Self-moving device, maintenance base station and cleaning system

Abstract

The invention relates to the technical field of cleaning equipment, and discloses self-moving equipment, a maintenance base station and a cleaning system. The self-moving device comprises a first electrode assembly, a load adaptation circuit and a controller, a power module of the maintenance base station, a second electrode assembly, the first electrode assembly and the load adaptation circuit can form a loop, and the controller is used for controlling the load adaptation circuit to adjust target current flowing through the loop according to preset working parameters. And the maintenance base station analyzes the working parameters according to the target current and a preset communication protocol. According to the embodiment of the invention, by controlling the size change of the target current flowing through the loop, the maintenance base station can analyze the working parameters according to the target current and the preset communication protocol, so that the purpose of transmitting the working parameters to the maintenance base station from the mobile equipment without the help of a wireless communication module can be achieved, the hardware cost can be saved, and the maintenance efficiency is improved. Another idea is provided for solving the technical problem of mutual communication between the self-moving equipment and the maintenance base station.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a self-moving device, a maintenance base station and a cleaning system. Background Art

[0002] The maintenance base station can perform maintenance work on the sweeper, including charging, dust collection, etc. The maintenance base station can communicate with the sweeper to carry out maintenance work more effectively. Usually, in order to reduce the design cost, the communication between the maintenance base station and the sweeper is one-way, that is, the maintenance base station only transmits information to the sweeper unilaterally, but the sweeper cannot transmit information to the maintenance base station, resulting in unsatisfactory maintenance results.

[0003] In order to improve the maintenance effect, the relevant technology can set a wireless communication module in the maintenance base station, and the wireless communication module of the maintenance base station communicates with the wireless communication module of the sweeper itself, which can solve the above-mentioned problems. However, the solution using the wireless communication module is expensive, and the maintenance base station and the sweeper do not need to communicate frequently. Usually, the sweeper communicates only when the maintenance base station is in use. Therefore, the solution using the wireless communication module seems to be "overkill". Summary of the invention

[0004] One purpose of an embodiment of the present invention is to provide a self-moving device, a maintenance base station and a cleaning system, so as to provide a technical solution different from the related technology for solving the technical problem of mutual communication between the self-moving device and the maintenance base station.

[0005] In a first aspect, an embodiment of the present invention provides a self-moving device, including:

[0006] A first electrode assembly, used to connect with a second electrode assembly of the maintenance base station;

[0007] a load adaptation circuit electrically connected to the first electrode assembly, wherein when the first electrode assembly is docked with the second electrode assembly, the power module of the maintenance base station, the second electrode assembly, the first electrode assembly and the load adaptation circuit form a loop;

[0008] A controller is electrically connected to the load adaptation circuit and is used to control the load adaptation circuit according to preset working parameters to adjust the target current flowing through the loop, so that the maintenance base station parses the working parameters according to the target current and a preset communication protocol.

[0009] Optionally, the load adaptation circuit includes:

[0010] a communication load circuit, electrically connected to the first electrode assembly and the controller respectively;

[0011] A main functional circuit, electrically connected to the first electrode assembly and the controller respectively;

[0012] The first on-pile detection circuit is electrically connected to the controller, and is used to generate a first on-pile signal when the first electrode assembly is docked with the second electrode assembly, wherein the controller responds to the first on-pile signal, controls the main functional circuit to suspend operation, and controls the communication load circuit according to preset working parameters to adjust the target current.

[0013] Optionally, the communication load circuit includes:

[0014] a current limiting circuit, comprising a first node and a second node, wherein the current limiting circuit is electrically connected to the first electrode assembly at the first node;

[0015] A switch circuit is electrically connected to the current limiting circuit and the controller at the second node, wherein the controller controls the switch circuit to adjust the target current according to preset operating parameters.

[0016] Optionally, the switch circuit includes an NPN transistor, a base of the NPN transistor is electrically connected to the controller, a collector is electrically connected to the second node, and an emitter is grounded.

[0017] Optionally, when the controller detects that the working parameters have been sent, the controller controls the main functional circuit to resume working.

[0018] Optionally, the main functional circuit includes:

[0019] A battery pack is electrically connected to the controller, wherein the controller controls the battery pack to suspend operation in response to the first on-pile signal;

[0020] The system power supply circuit is electrically connected to the controller, wherein the controller controls the system power supply circuit to suspend operation in response to the first on-stake signal.

[0021] Optionally, the first electrode assembly includes a first pole piece and a second pole piece, and the first pole piece and the second pole piece are electrically connected to the load adaptation circuit respectively.

