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

Abstract

The application relates to a self-moving device charging control method, a self-moving device, a charging control system and a readable storage medium. The method comprises the following steps: in response to a return charging request for the self-moving device, controlling the self-moving device to perform a return charging operation; in response to a first charging signal, controlling the self-moving device to enter a state of waiting for charging; in response to a first collision signal, controlling the self-moving device to stop moving; and based on the first charging signal and the first collision signal, controlling the self-moving device to enter a charging state. The above method can realize that the self-moving device is allowed to be charged only when the first charging signal and the first collision signal are detected, avoid the phenomenon that high-pressure sparking is generated when the self-moving device directly contacts a charging interface of a charging pile and immediately starts charging, and improve the safety of the charging pile and the self-moving device.

Description

Technical Field

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

[0002] Currently, self-moving devices such as lawnmowers and sweepers need to return to charging stations after completing their tasks or when their battery is low. The existing charging method involves immediately starting charging when the self-moving device's charging contacts make direct contact with the charging station's interface. This method is prone to high-voltage arcing, which can lead to damage to both the self-moving device and the charging station. Summary of the Invention

[0003] This application provides a charging control method for a self-moving device, a self-moving device, a charging control system, and a computer-readable storage medium, which solves the problem that in related technologies, high-voltage arcing can easily occur when the charging electrode of the self-moving device is in direct contact with the charging interface of the charging pile, which can lead to the burning of the self-moving device and the charging pile.

[0004] In a first aspect, this application provides a self-moving device charging control method, the method comprising: In response to a recharging request from the self-mobile device, control the self-mobile device to perform a recharging operation; In response to a first charging signal, the self-moving device is controlled to enter a charging standby state; In response to the first collision signal, the self-moving device is controlled to stop moving; Based on the first charging signal and the first collision signal, the self-moving device is controlled to enter the charging state.

[0005] In one embodiment, the self-moving device includes charging electrodes; prior to the first charging signal, the method further includes: Obtain the voltage difference between the positive and negative terminals of the charging electrode; If the voltage difference is greater than or equal to a preset first voltage threshold, then 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 charging state is less than the voltage difference when the self-moving device is in a charging state.

[0007] In one embodiment, the self-moving device includes charging electrodes; prior to the first charging signal, the method further includes: Obtain the 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, then the first charging signal is generated.

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

[0009] In one embodiment, the self-moving device further includes a collision detection device, which generates the first collision signal when it comes into contact with a charging pile.

[0010] In one embodiment, the collision detection device includes a first trigger and a second trigger, wherein the collision detection device generates the first collision signal when the first trigger is triggered and / or the second trigger is triggered.

[0011] In one embodiment, prior to responding to the first charging signal, the method further includes: Control the self-moving device to move at a preset first 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 speed, which is less than the first speed.

[0013] In one embodiment, before controlling the self-mobile device to enter a charging state in response to a 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 includes: Obtain the environmental identification information collected by the self-moving device; If the environmental 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, the charging circuit being connected to the battery module; 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 self-moving device to enter a charging state based on the first charging signal and the first collision signal, the method further includes: If the first collision signal is detected to have stopped, the charging circuit is controlled to be turned off.

[0017] In one embodiment, after controlling the self-mobile device to perform a 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 charging station's recharge location area, the self-mobile device is controlled to move backward toward the charging station to determine whether the first collision signal has been detected. This process continues until the number of times the self-mobile device is controlled to move backward exceeds a preset number, at which point the recharge operation is executed again.

[0018] In one embodiment, the self-moving device further includes a contactless sensing device; controlling the self-moving device to perform a recharging operation includes: Acquire environmental identification information collected by the sensing device; If the environmental identification information matches the charging pile's preset charging pile identification information, then the self-moving device is controlled to navigate to the charging pile's recharge location area based on the environmental 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] Secondly, this application also provides a self-moving device, which includes a processor, a memory charging electrode, a collision detection device, a charging circuit, and a battery module. 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 used to generate a first collision signal when the charging electrode contacts the charging interface; The charging circuit is activated when the self-moving device enters the 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, when executing the computer program, implement the self-moving device charging control method as described above.

