Self-moving robot, circuit of charging equipment and charging control method

Abstract

The invention relates to a self-moving robot, a circuit of charging equipment and a charging control method. The charging circuit of the self-moving robot comprises a first conversion module used for converting an input circuit signal of the self-moving robot into a collectable first circuit signal; the signal receiving module is used for receiving a recharging signal; the recharging signal is transmitted under the condition that the electrode connection state between the charging equipment and the self-moving robot is a non-connection state; the robot control module is electrically connected with the first conversion module and the signal receiving module and used for controlling the self-moving robot to execute a recharging action when it is detected that the signal receiving module receives the recharging signal; and the controller is also used for collecting a first circuit signal, and controlling the self-moving robot to be charged through the charging equipment when the electrode connection state is determined to be a connected state based on the first circuit signal. Through the charging circuit, the charging reliability can be improved.

Description

Technical Field

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

[0002] With the rapid development of automation technology, autonomous robots have found widespread application in a variety of fields, including industrial logistics, warehouse management, indoor cleaning, and service guidance. These robots possess the ability to autonomously perceive, navigate, make decisions, and execute tasks in pre-set or dynamic environments. To enable the automation and long-term operation of autonomous robots, automatic charging technology has emerged. When the battery is nearing depletion, or when other pre-set conditions are met, autonomous robots can autonomously locate and navigate to a charging station, physically and electrically connecting to it for recharging.

[0003] However, currently, autonomous robots have a problem of low charging reliability when being charged by charging equipment. Summary of the Invention

[0004] Based on this, it is necessary to provide a circuit and charging control method for a self-moving robot and a charging device that improve charging reliability.

[0005] In a first aspect, the present application provides a charging circuit for a self-propelled robot, comprising:

[0006] a first conversion module, configured to convert the input circuit signal of the self-moving robot into a collectable first circuit signal;

[0007] a signal receiving module, configured to receive a recharging signal, wherein the recharging signal is transmitted when the electrode connection state between the charging device and the autonomous robot is disconnected;

[0008] The robot control module is electrically connected to the first conversion module and the signal receiving module respectively, and is used to control the self-moving robot to perform a recharging action when it is detected that the signal receiving module receives a recharging signal; it is also used to collect the first circuit signal, and when it is determined based on the first circuit signal that the electrode connection state is in a connected state, the self-moving robot is controlled to be charged through the charging device.

[0009] In a second aspect, the present application further provides a charging control circuit for a charging device, comprising:

[0010] a second conversion module, configured to convert the output circuit signal of the charging device into a collectible second circuit signal;

[0011] a charging device control module, electrically connected to the second conversion module, configured to collect the second circuit signal and determine a connection state of electrodes between the charging device and the autonomous robot based on the second circuit signal;

[0012] a signal transmitting module electrically connected to the charging device control module, configured to transmit a recharging signal when the electrode connection state is disconnected; the recharging signal is configured to instruct the self-propelled robot to perform a recharging action;

[0013] The charging switch module is electrically connected to the charging device control module and is used to form a charging path when the electrode connection state is in the connected state, so that the charging device can charge the self-moving robot.

[0014] In a third aspect, the present application further provides a charging control method for a self-propelled robot, comprising:

[0015] collecting a first circuit signal and detecting whether a recharge signal is received; the first circuit signal is obtained by converting an input circuit signal of the self-propelled robot; the recharge signal is emitted when the electrode connection between the charging device and the self-propelled robot is disconnected;

[0016] When it is determined that a recharging signal is received, controlling the self-propelled robot to perform a recharging action;

[0017] When it is determined according to the first circuit signal that the electrode connection state is a connected state, the self-propelled robot is controlled to be charged through the charging device.

[0018] In a fourth aspect, the present application further provides a charging control method for a charging device, comprising:

[0019] Collecting a second circuit signal; the second circuit signal is obtained by converting an output voltage signal of the charging device;

[0020] determining a connection state of electrodes between the charging device and the autonomous robot according to the second circuit signal;

[0021] When the electrode connection state is the disconnected state, controlling the transmission of a recharging signal; the recharging signal is used to instruct the self-propelled robot to perform a recharging action;

[0022] When the electrode connection state is the connected state, a charging path is controlled to be formed so that the charging device charges the self-moving robot.