[0022] In a second aspect, an embodiment of the present invention provides a maintenance base station, including:

[0023] A second electrode assembly, used to dock with the first electrode assembly of the self-moving device;

[0024] A power module, used to provide power for the self-moving device, wherein when the second electrode assembly is docked with the first electrode assembly, the power module, the second electrode assembly, the first electrode assembly and the load adaptation circuit of the self-moving device form a loop;

[0025] A current processing circuit, electrically connected to the power module, for processing the target current flowing through the loop to obtain at least one level signal;

[0026] A microprocessor is electrically connected to the power module and the current processing circuit respectively, and is used to parse at least one of the level signals according to a preset communication protocol to obtain working parameters.

[0027] Optionally, the current processing circuit includes:

[0028] A current sampling circuit, electrically connected to the power module, for sampling a target current flowing through the loop;

[0029] A signal conditioning circuit, electrically connected to the current sampling circuit, for performing signal conditioning on the target current to obtain a conditioned target current;

[0030] The comparison circuit is electrically connected to the signal conditioning circuit and the microprocessor respectively, and is used to generate at least one level signal according to a preset reference current threshold and the conditioned target current.

[0031] Optionally, the maintenance base station further includes:

[0032] A base station main circuit, electrically connected to the microprocessor;

[0033] A second on-pile detection circuit is electrically connected to the microprocessor, and is used to generate a second on-pile signal when the second electrode assembly is docked with the first electrode assembly, wherein the microprocessor responds to the second on-pile signal and controls the base station main circuit and / or the power module according to the operating parameters.

[0034] In a third aspect, an embodiment of the present invention provides a cleaning system, comprising:

[0035] The aforementioned self-moving device;

[0036] The above-mentioned maintenance base station performs maintenance work on the self-moving device according to the working parameters.

[0037] In the self-moving device provided in the embodiment of the present invention, the first electrode assembly is used to dock with the second electrode assembly of the maintenance base station, and the load adaptation circuit is electrically connected to the first electrode assembly, wherein when the first electrode assembly is docked with the second electrode assembly, the power module, the second electrode assembly, the first electrode assembly and the load adaptation circuit of the maintenance base station form a loop, and the controller is electrically connected to the load adaptation circuit, and is used to control the load adaptation circuit according to the preset working parameters to adjust the target current flowing through the loop, so that the maintenance base station parses the working parameters according to the target current and the preset communication protocol. This embodiment controls the change in the size of the target current flowing through the loop, so that the maintenance base station can parse the working parameters according to the target current and the preset communication protocol, so that the purpose of transmitting the working parameters from the self-moving device to the maintenance base station can be achieved without the help of the wireless communication module, thereby saving hardware costs, and the first electrode assembly is a standard configuration of the self-moving device, and the ready-made first electrode assembly is used, and the load adaptation circuit is superimposed to control the load, so that the hardware cost can be further reduced, which provides another idea for solving the technical problem of mutual communication between the self-moving device and the maintenance base station. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0039] Figure 1 A schematic diagram of the structure of a cleaning system provided by an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of a circuit structure of a self-moving device provided by an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of a circuit structure of a self-moving device provided by another embodiment of the present invention;

[0042] Figure 4 A schematic diagram of a circuit structure of a self-moving device provided by yet another embodiment of the present invention;

[0043] Figure 5 A schematic diagram of a circuit structure of a self-moving device provided by yet another embodiment of the present invention;

[0044] Figure 6 A schematic diagram of a circuit structure of a self-moving device provided by yet another embodiment of the present invention;

[0045] Figure 7 A schematic diagram of a circuit structure of a self-moving device provided by yet another embodiment of the present invention;

[0046] Figure 8 A schematic diagram of a circuit structure of a self-moving device provided by yet another embodiment of the present invention;

[0047] Fig. 9 A schematic diagram of a circuit structure of a maintenance base station provided in an embodiment of the present invention;

[0048] Fig.10 A schematic diagram of a circuit structure of a maintenance base station provided in another embodiment of the present invention;

[0049] Fig.11 A schematic diagram of the circuit structure of a maintenance base station provided in yet another embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0051] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in the present invention do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0052] The present invention provides a cleaning system. Figure 1 The cleaning system 100 includes a self-moving device 200 and a maintenance base station 300 .

[0053] The self-moving device 200 is used to perform corresponding business operations, wherein the business operations are adapted to the main functions of the self-moving device 200. It is understandable that the self-moving device includes cleaning robots, transport robots, service robots, etc., and the cleaning robots include sweeping robots, mopping robots, sweeping and mopping robots or floor scrubbers, etc. Therefore, the business operations include cleaning operations, transport operations or guiding operations, etc.

[0054] The maintenance base station 300 is used to provide maintenance work for the self-moving device 200 , and the maintenance work includes providing power supply operation, dust collection operation or cleaning operation for the self-moving device 200 .