[0021] Thirdly, this application also provides a charging control system, which includes a self-moving device and a charging pile; The charging pile is used to output a first voltage signal to the self-mobile device when the self-mobile device enters the charging state, and to output a second voltage signal to the self-mobile device when the self-mobile device enters the charging state, wherein the voltage value of the second voltage signal is greater than the voltage value of the first voltage signal. The self-moving device is used to perform the self-moving device charging control method described above.

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

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

[0024] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the self-moving device charging control method described above.

[0025] This application discloses a charging control method for a self-moving device, a self-moving device, a charging control system, and a computer-readable storage medium. The method controls the self-moving device to perform a recharge operation in response to a recharge request, enters a standby charging state in response to a first charging signal, stops moving in response to a first collision signal, and enters a charging state based on the first charging signal and the first collision signal. This allows charging to begin only when the first charging signal and the first collision signal are detected, preventing high-voltage arcing caused by immediate charging when the self-moving device is in direct contact with the charging port of the charging station, thus improving the safety of both the charging station and the self-moving device. Furthermore, stopping the self-moving device in response to the first collision signal avoids rigid contact between the self-moving device and the charging station, thereby extending the lifespan of both the charging station and the self-moving device. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the hardware structure of a self-moving device provided in an embodiment of this application; Figure 2 This is a schematic flowchart of a self-mobile device charging control method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application; Figure 4 This is a schematic diagram of a charging control system provided in an embodiment of this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0030] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the 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 should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0032] Currently, when a mobile device returns to a charging station, the existing charging method begins immediately upon direct contact between the charging contacts of the mobile device and the charging port of the charging station. Because the charging contacts and the charging port rub against each other under high voltage, sparking can occur, potentially causing both the mobile device and the charging station to burn out.

[0033] Therefore, embodiments of this application provide a charging control method for a self-moving device, a self-moving device, a charging control system, and a computer-readable storage medium. The charging control method for this self-moving device can be applied to a self-moving device, enabling charging only when a first charging signal and a first collision signal are detected. This avoids the phenomenon of high-voltage arcing caused by immediate charging when the self-moving device directly contacts the charging interface of the charging station, thus improving the safety of both the charging station and the self-moving device. Simultaneously, in response to the first collision signal, the method controls the self-moving device to stop moving, preventing rigid contact between the self-moving device and the charging station, thereby extending the lifespan of both the charging station and the self-moving device.

[0034] For example, self-moving devices may include, but are not limited to, lawnmowers, snowplows, robot vacuums, drones, food delivery robots, and welcoming robots.

[0035] Please see Figure 1 , Figure 1 This is a schematic diagram of the hardware structure of a self-moving device 100 provided in an embodiment of this application. The self-moving 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. The charging electrode 1003 is connected to the charging circuit 1005, and the charging circuit 1005 is connected to the battery module 1006. The processor 1001, memory 1002, collision detection device 1004, and charging circuit 1005 can be connected via a bus, which can be any applicable bus such as an Inter-integrated Circuit (I2C) bus.

[0036] The 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 the processor 1001 to perform the self-moving device charging control method described in any embodiment.

[0037] The charging electrode 1003 is used to make contact with 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 comes into contact with the charging interface.

[0039] The charging circuit 1005 is used to turn on when the mobile device 100 enters the charging state, so that the charging pile can charge the battery module 1006 through the charging circuit 1005. The charging circuit 1005 includes at least a switch, wherein the switch may include, but is not limited to, transistors, bipolar junction transistors (BJTs), metal-oxide-semiconductor field-effect transistors (MOS), insulated-gate bipolar transistors (IGBTs), relays, and optocouplers, etc. This application does not limit the circuit structure of the charging circuit 1005.

[0040] The processor 1001 provides computing and control capabilities to support the operation of the entire self-moving device 100.

