Self-moving device charging control method, self-moving device, system and storage medium

Abstract

The invention relates to a self-moving device charging control method, a self-moving device, a charging control system and a readable storage medium, and the method comprises the steps: controlling the self-moving device to execute a recharging operation in response to a recharging request for the self-moving device; in response to a first charging signal, controlling the self-moving device to enter a to-be-charged state; in response to the first collision signal, controlling the self-moving equipment to stop moving; and controlling the self-moving device to enter a charging state based on the first charging signal and the first collision signal. According to the method, the self-moving device is allowed to be charged only when the first charging signal and the first collision signal are detected, the phenomenon of high-voltage sparking caused by the fact that charging is started immediately when the self-moving device is in direct contact with the charging interface of the charging pile is avoided, and the safety of the charging pile and the self-moving device is improved.

Description

Technical Field

[0001] The present application relates to the field of charging technology, and in particular to a charging control method for a self-mobile device, a self-mobile device, a charging control system, and a computer-readable storage medium. Background Art

[0002] Currently, autonomous devices like lawn mowers and sweepers need to return to charging stations after completing their tasks or when their battery is low. The current charging method for autonomous devices is to immediately initiate charging when the device's charging electrode directly contacts the charging port on the charging station. This method is prone to high-voltage sparks, which can damage both the device and the charging station. Summary of the Invention

[0003] The present application provides a charging control method for a self-mobile device, a self-mobile device, a charging control system, and a computer-readable storage medium, which solves the problem in related technologies that high-voltage sparks are easily generated when the charging electrode of the self-mobile device is in direct contact with the charging interface of a charging pile, which may cause the self-mobile device and the charging pile to burn.

[0004] In a first aspect, the present application provides a method for controlling charging of a mobile device, the method comprising: In response to a recharge request for the self-mobile device, controlling the self-mobile device to perform a recharge operation; In response to the first charging signal, controlling the mobile device to enter a charging state; In response to the first collision signal, controlling the self-moving device to stop moving; Based on the first charging signal and the first collision signal, the self-mobile device is controlled to enter a charging state.

[0005] In one embodiment, the self-moving device includes a charging electrode; before responding to the first charging signal, the method further includes: Obtaining a voltage difference between the positive electrode and the negative electrode of the charging electrode; If the voltage difference is greater than or equal to a preset first voltage threshold, the first charging signal is generated.

[0006] In one embodiment, the voltage difference of the charging electrode when the self-moving device is in a state to be charged is smaller than the voltage difference when the self-moving device is in a state to be charged.

[0007] In one embodiment, the self-moving device includes a charging electrode; before responding to the first charging signal, the method further includes: Acquiring a voltage signal of the charging electrode; If the voltage fluctuation of the voltage signal within the preset time is less than a preset second voltage threshold, the first charging signal is generated.

[0008] In one embodiment, the self-moving device includes a charging electrode, and a resistor is connected between the positive electrode and the negative electrode of the charging electrode; before responding to the first charging signal, the method further includes: obtaining a current value flowing through the resistor; If the current value is greater than or equal to a preset current threshold, the first charging signal is generated.

[0009] In one embodiment, the self-moving device further includes a collision detection device, and when the collision detection device contacts the charging pile, the collision detection device generates the first collision signal.

[0010] In one embodiment, the collision detection device includes a first triggering member and a second triggering member. When the first triggering member is triggered and / or the second triggering member is triggered, the collision detection device generates the first collision signal.

[0011] In one embodiment, before responding to the first charging signal, the method further includes: The self-moving device is controlled to move at a preset first movement speed.

[0012] In one embodiment, after responding to the first charging signal, the method further includes: The self-moving device is controlled to move at a preset second movement speed, where the second movement speed is less than the first movement speed.

[0013] In one embodiment, before controlling the mobile device to enter a charging state in response to the first charging signal, the method further includes: In response to the second collision signal, the self-moving device is controlled to perform an obstacle avoidance operation.

[0014] In one embodiment, the method further comprises: Obtaining the environment identification information collected from the mobile device; If the environment identification information matches the preset charging pile identification information, the second collision signal is switched to the first collision signal.

[0015] In one embodiment, the self-moving device further includes a charging circuit and a battery module, wherein the charging circuit is connected to the battery module; and controlling the self-moving device to enter a charging state includes: The charging circuit is controlled to be turned on so that the charging pile can charge the battery module through the charging circuit.

[0016] In one embodiment, after controlling the mobile device to enter a charging state based on the first charging signal and the first collision signal, the method further includes: If it is detected that the first collision signal stops, the charging circuit is controlled to be shut down.

[0017] In one embodiment, after controlling the mobile device to perform a recharge operation, the method further includes: If the first collision signal is not detected within a preset time period after the self-mobile device navigates to the recharging location area where the charging pile is located, the self-mobile device is controlled to retreat and move toward the charging pile to determine whether the first collision signal is detected. The self-mobile device is controlled to retreat a number of times greater than a preset number, and then returns to perform the recharging operation.

[0018] In one embodiment, the self-mobile device further includes a contactless sensing device; and controlling the self-mobile device to perform a recharging operation includes: Obtaining environmental identification information collected by the sensing device; If the environment identification information matches the charging pile identification information preset by the charging pile, the mobile device is controlled to navigate to the recharging location area where the charging pile is located based on the environment identification information.

[0019] In one embodiment, the sensing device is one or more of an infrared sensor, a visual sensor, or a laser dot matrix sensor.

