging parameters, etc. In order to improve the accuracy and efficiency of these information exchanges, it can be considered to use the charging contacts and the charging contacts as communication contacts and communication contacts, that is, to reuse the charging contacts and the charging contacts. Then, in the case of reusing the charging contacts and the charging contacts, how to ensure that the charging device and the self-mobile device successfully dock and communicate, and charge, is a problem that needs to be solved.

[0047] To this end, an embodiment of the present application provides a charging control method. Before charging, the operating mode of the charging device and the mobile device is first configured to communication mode. In communication mode, the charging device can interact and communicate with the mobile device, such as wireless pairing parameters. Thereafter, the operating mode of the charging device and the mobile device is configured to charging mode. In charging mode, the charging device can charge the mobile device. This ensures both successful docking and communication between the charging device and the mobile device, and ensures that the charging device charges the mobile device.

[0048] The structures of the charging device and the self-moving device in the self-moving device charging system are described below.

[0049] For example, Figure 4 This is a schematic diagram of the structure of the charging system for a mobile device provided in an embodiment of the present application. Figure 4 As shown, the charging device 100 may include a first charging terminal 110, a micro switch 120, a first wireless communication module 130, a first communication transceiver circuit 140, a power supply circuit 150, a first mode configuration circuit 160, and a first microcontroller unit (MCU) 170. The first charging terminal 110 is electrically connected to the micro switch 120, the first communication transceiver circuit 140, and the power supply circuit 150. The first communication transceiver circuit 140 and the power supply circuit 150 are electrically connected to the first mode configuration circuit 160. The micro switch 120, the first wireless communication module 130, and the first mode configuration circuit 160 are electrically connected to the first MCU 170.

[0050] The first MCU 170 is used to control the operation of each module or circuit of the charging device 100 and execute the charging control method related to the charging device 100 in the embodiment of the present application.

[0051] The structure of the first charging terminal 110 can be as described above. Figure 2When the mobile device 200 is connected to the charging device 100, the first charging terminal 110 contacts the second charging terminal 210 of the mobile device 200. The micro switch 120 detects that the first charging terminal 110 is pressed and inputs a signal to the first MCU 170. The first MCU 170 controls the operation of the first mode configuration circuit 160 based on the signal.

[0052] The first mode configuration circuit 160 is configured to switch the operating mode of the charging device 100 by controlling the first communication transceiver circuit 140 and the power supply circuit 150, under the control of the first MCU 170. Optionally, the first mode configuration circuit 160 may include a controllable switching device such as a relay or a switch, such as a metal-oxide-semiconductor field-effect transistor (MOSFET).

[0053] When the first mode configuration circuit 160 turns on the first communication transceiver circuit 140 and turns off the power supply circuit 150, the charging device 100 operates in communication mode. In communication mode, the first communication transceiver circuit 140 performs level conversion, generates a corresponding voltage signal, and outputs it through the first charging terminal 110 to enable communication with the mobile device 200. In this case, the first charging terminal 110 functions as a communication serial port.

[0054] When the first mode configuration circuit 160 controls the first communication transceiver circuit 140 to be disconnected and the power supply circuit 150 to be connected, the charging device 100 is configured to operate in charging mode. In charging mode, the power supply circuit 150 generates the current and voltage required for charging and outputs them through the first charging terminal 110 to charge the mobile device 200.

[0055] Optionally, the first wireless communication module 130 may be a Long Range Radio (LORA) module. The first wireless communication module 130 is configured to perform wireless communication with the second wireless communication module 220 of the mobile device 200 .

[0056] like Figure 4 As shown, the mobile device 200 may include a second charging terminal 210, a second wireless communication module 220, a second communication transceiver circuit 230, a charging circuit 240, a pre-charging circuit 250, a second mode configuration circuit 260, a second MCU 270 and a battery 280. The connection relationship between each module can be seen in Figure 4 .

[0057] The second MCU 270 is used to control the operation of each module or circuit of the mobile device 200 and execute the charging control method related to the mobile device 200 in the embodiment of the present application.

[0058] The structure of the second charging terminal 210 can be as described above. Figure 3 When the mobile device 200 is connected to the charging device 100, the second charging terminal 210 contacts the first charging terminal 110 of the charging device 100. The first charging terminal 110 inputs voltage and current signals to the second charging terminal 210. The second MCU 270 configures the circuit 260 to operate in the second control mode based on the voltage and / or current signals input from the second charging terminal 210.

[0059] The second mode configuration circuit 260 is configured to switch the operating mode of the charging device 100 by controlling the conduction and disconnection of the second communication transceiver circuit 230, the charging circuit 240, and the pre-charging circuit 250 under the control of the second MCU 270. Optionally, the second mode configuration circuit 260 may include a controllable switching device such as a relay or a switch tube.

[0060] When the second mode configuration circuit 260 controls the second communication transceiver circuit 230 to be turned on and controls the charging circuit 240 and the pre-charging circuit 250 to be turned off, the operating mode of the self-mobile device 200 is configured as the communication mode. In the communication mode, the second communication transceiver circuit 230 can communicate with the charging device 100 through the second charging terminal 210. In this case, the second charging terminal 210 is used as a communication serial port. Optionally, in the communication mode, the self-mobile device 200 can receive a wireless pairing request sent by the charging device 100 through the first charging terminal 110 through the second charging terminal 210. After the second communication transceiver circuit 230 receives the wireless pairing request, it is sent to the wireless communication module 220 via the second MCU 270. The second wireless communication module 220 then wirelessly pairs with the first wireless communication module 130 of the charging device 100 based on the wireless pairing request.

[0061] It should be noted that in the embodiments of the present application, "circuit opening", "circuit opening" or "circuit conduction" refer to the conduction of the circuit loop. "Circuit closing", "circuit disconnection" or "circuit disconnection" refer to the disconnection of the circuit loop, which will not be further described below.