[0041] The processor 1001 can be a Central Processing Unit (CPU), but it can also be 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 can be a microprocessor, or it can be any conventional processor.

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

[0043] In one embodiment, the self-moving device includes charging electrodes; the processor 1001 is further configured to implement, prior to responding to the first charging signal: Obtain the voltage difference between the positive and negative terminals 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 self-moving device includes charging electrodes; the processor 1001 is further configured to implement, prior to responding to the first charging signal: Obtain the 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, then a first charging signal is generated.

[0045] In one embodiment, the self-moving device includes a charging electrode with a resistor connected between the positive and negative terminals; the processor 1001 is further configured to implement, before responding to the first charging signal: Obtain the current value flowing through the resistor; If the current value is greater than or equal to the 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 also configured to implement: Control the self-moving device to move at a preset first speed.

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

[0048] In one embodiment, before implementing the function of controlling the mobile device to enter a charging state in response to a first charging signal, the processor 1001 is further configured to implement: In response to the second collision signal, the self-moving device is controlled to perform obstacle avoidance.

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

[0050] In one embodiment, the self-moving device further includes a charging circuit and a battery module, the charging circuit being connected to the battery module; when the processor 1001 controls the self-moving device to enter a charging state, it is used to: Control the charging circuit to enable the charging pile to charge the battery module through the charging circuit.

[0051] In one embodiment, after the processor 1001 controls the self-moving device to enter a charging state based on the first charging signal and the first collision signal, it is further configured to: If the first collision signal is detected and the circuit stops, the charging circuit is shut off.

[0052] In one embodiment, after controlling the self-moving device to perform a recharging operation, the processor 1001 is further configured to: If no first collision signal is detected within a preset time period after the mobile device navigates to the charging station's recharge location area, the mobile device is controlled to move backward toward the charging station to determine whether the first collision signal has been detected. This process continues until the number of times the mobile device moves backward exceeds a preset number, at which point the recharge operation is executed.

[0053] In one embodiment, the self-moving device further includes a contactless sensing device; the processor 1001, when controlling the self-moving device to perform a recharging operation, is used to: Acquire environmental identification information collected by sensing devices; If the environmental identification information matches the charging pile's preset charging pile identification information, the mobile device will be controlled to navigate to the charging pile's recharge location area based on the environmental identification information.

[0054] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of this application. Unless otherwise specified, the following embodiments and features described herein can be combined with each other. Please refer to... Figure 2 , Figure 2 This is a schematic flowchart illustrating a charging control method for a self-moving device provided in an embodiment of this application. Figure 2 As shown, the self-mobile device charging control method includes steps S101 to S104.

[0055] Step S101: In response to the recharging request for the self-moving device, control the self-moving device to perform a recharging operation.

[0056] For example, a recharge request can be triggered by the mobile device itself, by a server, or by the user through hardware or software. For instance, the mobile device can periodically check its remaining battery level, and when the detected level is equal to or less than a threshold (e.g., 20%), it can automatically return to charging. 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. Or, an app on the phone can notify the user that the mobile device is low on battery, requiring the user to input a recharge task for the mobile device through the app, and the phone will generate a recharge request based on this task information. Another option is for the user to generate a recharge request by clicking a recharge button on the mobile device's hardware, and the mobile device will then execute the recharge task.

[0057] For example, the self-mobile device can respond to a recharging request and perform a recharging operation. This recharging operation refers to the self-mobile device navigating to the recharging location area where the charging station is located to charge. It should be noted that the recharging location area is pre-defined based on the location and orientation of the charging station. For instance, a recharging location area can be marked along the straight line of the charging station based on its location and charging interface orientation. The self-mobile device can locally obtain the pre-defined recharging location area and navigate to it to connect with the charging station's charging interface. The self-mobile device can use positioning methods such as infrared, lidar, ultrasonic, or RTK (Real-Time Kinematic) to navigate to the charging station; this application does not limit the specific methods used.

[0058] Step S102: In response to the first charging signal, control the self-moving device to enter the charging standby state.