[0020] In a second aspect, the present application further provides a self-moving device, comprising a processor, a memory charging electrode, a collision detection device, a charging circuit, and a battery module, wherein the charging electrode is connected to the charging circuit, and the charging circuit is connected to the battery module; The memory is used to store computer programs; The charging electrode is used to contact the charging interface of the charging pile; The collision detection device is configured to generate a first collision signal when the charging electrode contacts the charging interface; The charging circuit is configured to be turned on when the mobile device enters a charging state, so that the charging pile can charge the battery module through the charging circuit; The processor is configured to execute the computer program and implement the above-mentioned self-mobile device charging control method when executing the computer program.

[0021] In a third aspect, the present application further provides a charging control system, the charging control system comprising a self-mobile device and a charging pile; The charging pile is configured to output a first voltage signal to the mobile device when the mobile device enters a waiting state, and to output a second voltage signal to the mobile device when the mobile device enters a charging state, wherein a voltage value of the second voltage signal is greater than a voltage value of the first voltage signal; The self-moving device is used to execute the self-moving device charging control method as described above.

[0022] In one embodiment, the charging pile includes a charging interface, and the charging interface is provided with an elastic member matched with a charging electrode of the mobile device; The charging pile is used to output the first voltage signal to the self-moving device when it is detected that the elastic member is in contact with the charging electrode, and to output the second voltage signal to the self-moving device when a preset condition is met after it is detected that the elastic member is in contact with the charging electrode, and the second voltage signal is greater than the first voltage signal.

[0023] In one embodiment, the preset condition is that the contact time between the elastic member and the charging electrode is greater than a preset time, or the pressure on the elastic member is greater than a preset pressure, or the displacement of the elastic member is greater than a preset displacement.

[0024] In a fourth aspect, the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to implement the above-mentioned self-mobile device charging control method.

[0025] The present application discloses a self-mobile device charging control method, a self-mobile device, a charging control system, and a computer-readable storage medium. The method controls the self-mobile device to perform a recharge operation in response to a recharge request for the self-mobile device, controls the self-mobile device to enter a waiting state in response to a first charging signal, controls the self-mobile device to stop moving in response to a first collision signal, and controls the self-mobile device to enter a charging state based on the first charging signal and the first collision signal. This method allows the self-mobile device to be charged only when the first charging signal and the first collision signal are detected, thereby avoiding the phenomenon of high-voltage sparking caused by the self-mobile device immediately starting to charge when the self-mobile device directly contacts the charging interface of the charging pile, thereby improving the safety of the charging pile and the self-mobile device. At the same time, the self-mobile device is controlled to stop moving in response to the first collision signal, thereby avoiding rigid contact between the self-mobile device and the charging pile, thereby improving the life of the charging pile and the self-mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are 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.

[0027] Figure 1 This is a schematic diagram of the hardware structure of a self-mobile device provided in an embodiment of the present application; Figure 2 This is a schematic flow chart of a method for controlling charging of a self-mobile device provided in an embodiment of the present application; Figure 3 This is a schematic structural diagram of a self-moving device provided in an embodiment of the present application; Figure 4 This is a schematic diagram of a charging control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0029] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0030] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0031] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0032] Currently, when a mobile device is returned to a charging station, the existing charging method is to start charging immediately when the charging electrode of the mobile device directly contacts the charging port of the charging station. Due to the friction between the charging electrode and the charging port under high voltage, sparks may occur. This charging method can cause the mobile device and the charging station to burn out.

[0033] To this end, embodiments of the present application provide a self-mobile device charging control method, a self-mobile device, a charging control system, and a computer-readable storage medium. The self-mobile device charging control method can be applied to a self-mobile device, allowing charging of the self-mobile device only when a first charging signal and a first collision signal are detected. This prevents the self-mobile device from immediately starting charging and causing high-voltage sparks when the self-mobile device directly contacts the charging port of a charging pile, thereby improving the safety of the charging pile and the self-mobile device. Furthermore, the self-mobile device is controlled to stop moving in response to the first collision signal, thereby preventing rigid contact between the self-mobile device and the charging pile, thereby improving the lifespan of the charging pile and the self-mobile device.

[0034] For example, the self-moving device may include, but is not limited to, a lawn mower, a snowplow, a sweeping robot, a drone, a food delivery robot, a welcoming robot, and other movable devices.

[0035] See also Figure 1 , Figure 1 1 is a schematic diagram of the hardware structure of a self-mobile device 100 provided in an embodiment of the present application. Self-mobile device 100 may include a processor 1001, a memory 1002, a charging electrode 1003, a collision detection device 1004, a charging circuit 1005, and a battery module 1006. Charging electrode 1003 is connected to charging circuit 1005, which is in turn connected to battery module 1006. Processor 1001, memory 1002, collision detection device 1004, and charging circuit 1005 may be connected via a bus, which may be any suitable bus, such as an Inter-Integrated Circuit (I2C) bus.

[0036] Memory 1002 may include a storage medium and internal memory. The storage medium may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause processor 1001 to execute the method for controlling charging of a mobile device as described in any embodiment.

[0037] The charging electrode 1003 is used to contact the charging interface of the charging pile.

[0038] The collision detection device 1004 is used to generate a first collision signal when the charging electrode 1003 contacts the charging interface.

[0039] The charging circuit 1005 is configured to be turned on when the mobile device 100 enters the charging state, allowing the charging station to charge the battery module 1006 through the charging circuit 1005. The charging circuit 1005 includes at least a switch, where the switch may include but is not limited to a transistor, a bipolar junction transistor (BJT), a metal-oxide-semiconductor field-effect transistor (MOS), an insulated gate bipolar transistor (IGBT), a relay, and an optocoupler. This application does not limit the circuit structure of the charging circuit 1005.