[0023] In a fifth aspect, the present application also provides an electronic device, comprising the charging circuit of the self-moving robot as described above, or / and, comprising the charging control circuit of the charging device as described above.

[0024] The circuit and charging control method of the above-mentioned self-moving robot and charging device are such that when the electrode connection state between the charging device and the self-moving robot is in a disconnected state, the charging device can transmit a recharging signal, and when the signal receiving module of the self-moving robot receives the recharging signal, the robot control module can control the self-moving robot to perform the recharging action. In this way, by identifying the electrode connection state, the self-moving robot can be accurately guided back to the charging device for charging; moreover, the first circuit signal can reflect the input circuit signal of the self-moving robot, that is, it can detect the signal status output by the charging device to the self-moving robot, and the first circuit signal is directly transmitted through the circuit, which is more accurate. In this way, when the robot control module accurately determines that the electrode connection state is connected through the first circuit signal, it controls the self-moving robot to be charged through the charging device, thereby reducing mischarging and improving charging reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A charging circuit for a self-moving robot in one embodiment;

[0027] Figure 2 A charging control circuit of a charging device in one embodiment;

[0028] Figure 3 Specific circuits of a charging circuit and a charging control circuit in one embodiment;

[0029] Figure 4 A schematic diagram of processing logic on a charging device side in one embodiment;

[0030] Figure 5 A schematic diagram of processing logic on the mobile robot side in one embodiment. DETAILED DESCRIPTION

[0031] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0033] It will be understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor without departing from the scope of this application. The first resistor and the second resistor are both resistors, but they are not the same resistor.

[0034] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if there is transmission of electrical signals or data between the connected circuits, modules, units, etc.

[0035] It is understood that “at least one” refers to one or more, “a plurality” refers to two or more, and “at least a portion of an element” refers to a portion or all of an element.

[0036] As used herein, the singular forms "a," "an," and "the" may also include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include," "comprising," "having," and the like specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Furthermore, the term "and / or" as used in this specification includes any and all combinations of the relevant listed items.

[0037] like Figure 1As shown, in one embodiment, the charging circuit of the self-moving robot includes a first conversion module 110, a signal receiving module 120 and a robot control module 130, and the robot control module 130 is electrically connected to the first conversion module 110 and the signal receiving module 120, respectively. Among them, the first conversion module 110 is used to convert the input circuit signal of the self-moving robot into a collectible first circuit signal. The signal receiving module 120 is used to receive a recharge signal; the recharge signal is emitted when the electrode connection state between the charging device and the self-moving robot is in a disconnected state. The robot control module 130 is used to control the self-moving robot to perform a recharge action when it detects that the signal receiving module 120 receives the recharge signal; it is also used to collect the first circuit signal, and when it is determined based on the first circuit signal that the electrode connection state is in a connected state, it controls the self-moving robot to charge through the charging device.

[0038] The autonomous robot may be a sweeping robot, a warehouse logistics robot, a food delivery robot, or other types of robots. The charging device may be a charging station, a base station with a charging function, or other types of robots. The charging device may charge the battery of the autonomous robot.

[0039] The input circuit signal is a circuit signal input through the charging input electrode of the self-propelled robot. The circuit signal can be a voltage signal or a current signal, and thus the input circuit signal can be an input voltage signal or an input current signal. The first circuit signal is a circuit signal that can be acquired by the robot control module 130. Specifically, the first circuit signal can be a first current signal or a first voltage signal. The robot control module 130 can include an ADC sampling unit, which can acquire the first circuit signal. The first conversion module 110 can convert the input circuit signal into the first circuit signal by adjusting the amplitude of the input circuit signal so that the value of the first circuit signal fits within the input amplitude range of the ADC sampling unit. For example, for the input voltage signal, the first conversion module 110 can be implemented using a Hall effect sensor or an isolated operational amplifier; for the input current signal, the first conversion module 110 can be implemented using a Hall effect sensor or a current transformer.

[0040] The signal receiving module 120 can be a module that receives signals based on wireless communication technology. The wireless communication technology can be infrared, radio frequency, or other technologies. Therefore, the signal receiving module 120 can be an infrared receiving module, radio frequency receiving module, or other such module. The signal receiving module 120 can be connected to the robot control module 130 via a hardware interface, communicating with the robot control module 130 through this hardware interface. Examples of hardware interfaces include I²C (two-wire serial bus), SPI (high-speed serial bus), or other such interfaces.