[0059] For example, during the process of controlling the self-mobile device to perform a recharge operation, if a first charging signal is detected, the device continuously responds to the first charging signal and controls the self-mobile device to enter a charging standby state.

[0060] The first charging signal refers to the signal generated when the charging contacts of the mobile device come into contact with the charging interface of the charging station. This signal can be generated when voltage or current is detected on the charging contacts. The "ready to charge" state refers to the state where the charging interface of the mobile device and the charging station is physically connected. In this state, the mobile device can detect the voltage difference on the charging contacts, but the charging station is not charging the mobile device's battery module. This avoids the phenomenon of high-voltage arcing that would occur if the mobile device and the charging interface of the charging station directly come into contact and charging begins immediately, thus improving the safety of both the charging station and the mobile device.

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

[0062] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a self-moving device 100 provided in an embodiment of this 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 disposed on the collision detection device 1004.

[0063] For example, the charging electrode includes a positive electrode and a negative electrode. It can collect the voltage values ​​of the positive and negative electrodes, subtract them to obtain the 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, no first charging signal is generated. The first voltage threshold can be set according to actual conditions, and its 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 can be used to determine whether a first charging signal is generated, and the mobile device can be controlled to enter a 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 first charging signal can be triggered by the voltage difference, thereby controlling the self-moving device to enter the charging state based on the first charging signal.

[0065] In some embodiments, the voltage difference between the charging electrodes when the self-moving device is in a charging state is less than the voltage difference when the self-moving device is in a charging state.

[0066] It should be noted that when the charging contacts first make contact with the charging port of the charging station, the charging station has not yet started charging the mobile device, and the voltage difference between the charging contacts is small at this time. When the charging station begins charging the mobile device, the voltage difference between the charging contacts is larger. This avoids the phenomenon of high-voltage arcing that can occur when charging begins immediately upon contact with the charging port, thus improving the safety of both the charging station and the mobile device.

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

[0068] For example, the voltage signal of the charging electrode can be collected, such as the voltage difference between the positive and negative terminals of the charging electrode. When the fluctuation of the voltage difference within a preset time is less than a preset second voltage threshold, a first charging signal is generated; when the fluctuation of the voltage difference within the preset time is not less than the preset second voltage threshold, no first charging signal is generated. The preset time can be set according to actual conditions, and its specific value is not limited here. The second voltage threshold can also be set according to actual conditions, and its specific value is not limited here.

[0069] It should be noted that when the charging electrode first comes into contact with the charging interface of the charging station, 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, and avoid the pulse voltage from damaging the internal circuit of the mobile device.

[0070] In some embodiments, the self-moving device charging control method further includes: generating a first charging signal if the duration of the detected voltage difference between the charging electrodes is greater than or equal to a preset duration. It should be noted that when the detected voltage difference between the charging electrodes lasts for a period of time, it indicates that the voltage difference fluctuation between the charging electrodes is small, and at this time, the self-moving device can be controlled to enter a charging standby state.

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

[0072] It should be noted that, in this embodiment, a large-resistance circuit is connected between the positive and negative terminals of the charging electrode. When the charging electrode contacts the charging interface of the charging pile, the circuit between the positive and negative terminals of the charging electrode is activated, allowing the current flowing through the resistor to be collected. When the current value is greater than or equal to a preset current threshold, a first charging signal is generated; when the current value is less than the preset current threshold, no first charging signal is generated. The current threshold can be set according to actual conditions, and its specific value is not limited here.

[0073] In the above embodiments, by acquiring the current value flowing through the resistor and generating a first charging signal when the current value is greater than a preset current threshold, it is possible to use the current value to trigger the first charging signal, thereby controlling the self-moving device to enter the charging state based on the first charging signal.

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

[0075] For example, upon detecting a first collision signal, the device continuously responds to the first collision signal and controls itself to stop moving. For instance, the drive mechanism within the device can be controlled to stop operating. By controlling the device to stop moving in response to the first collision signal, rigid contact between the device and the charging station can be avoided, thereby improving the lifespan of both the charging station and the device.