[0040] The processor 1001 is used to provide computing and control capabilities to support the operation of the entire mobile device 100 .

[0041] The processor 1001 may be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or any conventional processor.

[0042] In one embodiment, the processor 1001 is configured to run a computer program stored in the memory 1002 to implement the following steps: In response to a recharge request for a self-mobile device, the self-mobile device is controlled to perform a recharge operation; in response to a first charging signal, the self-mobile device is controlled to enter a standby charging state; in response to a first collision signal, the self-mobile device is controlled to stop moving; based on the first charging signal and the first collision signal, the self-mobile device is controlled to enter a charging state.

[0043] In one embodiment, the mobile device includes a charging electrode; before responding to the first charging signal, the processor 1001 is further configured to: Obtain the voltage difference between the positive and negative electrodes of the charging electrode; If the voltage difference is greater than or equal to a preset first voltage threshold, a first charging signal is generated.

[0044] In one embodiment, the mobile device includes a charging electrode; before responding to the first charging signal, the processor 1001 is further configured to: Obtaining the voltage signal of the charging electrode; If the voltage fluctuation of the voltage signal within the preset time is less than a preset second voltage threshold, a first charging signal is generated.

[0045] In one embodiment, the mobile device includes a charging electrode, and a resistor is connected between the positive and negative electrodes of the charging electrode; before responding to the first charging signal, the processor 1001 is further configured to: Get the current value flowing through the resistor; If the current value is greater than or equal to a preset current threshold, a first charging signal is generated.

[0046] In one embodiment, before implementing the response to the first charging signal, the processor 1001 is further configured to implement: The self-moving device is controlled to move at a preset first movement speed.

[0047] In one embodiment, after responding to the first charging signal, the processor 1001 is further configured to: The self-moving device is controlled to move at a preset second movement speed, which is lower than the first movement speed.

[0048] In one embodiment, before controlling the mobile device to enter the standby charging state in response to the first charging signal, the processor 1001 is further configured to: In response to the second collision signal, the self-mobile device is controlled to perform an obstacle avoidance operation.

[0049] In one embodiment, the processor 1001 is further configured to implement: Obtaining environmental identification information collected from mobile devices; If the environment identification information matches the preset charging pile identification information, the second collision signal is switched to the first collision signal.

[0050] In one embodiment, the self-mobile device further includes a charging circuit and a battery module, wherein the charging circuit is connected to the battery module; when controlling the self-mobile device to enter a charging state, the processor 1001 is configured to implement: Control the charging circuit to be turned on so that the charging pile can charge the battery module through the charging circuit.

[0051] In one embodiment, after controlling the mobile device to enter a charging state based on the first charging signal and the first collision signal, the processor 1001 is further configured to: If it is detected that the first collision signal stops, the charging circuit is controlled to be shut down.

[0052] In one embodiment, after controlling the self-mobile device to perform the recharge operation, the processor 1001 is further configured to: If no first collision signal is detected within a preset time period after the self-mobile device navigates to the recharging location area where the charging pile is located, the self-mobile device is controlled to retreat and move toward the charging pile to determine whether the first collision signal is detected. The self-mobile device is controlled to retreat a number of times greater than a preset number, and then returns to perform the recharging operation.

[0053] In one embodiment, the self-mobile device further includes a contactless sensing device; when the processor 1001 controls the self-mobile device to perform a recharging operation, it is configured to: Obtaining environmental identification information collected by the sensing device; If the environment identification information matches the charging pile identification information preset by the charging pile, the mobile device is controlled to navigate to the recharging location area where the charging pile is located based on the environment identification information.

[0054] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other. Figure 2 , Figure 2 This is a schematic flow chart of a method for controlling charging of a mobile device provided in an embodiment of the present application. Figure 2 As shown, the self-mobile device charging control method includes steps S101 to S104.

[0055] Step S101: In response to a recharge request for a mobile device, control the mobile device to perform a recharge operation.

[0056] Exemplarily, a recharge request can be triggered by the mobile device itself, by a server, or by the user through hardware or software. For example, the mobile device periodically checks the remaining battery level and automatically returns to the device for charging when the level is equal to or less than a critical value (e.g., 20%). Alternatively, a scheduled recharge task can be set for the mobile device, triggering a recharge request after each task is completed or at a preset time. Alternatively, an app on the mobile phone can prompt the user that the mobile device is currently low on battery, requiring the user to enter a recharge task for the mobile device through the app on the mobile phone, and the mobile phone will generate a recharge request for the mobile device based on the recharge task information. Alternatively, the user can click a recharge button on the mobile device hardware to generate a recharge request for the mobile device, and the mobile device will execute the recharge task.

[0057] Exemplarily, the self-mobile device can perform a recharging operation in response to a recharging request. The recharging operation refers to navigating the self-mobile device to the recharging location area where the charging pile is located for charging. It should be noted that the recharging location area is pre-set according to the location and direction of the charging pile. For example, a recharging location area can be calibrated in the straight direction of the charging pile according to the location of the charging pile and the direction of the charging interface. The self-mobile device can obtain the preset recharging location area locally and navigate to the recharging location area to dock with the charging interface of the charging pile. The self-mobile device can navigate to the charging pile using infrared, lidar, ultrasonic, RTK (Real Time Kinematic) and other positioning methods, which are not limited in this application.

[0058] Step S102: In response to the first charging signal, control the mobile device to enter a charging state.