[0055] See also Figure 2 The mobile device 200 includes a first electrode assembly 21 , a load adaptation circuit 22 and a controller 23 .

[0056] The first electrode assembly 21 is used to connect with the second electrode assembly 31 of the maintenance base station 300. The structure of the first electrode assembly 21 is adapted to the structure of the second electrode assembly 31, wherein the first electrode assembly 21 and the second electrode assembly 31 can be a two-electrode structure, a three-electrode structure or a multi-electrode structure.

[0057] The load adaptation circuit 22 is electrically connected to the first electrode assembly 21 , wherein when the first electrode assembly 21 is docked with the second electrode assembly 31 , the power module 32 of the maintenance base station 300 , the second electrode assembly 31 , the first electrode assembly 21 and the load adaptation circuit 22 form a loop.

[0058] It is understandable that in this embodiment, the main functional circuit originally possessed by the mobile device 200 can be used as the load adaptation circuit 22. For example, the main functional circuit includes one or more of the following circuits: WIFI module, system power circuit, battery pack circuit, etc. In this embodiment, the overall circuit topology structure formed by the WIFI module, system power circuit, and battery pack circuit can be used as the load adaptation circuit 22.

[0059] It can also be understood that, in addition to the main functional circuit originally possessed by the mobile device 200, this embodiment can also add a communication load circuit to the mobile device 200 and use the communication load circuit as a load adaptation circuit.

[0060] It can also be understood that, in this embodiment, on the basis of adding a communication load circuit, the overall circuit topology structure formed by the communication load circuit, the WIFI module, the system power circuit, and the battery pack circuit is used as the load adaptation circuit 22.

[0061] The controller 23 is electrically connected to the load adaptation circuit 22 and is used to control the load adaptation circuit 22 according to preset working parameters to adjust the target current flowing through the loop, so that the maintenance base station 300 parses the working parameters according to the target current and the preset communication protocol.

[0062] The working parameters are parameters used to instruct the maintenance base station 300 to perform maintenance work on the self-mobile device, wherein the meaning of the working parameters can be customized by the designer or the user, and the designer can burn the working parameters into the controller 23 of the self-mobile device 200 in advance according to business needs. Alternatively, the user can burn the working parameters into the controller 23 of the self-mobile device 200 in advance according to his own cleaning needs.

[0063] In some embodiments, the working parameters include maintenance time period, maintenance frequency, unit maintenance time, suction gear or charging current, etc. The maintenance time period is the time period in which the maintenance base station provides maintenance work to the self-mobile device. For example, the maintenance base station can provide dust collection operation for the self-mobile device between 7 pm and 9 pm. The maintenance frequency is that the maintenance base station can only provide maintenance work for the self-mobile device after the self-mobile device performs a specified number of business operations. For example, the maintenance base station can only provide dust collection operation for the self-mobile device after the self-mobile device sweeps the floor twice. The unit maintenance time is the time duration that the maintenance base station provides maintenance operation for the self-mobile device each time. For example, if the unit maintenance time is 15 minutes, the maintenance base station can only provide 15 minutes of dust collection operation for the self-mobile device. The suction gear is the gear of negative pressure when the maintenance base station collects dust from the self-mobile device. The charging current is the current size of the charging work provided by the maintenance base station to the self-mobile device.

[0064] It is understandable that the working parameters meet the requirements of the preset communication protocol, wherein the preset communication protocol may adopt an existing communication protocol, such as a serial communication protocol, or the preset communication protocol may adopt a communication protocol customized by a designer. Both the mobile device and the maintenance base station support the preset communication protocol.

[0065] The controller 23 can package the working parameters into communication data that meets the preset communication protocol, and adjust the target current flowing through the loop by controlling the load adaptation circuit 22. The data structure of the communication data can be various.

[0066] In some embodiments, the communication data includes a data header + operating parameters + verification code, wherein the maintenance base station 300 parses the target current according to the preset communication protocol to obtain the data header, and the maintenance base station 300 confirms that the communication data is data containing the operating parameters according to the data header, and then continues to parse the target current according to the preset communication protocol, so as to obtain the operating parameters. Finally, the maintenance base station 300 continues to parse the target current according to the preset communication protocol to obtain the verification code, and verifies whether the communication data is correct according to the verification code. If correct, the operating parameters are saved, and if incorrect, the self-mobile device 200 is notified to resend the communication data.

[0067] In some embodiments, the communication data includes a data header + operating parameters.

[0068] When the controller 23 controls the load adaptation circuit 22 to be in the first state, the target current flowing through the loop is the first current, and the maintenance base station 300 parses the first current according to the preset communication protocol to obtain the first level.