[0076] In some embodiments, such as Figure 3As shown, the self-moving device 100 also includes a collision detection device 1004. When the collision detection device 1004 comes into contact with a charging pile (not shown in the figure), the collision detection device 1004 generates a first collision signal.

[0077] For example, a collision detection device may include a pressure sensor that generates a first collision signal when the pressure sensor detects a change in pressure.

[0078] It should be noted that when the charging contacts of the self-moving device come into contact with the charging interface of the charging station, the self-moving device will continue to move forward until the collision detection device comes into contact with the charging station. At this point, it is necessary to control the self-moving device to stop moving to avoid rigid contact between the self-moving device and the charging station, thereby improving the lifespan of both the charging station and the self-moving device.

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

[0080] It should be noted that, in this embodiment, the collision detection device is equipped with at least one trigger, each trigger corresponding to at least one pressure sensor. Each trigger can trigger a collision signal individually or together. For example, when the first trigger is triggered, the collision detection device generates a first collision signal. Alternatively, when the second trigger is triggered, the collision detection device generates a first collision signal. Or, when the first and second triggers are triggered simultaneously, the collision detection device generates a first collision signal.

[0081] In the above embodiments, by setting a first trigger and a second trigger on the collision detection device, the collision detection device generates a first collision signal when the first trigger is triggered and / or the second trigger is triggered. This can enable the first collision signal to be triggered by one or more triggers, 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 self-moving device to enter the charging state.

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

[0084] Understandably, by adding a first collision signal, charging of the self-moving device is allowed when both the first charging signal and the first collision signal are detected. This avoids the high-voltage arcing that can easily occur when the charging electrode of the self-moving device comes into direct contact with the charging interface of the charging pile. This effectively improves 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 command 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 command, so that the charging pile can charge the battery module through the charging circuit.

[0087] In some embodiments, after controlling the self-moving device to enter the charging state based on the first charging signal and the first collision signal, the method further includes: if the first collision signal is detected to stop, then controlling the charging circuit to turn off.

[0088] It should be noted that the first collision signal is maintained while the charging station is charging the mobile device. Once the first collision signal disappears, the charging circuit needs to be disconnected, meaning the mobile device exits the charging state. Understandably, if the first collision signal disappears the instant the mobile device leaves the charging station, continuing to charge the mobile device at this point could easily lead to high-voltage arcing.

[0089] The above embodiments, by controlling the charging circuit to shut down when the first collision signal is detected, can avoid high-voltage arcing when the self-moving device leaves the charging pile, thereby improving the safety of the charging pile and the self-moving device.

[0090] In some embodiments, before responding to the first charging signal, the self-moving device charging control method further includes: controlling the self-moving device to move at a preset first speed. After responding to the first charging signal, the self-moving device charging control method further includes: controlling the self-moving 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 can 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 needs to 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 contacts have already made contact with the charging port of the charging station, but the collision detection device has not yet made contact with the charging station, it is necessary to continue controlling the movement of the self-moving device until the collision detection device makes contact with the charging station and generates the first collision signal. At the same time, controlling the self-moving device to move at a smaller second speed can reduce the impact force generated by the collision between the collision detection device and the charging station, and avoid damage to the collision detection device and the charging station.

[0093] In some embodiments, the self-mobile device charging control method further includes, in response to a first charging signal, controlling the self-mobile device to perform an obstacle avoidance operation before controlling the self-mobile device to enter a charging state.

[0094] It should be noted that the second collision signal is different from the first collision signal. The second collision signal refers to the collision signal generated when the mobile device collides with an obstacle during its movement towards the charging station. Of course, the obstacle can also be a charging station, in which case further determination is needed to confirm whether the obstacle is a charging station.

[0095] For example, when a second collision signal generated by the collision detection device is detected, the self-moving 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 found in related technologies, and will not be elaborated upon here.

[0096] In the above embodiments, by responding to the second collision signal and controlling the self-moving device to perform obstacle avoidance operations, collisions between the self-moving device and obstacles can be effectively avoided.