[0059] For example, during the process of controlling the self-mobile device to perform the backcharging operation, if the first charging signal is detected, the self-mobile device is controlled to enter the standby charging state in response to the first charging signal.

[0060] The first charging signal refers to the signal generated by contact between the charging electrode of the mobile device and the charging port of the charging station. The first charging signal can be generated when the charging electrode generates a voltage or current. The waiting state refers to the state in which the mobile device and the charging port of the charging station are physically connected. In this state, the mobile device can detect the voltage difference between the charging electrode, but the charging station is not charging the battery module of the mobile device. This can avoid the phenomenon of high-voltage sparks caused by the direct contact between the mobile device and the charging port of the charging station, thereby improving the safety of the charging station and the mobile device.

[0061] In some embodiments, before responding to the first charging signal, the self-mobile device charging control method further includes: obtaining a voltage difference between the positive and negative electrodes of the charging electrode; and generating a first charging signal if the voltage difference is greater than a preset first voltage threshold.

[0062] See also Figure 3 , Figure 3 1 is a structural diagram of a self-moving device 100 provided in an embodiment of the present application. The self-moving device 100 is provided with a charging electrode 1003 and a collision detection device 1004 , wherein the charging electrode 1003 can be provided on the collision detection device 1004 .

[0063] Exemplarily, the charging electrode includes a positive electrode and a negative electrode, and the voltage value of the positive electrode and the voltage value of the negative electrode can be collected, and the voltage value of the positive electrode is subtracted from the voltage value of the negative electrode to obtain a voltage difference. When the voltage difference is greater than or equal to a preset first voltage threshold, a first charging signal is generated; when the voltage difference is less than the preset first voltage threshold, the first charging signal is not generated. The first voltage threshold can be set according to actual conditions, and the specific value is not limited here. It should be noted that when the charging electrode contacts the charging interface of the charging pile, a voltage difference is generated between the positive and negative electrodes of the charging electrode. Therefore, the voltage difference between the positive and negative electrodes of the charging electrode can be used to determine whether the first charging signal is generated, and then the mobile device can be controlled to enter the charging state based on the first charging signal.

[0064] In the above embodiment, by obtaining the voltage difference between the positive and negative electrodes of the charging electrode and generating a first charging signal when the voltage difference is greater than a preset first voltage threshold, the voltage difference can be used to trigger the first charging signal, thereby controlling the mobile device to enter a charging state based on the first charging signal.

[0065] In some embodiments, the voltage difference of the charging electrode when the mobile device is in a state to be charged is smaller than the voltage difference when the mobile device is in a state to be charged.

[0066] It should be noted that when the charging electrode first contacts the charging port of the charging pile, the charging pile has not yet started charging the mobile device, and the voltage difference across the charging electrode is relatively small. When the charging pile begins charging the mobile device, the voltage difference across the charging electrode becomes larger. This prevents the high-voltage spark that could occur if the charging electrode immediately starts charging upon contact with the charging port, thereby improving the safety of both the charging pile and the mobile device.

[0067] In some embodiments, before responding to the first charging signal, the self-mobile device charging control method further includes: obtaining a voltage signal of the charging electrode; if the voltage fluctuation of the voltage signal within a preset time is less than a preset second voltage threshold, generating the first charging signal.

[0068] For example, a voltage signal from a charging electrode, such as the voltage difference between the positive and negative electrodes of the charging electrode, can be collected. When the voltage difference fluctuates less than a preset second voltage threshold within a preset time, a first charging signal is generated. When the voltage difference fluctuates no less than the preset second voltage threshold within a preset time, the first charging signal is not generated. The preset time can be set based on actual conditions, and the specific value is not limited here. The second voltage threshold can also be set based on actual conditions, and the specific value is not limited here.

[0069] It should be noted that when the charging electrode just comes into contact with the charging interface of the charging pile, a pulse voltage will be generated, and the voltage difference of the charging electrode will fluctuate greatly. At this time, it is necessary to wait for the voltage difference fluctuation of the charging electrode to stabilize before controlling the mobile device to enter the charging state. This can ensure that the voltage difference fluctuation of the charging electrode is small when the mobile device enters the charging state later, avoiding the pulse voltage from damaging the internal circuit of the mobile device.

[0070] In some embodiments, the self-mobile device charging control method further includes generating a first charging signal if the duration of the detected voltage difference across the charging electrode is greater than or equal to a preset duration. It should be noted that if the detected voltage difference across the charging electrode persists for a period of time, indicating that the voltage difference across the charging electrode fluctuates minimally, the self-mobile device can be controlled to enter a standby charging state.

[0071] In some embodiments, a resistor is connected between the positive and negative electrodes of the charging electrode. Before responding to the first charging signal, the self-mobile device charging control method further includes: obtaining a current value flowing through the resistor; if the current value is greater than a preset current threshold, generating a first charging signal.

[0072] It should be noted that in the embodiment of the present application, a circuit with a large resistor is connected between the positive and negative electrodes of the charging electrode. When the charging electrode contacts the charging port of the charging pile, the circuit between the positive and negative electrodes of the charging electrode is turned on, and the current value flowing through the resistor can be collected at this time. When the current value is greater than or equal to the preset current threshold, a first charging signal is generated. When the current value is less than the preset current threshold, the first charging signal is not generated. The current threshold can be set according to actual conditions, and the specific value is not limited here.

[0073] In the above embodiment, by obtaining the current value flowing through the resistor and generating a first charging signal when the current value is greater than a preset current threshold, the first charging signal can be triggered by the current value, thereby controlling the mobile device to enter a charging state based on the first charging signal.

[0074] Step S103: In response to the first collision signal, control the mobile device to stop moving.