[0062] Optionally, in the communication mode, the second mode configuration circuit 260 can also control the pre-charging circuit 250 to be turned on. When the pre-charging circuit 250 is turned on, the pre-charging circuit 250 receives the voltage and current input from the second charging terminal 210 and pre-charges the battery 280. It should be noted that since the pre-charging voltage is not high, the conduction of the pre-charging circuit 250 does not affect the signal transmission and reception of the communication transceiver circuit 230.

[0063] When the second mode configuration circuit 260 turns off the second communication transceiver circuit 230 and the pre-charge circuit 250 and turns on the charging circuit 240, the mobile device 200 is configured to operate in charging mode. In charging mode, the second charging terminal 210 functions as a charging interface, and the charging circuit 240 receives the voltage and current input from the second charging terminal 210 and charges the battery 280.

[0064] Optionally, the second wireless communication module 220 may be a Long Range Radio (LORA) module. The second wireless communication module 220 may be configured to perform wireless communication with the first wireless communication module 130 of the charging device 100 .

[0065] Optionally, the mobile device 200 may further include a battery management system (BMS). The BMS module is used to control the charge and discharge of the battery 280, and the BMS may communicate with the second MCU 270 via a serial port.

[0066] It should be noted that Figure 4 The embodiment shown is only an example of the device structure in the mobile device charging system 10 and is not intended to be limiting. In actual application, the devices in the mobile device charging system 10 may include Figure 4 More or fewer modules. For example, the charging device 100 and the mobile device 200 may both include a memory, and the memory may be used to store a computer program that implements the charging control method provided in the embodiment of the present application.

[0067] The charging control method provided in the embodiment of the present application is explained in detail below.

[0068] Figure 5 This is a flow chart of the charging control method provided in an embodiment of the present application. Figure 7 This is a schematic diagram of the implementation principle of a charging control method for a charging device provided in an embodiment of the present application. In this embodiment, the charging control method is applied to the charging device 100, which can be Figure 4 The corresponding modules shown are implemented. In this embodiment, the specific functions and implementation processes of each module during the execution of the method are not described in detail, and the logic of charging control implemented by the charging device is mainly explained.

[0069] Please also see Figure 5 and Figure 7 The charging control method includes the following steps:

[0070] S101: When it is detected that the second charging terminal of the mobile device is in contact with the first charging terminal, a first voltage is output through the first charging terminal.

[0071] like Figure 7 As shown, when the self-mobile device is not connected to the charging device, the charging device is in an idle state. When the charging device detects that the self-mobile device is connected to the charging device, that is, when the second charging terminal of the self-mobile device is in contact with the first charging terminal of the charging device, a first voltage can be output through the first charging terminal. Optionally, the first voltage is the voltage output by the charging device end when a voltage greater than the communication mode start threshold is provided to the self-mobile device. In other words, the first voltage is greater than the communication mode start threshold of the self-mobile device. The communication mode start threshold is the threshold voltage for the self-mobile device to start the communication mode. When the voltage input from the second charging terminal of the self-mobile device is greater than the communication mode start threshold, the self-mobile device starts the communication mode. It should be noted that the first voltage is lower than the charging voltage.

[0072] It is understandable that due to the influence of foreign matter and device resistance, there will inevitably be a certain voltage difference between the voltage output by the first charging terminal of the charging device and the voltage input by the second charging terminal of the mobile device, and the voltage input by the second charging terminal is usually lower than the voltage output by the first charging terminal. Therefore, the first voltage can be set according to the communication mode activation threshold of the mobile device, so that when the first charging terminal of the charging device outputs the first voltage, the voltage input by the second charging terminal of the mobile device is greater than the communication mode activation threshold. In a specific embodiment, the communication mode activation threshold of the mobile device can be 5.5V, and the first voltage can be 12V. In this way, the first charging terminal outputs a 12V voltage, and the voltage received by the second charging terminal of the mobile device is approximately 6V to 7V. When the mobile device detects that this voltage is greater than the communication mode activation threshold of 5.5V, the communication mode is activated.

[0073] Optionally, the charging device may output the first voltage through the first charging terminal upon detecting that the second charging terminal of the mobile device has been in contact with the first charging terminal for a period exceeding a preset threshold. This ensures that charging control is performed only after the first charging terminal and the second charging terminal have been in stable contact, thereby improving the accuracy of charging control. The preset threshold may be, for example, 0.3 seconds.

[0074] S102: When the first voltage lasts for a first preset time period, configure the working mode of the charging device to a communication mode.

[0075] Optionally, the first preset duration may be, for example, 0.5s. That is, after the charging device outputs the first voltage (eg, 12V) for 0.5s, the charging device configures its working mode to the communication mode. The specific process of configuring the communication mode can be found in Figure 4 The embodiments shown will not be described in detail.

[0076] S103: In the communication mode, a wireless pairing request is sent to the mobile device via the first charging terminal.

[0077] As described above, after the first charging terminal outputs the first voltage, the mobile device detects that the voltage input to the second charging terminal is greater than the communication mode activation threshold, thereby configuring the operating mode to communication mode. After the operating mode is configured to communication mode, the charging device can enter the wireless pairing phase. Specifically, the charging device uses the first charging terminal as a communication serial port and sends a wireless pairing request to the second charging terminal of the mobile device through the first charging terminal. Optionally, the wireless pairing request can carry the wireless pairing information of the charging device. The wireless pairing request is used to request wireless pairing between the mobile device and the charging device to establish a wireless connection.

[0078] After sending the wireless pairing request, the charging device can determine the wireless pairing result. The wireless pairing result can include wireless pairing failure or wireless pairing success. Wireless pairing failure means that the charging device failed to establish a wireless connection with the mobile device. Wireless pairing success means that the charging device successfully established a wireless connection with the mobile device.

[0079] Optionally, in communication mode, the first charging terminal can output a voltage of 15V and limit the current to 0.5A.

[0080] S104: When the wireless pairing result is pairing failure, determine that the charging type is a forced charging type, and configure the working mode of the charging device to a charging mode.