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

[0098] For example, such as Figure 3 As shown, the self-moving device 100 also includes a non-contact 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. As another example, environmental identification information can be collected using 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 marking area of ​​a specific shape on the charging pile. The identification marking area refers to a characteristic surface or area in the charging pile used for identification or location. For example, the identification marking area can be a V-shaped or trapezoidal characteristic area in the charging pile, or of course, other shaped characteristic areas.

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

[0101] In the above embodiments, by acquiring environmental identification information collected by the self-moving device, and when the environmental identification information matches the preset charging pile identification information, the second collision signal is switched to the first collision signal. This enables the self-moving device to further determine whether the obstacle is a charging pile when it collides with an obstacle, and to switch the second collision signal to the first collision signal when the obstacle is determined to be a charging pile. In this way, the self-moving device can be controlled to stop moving in response to the first collision signal.

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

[0103] For example, the sensing device can be one or more of an infrared sensor, a visual sensor, or a laser dot matrix sensor. For instance, when the sensing device is a visual sensor, it can acquire environmental identification information collected by the visual sensor. When the environmental identification information matches preset charging pile identification information, it controls the mobile device to navigate to the charging pile's recharge location area based on the environmental identification information. For example, it can identify the positional relationship between the mobile device and the charging pile, and control the mobile device to move towards the charging pile based on this relationship. As another example, when the sensing device is a laser dot matrix sensor, it can use the laser dot matrix sensor to scan and obtain the charging pile's identification features, and control the mobile device to move towards the charging pile based on these features.

[0104] The above embodiments, by acquiring 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, control the self-moving device to navigate to the charging pile's return location area based on the environmental identification information. This can achieve the goal of controlling the self-moving device to move only when the charging pile is identified, enabling the self-moving device to accurately navigate to the location of the charging pile, avoiding collisions between the self-moving device and other obstacles, thereby improving the safety of the self-moving device.

[0105] In some embodiments, after controlling the mobile device to perform a recharge operation in step S101, the method further includes: within a preset time period after the mobile device navigates to the recharge location area where the charging pile is located, if no first collision signal is detected, controlling the mobile device to move backward toward the charging pile, determining whether the first collision signal is detected, until the number of times the mobile device moves backward is greater than a preset number, and then returning to perform the recharge operation.

[0106] For example, if no first collision signal is detected within a preset time period after the mobile device navigates to the charging station's return-to-charge location area, it indicates that the collision detection device has not collided with the charging station. In this case, the mobile device needs to be controlled to move backward toward the charging station, and the collision detection device needs to be re-detected to see if it generates the first collision signal. If the number of times the mobile device is controlled to move backward exceeds a preset number, the return-to-charge operation needs to be performed, that is, the mobile device needs to be controlled to navigate back to the charging station's return-to-charge location area, and upon detecting the first charging signal, the mobile device should be controlled to enter a charging standby state in response to the first charging signal. The preset value can be set according to actual conditions, and the specific value is not limited here.

[0107] The above embodiments, by controlling the self-moving device to retreat and move towards the charging pile when no first collision signal is detected, can realize the control of the self-moving device to retreat and move towards the charging pile again when the collision detection device fails to trigger the first collision signal, which can greatly increase the probability of the collision detection device triggering the first collision signal.

[0108] Please see Figure 4 , Figure 4 This is a schematic diagram of a charging control system 10 provided in an embodiment of this application. Figure 4 As shown, the charging control system 10 includes a self-moving device 100 and a charging pile 200. The charging pile 200 is used to output a first voltage signal to the self-moving device 100 when the self-moving device 100 enters a charging state, and to output a second voltage signal to the self-moving device 100 when the self-moving 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 self-moving device 100 is used to execute any of the self-moving device charging control methods described above.