[0069] When the controller 23 controls the load adaptation circuit 22 to be in the second state, the target current flowing through the loop is the second current, and the maintenance base station 300 parses the second current according to the preset communication protocol to obtain the second level.

[0070] It can be understood that the first state can be a working state, and the second state can be a stopped state, or the first state can be a stopped state, and the second state can be a working state. Alternatively, the first state can be that part of the circuit in the load adaptation circuit is in a working state, and the second state can be that part of the circuit in the load adaptation circuit is in a stopped state, or the first state can be that part of the circuit in the load adaptation circuit is in a stopped state, and the second state can be that part of the circuit in the load adaptation circuit is in a working state.

[0071] It can be understood that the first current is larger than the second current, or the first current is smaller than the second current.

[0072] It can be understood that the first level may be a high level and the second level may be a low level, or the first level may be a low level and the second level may be a high level.

[0073] The controller 23 continuously controls the load adaptation circuit 22 according to the preset working parameters to continuously adjust the target current flowing through the loop, so that the maintenance base station 300 parses various level signals according to each target current and the preset communication protocol, and the maintenance base station converts each level signal into working parameters according to the preset communication protocol.

[0074] This embodiment controls the change in the size of the target current flowing through the loop, so that the maintenance base station 300 can parse the working parameters according to the target current and the preset communication protocol. In this way, the purpose of transmitting the working parameters from the mobile device 200 to the maintenance base station 300 can be achieved without the aid of a wireless communication module, thereby saving hardware costs. The first electrode assembly 21 is a standard feature of the mobile device 200. By using the existing first electrode assembly 21 and then superimposing the control load adaptation circuit 22, the hardware cost can be further reduced, which provides another idea for solving the technical problem of mutual communication between the mobile device 200 and the maintenance base station 300.

[0075] It is understandable that the self-moving device provided in this embodiment is different from the power carrier method of the prior art. The prior power carrier method requires the information to be modulated and loaded into the electrical signal for transmission at the transmitting end, and the receiving end needs to set a decoupling circuit to demodulate the information from the electrical signal. This is more complicated and requires the addition of a more complex pair of modulation current and decoupling circuit, and the debugging cycle is long and the equipment maintenance is difficult. However, this embodiment does not require these two links of modulation and demodulation, and the operation process is relatively simple and fast.

[0076] In some embodiments, see Figure 3 The load adaptation circuit 22 includes a communication load circuit 221 , a main function circuit 222 and a first on-pile detection circuit 223 .

[0077] The communication load circuit 221 is electrically connected to the first electrode assembly 21 and the controller 23 respectively.

[0078] The main functional circuit 222 is electrically connected to the first electrode assembly 21 and the controller 23 respectively.

[0079] The first on-pile detection circuit 223 is electrically connected to the controller 23, and is used to generate a first on-pile signal when the first electrode assembly 21 is docked with the second electrode assembly 31, wherein the controller 23 responds to the first on-pile signal, controls the main function circuit 222 to suspend operation, and controls the communication load circuit 221 according to preset working parameters to adjust the target current.

[0080] This embodiment can adjust the target current flowing through the loop by adding a simple communication load circuit 221 without making any changes to the circuit topology structure of the main functional circuit 222, so that the maintenance base station 300 can parse the working parameters according to the target current and the preset communication protocol.

[0081] In some embodiments, see Figure 4 The communication load circuit 221 includes a current limiting circuit 224 and a switch circuit 225 .

[0082] The current limiting circuit 224 includes a first node N1 and a second node N2 . The current limiting circuit 224 is electrically connected to the first electrode assembly 21 at the first node N1 .

[0083] It is understandable that the current limiting circuit 224 may adopt any appropriate current limiting circuit topology structure. For example, the current limiting circuit 224 may be a single resistor or a resistor network composed of multiple resistors.

[0084] The switch circuit 225 is electrically connected to the current limiting circuit 224 and the controller 23 at the second node N2 , wherein the controller 23 controls the switch circuit 225 to adjust the target current according to a preset operating parameter.

[0085] For example, when the mobile device 200 is on the maintenance base station 300, the first on-station detection circuit 223 generates a first on-station signal. In response to the first on-station signal, the controller 23 controls the main function circuit 222 to suspend operation and controls the switch circuit 225 according to preset working parameters.

[0086] When the controller 23 controls the switch circuit 225 to be in the off state, the loop is disconnected, so the target current is 0, and the maintenance base station 300 parses the target current "0" according to the preset communication protocol and finds that the level signal corresponding to the high level is.