[0041] The charging circuit of the self-moving robot may further include a charging input electrode. The charging control circuit of the charging device may include a charging output electrode. The electrode connection state is the electrical connection state between the charging output electrode of the charging device and the charging input electrode of the self-moving robot. The charging output electrode and the charging input electrode may each have an electrode sheet, and the electrode sheet each has may include a positive electrode sheet and a negative electrode sheet. The recharging signal is used to instruct the self-moving robot to perform a recharging action. The recharging action is when the self-moving robot returns to the charging device and establishes a connection between the charging input electrode of the self-moving robot and the charging output electrode of the charging device.

[0042] The robot control module 130 can be implemented using a microcontroller, a microprocessor, or other modules with control and computing functions. The robot control module 130 can convert the first circuit signal into a digital signal to determine the value of the first circuit signal. The robot control module 130 can communicate with the signal receiving module 120 to detect whether the signal receiving module 120 receives a recharge signal. When it is determined that the signal receiving module 120 receives a recharge signal, it can be determined that the electrode connection state between the self-mobile robot and the charging device is in a disconnected state. The robot control module 130 can also determine that the electrode connection state between the self-mobile robot and the charging device is in a disconnected state when the value of the first circuit signal is zero.

[0043] If the first circuit signal is a first voltage signal, the robot control module 130 can determine that the electrode connection state is connected, but the charging device fails to charge the self-moving robot when the value of the first voltage signal is greater than zero but does not reach the charging voltage value. If the value of the first voltage signal reaches the charging voltage value, the robot control module 130 can determine that the electrode connection state is connected. The charging voltage value can be a value within a first voltage range. This first voltage range can be determined based on the maximum and minimum values ​​of the first voltage signal detected when the charging device charges the self-moving device during a historical time period, or can be determined based on circuit principle analysis of the loop formed by the charging circuit of the self-moving robot and the charging control circuit of the charging device. This will be further explained in subsequent steps.

[0044] In the charging circuit of the above-mentioned self-moving robot, when the electrode connection state between the charging device and the self-moving robot is in a disconnected state, the signal receiving module of the self-moving robot can receive the recharging signal emitted by the charging device, so that the robot control module can control the self-moving robot to perform the recharging action. In this way, the self-moving robot can be accurately guided to return to the charging device for charging through the electrode connection state; moreover, the first circuit signal can reflect the input circuit signal of the self-moving robot, that is, it can detect the signal status output by the charging device to the self-moving robot, and the first circuit signal is directly transmitted through the circuit, which is more accurate. In this way, the robot control module can control the self-moving robot to charge through the charging device after accurately determining that the electrode connection state is connected through the first circuit signal, thereby reducing mischarging and improving charging reliability.

[0045] In one embodiment, the first circuit signal is a first voltage signal, and the robot control module 130 is also used to detect whether the signal receiving module receives the recharging signal when determining that the electrode connection state is switched from a connected state to an unconnected state based on the first voltage signal; when it is detected that the signal receiving module receives the recharging signal, it is determined that the self-mobile robot is in an abnormally detached state, and the self-mobile robot is controlled to perform the recharging action again.

[0046] In response to detecting that the value of the first voltage signal has changed from reaching the charging voltage value to not reaching the charging voltage value, the robot control module 130 may detect changes in the first voltage signal within a preset time period starting from the current time. If the value of the first voltage signal continues to decrease within the preset time period, it may be determined that the electrode connection state has switched from the connected state to the disconnected state. The preset time period may be, for example, 10 milliseconds, 30 milliseconds, 1 second, or other. An abnormal disconnection state may indicate that the self-propelled robot has disconnected from the charging device before charging is complete, resulting in the inability to continue charging.