[0075] For example, upon detecting the first collision signal, the mobile device is controlled to stop moving in response to the first collision signal. For example, a drive mechanism in the mobile device can be controlled to stop operating. By controlling the mobile device to stop moving in response to the first collision signal, rigid contact between the mobile device and the charging station can be avoided, thereby extending the lifespan of the charging station and the mobile device.

[0076] In some embodiments, as Figure 3As shown, the mobile device 100 further includes a collision detection device 1004. When the collision detection device 1004 contacts a charging pile (not shown in the figure), the collision detection device 1004 generates a first collision signal.

[0077] Exemplarily, the collision detection device may include a pressure sensor, and when the pressure sensor detects a pressure change, a first collision signal is generated.

[0078] It should be noted that when the charging electrode of the self-moving device contacts the charging interface of the charging pile, the self-moving device will continue to move forward until the collision detection device contacts the charging pile. At this time, it is necessary to control the self-moving device to stop moving to avoid rigid contact between the self-moving device and the charging pile, thereby increasing the life of the charging pile and the self-moving device.

[0079] In some embodiments, the collision detection device includes a first triggering member and a second triggering member. When the first triggering member is triggered and / or the second triggering member is triggered, the collision detection device generates a first collision signal.

[0080] It should be noted that, in an embodiment of the present application, at least one triggering member is provided on the collision detection device, each triggering member corresponds to at least one pressure sensor, and each triggering member can trigger a collision signal individually or together. For example, when the first triggering member is triggered, the collision detection device generates a first collision signal. Alternatively, when the second triggering member is triggered, the collision detection device generates a first collision signal. Alternatively, when the first triggering member and the second triggering member are triggered at the same time, the collision detection device generates a first collision signal.

[0081] In the above embodiment, by arranging a first trigger member and a second trigger member on the collision detection device, the collision detection device generates a first collision signal when the first trigger member is triggered and / or the second trigger member is triggered. The first collision signal can be triggered by a single or multiple trigger members, thereby improving the reliability of triggering the collision signal.

[0082] Step S104: Based on the first charging signal and the first collision signal, control the mobile device to enter a charging state.

[0083] For example, after responding to the first charging signal and the first collision signal, the mobile device can be controlled to enter a charging state based on the first charging signal and the first collision signal. That is, the mobile device is controlled to enter a charging state only when the first charging signal and the first collision signal are detected. After the mobile device enters the charging state, the charging station can charge the mobile device.

[0084] It can be understood that by adding the first collision signal, charging of the self-moving device is allowed when the first charging signal and the first collision signal are detected, thereby avoiding the phenomenon of high-voltage sparking that may occur when the charging electrode of the self-moving device directly contacts the charging interface of the charging pile, and effectively improving the safety of the charging pile and the self-moving device.

[0085] In some embodiments, controlling the mobile device to enter a charging state may include: controlling the charging circuit to be turned on, so that the charging pile can charge the battery module through the charging circuit.

[0086] For example, when controlling the mobile device to enter the charging state, a conduction instruction can be sent to the charging circuit so that the charging circuit conducts the connection between the charging interface of the charging pile and the battery module according to the conduction instruction, so that the charging pile can charge the battery module through the charging circuit.

[0087] In some embodiments, after controlling the mobile device to enter a charging state based on the first charging signal and the first collision signal, the method further includes: controlling the charging circuit to be turned off if it is detected that the first collision signal stops.

[0088] It should be noted that while the charging station is charging the mobile device, the first collision signal is always maintained. Once the first collision signal disappears, the charging circuit needs to be disconnected, that is, the mobile device exits the charging state. It is understandable that when the mobile device leaves the charging station, the first collision signal disappears. If the mobile device continues to charge at this time, it is also easy to cause high-voltage sparks.

[0089] In the above embodiment, by controlling the charging circuit to shut down when the first collision signal stops, high voltage ignition can be avoided when the mobile device leaves the charging pile, thereby improving the safety of the charging pile and the mobile device.

[0090] In some embodiments, before responding to the first charging signal, the self-mobile device charging control method further includes: controlling the self-mobile device to move at a preset first speed. After responding to the first charging signal, the self-mobile device charging control method further includes: controlling the self-mobile device to move at a preset second speed, the second speed being less than the first speed.

[0091] For example, when controlling the self-moving device to perform a recharging operation, the self-moving device may be controlled to move at a preset first speed until a first charging signal is detected. After responding to the first charging signal, the self-moving device may be controlled to move at a second speed until a first collision signal is detected.

[0092] It should be noted that after responding to the first charging signal, since the charging electrode has already contacted the charging port of the charging pile, but the collision detection device has not yet contacted the charging pile, it is necessary to continue controlling the movement of the self-moving device until the collision detection device contacts the charging pile and generates the first collision signal. At the same time, controlling the self-moving device to move at a slower second speed can reduce the impact force generated by the collision between the collision detection device and the charging pile, thereby preventing damage to the collision detection device and the charging pile due to the collision.

[0093] In some embodiments, it is characterized in that before controlling the mobile device to enter the charging state in response to the first charging signal, the charging control method for the mobile device further includes: controlling the mobile device to perform an obstacle avoidance operation in response to the second collision signal.

[0094] It should be noted that the second collision signal is different from the first collision signal. The second collision signal is generated when the mobile device collides with an obstacle while moving to the charging station. Of course, the obstacle can also be a charging station, in which case it is necessary to further determine whether the obstacle is a charging station.