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

[0110] For example, after detecting that the charging contacts of the mobile device 100 are in contact with the charging interface of the charging station 200, if the charging station 200 detects a collision between the collision detection device of the mobile device 100 and the charging station 200, then it determines that the mobile device 100 has 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 indicate that it has entered 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, which has an elastic element that mates with the charging electrodes of the self-moving device. The charging station is used to output a first voltage signal to the self-moving device when it detects that the elastic element is in contact with the charging electrodes, and to output a second voltage signal to the self-moving device when a preset condition is met after detecting that the elastic element is in contact with the charging electrodes, wherein the second voltage signal is greater than the first voltage signal.

[0112] It should be noted that by incorporating an elastic element at the charging port of the charging station that matches the charging contacts of the mobile device, rigid collisions between the mobile device and the charging station can be avoided. By outputting a small first voltage signal to the mobile device when contact between the elastic element and the charging contacts is detected, the immediate output of high voltage by the charging port, which could cause arcing, can be prevented. Simultaneously, a voltage difference can be created on the charging contacts of the mobile device, causing the mobile device to generate and respond to the first charging signal, thus entering a charging standby state. By outputting a larger second voltage signal to the mobile device when preset conditions are met after contact between the elastic element and the charging contacts, high voltage can be output to charge the mobile device only after a certain period of contact between the elastic element and the charging contacts.

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

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

[0115] For example, when the displacement of the elastic element is detected to be 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 its specific value is not limited here. It should be noted that when the displacement of the elastic element is greater than the preset displacement, it means that the self-moving device has still moved a certain distance after the elastic element contacts the charging electrode. At this time, the collision detection device of the self-moving device triggers a first collision signal, and the self-moving device has already entered the charging state. Therefore, outputting a larger second voltage signal to charge the self-moving device can avoid high-voltage arcing, thereby improving the safety of the charging pile and the self-moving device.

[0116] For example, when the pressure on the elastic element is detected to be 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 its specific value is not limited here. It should be noted that when the pressure on the elastic element is greater than the preset pressure, it indicates that the self-moving device has still moved a certain distance after the elastic element contacts the charging electrode. At this time, the collision detection device of the self-moving device triggers a first collision signal, and the self-moving device has already entered the charging state. Therefore, outputting a larger second voltage signal to charge the self-moving device can avoid high-voltage arcing, thereby improving the safety of the charging station and the self-moving device.

[0117] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and a processor executing the program instructions to implement any of the self-moving device charging control methods provided in the embodiments of this application.

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

[0119] The computer-readable storage medium can be an internal storage unit of the self-moving device described in the foregoing embodiments, such as a hard drive or memory of the self-moving device. Alternatively, the computer-readable storage medium can be an external storage device of the self-moving device, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD card), flash card, etc., equipped on the self-moving device.

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

[0121] The above are merely specific embodiments of this application, but the scope of protection of this 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 these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A charging control method for a self-moving device, characterized in that, The self-moving device includes a charging electrode, a collision detection device, and a bus, wherein the charging electrode and the collision detection device are electrically connected to the bus, and the method includes: In response to a recharging request from the self-mobile device, control the self-mobile device to perform a recharging operation; In response to a first charging signal, the self-moving device is controlled to enter a charging state. The first charging signal is a signal generated after the charging electrode is in contact with the charging interface of the charging pile for a period of time. In response to a first collision signal, the self-moving device is controlled to stop moving. The first collision signal is a signal generated by the collision detection device when the charging electrode contacts the charging interface. Based on the first charging signal and the first collision signal, the self-moving device is controlled to enter the charging state.

2. The self-moving device charging control method according to claim 1, characterized in that, Prior to the first charging signal, the method further includes: Obtain the voltage difference between the positive and negative terminals of the charging electrode; If the voltage difference is greater than or equal to a preset first voltage threshold, then the first charging signal is generated.

3. The self-moving device charging control method according to claim 2, characterized in that, The voltage difference between the charging electrodes when the self-moving device is in a standby state is less than the voltage difference when the self-moving device is in a charging state.

4. The self-moving device charging control method according to claim 1, characterized in that, Prior to the first charging signal, the method further includes: Obtain the 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, then the first charging signal is generated.