[0047] In this embodiment, the first voltage signal is directly transmitted to the robot control module through the circuit. The robot control module can accurately judge the electrode connection status based on the first voltage signal. When it is determined that the electrode connection status switches from a connected state to a disconnected state, in order to solve the problem of being unable to distinguish whether the self-moving robot is in an abnormally disconnected state or the charging device is in a power-off state, it is further judged by detecting whether a recharge signal is received. Since the recharge signal is emitted by the charging device when the electrode connection state between the charging device and the self-moving robot is a disconnected state, if the signal receiving module of the self-moving robot receives the recharge signal, it means that the charging device is in a normal state, then it can be determined that the self-moving robot is in an abnormally disconnected state at this time.

[0048] In one embodiment, the first circuit signal is a first voltage signal, and the robot control module 130 is further used to detect whether the signal receiving module receives a recharge signal when determining that the electrode connection state is switched from a connected state to an unconnected state based on the first voltage signal; when it is detected that the signal receiving module does not receive the recharge signal, it is determined that the charging device is in a power-off state, and a prompt message indicating that the charging device is in a power-off state is generated.

[0049] The prompt information can be presented by the autonomous robot, for example, through voice, indicator lights, etc. The prompt information can also be transmitted by the autonomous robot to a server or smart gateway, and then transmitted to the application for presentation to the user. While generating the prompt information, the autonomous robot can remain at its original location to await further instructions. For example, after waiting for the charging device to restore power, the autonomous robot can re-establish the electrode connection with the charging device if it receives a recharge signal.

[0050] In this embodiment, when it is determined that the electrode connection state is switched from a connected state to a disconnected state, since the recharge signal is transmitted by the charging device when the electrode connection state between the charging device and the self-moving robot is a disconnected state, if the signal receiving module of the self-moving robot does not receive the recharge signal, it means that the charging device has failed to transmit the recharge signal, then it can be determined that the charging device is in a power-off state.

[0051] In one embodiment, the first circuit signal is a first voltage signal, and the first conversion module 110 includes a first resistor and a second resistor, wherein the first end of the first resistor is electrically connected to the first end of the charging input electrode of the self-moving robot; the second end of the first resistor is electrically connected to the first end of the second resistor; the second end of the second resistor is electrically connected to the second end of the charging input electrode of the self-moving robot; the robot control module is also used to collect the first voltage signal at the connection between the second end of the first resistor and the first end of the second resistor.

[0052] Among them, the first end and the second end of the charging input electrode, one of which is the positive electrode sheet of the charging input electrode, and the other is the negative electrode sheet. For example, the first end of the charging input electrode can be a positive electrode sheet, and the second end of the charging input electrode can be a negative electrode sheet. In one embodiment, the input current signal of the self-moving robot can flow in from the first end of the charging input electrode, then pass through the first resistor from the first end of the first resistor, and flow out from the second end of the first resistor, and then pass through the second resistor from the first end of the second resistor, and flow out from the second end of the second resistor. In this way, the first resistor can divide the input voltage signal of the automatic robot so that the voltage signal at the connection between the second end of the first resistor and the first end of the second resistor is less than the input voltage signal. In this way, the robot control module 130 can collect the first voltage signal that meets the input voltage requirement of the robot control module 130 from the connection between the second end of the first resistor and the first end of the second resistor.

[0053] In this embodiment, the first conversion module can convert the input voltage signal input to the self-moving robot into a first voltage signal through the first resistor and the second resistor, so that the robot control module can collect it, creating conditions for subsequent judgment of the electrode connection status based on the first voltage signal.

[0054] like Figure 2 As shown, in one embodiment, the charging control circuit of the charging device includes a second conversion module 210, a charging device control module 220, a signal transmission module 230, and a charging switch module 240. The charging device control module 220 is electrically connected to the second conversion module 210, the signal transmission module 230, and the charging switch module 240, respectively. The second conversion module 210 is configured to convert the output circuit signal of the charging device into a collectible second circuit signal. The charging device control module 220 is configured to collect the second circuit signal and, based on the second circuit signal, determine the electrode connection status between the charging device and the self-propelled robot. The signal transmission module 230 is configured to transmit a recharge signal when the electrode connection status is disconnected; the recharge signal is used to instruct the self-propelled robot to perform a recharge action. The charging switch module 240 is configured to establish a charging path when the electrode connection status is connected, allowing the charging device to charge the self-propelled robot.