[0087] When the controller 23 controls the switch circuit 225 to be in the on state, the charging voltage provided by the power module 32 of the maintenance base station 300 is 24V, and the loop formed by the power module 32, the second electrode assembly 31, the first electrode assembly 21 and the switch circuit 225 of the maintenance base station 300 is connected, so the target current is a current value greater than 0, and the maintenance base station 300 parses the level signal corresponding to the target current as a low level according to the preset communication protocol. The controller 23 can parse the working parameters based on multiple time-continuous level small signals combined with the preset communication protocol. The maintenance base station 300 performs maintenance work on the mobile device 200 according to the working parameters.

[0088] In some embodiments, see Figure 5 The current limiting circuit 224 includes a resistor R1, one end of the resistor R1 is electrically connected to the first electrode assembly 21 at a first node N1, and the other end of the resistor R1 is electrically connected to the switch circuit 225 at a second node N2. The resistor R1 can be a cement resistor.

[0089] In some embodiments, please refer to Figure 5 The switch circuit 225 includes an NPN transistor Q1 , a base of the NPN transistor Q1 is electrically connected to the controller 23 , a collector is electrically connected to the second node N2 , and an emitter is grounded.

[0090] In some embodiments, please refer to Figure 5 The switch circuit 225 also includes a resistor R2 and a resistor R3, one end of the resistor R2 is electrically connected to the controller 23, the other end of the resistor R2 is electrically connected to the base of the NPN transistor Q1, one end of the resistor R3 is electrically connected to the base of the NPN transistor Q1, and the other end of the resistor R3 is grounded.

[0091] When the controller 23 sends a low level signal to the base of the NPN transistor Q1, when the NPN transistor Q1 is in the off state, the loop is disconnected, so the target current is 0, and the maintenance base station 300 parses the target current "0" according to the preset communication protocol and finds that the level signal corresponding to the high level is.

[0092] When the controller 23 sends a high level to the base of the NPN transistor Q1 and the NPN transistor Q1 is in the on state, the charging voltage provided by the power module 32 of the maintenance base station 300 is 24V, and the loop formed by the power module 32, the second electrode assembly 31, the first electrode assembly 21 and the NPN transistor Q1 of the maintenance base station 300 is connected, so the target current is a current value greater than 0, and the maintenance base station 300 parses out the level signal corresponding to the target current as a low level according to the preset communication protocol.

[0093] The present embodiment selects a switch circuit 225 composed mainly of transistors. Such a switch circuit 225 is a resistive load relative to the maintenance base station 300. The use of a resistive load can avoid the distortion of the target current and cause the maintenance base station 300 to extract an unreliable level signal. Therefore, the present embodiment selects a switch circuit 225 composed mainly of transistors to improve the reliability and stability of the maintenance base station 300 in parsing the working parameters from the target current.

[0094] In some embodiments, see Figure 6 The main functional circuit 222 includes a battery pack 226 and a system power circuit 227 .

[0095] The battery pack 226 is electrically connected to the controller 23, wherein the controller 23 controls the battery pack 226 to suspend operation in response to the first on-pile signal. It is understandable that the battery pack 226 is a battery with intelligent control function, and usually an intelligent microprocessor is provided inside the battery pack 226 to facilitate the adjustment of the temperature, charging current and charging voltage of the battery pack 226.

[0096] The system power circuit 227 is electrically connected to the controller 23, wherein the controller 23 controls the system power circuit 227 to suspend operation in response to the first on-pile signal. The system power circuit 227 is used to provide power to various components in the self-moving device 200, such as providing power to the motor and the fan.

[0097] When the mobile device 200 is on the maintenance base station 300, the first on-pile detection circuit 223 generates a first on-pile signal, and the controller 23 controls the battery pack 226 and the system power circuit 227 to stop working, so that the battery pack 226 and the system power circuit 227 stop obtaining current from the maintenance base station 300. Then, the controller 23 controls the communication load circuit 221 according to the preset working parameters to adjust the target current, for example, by controlling the communication load circuit 221, the target current is one of the first current and the second current, that is, the communication load circuit 221 is controlled to work in the first state, so that the target current is the first current, and the communication load circuit 221 is controlled to work in the second state, so that the target current is the second current, so that the target current will not become other currents other than the first current and the second current. Therefore, this embodiment effectively controls the target current to stably become the current size that meets the requirements of the preset communication protocol, so that the reliability and stability of parsing the working parameters can be improved.

[0098] In some embodiments, when the controller 23 detects that the working parameters have been sent, the controller 23 controls the main function circuit 222 to resume working. Therefore, the self-mobile device 200 provided in this embodiment can not only utilize the existing circuit structure to achieve the purpose of transmitting the working parameters to the maintenance base station 300, but also control the main function circuit 222 to resume working, so that the self-mobile device 200 can work normally.