[0081] Optionally, the charging type may include a forced charging type and a negotiated charging type. In charging mode, the charging device may charge according to the forced charging type or the negotiated charging type. In this embodiment, the charging device may determine the charging type based on the wireless pairing result. If the wireless pairing result indicates pairing failure, the charging type is determined to be a forced charging type.

[0082] S105 . In the charging mode, the mobile device is charged via the first charging terminal in a forced charging mode; wherein, in the forced charging mode, the charging parameters are pre-configured parameters.

[0083] Optionally, the charging parameters may include charging voltage, charging current, etc. In this embodiment, when the charging type is forced charging, the charging parameters are pre-configured fixed parameters. For example, in forced charging, the pre-configured fixed charging voltage may be a third voltage. The third voltage may be, for example, 25.2V.

[0084] The charging control method provided in this embodiment configures the charging device's operating mode to communication mode before charging. In communication mode, the charging device can communicate with the mobile device, including wireless pairing parameters. If wireless pairing fails, the charging device still enters charging mode, but sets the charging type to forced charging and outputs pre-configured charging parameters to the mobile device. This ensures both successful docking and communication between the charging device and the mobile device, and that the charging device charges the mobile device.

[0085] In addition, the self-mobile device is forced to charge with pre-configured charging parameters, and the self-mobile device enters charging mode. Afterwards, when the self-mobile device finds that the charging parameters cannot be negotiated, it can exit the charging mode in time and re-dock with the charging device to successfully communicate and negotiate charging. Since there are various reasons for the failure of wireless pairing when the self-mobile device and the charging device are docked, the self-mobile device and the charging device may not be able to conduct normal wireless communication at this time, or the two sides may have different results on whether the pairing is successful. Therefore, compared with the solution that enters the charging mode only when the pairing is confirmed to be successful and the wireless communication is successfully established, in the solution of the present application, when the charging device confirms that the wireless pairing has failed, it still configures the working mode of the charging device to the charging mode and forces the output charging with the pre-configured charging parameters, so that the self-mobile device enters the charging mode. In this way, after the self-mobile device enters the charging mode, the failure of the negotiated charging can trigger the docking communication again, thereby ensuring the successful docking communication and charging, and increasing the probability of successful docking communication and charging.

[0086] See Figure 6 In one embodiment, after step S103, the method further includes:

[0087] S106: When the wireless pairing result is successful, determine that the charging type is the negotiated charging type, and configure the working mode of the charging device to the charging mode.

[0088] S107 . In the charging mode, the self-mobile device is charged via the first charging terminal in a negotiated charging type; wherein, in the negotiated charging type, charging parameters are determined by negotiation between the self-mobile device and the charging device.

[0089] If pairing is successful, the charging type is the negotiated charging type. Under the negotiated charging type, the charging parameters can be determined by negotiation between the mobile device and the charging device based on the wireless connection established by wireless pairing. Specifically, the BMS of the mobile device determines the expected charging voltage and expected current, and sends the expected voltage and expected current to the charging device through the wireless communication module. The charging device adjusts the output voltage and output current of the first charging port according to the expected voltage and expected current, so that the voltage input to the second charging port of the mobile device is the expected voltage, and the current input to the second charging port is the charging current.

[0090] That is, regardless of whether the wireless pairing result is successful or failed, the charging device will be configured to operate in charging mode. However, the charging type is different in the two cases of successful and failed pairing.

[0091] In this embodiment, when pairing is successful, the mobile device is charged according to the negotiated charging type, thereby meeting the charging needs of the mobile device and improving charging efficiency.

[0092] Please continue to see Figure 7 In one embodiment, when it is detected that the second charging terminal of the mobile device is separated from the first charging terminal of the charging device, the charging device stops outputting voltage through the first charging terminal and enters an idle state.

[0093] Optionally, whether the wireless device is outputting the first voltage, in communication mode, or in charging mode, when the second charging terminal is detected to be separated from the first charging terminal for longer than a preset time threshold, the charging device stops outputting the voltage at the first charging terminal and enters an idle state. This ensures that the charging device stops outputting voltage after the first charging terminal is separated from the second charging terminal, prevents charging from being stopped due to a temporary poor contact, and improves charging control accuracy. The preset time threshold may be, for example, 0.3 seconds.

[0094] The following describes the process of the charging device determining the wireless pairing result.

[0095] In one embodiment, the charging device can determine the wireless pairing result based on the feedback information (i.e., the return packet) sent from the mobile device. Specifically, the analysis is as follows:

[0096] It is understandable that when the mobile device is connected to the charging device, the mobile device can be in the power-on state or in the power-off state.

[0097] When the mobile device is powered on, it can receive a wireless pairing request through the first charging terminal of the charging device. After receiving the wireless pairing request, it can wirelessly pair with the charging device based on the wireless pairing information. If the pairing is complete, the mobile device sends feedback information (i.e., a reply packet) to the wireless charging device.

[0098] Optionally, if pairing is successful, the feedback information sent by the mobile device may include a charging instruction. The charging instruction instructs the charging device to charge the mobile device. If pairing is not completed, the mobile device may periodically send a maintenance instruction to the wireless charging device. The maintenance instruction instructs the charging device to maintain communication mode.

[0099] After sending a wireless pairing request, the charging device can start timing with the moment of sending the wireless pairing request as the timing starting point. During the timing process, if a charging instruction is received from the mobile device, the charging device stops timing, determines that the wireless pairing result is a successful pairing, determines that the charging type is a negotiated charging type, and configures the working mode to the charging mode. During the timing process, if a maintenance instruction is received from the mobile device, the charging device sends a wireless pairing request to the mobile device again, and refreshes the timing with the moment of sending the wireless pairing request this time as the timing starting point. This cycle continues until the charging device receives a charging instruction from the mobile device, then stops timing, and determines that the wireless pairing result is a successful pairing; or, when the timing exceeds the second preset time length, no charging instruction is received, and no maintenance instruction is received, then stops timing, determines that the wireless pairing result is a failed pairing, determines that the charging type is a forced charging type, and configures the working mode to the charging mode.