[0095] For example, when the second collision signal generated by the collision detection device is detected, the self-mobile device is controlled to perform an obstacle avoidance operation in response to the second collision signal. The specific process of performing the obstacle avoidance operation can be referred to in the relevant art, and this application will not elaborate on it.

[0096] In the above embodiment, by controlling the self-moving device to perform an obstacle avoidance operation in response to the second collision signal, the self-moving device can be effectively prevented from colliding with an obstacle.

[0097] In some embodiments, the self-mobile device charging control method further includes: obtaining environment identification information collected from the self-mobile device; if the environment identification information matches preset charging pile identification information, switching the second collision signal to the first collision signal.

[0098] For example, Figure 3 As shown, the mobile device 100 further includes a contactless sensing device 1007, which can be used to collect environmental identification information. The sensing device 1007 can be one or more of an infrared sensor, a visual sensor, or a laser dot matrix sensor. For example, environmental identification information can be collected using a visual sensor. Another example is a laser dot matrix sensor.

[0099] For example, the charging pile identification information can be a QR code set on the charging pile, or a structure or identification mark area of a specific shape on the charging pile. The identification mark area refers to a characteristic surface or characteristic area on the charging pile, which is used to identify or locate the charging pile. For example, the identification mark area can be a V-shaped or trapezoidal characteristic area on the charging pile, and of course, it can also be a characteristic area of other shapes.

[0100] For example, when the environmental identification information matches the preset charging pile identification information, it indicates that the obstacle that collides with the self-mobile device is a charging pile. At this time, the second collision signal can be switched to the first collision signal, and then the self-mobile device can be controlled to stop moving in response to the first collision signal.

[0101] In the above embodiment, by obtaining environmental identification information collected from the self-mobile device and switching the second collision signal to the first collision signal when the environmental identification information matches the preset charging pile identification information, it is possible to further determine whether the obstacle is a charging pile when the self-mobile device collides with an obstacle, and switch the second collision signal to the first collision signal when it is determined that the obstacle is a charging pile, so that the self-mobile device can be controlled to stop moving in response to the first collision signal.

[0102] In some embodiments, step S101 controls the self-mobile device to perform a recharging operation, which may include: obtaining environmental identification information collected by a sensing device; if the environmental identification information matches the charging pile identification information preset by the charging pile, then controlling the self-mobile device to navigate to the recharging location area where the charging pile is located based on the environmental identification information.

[0103] Exemplarily, the sensing device may be one or more of an infrared sensor, a visual sensor, or a laser dot matrix sensor. For example, when the sensing device is a visual sensor, it can obtain environmental identification information collected by the visual sensor, and when the environmental identification information matches the preset charging pile identification information, it can control the self-mobile device to navigate to the recharging location area where the charging pile is located based on the environmental identification information. For example, it can identify the positional relationship between the self-mobile device and the charging pile, and control the self-mobile device to move in the direction of the charging pile based on the positional relationship. For another example, when the sensing device is a laser dot matrix sensor, it can use the laser dot matrix sensor to scan to obtain the identification features of the charging pile, and control the self-mobile device to move in the direction of the charging pile based on the identification features.

[0104] In the above embodiment, by obtaining the environmental identification information collected by the sensing device, and when the environmental identification information matches the charging pile identification information preset by the charging pile, the self-mobile device is controlled to navigate to the recharging location area where the charging pile is located based on the environmental identification information. This can achieve the goal of controlling the movement of the self-mobile device only when the charging pile is identified, and can enable the self-mobile device to accurately navigate to the location of the charging pile, avoiding collisions between the self-mobile device and other obstacles, thereby improving the safety of the self-mobile device.

[0105] In some embodiments, after controlling the self-mobile device to perform a recharging operation in step S101, the method further includes: within a preset time period after the self-mobile device navigates to the recharging location area where the charging pile is located, if the first collision signal is not detected, controlling the self-mobile device to retreat and move toward the charging pile, and determining whether the first collision signal is detected, until the number of times the self-mobile device is controlled to retreat is greater than the preset number, and returning to perform the recharging operation.

[0106] For example, if the first collision signal is not detected within a preset time after the self-mobile device navigates to the recharging location area where the charging pile is located, it means that the collision detection device has not collided with the charging pile. At this time, it is necessary to control the self-mobile device to retreat and move toward the charging pile, and re-detect whether the collision detection device generates the first collision signal. If the number of times the self-mobile device is controlled to retreat is greater than the preset number, it is necessary to return to perform the recharging operation, that is, re-control the self-mobile device to navigate to the recharging location area where the charging pile is located, and when the first charging signal is detected, respond to the first charging signal and control the self-mobile device to enter the waiting state. Among them, the preset at this time can be set according to actual conditions, and the specific value is not limited here.

[0107] In the above embodiment, by controlling the mobile device to retreat and move toward the charging pile when the first collision signal is not detected, it is possible to control the mobile device to retreat and move toward the charging pile again when the collision detection device cannot trigger the first collision signal, which can greatly increase the probability of the collision detection device triggering the first collision signal.

[0108] See also Figure 4 , Figure 4 Schematic diagram of a charging control system 10 provided in an embodiment of the present application. Figure 4 As shown, the charging control system 10 includes a mobile device 100 and a charging station 200. The charging station 200 is configured to output a first voltage signal to the mobile device 100 when the mobile device 100 enters a standby state, and to output a second voltage signal to the mobile device 100 when the mobile device 100 enters a charging state, wherein the voltage value of the second voltage signal is greater than the voltage value of the first voltage signal. The mobile device 100 is configured to execute any of the above-described mobile device charging control methods.