[0099] In some embodiments, see Figure 7 , the first electrode assembly 21 includes a first electrode piece 211 and a second electrode piece 212, and the first electrode piece 211 and the second electrode piece 212 are electrically connected to the load adaptation circuit 22 respectively. Among them, one of the first electrode piece 211 and the second electrode piece 212 is a positive electrode piece, and the other is a negative electrode piece. When the first electrode assembly 21 is docked with the second electrode assembly 31, the power module 32 of the maintenance base station 300, the second electrode assembly 31, the first electrode piece 211, the second electrode piece 212 and the load adaptation circuit 22 form a loop. Compared with the use of a three-electrode piece structure or other multi-electrode piece structure, this embodiment can realize the information transmission between the mobile device 200 and the maintenance base station 300 through a relatively streamlined two-electrode piece structure, without the need for multiple slots, reducing the design difficulty and improving the installation efficiency.

[0100] In some embodiments, see Figure 8 The load adaptation circuit 22 also includes a wireless communication circuit 228, which is electrically connected to the controller 23. The wireless communication circuit 228 is used to receive the working parameters sent by the external terminal 400, and the wireless communication circuit 228 transmits the working parameters to the controller 23, and the controller 23 saves the working parameters locally. For example, the external terminal can select "dust collection after cleaning twice" on the APP application, and the external terminal packages "dust collection after cleaning twice" into a working parameter, and sends the working parameter to the wireless communication circuit 228. The wireless communication circuit 228 transmits the working parameter to the controller 23, and the controller 23 saves the working parameter locally. When the self-mobile device 200 is on the maintenance base station 300, the controller 23 controls the load adaptation circuit 22 according to the working parameter to adjust the target current flowing through the loop, so that the maintenance base station 300 parses the working parameter according to the target current and the preset communication protocol. The maintenance base station 300 performs maintenance work on the self-mobile device 200 according to the working parameters.

[0101] In some embodiments, when the working parameters include a maintenance time period, when the self-mobile device 200 is on the maintenance base station 300, the self-mobile device 200 sends all working parameters to the maintenance base station 300, and the maintenance base station 300 detects whether the current time meets the maintenance time period. If so, the maintenance station 300 performs maintenance work on the self-mobile device 200.

[0102] In some embodiments, when the working parameters include the maintenance frequency, when the self-mobile device 200 is on the maintenance base station 300, the self-mobile device 200 sends the current number of times the service operation is executed and the working parameters to the maintenance base station 300, and the maintenance base station 300 parses the specified number of times from the working parameters, and determines whether the current number of times is equal to the specified number of times. If it is equal, the maintenance station 300 performs dust collection on the self-mobile device 200 and charges the self-mobile device 200. If it is not equal, the maintenance station 300 does not perform dust collection on the self-mobile device 200, but charges the self-mobile device 200.

[0103] It can be understood that in some embodiments, when the self-mobile device 200 is on the maintenance base station 300, the maintenance base station 300 counts the number of times the self-mobile device 200 is connected to the base station, and determines the current number of times the self-mobile device 200 performs business operations based on the number of times, such as taking the number of times the self-mobile device 200 is connected to the base station as the current number.

[0104] In some embodiments, when the working parameters include unit maintenance time or suction level or charging current, when the self-mobile device 200 is on the maintenance base station 300, the self-mobile device 200 sends all working parameters to the maintenance base station 300, and the maintenance base station 300 performs maintenance work on the self-mobile device 200 according to the unit maintenance time or suction level or charging current.

[0105] See also Fig. 9 The maintenance base station 300 includes: a second electrode assembly 31, a power module 32, a current processing circuit 33 and a microprocessor 34.

[0106] The second electrode assembly 31 is used to dock with the first electrode assembly 21 of the mobile device 200 .

[0107] The power module 32 is used to provide power for the self-moving device 200, wherein when the second electrode assembly 31 is docked with the first electrode assembly 21, the power module 32, the second electrode assembly 31, the first electrode assembly 21 and the load adaptation circuit 22 of the self-moving device 200 form a loop.

[0108] The current processing circuit 33 is electrically connected to the power module 32 and is used to process the target current flowing through the loop to obtain at least one level signal.

[0109] The microprocessor 34 is electrically connected to the power module 32 and the current processing circuit 33 respectively, and is used to analyze at least one level signal according to a preset communication protocol to obtain working parameters.

[0110] The maintenance base station 300 collects the target current flowing through the loop, and parses the working parameters according to the target current and the preset communication protocol. It can obtain the working parameters sent by the self-mobile device without the aid of the wireless communication module, thereby saving hardware costs. The second electrode assembly is a standard configuration of the maintenance base station 300. The purpose of this embodiment is achieved by using the ready-made second electrode assembly, which can further reduce the hardware cost and provide another idea for solving the technical problem of mutual communication between the self-mobile device 200 and the maintenance base station 300.