[0100] If the mobile device is powered off, the mobile device cannot receive a wireless pairing request via the first charging terminal of the charging device, and thus the mobile device cannot perform wireless pairing or send feedback information to the charging device. In this case, when the charging device exceeds the second preset time period, it cannot receive any information sent by the mobile device. Therefore, the charging device stops timing, determines that the wireless pairing result is a pairing failure, determines that the charging type is a forced charging type, and configures the operating mode to charging mode.

[0101] That is, if the first preset condition is met, the charging device determines that the wireless pairing result is successful, and the first preset condition is: within the second preset time period from the timing start time, the charging instruction sent from the mobile device is received through the first charging end; the timing start time is the time when the wireless pairing request was most recently sent to the mobile device;

[0102] If the second preset condition is met, the charging device determines that the wireless pairing result is a pairing failure. The second preset condition is: within a second preset time period from the timing start time, no information sent from the mobile device is received through the first charging end.

[0103] In this embodiment, based on the first preset condition and the second preset condition, by determining whether information sent from the mobile device is received within the second preset time period, the wireless pairing result can be simply and quickly determined. In addition, the wireless pairing results when the mobile device is in the power-on state and the power-off state can be accurately identified, thereby improving the accuracy of wireless pairing result identification and thereby improving the accuracy of charging control.

[0104] The following describes the working process of the charging device in the charging mode.

[0105] In one embodiment, when the charging type is forced charging, the charging device may first output a second voltage through the first charging terminal and then raise the second voltage to a third voltage. The second voltage is greater than the first voltage. The second voltage is the voltage output by the charging device when providing a wake-up voltage to the mobile device, and the third voltage is a pre-configured fixed charging voltage under the forced charging type.

[0106] Optionally, the second voltage can be 18V, and the third voltage can be 25.2V. That is, during forced charging, an 18V voltage can be output through the first charging terminal to provide a wake-up voltage to the mobile device, and then the output voltage of the first charging terminal can be raised from 18V to 25.2V to provide the mobile device with a pre-configured fixed charging voltage under the pre-configured forced charging type. When the mobile device is in the off state, the wake-up voltage can wake up the battery of the mobile device, and then the battery of the mobile device can be charged under the charging voltage provided by the charging device.

[0107] In this embodiment, a self-moving device that is in a powered-off state can also be safely awakened and charged, thereby improving the practicality and applicability of the charging control method.

[0108] The following describes the working process of the charging device in the communication mode.

[0109] Optionally, the communication mode of the charging device includes a receiving mode and a bidirectional communication mode. In the receiving mode, the charging device only receives information sent from the mobile device through the first charging port, and does not send information to the mobile device through the first charging port. In the bidirectional communication mode, the charging device can both receive information sent from the mobile device through the first charging port and send information to the mobile device through the first charging port.

[0110] Optionally, when a mobile device sends information to a charging device, the information may include a receive-only flag. The receive-only flag is used to indicate whether the charging device's communication mode is receive mode. Specifically, during communication between the charging device and the mobile device via the first charging terminal, if the receive-only flag in the information sent from the mobile device has a first value, the charging device sets the communication mode to receive mode. If the receive-only flag in the information sent from the mobile device has a second value, the charging device sets the communication mode to bidirectional communication mode. The first value is, for example, 1, and the second value is, for example, 0.

[0111] In some embodiments, when the self-mobile device needs to perform a firmware upgrade on the charging device, the self-mobile device can set the value of the receive-only flag to the first value to put the charging device into a receiving mode, thereby increasing the transmission speed of the firmware upgrade data and ensuring the integrity of the data transmission, thereby increasing the success rate of the firmware upgrade.

[0112] The following describes a charging control method from the mobile device side.

[0113] Figure 8 This is another flow chart of the charging control method provided in the embodiment of the present application. Figure 9 Schematic diagram of the implementation principle of the charging control method for the mobile device side provided in the embodiment of the present application. In this embodiment, the charging control method is applied to the mobile device 200, which can be Figure 4 The corresponding modules are implemented as shown. In this embodiment, the specific functions and implementation processes of each module during the execution of the method are not described in detail, and the logic of implementing charging control from the mobile device is mainly described.

[0114] Please also see Figure 8 and Figure 9 , the method comprises the following steps:

[0115] S201 : When the second charging terminal is in contact with the first charging terminal and it is detected that the voltage inputted from the second charging terminal is greater than a fourth voltage, the working mode of the mobile device is configured as a communication mode.

[0116] The fourth voltage is the communication mode activation threshold. Optionally, the fourth voltage may be 5.5V.

[0117] S202: In the communication mode, a wireless pairing request sent by the charging device is received through the second charging terminal.

[0118] After the working mode is configured as the communication mode, the mobile device receives a wireless pairing request sent by the first charging end of the charging device through the second charging end. For details, see the above step S103.

[0119] S203: Perform wireless pairing with the charging device according to the wireless pairing request.

[0120] S204: When it is detected that the voltage inputted from the second charging terminal meets the charging condition, the working mode of the mobile device is configured as the charging mode.

[0121] S205 : In the charging mode, the second charging terminal receives charging from the charging device and sends a charging negotiation request to the charging device through the wireless communication module.

[0122] In charging mode, after the BMS of the self-mobile device determines the expected charging voltage and expected current, it sends a charging negotiation request to the charging device through the wireless communication module, and the negotiation request carries the expected charging voltage and expected current.

[0123] S206: When the negotiation fails, control the mobile device to re-dock with the charging device.

[0124] Optionally, after the mobile device sends a negotiation request to the charging device, the charging device may send a response message to the mobile device if it determines that it can output the desired voltage and current contained in the negotiation request. Therefore, the mobile device can determine whether the negotiation is successful based on the response message.