[0055] The output circuit signal is a circuit signal output by the charging device to the self-moving robot. The output circuit signal may include an output voltage signal or an output current signal. The second circuit signal is a circuit signal that can be collected by the charging device control module 220. The second circuit signal may be a second voltage signal or a second current signal. The charging device control module 220 may include an ADC sampling unit, through which the second circuit signal can be collected. The second conversion module 210 may convert the second circuit signal by adjusting the amplitude of the output circuit signal so that the value of the second circuit signal can adapt to the input amplitude range of the ADC sampling unit. For example, for the output voltage signal, the second conversion module 210 may be implemented using a Hall sensor or an isolated operational amplifier; for the output current signal, the second conversion module 210 may be implemented using a Hall sensor or a current transformer.

[0056] The charging device control module 220 can be implemented using a microcontroller, a microprocessor, or other modules with control and computing functions. The charging device control module 220 can convert the second circuit signal into a digital signal, thereby determining the value of the second circuit signal, and based on the value of the second circuit signal, determine the electrode connection status between the charging device and the self-moving robot. In one embodiment, the charging device control module 220 can collect the second circuit signal in response to a charging trigger event. The charging trigger event can be automatically triggered when the scheduled charging time is reached, or it can be triggered when an indication message indicating that the self-moving robot needs to be charged is received from the smart gateway or server. The indication information can be generated by the user manually operating the charging control through the application, or it can be generated and transmitted to the smart gateway or server when the self-moving robot detects that its battery is insufficient.

[0057] The signal transmission module 230 can be a module that transmits signals based on wireless communication technology. It can be an infrared transmission module, a radio frequency transmission module, or other types of transmission modules. Upon determining that the electrode connection status is disconnected, the charging device control module 220 can generate a transmission control instruction and send the transmission control instruction to the signal transmission module 230, instructing the signal transmission module 230 to transmit a recharging signal. This transmission control instruction can be sent via a carrier signal.

[0058] If the charging device control module 220 determines that the electrode connection state is connected, it can control the charging switch module 240 to form a charging path, allowing the charging device to charge the autonomous robot. It will be understood that the charging control circuit of the charging device also includes a charging power supply and a charging output electrode. The charging path allows the current output from the charging power supply to flow through the charging output electrode, and the output current of the charging device flows from the charging output electrode to charge the autonomous robot.

[0059] The charging control circuit of the above-mentioned charging device converts the output circuit signal of the charging device into a collectible second circuit signal through the second conversion module. The charging device control module collects the second circuit signal and, based on the second circuit signal, can more accurately determine the electrode connection status between the charging device and the self-moving robot; when the electrode connection status is disconnected, the signal transmission module transmits a recharging signal, which can accurately guide the self-moving robot to return to the charging device for charging; when the electrode connection status is connected, the charging switch module forms a charging path, so that the charging device charges the self-moving robot, reduces erroneous charging, and improves charging reliability.

[0060] In one embodiment, the charging switch module 240 includes a third resistor and a switching transistor. The first end of the third resistor is electrically connected to the charging power supply of the charging device and the input end of the switching transistor, respectively. The second end of the third resistor is electrically connected to the charging output electrode of the charging device and the output end of the switching transistor, respectively. The control end of the switching transistor is electrically connected to the charging device control module. The third resistor is configured to limit the output current of the charging device when the switching transistor is in the off state and the electrode connection state is in the connected state, thereby preventing the charging device from charging the self-propelled robot. The switching transistor is configured to switch to the on state upon receiving a charging trigger signal transmitted by the charging device control module, connecting the input end of the switching transistor with the output end of the switching transistor to form a charging path, allowing the charging device to charge the self-propelled robot. The charging trigger signal is generated by the charging device control module upon detecting that the electrode connection state has switched to the connected state.

[0061] The third resistor may be a high-resistance resistor. For example, the third resistor may be a kilo-ohm resistor, and the resistance value of the third resistor may be no less than 1 kΩ (kilo-ohm) and less than 1 MΩ (mega-ohm). The third resistor may also be a mega-ohm resistor, and the resistance value of the third resistor may be greater than 1 MΩ.