[0111] In some embodiments, see Fig.10 The current processing circuit 33 includes a current sampling circuit 331 , a signal conditioning circuit 332 and a comparison circuit 333 .

[0112] The current sampling circuit 331 is electrically connected to the power module 32 and is used to sample the target current flowing through the loop. The current sampling circuit 331 can adopt any current sampling circuit topology, such as a sampling circuit composed of resistors or a Hall sensor.

[0113] The signal conditioning circuit 332 is electrically connected to the current sampling circuit 331, and is used to perform signal conditioning on the target current to obtain the conditioned target current. It is understandable that the signal conditioning circuit 332 can perform scaling processing and / or filtering processing on the target current, and therefore, the signal conditioning circuit 332 includes a current amplifying circuit and / or a filtering circuit, and the current amplifying circuit can adopt any amplifying circuit topology structure, and the filtering circuit can adopt any filtering circuit topology structure.

[0114] The comparison circuit 333 is electrically connected to the signal conditioning circuit 332 and the microprocessor 34 respectively, and is used to generate at least one level signal according to a preset reference current threshold and a conditioned target current.

[0115] For example, when the controller 23 sends a low level signal to the base of the NPN transistor Q1, the NPN transistor Q1 is in the off state, the loop is disconnected, so the target current is 0, and the target current "0" is processed by the current sampling circuit 331 and the signal conditioning circuit 332 of the maintenance base station 300 to obtain the conditioned target current. Since the conditioned target current is less than the preset reference current threshold, the comparison circuit 333 outputs a high level.

[0116] When the controller 23 sends a high level to the base of the NPN transistor Q1 and the NPN transistor Q1 is in the on state, the charging voltage provided by the power module 32 of the maintenance base station 300 is 24V, and the loop formed by the power module 32, the second electrode assembly 31, the first electrode assembly 21 and the NPN transistor Q1 of the maintenance base station 300 is connected, so the target current is a current value greater than 0. After the target current is processed by the current sampling circuit 331 and the signal conditioning circuit 332 of the maintenance base station 300, the conditioned target current is obtained. Since the conditioned target current is greater than the preset reference current threshold, the comparison circuit 333 outputs a low level.

[0117] It can be understood that in this embodiment, the comparison circuit 333 can also be designed to have the following effects: when the preset reference current threshold is less than the conditioned target current, the comparison circuit 333 outputs a low level; when the preset reference current threshold is greater than the conditioned target current, the comparison circuit 333 outputs a high level.

[0118] In some embodiments, see Fig.11 The maintenance base station 300 also includes a base station main circuit 35 and a second presence detection circuit 36.

[0119] The base station main circuit 35 is electrically connected to the microprocessor 34. It is understandable that the base station main circuit 35 can be a circuit for realizing the main functions of the maintenance base station 300. For example, when the maintenance base station 300 is a dust collection bucket, the base station main circuit 35 includes a fan, a fan driving circuit, and the like.

[0120] The second on-pile detection circuit 36 ​​is electrically connected to the microprocessor 34, and is used to generate a second on-pile signal when the second electrode assembly 31 is docked with the first electrode assembly 21, wherein the microprocessor 34 responds to the second on-pile signal and controls the base station main circuit 35 and / or the power module 32 according to the working parameters.

[0121] For example, when the mobile device 200 is on the maintenance base station 300, the second on-pile detection circuit 36 ​​generates a second on-pile signal. When the microprocessor 34 detects that the maintenance base station 300 meets the working conditions, it controls the base station main circuit 35 and / or the power module 32 according to the working parameters.

[0122] In order to explain the working principle of the cleaning system provided by the embodiment of the present invention in detail, this embodiment provides an application scenario in combination with the following example to illustrate this, which is as follows:

[0123] 1. The user selects working parameters through an external terminal, such as dust collection time period, dust collection frequency, dust collection duration, dust collection suction level, etc.

[0124] 2. The external terminal sends the working parameters to the self-mobile device, and the self-mobile device saves the working parameters locally.

[0125] 3. The maintenance base station transmits infrared signals to the outside, which are used to guide the mobile equipment to pile up.

[0126] 4. When the self-mobile device is on the maintenance base station, the second on-pile detection circuit generates a second on-pile signal, and the microprocessor enters the working state of detecting working parameters in response to the second on-pile signal.

[0127] 5. The first on-pile detection circuit generates a first on-pile signal, and the mobile device enters the on-pile mode.