[0109] For example, the charging station 200 determines that the mobile device 100 has entered the charging state when it detects that the charging electrode of the mobile device 100 is in contact with the charging interface of the charging station 200. Alternatively, when the mobile device 100 enters the standby charging state, it sends a first instruction to the charging station 200 for instructing the mobile device 100 to enter the standby charging state, and the charging station 200 can determine that the mobile device 100 has entered the standby charging state based on the first instruction.

[0110] For example, after detecting that the charging electrode of the mobile device 100 is in contact with the charging port of the charging station 200, if the charging station 200 detects that the collision detection device of the mobile device 100 has collided with the charging station 200, the mobile device 100 is determined to have entered the charging state. Alternatively, when the mobile device 100 enters the charging state, it sends a second instruction to the charging station 200 to instruct it to enter the charging state, and the charging station 200 can determine that the mobile device 100 has entered the charging state based on the second instruction.

[0111] In some embodiments, the charging station includes a charging interface having an elastic member configured to mate with a charging electrode of a self-mobile device. The charging station is configured to output a first voltage signal to the self-mobile device upon detecting contact between the elastic member and the charging electrode, and to output a second voltage signal to the self-mobile device upon detecting contact between the elastic member and the charging electrode and satisfying a predetermined condition, the second voltage signal being greater than the first voltage signal.

[0112] It should be noted that by providing an elastic member compatible with the charging electrode of the mobile device at the charging port of the charging pile, rigid collisions between the mobile device and the charging pile can be avoided. By outputting a small first voltage signal to the mobile device upon detecting contact between the elastic member and the charging electrode, the phenomenon of the charging pile's charging port immediately outputting high voltage upon contact with the charging electrode, which could cause sparks, can be avoided. This can also create a voltage difference at the charging electrode of the mobile device, allowing the mobile device to generate and respond to the first charging signal, controlling the mobile device to enter a standby state. By outputting a large second voltage signal to the mobile device upon detecting that contact between the elastic member and the charging electrode meets a preset condition, it is possible to achieve high voltage output to charge the mobile device only after the elastic member and the charging electrode have been in contact for a period of time.

[0113] The preset conditions are that the contact time between the elastic member and the charging electrode is greater than a preset time, or the pressure on the elastic member is greater than a preset pressure, or the displacement of the elastic member is greater than a preset displacement.

[0114] For example, when it is detected that the elastic member and the charging electrode have been in contact for longer than a preset time, a second voltage signal is output to the self-moving device. The preset time can be set based on actual conditions, and the specific value is not limited here. It should be noted that when the elastic member and the charging electrode have been in contact for longer than the preset time, it indicates that the elastic member and the charging electrode have been in contact for a period of time, during which no pulse voltage has been generated. Therefore, outputting a larger second voltage signal to charge the self-moving device can avoid high-voltage sparks, thereby improving the safety of the charging station and the self-moving device.

[0115] Exemplarily, when it is detected that the displacement of the elastic member is greater than a preset displacement, a second voltage signal is output to the self-moving device. The preset displacement can be set according to actual conditions, and the specific value is not limited here. It should be noted that when the displacement of the elastic member is greater than the preset displacement, it means that the self-moving device has still moved forward a certain distance after the elastic member contacts the charging electrode. At this time, the collision detection device of the self-moving device triggers the first collision signal, and the self-moving device has entered the charging state. Therefore, a larger second voltage signal is output to charge the self-moving device, which can avoid the phenomenon of high-voltage sparks, thereby improving the safety of the charging pile and the self-moving device.

[0116] For example, when it is detected that the pressure on the elastic member is greater than a preset pressure, a second voltage signal is output to the self-moving device. The preset pressure can be set according to actual conditions, and the specific value is not limited here. It should be noted that when the pressure on the elastic member is greater than the preset pressure, it means that the self-moving device has continued to move forward a certain distance after the elastic member contacts the charging electrode. At this time, the collision detection device of the self-moving device triggers the first collision signal, and the self-moving device has entered the charging state. Therefore, the larger second voltage signal is output to charge the self-moving device, which can avoid the phenomenon of high-voltage sparks, thereby improving the safety of the charging pile and the self-moving device.

[0117] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. The processor executes the program instructions to implement any of the self-mobile device charging control methods provided in the embodiments of the present application.

[0118] For example, when the program is loaded by the processor, the following steps may be performed: In response to a recharge request for a self-mobile device, the self-mobile device is controlled to perform a recharge operation; in response to a first charging signal, the self-mobile device is controlled to enter a standby charging state; in response to a first collision signal, the self-mobile device is controlled to stop moving; based on the first charging signal and the first collision signal, the self-mobile device is controlled to enter a charging state.

[0119] The computer-readable storage medium may be an internal storage unit of the mobile device in the aforementioned embodiment, such as a hard disk or memory of the mobile device. The computer-readable storage medium may also be an external storage device of the mobile device, such as a plug-in hard disk, a smart media card (SMC), a secure digital card (SD card), a flash memory card, etc. equipped on the mobile device.

[0120] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the blockchain node, etc.

[0121] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A charging control method for a mobile device, characterized in that: The method comprises: In response to a recharge request for the self-mobile device, controlling the self-mobile device to perform a recharge operation; In response to the first charging signal, controlling the mobile device to enter a charging state; In response to the first collision signal, controlling the self-moving device to stop moving; Based on the first charging signal and the first collision signal, the self-mobile device is controlled to enter a charging state.

2. The charging control method for a mobile device according to claim 1, wherein: The self-moving device includes a charging electrode; before responding to the first charging signal, the method further includes: Obtaining a voltage difference between the positive electrode and the negative electrode of the charging electrode; If the voltage difference is greater than or equal to a preset first voltage threshold, the first charging signal is generated.