[0062] The switching transistor can be a transistor, MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor), IGBT (Insulated Gate Bipolar Transistor), or other transistors. The control terminal of the switching transistor can be the base of the transistor or the gate of a MOSFET or IGBT. The input terminal of the switching transistor can be the drain of a MOSFET or the collector of an IGBT or a transistor. The output terminal of the switching transistor can be the source of a MOSFET or the emitter of an IGBT or a transistor. The charging device control module 220 can control the switching transistor using PWM (Pulse-Width Modulation) technology.

[0063] When the switch is off, the input and output terminals of the switch are disconnected. As a result, the current output by the charging power supply in the charging device flows through the third resistor and is then output from the charging output electrode. Because the third resistor can limit the output current of the charging device, for example, if the third resistor is a high-value resistor, it can limit the output current (for example, to the microampere level). This prevents the output current of the charging device from reaching the required charging current level for the autonomous robot, thereby preventing the charging device from charging the autonomous robot.

[0064] The switch tube may be in the off state by default. The charging device control module 220 may generate a charging trigger signal and transmit it to the switch tube to control the switch tube to switch from the off state to the on state when it detects that the electrode connection state between the self-moving robot switches from the unconnected state to the unconnected state; and generate a charging stop signal and transmit it to the switch tube to control the switch tube to switch from the on state to the off state when it detects that the electrode connection state switches from the connected state to the unconnected state.

[0065] When the switch tube is in the on state, the input end of the switch tube and the output end of the switch tube can be in a connected state. At this time, the path between the input end of the switch tube and the output end of the switch tube can short-circuit the third resistor. In this way, the path between the input end of the switch tube and the output end of the switch tube can form a charging path with the charging power supply and the charging output electrode, so that the charging device can charge the self-moving robot.

[0066] In this embodiment, since the two ends of the third resistor are connected to the charging power supply and the charging output electrode of the charging device, and the two ends of the third resistor are also connected to the input and output ends of the switching tube, and the switching tube will only switch to the on state after receiving the charging trigger signal, then when the self-moving robot is just connected to the charging device, that is, when the electrode connection state between the self-moving robot and the charging device is just switched from the unconnected state to the connected state, the third resistor limits the output current of the charging device, blocking the charging device from directly starting to charge the self-moving robot, which can avoid the problem of sparks caused by excessive current at the moment of connection, thereby improving charging safety.

[0067] In one embodiment, the second circuit signal is a second voltage signal, the first end of the third resistor is electrically connected to the first end of the charging power supply, and the second conversion module includes a fourth resistor and a fifth resistor, wherein the first end of the fourth resistor is electrically connected to the second end of the third resistor and the first end of the charging output electrode, respectively; the second end of the fourth resistor is connected to the first end of the fifth resistor; and the second end of the fifth resistor is electrically connected to the second end of the charging output electrode and the second end of the charging power supply, respectively; and the charging device control module is further used to collect a second voltage signal at the connection between the second end of the fourth resistor and the first end of the fifth resistor.

[0068] The first end of the charging power supply can be the positive electrode of the charging power supply, and the second end of the charging power supply can be the negative electrode of the charging power supply. The first end of the charging output electrode can be a positive electrode sheet, and the second end of the charging output electrode can be a negative electrode sheet. The output current of the charging power supply can be output from the first end of the charging power supply, flow through the third resistor or the switching tube, then flow from the first end of the fourth resistor, through the fourth resistor, out of the second end of the fourth resistor, then from the first end of the fifth resistor, through the fifth resistor, out of the second end of the fifth resistor, and finally back to the second end of the charging power supply. In this way, the fourth resistor can divide the voltage, so that the charging device control module 220 can collect the second voltage signal from the connection between the second end of the fourth resistor and the first end of the fifth resistor.

[0069] In this embodiment, the second conversion module can convert the output voltage signal of the charging device into a second voltage signal through the first resistor and the second resistor, so that the charging device control module can collect it, creating conditions for subsequent judgment of the electrode connection status based on the second voltage signal.

[0070] In one embodiment, the second circuit signal is a second voltage signal, and the charging control circuit also includes a current sampling module, which is electrically connected to the charging device control module and is used to convert the output current signal of the charging device into a current detection signal; the charging device control module is also used to determine the electrode connection status between the charging device and the self-moving robot based on the second voltage signal and the current detection signal.