[0128] 6. The controller of the mobile device responds to the first on-pile signal, controls the main function circuit to suspend operation, and controls the switch circuit to adjust the target current flowing through the loop according to the preset working parameters and the preset communication protocol. Controlling the main function circuit to suspend operation includes controlling the battery pack to stop charging, suspending the transmission function of the WIFI circuit, suspending the operation of the voice broadcast circuit, and suspending the operation of the light display circuit.

[0129] 7. The current sampling circuit of the maintenance base station collects the target current, and the target current is processed by the signal conditioning circuit and the comparison circuit to obtain at least one level signal. The microprocessor of the maintenance base station analyzes the at least one level signal according to the preset communication protocol to obtain the working parameters.

[0130] 8. The maintenance base station performs maintenance work on the mobile equipment according to the working parameters.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-propelled device, characterized in that: include: A first electrode assembly, used to connect with a second electrode assembly of a maintenance base station; a load adaptation circuit electrically connected to the first electrode assembly, wherein when the first electrode assembly is docked with the second electrode assembly, the power module of the maintenance base station, the second electrode assembly, the first electrode assembly and the load adaptation circuit form a loop; A controller is electrically connected to the load adaptation circuit and is used to control the load adaptation circuit according to preset working parameters to adjust the target current flowing through the loop, so that the maintenance base station parses the working parameters according to the target current and a preset communication protocol.

2. The self-moving device according to claim 1, characterized in that: The load adaptation circuit comprises: a communication load circuit, electrically connected to the first electrode assembly and the controller respectively; A main functional circuit, electrically connected to the first electrode assembly and the controller respectively; The first on-pile detection circuit is electrically connected to the controller, and is used to generate a first on-pile signal when the first electrode assembly is docked with the second electrode assembly, wherein the controller responds to the first on-pile signal, controls the main functional circuit to suspend operation, and controls the communication load circuit according to preset working parameters to adjust the target current.

3. The self-moving device according to claim 2, characterized in that: The communication load circuit comprises: a current limiting circuit, comprising a first node and a second node, wherein the current limiting circuit is electrically connected to the first electrode assembly at the first node; A switch circuit is electrically connected to the current limiting circuit and the controller at the second node, wherein the controller controls the switch circuit to adjust the target current according to preset operating parameters.

4. The self-moving device according to claim 3, characterized in that: The switch circuit comprises an NPN transistor, a base of the NPN transistor is electrically connected to the controller, a collector is electrically connected to the second node, and an emitter is grounded.

5. The self-moving device according to claim 2, characterized in that: When the controller detects that the working parameters have been sent, the controller controls the main functional circuit to resume working.

6. The self-moving device according to claim 2, characterized in that: The main functional circuit comprises: A battery pack is electrically connected to the controller, wherein the controller controls the battery pack to suspend operation in response to the first on-pile signal; The system power supply circuit is electrically connected to the controller, wherein the controller controls the system power supply circuit to suspend operation in response to the first on-stake signal.

7. The self-moving device according to any one of claims 1 to 6, characterized in that: The first electrode assembly includes a first pole piece and a second pole piece, and the first pole piece and the second pole piece are electrically connected to the load adaptation circuit respectively.

8. A maintenance base station, characterized in that: include: A second electrode assembly, used to dock with the first electrode assembly of the self-moving device; A power module, used to provide power for the self-moving device, wherein when the second electrode assembly is docked with the first electrode assembly, the power module, the second electrode assembly, the first electrode assembly and the load adaptation circuit of the self-moving device form a loop; A current processing circuit, electrically connected to the power module, for processing the target current flowing through the loop to obtain at least one level signal; A microprocessor is electrically connected to the power module and the current processing circuit respectively, and is used to parse at least one of the level signals according to a preset communication protocol to obtain working parameters.

9. The maintenance base station according to claim 8, characterized in that: The current processing circuit comprises: A current sampling circuit, electrically connected to the power module, for sampling a target current flowing through the loop; A signal conditioning circuit, electrically connected to the current sampling circuit, for performing signal conditioning on the target current to obtain a conditioned target current; The comparison circuit is electrically connected to the signal conditioning circuit and the microprocessor respectively, and is used to generate at least one level signal according to a preset reference current threshold and the conditioned target current.

10. The maintenance base station according to claim 8, characterized in that: Also includes: A base station main circuit, electrically connected to the microprocessor; A second on-pile detection circuit is electrically connected to the microprocessor, and is used to generate a second on-pile signal when the second electrode assembly is docked with the first electrode assembly, wherein the microprocessor responds to the second on-pile signal and controls the base station main circuit and / or the power supply module according to the operating parameters.

11. A cleaning system, characterized in that: include: A self-propelled device as claimed in any one of claims 1 to 7; The maintenance base station according to any one of claims 8 to 10, wherein the maintenance base station performs maintenance work on the self-moving device according to the working parameters.

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