[0125] If the charging device does not receive the response message, the mobile device determines that the negotiation has failed, and the mobile device leaves the charging device and reconnects to the charging device.

[0126] If the charging device receives the response message, the mobile device determines that the negotiation is successful, and the mobile device continues to operate in the charging mode and accepts charging from the charging device.

[0127] Of course, the mobile device may also determine whether the negotiation is successful in other ways. For example, it may determine whether the voltage and current inputted by the second charging terminal are consistent with the expected voltage and expected current, thereby determining whether the negotiation is successful.

[0128] The charging control method provided in this embodiment can ensure that the mobile device successfully docks and communicates with the charging device, and that the charging device charges the mobile device, by switching the working mode. In addition, in this method, when negotiation fails, the mobile device is controlled to re-dock with the charging device so as to successfully communicate with the charging device and negotiate charging. Compared with the solution of directly exiting the charging mode when negotiation fails, the solution of this application controls the mobile device to dock with the charging device again when negotiation fails, thereby ensuring successful docking, communication, and charging, and increasing the probability of successful docking, communication, and charging.

[0129] Please continue to see Figure 9 In one embodiment, the method further includes: when it is detected that the voltage inputted at the second charging terminal is greater than the fourth voltage, turning on the pre-charging circuit.

[0130] That is, when the mobile device activates communication mode, an input voltage already exists at the second charging terminal. This input voltage is lower than the normal charging voltage and does not cause an inrush current. Therefore, the pre-charge circuit can be activated simultaneously. After the pre-charge circuit is activated, the battery can be pre-charged using this input voltage, which can reduce the inrush current when the charging circuit is activated, thus protecting the battery and circuitry of the mobile device.

[0131] In one embodiment, the charging condition is: the voltage inputted from the second charging terminal is greater than a fifth voltage and lasts for a third predetermined time period, and the fifth voltage is a threshold voltage for starting the charging mode.

[0132] Optionally, the third preset duration may be 0.2s, and the fifth voltage may be 19V. Specifically, when the first charging terminal of the charging device outputs the third voltage of 25.2V, considering a certain voltage drop between the first charging terminal and the second charging terminal, the voltage input to the second charging terminal is approximately 20V to 21V. Thus, when the mobile device detects that the voltage input to the second charging terminal meets the charging condition, the mobile device is configured to operate in charging mode.

[0133] In one embodiment, in step S204, configuring the working mode of the mobile device to the charging mode includes: turning on the charging circuit and turning off the pre-charging circuit after waiting for a fourth preset time. Optionally, the fourth preset time may be 0.5 seconds.

[0134] Specifically, the mobile device first controls the MOS tube of the charging circuit to turn on, waits for a fourth preset time period, and then turns off the MOS tube of the pre-charging circuit.

[0135] In addition, before turning on the charging circuit, the mobile device can turn off the communication transceiver circuit, thereby turning off the communication mode.

[0136] In this embodiment, after the charging circuit is turned on, the pre-charging circuit is turned off after waiting for the fourth preset time period. This can achieve buffering of the switching between the pre-charging circuit and the charging circuit, ensure the pre-charging effect of the pre-charging circuit, and improve the stability of charging the mobile device.

[0137] The following describes the process of exiting charging mode from a mobile device.

[0138] Please also see Figure 9 and Figure 10 , the method further comprises:

[0139] S207 : In the charging mode, if a discharge current of the mobile device is detected and the discharge current is greater than the first current and lasts for a fifth preset time period, control the mobile device to enter and exit the charging mode.

[0140] Optionally, the first current may be 200 milliamperes (mA) and the fifth preset time may be 0.5 seconds. That is, in charging mode, if a discharge current of the mobile device is detected and the discharge current is greater than 200 mA and lasts for 0.5 seconds, it indicates that the battery of the mobile device is in a discharging state, and further indicates that the charging device has stopped charging the mobile device. Therefore, the mobile device is controlled to exit the charging mode.

[0141] S208 , after entering the exit charging mode, controlling the mobile device to leave the charging device or starting the pre-charging circuit according to the voltage inputted from the second charging terminal.

[0142] Specifically, after entering and exiting the charging mode, the mobile device can detect the voltage inputted at the second charging terminal, and determine whether to leave the charging device or configure the working mode to the charging mode according to the voltage inputted at the second charging terminal:

[0143] 1) If the voltage input to the second charging terminal meets the departure condition, control the mobile device to leave the charging device. The departure condition is: the voltage input to the second charging terminal is less than a sixth voltage and lasts for a sixth preset time period, where the sixth voltage is the minimum threshold voltage for the charging device to charge the mobile device in the charging mode.

[0144] Optionally, the sixth voltage may be 9V, and the sixth preset time length may be 0.5s.

[0145] 2) If the voltage input to the second charging terminal meets the restart charging condition, the pre-charging circuit is activated, and after the aforementioned charging condition is satisfied, the operating mode of the mobile device is configured to be the charging mode. The restart charging condition is: the voltage input to the second charging terminal is greater than a fifth voltage and persists for a seventh predetermined time period, where the fifth voltage is the threshold voltage for activating the charging mode.

[0146] Optionally, the seventh preset time length may be 0.3s, and the fifth voltage may be 19 V. That is, after exiting the charging mode, if the voltage inputted by the second charging terminal is greater than 19V and lasts for 0.3s, the pre-charging circuit is turned on.

[0147] 3) If the voltage inputted by the second charging terminal does not meet the leaving condition and does not meet the restart charging condition, and the time duration since the mobile device entered the exit charging mode is greater than or equal to the eighth preset time duration, the mobile device is controlled to leave the charging device.

[0148] Optionally, the eighth preset time length may be 1.5s.

[0149] In this embodiment, after the mobile device exits the charging mode, it can control and determine whether the mobile device leaves the charging device or configures the working mode to the charging mode again based on the voltage input from the second charging terminal, thereby improving the intelligence of charging and thus improving the charging efficiency; at the same time, it can prevent misjudgment caused by judging only by the discharge current, thereby improving the accuracy of charging control.