3. The charging control method for a mobile device according to claim 2, characterized in that: The voltage difference of the charging electrode when the self-moving device is in a state to be charged is smaller than the voltage difference when the self-moving device is in a state to be charged.

4. The charging control method for a mobile device according to claim 1, wherein: The self-moving device includes a charging electrode; Before responding to the first charging signal, the method further includes: Acquiring a voltage signal of the charging electrode; If the voltage fluctuation of the voltage signal within the preset time is less than a preset second voltage threshold, the first charging signal is generated.

5. The charging control method for a mobile device according to claim 1, wherein: The self-moving device includes a charging electrode, and a resistor is connected between the positive electrode and the negative electrode of the charging electrode; before responding to the first charging signal, the method further includes: obtaining a current value flowing through the resistor; If the current value is greater than or equal to a preset current threshold, the first charging signal is generated.

6. The charging control method for a mobile device according to claim 1, wherein: The self-moving device further includes a collision detection device, and when the collision detection device contacts the charging pile, the collision detection device generates the first collision signal.

7. The charging control method for a mobile device according to claim 6, characterized in that: The collision detection device includes a first triggering member and a second triggering member. When the first triggering member is triggered and / or the second triggering member is triggered, the collision detection device generates the first collision signal.

8. The charging control method for a mobile device according to claim 1, wherein: Before responding to the first charging signal, the method further includes: Controlling the self-moving device to move at a preset first movement speed; After responding to the first charging signal, the method further includes: The self-moving device is controlled to move at a preset second movement speed, where the second movement speed is less than the first movement speed.

9. The charging control method for a mobile device according to claim 1, wherein: Before controlling the mobile device to enter a charging state in response to the first charging signal, the method further includes: In response to the second collision signal, the self-moving device is controlled to perform an obstacle avoidance operation.

10. The charging control method for a mobile device according to claim 9, characterized in that: The method further comprises: Obtaining the environment identification information collected from the mobile device; If the environment identification information matches the preset charging pile identification information, the second collision signal is switched to the first collision signal.

11. The charging control method for a mobile device according to claim 1, wherein: The self-moving device further includes a charging circuit and a battery module, wherein the charging circuit is connected to the battery module; and controlling the self-moving device to enter a charging state includes: The charging circuit is controlled to be turned on so that the charging pile can charge the battery module through the charging circuit.

12. The charging control method for a mobile device according to claim 11, characterized in that: After controlling the mobile device to enter a charging state based on the first charging signal and the first collision signal, the method further includes: If it is detected that the first collision signal stops, the charging circuit is controlled to be shut down.

13. The charging control method for a mobile device according to claim 1, wherein: After controlling the mobile device to perform the recharging operation, the method further includes: If the first collision signal is not detected within a preset time period after the self-mobile device navigates to the recharging location area where the charging pile is located, the self-mobile device is controlled to retreat and move toward the charging pile to determine whether the first collision signal is detected. The self-mobile device is controlled to retreat a number of times greater than a preset number, and then returns to perform the recharging operation.

14. The method for controlling charging of a mobile device according to any one of claims 1 to 13, wherein: The self-mobile device further includes a contactless sensing device; and controlling the self-mobile device to perform a recharging operation includes: Obtaining environmental identification information collected by the sensing device; If the environment identification information matches the charging pile identification information preset by the charging pile, the mobile device is controlled to navigate to the recharging location area where the charging pile is located based on the environment identification information.

15. The charging control method for a mobile device according to claim 14, characterized in that: The sensing device is one or more of an infrared sensor, a visual sensor or a laser dot matrix sensor.

16. A self-propelled device, characterized in that: The self-mobile device includes a processor, a memory charging electrode, a collision detection device, a charging circuit and a battery module, wherein the charging electrode is connected to the charging circuit, and the charging circuit is connected to the battery module; The memory is used to store computer programs; The charging electrode is used to contact the charging interface of the charging pile; The collision detection device is configured to generate a first collision signal when the charging electrode contacts the charging interface; The charging circuit is configured to be turned on when the mobile device enters a charging state, so that the charging pile can charge the battery module through the charging circuit; The processor is configured to execute the computer program and implement the self-mobile device charging control method according to any one of claims 1 to 15 when executing the computer program.

17. A charging control system, characterized in that: The charging control system includes a self-moving device and a charging pile; The charging pile is configured to output a first voltage signal to the mobile device when the mobile device enters a waiting state, and to output a second voltage signal to the mobile device when the mobile device enters a charging state, wherein a voltage value of the second voltage signal is greater than a voltage value of the first voltage signal; The self-moving device is used to execute the self-moving device charging control method according to any one of claims 1 to 15.

18. The charging control system according to claim 17, characterized in that: The charging pile includes a charging interface, and the charging interface is provided with an elastic member matched with the charging electrode of the mobile device; The charging pile is used to output the first voltage signal to the self-moving device when it is detected that the elastic member is in contact with the charging electrode, and to output the second voltage signal to the self-moving device when a preset condition is met after it is detected that the elastic member is in contact with the charging electrode, and the second voltage signal is greater than the first voltage signal.

19. The charging control system according to claim 18, characterized in that: The preset condition is that the contact time between the elastic member and the charging electrode is greater than a preset time, or the pressure applied to the elastic member is greater than a preset pressure, or the displacement of the elastic member is greater than a preset displacement.

20. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method for controlling charging of a mobile device according to any one of claims 1 to 15.

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