5. The self-moving device charging control method according to claim 1, characterized in that, A resistor is connected between the positive and negative terminals of the charging electrode; prior to the first charging signal, the method further includes: Obtain the current value flowing through the resistor; If the current value is greater than or equal to a preset current threshold, then the first charging signal is generated.

6. The self-moving device charging control method according to claim 1, characterized in that, The collision detection device includes a first trigger and a second trigger. When the first trigger is triggered and / or the second trigger is triggered, the collision detection device generates the first collision signal.

7. The self-moving device charging control method according to claim 1, characterized in that, Prior to the first charging signal, the method further includes: Control the self-moving device to move at a preset first speed; Following the response to the first charging signal, the method further includes: The self-moving device is controlled to move at a preset second speed, which is less than the first speed.

8. The self-moving device charging control method according to claim 1, characterized in that, Before controlling the self-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.

9. The self-moving device charging control method according to claim 8, characterized in that, The method further includes: Obtain the environmental identification information collected by the self-moving device; If the environmental identification information matches the preset charging pile identification information, the second collision signal is switched to the first collision signal.

10. The self-moving device charging control method according to claim 1, characterized in that, The self-moving device further includes a charging circuit and a battery module, wherein the charging circuit is connected to the battery module; 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.

11. The self-moving device charging control method according to claim 10, characterized in that, After controlling the self-mobile device to enter the charging state based on the first charging signal and the first collision signal, the method further includes: If the first collision signal is detected to have stopped, the charging circuit is controlled to be turned off.

12. The self-moving device charging control method according to claim 1, characterized in that, After controlling the self-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 charging station's recharge location area, the self-mobile device is controlled to move backward toward the charging station to determine whether the first collision signal has been detected. This process continues until the number of times the self-mobile device is controlled to move backward exceeds a preset number, at which point the recharge operation is executed again.

13. The self-moving device charging control method according to any one of claims 1-12, characterized in that, The self-moving device further includes a contactless sensing device; controlling the self-moving device to perform a recharging operation includes: Acquire environmental identification information collected by the sensing device; If the environmental identification information matches the charging pile's preset charging pile identification information, then the self-moving device is controlled to navigate to the charging pile's recharge location area based on the environmental identification information.

14. The self-moving device charging control method according to claim 13, characterized in that, The sensing device is one or more of an infrared sensor, a visual sensor, or a laser dot matrix sensor.

15. A self-moving device, characterized in that, The self-moving device includes a processor, a memory charging electrode, a collision detection device, a charging circuit, and a battery module. 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 used to generate a first collision signal when the charging electrode contacts the charging interface; The charging circuit is activated when the self-moving device enters the 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, in executing the computer program, implement the self-moving device charging control method as described in any one of claims 1 to 14.

16. A charging control system, characterized in that, The charging control system includes a self-moving device and a charging pile; The charging pile is used to output a first voltage signal to the self-mobile device when the self-mobile device enters the charging state, and to output a second voltage signal to the self-mobile device when the self-mobile device enters the charging state, wherein the voltage value of the second voltage signal is greater than the voltage value of the first voltage signal. The self-moving device is used to perform the self-moving device charging control method as described in any one of claims 1 to 14.

17. The charging control system according to claim 16, characterized in that, The charging pile includes a charging interface, and the charging interface is provided with an elastic element that matches the charging electrode of the self-moving device. The charging pile is used to output a first voltage signal to the self-moving device when it detects that the elastic element is in contact with the charging electrode, and to output a second voltage signal to the self-moving device when a preset condition is met after detecting that the elastic element is in contact with the charging electrode, wherein the second voltage signal is greater than the first voltage signal.

18. The charging control system according to claim 17, characterized in that, The preset conditions are that the contact time between the elastic element and the charging electrode is greater than a preset time, or the pressure on the elastic element is greater than a preset pressure, or the displacement of the elastic element is greater than a preset displacement.

19. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the self-moving device charging control method as described in any one of claims 1 to 14.

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