[0150] The following describes the interaction between the charging device and the mobile device during the charging process with reference to the accompanying drawings and scenarios.

[0151] 1) Since the mobile device is turned on

[0152] For example, Figure 11 Another flow chart of the charging control method provided in the embodiment of the present application is as follows: Figure 11 As shown, the method includes:

[0153] S301: docking a mobile device with a charging device so that a second charging terminal of the mobile device contacts a first charging terminal of the charging device.

[0154] S302: When the charging device detects that the second charging terminal of the mobile device is in contact with the first charging terminal of the charging device for more than a preset time threshold (0.3s), the charging device outputs a first voltage (12V) through the first charging terminal.

[0155] S303: When the first voltage (12V) lasts for a first preset time period (0.5s), the charging device configures the charging device to a communication mode.

[0156] S304: When the mobile device detects that the input voltage of the second charging terminal is greater than the fourth voltage, the pre-charging circuit is turned on, and the working mode of the mobile device is configured as the communication mode.

[0157] Optionally, the fourth voltage may be 5.5V.

[0158] S305: In the communication mode, the charging device sends a wireless pairing request to the mobile device via the first charging terminal.

[0159] S306: In the communication mode, the mobile device wirelessly pairs with the charging device according to the wireless pairing request.

[0160] S307: After pairing with the mobile device is complete, a charging instruction is sent to the charging device.

[0161] S308: The charging device receives the charging instruction, determines that the pairing is successful, and determines that the charging type is the negotiated charging type.

[0162] S309: Configure the working mode of the charging device to the charging mode.

[0163] S310: In a charging mode, charging the mobile device via the first charging terminal using a negotiated charging type.

[0164] S311: Detect that the voltage input at the second charging terminal meets the charging condition (the voltage input at the second charging terminal is greater than 19V and lasts for a third preset time, such as 0.2s), turn on the charging circuit and wait for a fourth preset time (0.5s) before turning off the pre-charging circuit to configure the working mode of the mobile device to the charging mode.

[0165] S312: In the charging mode, the mobile device sends a charging negotiation request to the charging device via the wireless communication module.

[0166] S313: In the charging mode, the charging device charges the mobile device via the first charging terminal using the protocol charging type.

[0167] 2) Since the mobile device is turned off

[0168] For example, Figure 12 Another flow chart of the charging control method provided in the embodiment of the present application is as follows: Figure 12 As shown, the method includes:

[0169] S401: docking a mobile device with a charging device, so that a second charging terminal of the mobile device contacts a first charging terminal of the charging device.

[0170] It can be understood that at this time, the docking of the mobile device and the charging device can be performed by the user dragging the mobile device, so the mobile device is in a powered-off state.

[0171] In some embodiments, the self-mobile device may also be automatically shut down due to insufficient power during the docking process with the charging device and be in the shutdown state.

[0172] S402: When the charging device detects that the second charging terminal of the mobile device is in contact with the first charging terminal of the charging device for more than a preset time threshold (0.3s), the charging device outputs a first voltage through the first charging terminal.

[0173] S403: When the first voltage lasts for a first preset time (0.5s), the charging device configures the charging mode to the communication mode.

[0174] S404: In the communication mode, the charging device sends a wireless pairing request to the mobile device via the first charging terminal.

[0175] At this time, the mobile device is in a powered-off state and does not respond to the wireless pairing request sent by the charging device.

[0176] S405: The charging device does not receive any information sent from the mobile device through the first charging terminal within the second preset time (5s) from the timing start point, and the charging device determines that the pairing has failed and determines that the charging type is the forced charging type.

[0177] S406: Charge the device and configure the working mode of the charging device to the charging mode.

[0178] S407: In the charging mode, the charging device outputs a second voltage (18V) through the first charging terminal to charge the mobile device.

[0179] S408: Receive a second voltage (18V) from the first charging terminal of the mobile device to wake up the battery.

[0180] At this time, the second voltage can be used as the power supply voltage of the mobile device to power various modules of the mobile device, so as to start the mobile device and wake up the battery.

[0181] S409: The charging device raises the second voltage (18V) to a third voltage (25.2V) to charge the mobile device.

[0182] S410: When the mobile device detects that the voltage inputted from the second charging terminal is greater than the fifth voltage (19V) and lasts for a third preset time period (0.2s), the working mode of the mobile device is configured as the charging mode.

[0183] S411: In charging mode, the mobile device receives charging from the charging device through the second charging terminal.

[0184] S412: Send a charging negotiation request from the mobile device to the charging device through the wireless communication module.

[0185] S413: The mobile device determines that the negotiation fails, and controls the mobile device to re-connect with the charging device.

[0186] It should be noted that the specific implementation process of each of the above steps can be referred to the description of the aforementioned embodiments and will not be repeated here.

[0187] Figure 13 The figure shows a schematic structural diagram of a charging device 500 provided in the present application. The device 500 includes:

[0188] The output module 501 is configured to output a first voltage through the first charging terminal when it is detected that the second charging terminal of the mobile device is in contact with the first charging terminal.

[0189] The first configuration module 502 is configured to configure the working mode of the charging device to the communication mode when the first voltage lasts for a first preset time period.

[0190] The sending module 503 is configured to send a wireless pairing request to the mobile device via the first charging terminal in the communication mode.

[0191] The first configuration module 502 is further configured to, when the wireless pairing result is pairing failure, determine that the charging type is a forced charging type, and configure the working mode of the charging device to the charging mode.

[0192] The charging module 504 is configured to charge the mobile device via the first charging terminal in a forced charging mode. In the forced charging mode, the charging parameters are pre-configured parameters.

[0193] In some embodiments, the first configuration module 502 is further used to determine that the charging type is a negotiated charging type when the wireless pairing result is a successful pairing, and configure the working mode of the charging device to a charging mode; in the charging mode, the self-mobile device is charged through the first charging end with a negotiated charging type; wherein, under the negotiated charging type, the charging parameters are determined by negotiation between the self-mobile device and the charging device.

[0194] In some embodiments, the first configuration module 502 is further used to determine that the wireless pairing result is a successful pairing if a first preset condition is met, and the first preset condition is: within a second preset time period from the timing start time, a charging instruction sent from the mobile device is received through the first charging end; the timing start time is the time when the wireless pairing request was last sent to the mobile device, and the charging instruction is used to instruct the charging device to charge the mobile device; if the second preset condition is met, the wireless pairing result is determined to be a failed pairing, and the second preset condition is: within the second preset time period from the timing start time, no information sent from the mobile device is received through the first charging end.

[0195] In some embodiments, the charging module 504 is further used to output a second voltage through the first charging end; the second voltage is greater than the first voltage, and the second voltage is the voltage output by the charging device when providing a wake-up voltage to the mobile device; the second voltage is raised to a third voltage, and the third voltage is a fixed charging voltage under a preconfigured forced charging type.

[0196] In some embodiments, the communication mode includes a receive mode and a two-way communication mode.

[0197] In some embodiments, the charging module 504 is further configured to stop outputting voltage through the first charging terminal when it is detected that the second charging terminal is separated from the first charging terminal.

[0198] The specific manner in which the device 500 executes the charging control method and the beneficial effects produced can be found in the relevant description of the method embodiment, which will not be repeated here.

[0199] Figure 14 The schematic diagram of the structure of a charging device 600 provided in this application is shown. The device 600 includes:

[0200] The second configuration module 601 is configured to configure the working mode of the mobile device to the communication mode when it is detected that the voltage input from the second charging terminal is greater than the fourth voltage when the second charging terminal is in contact with the first charging terminal;

[0201] The receiving module 602 is configured to receive a wireless pairing request sent by the charging device through the second charging terminal in the communication mode;

[0202] The second configuration module 601 is further configured to wirelessly pair with the charging device according to the wireless pairing request, and configure the working mode of the mobile device to the charging mode when it is detected that the voltage inputted by the second charging terminal meets the charging condition;

[0203] Negotiation charging module 603, configured to accept charging from the charging device through the second charging terminal and send a charging negotiation request to the charging device through the wireless communication module in the charging mode;

[0204] The second configuration module 601 is further configured to control the mobile device to re-dock with the charging device when the negotiation fails.

[0205] In some embodiments, the second configuration module 601 is further configured to start the pre-charging circuit when it is detected that the voltage inputted at the second charging terminal is greater than a fourth voltage.

[0206] In some embodiments, the charging condition is: the voltage input to the second charging terminal is greater than the fifth voltage and lasts for a third preset time, and the fifth voltage is the threshold voltage for starting the charging mode; the second configuration module 601 is specifically used to: turn on the charging circuit and wait for the fourth preset time before turning off the pre-charging circuit.

[0207] In some embodiments, the second configuration module 601 is also used to control the mobile device to exit the charging mode if a discharge current of the mobile device is detected in the charging mode, and the discharge current is greater than the first current and lasts for a fifth preset time period; after exiting the charging mode, the mobile device is controlled to leave the charging device or the working mode of the mobile device is configured to the charging mode according to the voltage input from the second charging end.

[0208] In some embodiments, the second configuration module 601 is further used to detect the voltage inputted at the second charging terminal after exiting the charging mode; if the voltage inputted at the second charging terminal meets the leaving condition, the self-mobile device is controlled to leave the charging device; wherein, the leaving condition is: the voltage inputted at the second charging terminal is less than a sixth voltage and lasts for a sixth preset time, and the sixth voltage is the minimum threshold voltage for the charging device to charge the self-mobile device in the charging mode; if the voltage inputted at the second charging terminal meets the restart charging condition, the pre-charging circuit is turned on; wherein, the restart charging condition is: the voltage inputted at the second charging terminal is greater than a fifth voltage and lasts for a seventh preset time, and the fifth voltage is the threshold voltage for turning on the charging mode; if the voltage inputted at the second charging terminal does not meet the leaving condition and does not meet the restart charging condition, and the time for the self-mobile device to exit the charging mode is greater than or equal to the eighth preset time, the self-mobile device is controlled to leave the charging device.

[0209] The specific manner in which the device 600 executes the charging control method and the beneficial effects produced can be found in the relevant description of the method embodiment, which will not be repeated here.

[0210] Figure 15 This is another structural diagram of the charging device provided in the embodiment of the present application. Figure 15 As shown, the charging device 100 includes: a first processor 1410, a first memory 1420, and a first computer program 1421 stored in the first memory 1420 and executable on the processor 1410. When the first processor 1410 executes the first computer program 1421, the steps of the charging control method executed by the charging device in the above embodiment are implemented.

[0211] Those skilled in the art will understand that Figure 15 The modules related to the processing of computer programs by the charging device 100 are merely shown, and do not constitute a limitation on the charging device 100. The charging device may include more or fewer components than shown in the figure, or may combine certain components, or different components, such as the above-mentioned components. Figure 4 Modules related to the charging device 100.

[0212] The first processor 1410 may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor (e.g., the aforementioned Figure 3 The first MCU shown) may alternatively be any conventional processor.

[0213] In some embodiments, the first memory 1420 may be an internal storage unit of the charging device 100, such as a hard disk or memory of the charging device 100. In other embodiments, the first memory 1420 may also be an external storage device of the charging device 100, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the charging device 100. Furthermore, the first memory 1420 may also include both an internal storage unit of the charging device 100 and an external storage device. The first memory 1420 is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs. The first memory 1420 may also be used to temporarily store data that has been output or is to be output.

[0214] Figure 16 This is another structural diagram of the self-moving device provided in the embodiment of the present application. Figure 16 As shown, the self-mobile device 200 includes: a second processor 1510, a second memory 1520, and a second computer program 1521 stored in the second memory 1520 and executable on the second processor 1510. When the second processor 1510 executes the second computer program 1521, the steps of the charging control method executed by the self-mobile device in the above embodiment are implemented.

[0215] Those skilled in the art will understand that Figure 16 The self-mobile device 200 is merely shown as a module related to processing the computer in ascending order, and does not constitute a limitation on the self-mobile device 200. The self-mobile device 200 may include more or fewer components than shown in the figure, or combine certain components, or different components, such as the above-mentioned Figure 4 Modules related to the mobile device 200, etc.

[0216] The second processor 1510 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor (e.g., the aforementioned Figure 4 The second MCU shown) may alternatively be any conventional processor.

[0217] In some embodiments, the second memory 1520 can be an internal storage unit of the mobile device 200, such as a hard disk or memory of the mobile device 200. In other embodiments, the second memory 1520 can also be an external storage device of the mobile device 200, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the mobile device 200. Furthermore, the second memory 1520 can also include both an internal storage unit of the charging device 200 and an external storage device. The second memory 1520 is used to store an operating system, an application, a boot loader (Boot Loader), data, and other programs. The memory 1520 can also be used to temporarily store data that has been output or is to be output.

[0218] An embodiment of the present application further provides a charging system for a self-moving device, comprising the charging device as described above and the self-moving device.

[0219] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it can implement the steps of the charging control method executed by the above-mentioned charging device, or implement the steps of the charging control method executed by the above-mentioned mobile device.

[0220] An embodiment of the present application provides a computer program product, which, when executed on a computer, enables the computer to execute the steps of the charging control method executed by the above-mentioned charging device, or implement the steps of the charging control method executed by the above-mentioned mobile device.

[0221] It should be understood that all or part of the steps for implementing the above embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the steps may be implemented in the form of a computer program product. The computer program product may include one or more computer instructions. The computer instructions may be stored in the above-mentioned computer-readable storage medium.

[0222] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0223] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A charging control method, applied to a charging device, characterized in that: The charging device includes a first charging terminal, and the method includes: When detecting that the second charging terminal of the mobile device is in contact with the first charging terminal, outputting a first voltage through the first charging terminal; When the first voltage lasts for a first preset time period, configuring the operating mode of the charging device to a communication mode; In the communication mode, sending a wireless pairing request to the mobile device via the first charging terminal; If a first preset condition is met, the wireless pairing result is determined to be successful, the first preset condition being that a charging instruction sent by the mobile device is received through the first charging end within a second preset time period from the timing start time; the timing start time is the time when the wireless pairing request was most recently sent to the mobile device, and the charging instruction is used to instruct the charging device to charge the mobile device; If a second preset condition is met, determining that the wireless pairing result is a pairing failure, the second preset condition being: within the second preset time period from the timing start time, no information sent from the mobile device is received through the first charging end; When the wireless pairing result is pairing failure, determining the charging type as a forced charging type, and configuring the working mode of the charging device to a charging mode; In the charging mode, the self-mobile device is charged via the first charging end in the forced charging type; wherein, in the forced charging type, the charging parameters are pre-configured parameters; When the wireless pairing result is that the pairing is successful, determining that the charging type is a negotiated charging type, and configuring the working mode of the charging device to the charging mode; In the charging mode, the self-mobile device is charged via the first charging end using the negotiated charging type; wherein, in the negotiated charging type, charging parameters are determined by negotiation between the self-mobile device and the charging device.

2. The method according to claim 1, wherein The charging parameter includes a charging voltage. In the charging mode, charging the mobile device through the first charging terminal in the forced charging type includes: outputting a second voltage through the first charging terminal; the second voltage is greater than the first voltage, and the second voltage is the voltage output by the charging device when providing a wake-up voltage to the mobile device; The second voltage is raised to a third voltage, where the third voltage is a pre-configured fixed charging voltage under the forced charging type.

3. The method according to claim 1, wherein The communication mode includes a receiving mode and a two-way communication mode.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: When it is detected that the second charging terminal is separated from the first charging terminal, outputting voltage through the first charging terminal is stopped.

5. A charging control method, applied to a mobile device, characterized in that: The self-moving device includes a second charging terminal, and when the self-moving device is docked with the charging device, the second charging terminal contacts the first charging terminal of the charging device, and the method includes: When the second charging terminal is in contact with the first charging terminal, when it is detected that the voltage inputted by the second charging terminal is greater than a fourth voltage, configuring the working mode of the mobile device to a communication mode; In the communication mode, receiving a wireless pairing request sent by the charging device through the second charging terminal; The wireless pairing is performed with the charging device according to the wireless pairing request; wherein the charging device determines that the wireless pairing result is a successful pairing when a first preset condition is met, and the first preset condition is that the charging instruction sent by the self-mobile device is received through the first charging end within a second preset time period from the timing start time; the timing start time is the time when the wireless pairing request is most recently sent to the self-mobile device, and the charging instruction is used to instruct the charging device to charge the self-mobile device; the charging device determines that the wireless pairing result is a failed pairing when a second preset condition is met, and the second preset condition is that no information sent by the self-mobile device is received through the first charging end within the second preset time period from the timing start time; When it is detected that the voltage inputted by the second charging terminal meets the charging condition, the operating mode of the mobile device is configured as the charging mode; In the charging mode, the second charging terminal receives charging from the charging device and sends a charging negotiation request to the charging device via the wireless communication module; When the negotiation fails, the mobile device is controlled to re-dock with the charging device.

6. The method according to claim 5, wherein The charging condition is: the voltage inputted from the second charging terminal is greater than a fifth voltage and lasts for a third preset time period, and the fifth voltage is a threshold voltage for starting the charging mode; Configuring the working mode of the mobile device to a charging mode includes: The charging circuit is turned on and the pre-charging circuit is turned off after waiting for a fourth preset time period.

7. A charging device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the method according to any one of claims 1 to 4 when executed by the processor.

8. A self-propelled device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the method according to any one of claims 5 to 6 when executed by the processor.

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