[0071] The current sampling module can convert the actual output current signal of the charging device into a current detection signal. Specifically, the actual output current signal can be a current signal from the negative electrode of the charging output electrode to the negative electrode of the charging power supply, which can represent the current signal of a complete loop. The current sampling module can be implemented using a current transformer or a Hall sensor. The current sampling module can also be implemented using a sampling resistor and a differential amplifier. Specifically, the sampling resistor can be connected in series between the negative electrode of the charging output electrode and the negative electrode of the charging power supply. The resistance value of the sampling resistor can be in the milliohm range. When current flows through the sampling resistor, a voltage difference can be generated across the two ends of the sampling resistor, forming a differential voltage signal (current detection signal). After being amplified by the differential amplifier, it is transmitted to the ADC sampling unit of the charging device control module 220, so that the corresponding current value can be measured.

[0072] In this embodiment, by further converting the output current signal into a current detection signal, and then determining the electrode connection status between the charging device and the self-moving robot based on the second voltage signal and the current detection signal, the accuracy of the electrode connection status judgment can be further improved.

[0073] In one embodiment, the specific circuits of the charging circuit of the autonomous robot and the charging control circuit of the charging device can be referred to in Figure 3 , the following will be based on Figure 3 , the charging circuit of the self-moving robot and the charging control circuit of the charging device are specifically described.

[0074] The charging control circuit of the charging device may include a charging power supply, a second conversion module 210, a charging device control module 220, a signal transmission module 230, a charging switch module 240, a current sampling module and a charging output electrode. The second conversion module 210 may include a fourth resistor and a fifth resistor, and the charging switch module 240 may include a third resistor and a switch tube. Among them, the first end (positive electrode) of the charging power supply, the first end of the third resistor, and the input end of the switching tube can be electrically connected; the second end of the third resistor, the output end of the switching tube, the first end of the fourth resistor, and the first end (positive electrode sheet) of the charging output electrode can be electrically connected; the second end of the fourth resistor can be electrically connected to the first end of the fifth resistor; the second end of the fifth resistor, the second end (negative electrode) of the charging power supply, and the second end (negative electrode sheet) of the charging output electrode can be electrically connected; the current sampling module can be set between the second end of the charging output electrode and the second end of the fifth resistor; the charging device control module 220 can be electrically connected to the control end of the switching tube and the signal transmission module 230 respectively, and the charging device control module 220 can collect the second voltage signal at the connection between the second end of the fourth resistor and the first end of the fifth resistor, and can collect the current detection signal output by the current sampling module.

[0075] The charging circuit of the autonomous robot may include a charging input electrode, a first conversion module 110, a signal receiving module 120, and a robot control module 130. The first conversion module 110 may include a first resistor and a second resistor. The first end of the first resistor may be electrically connected to the first end of the charging input electrode (the positive electrode sheet), the second end of the first resistor may be electrically connected to the first end of the second resistor, and the second end of the second resistor may be electrically connected to the second end of the charging input electrode (the negative electrode sheet). The robot control module 130 may be electrically connected to the signal receiving module 120, and the robot control module 130 may collect a first voltage signal at the connection between the second end of the first resistor and the first end of the second resistor.

[0076] For the charging control circuit of the charging device, see Figure 4 The processing logic of the charging device is shown in the following diagram. The processing logic of the charging device can be summarized as follows: the charging device determines whether it is connected to the autonomous robot. If so, it stops transmitting the recharge signal; otherwise, it continues transmitting the recharge signal. Specifically, the processing logic of the charging control circuit of the charging device in different scenarios can be as follows.

[0077] In the first scenario, when the charging device control module 220 detects a voltage value of Va based on the second voltage signal and a current value of 0 based on the current detection signal, it can be determined that the electrode connection state between the charging device and the self-propelled robot is disconnected, and the control signal transmission module 230 transmits a recharge signal. Specifically for the charging scenario of the sweeping robot, it can be understood that the sweeping robot is not on the charging pile (the pile refers to the charging pile, that is, the charging device). In this scenario, see Figure 3 At this time, the charging output electrode of the charging device is not connected to the charging input electrode of the autonomous robot. Therefore, a loop is formed sequentially from the positive electrode of the charging power supply, the third resistor, the fourth resistor, the fifth resistor, and the negative electrode of the charging power supply. The third resistor, the fourth resistor, and the fifth resistor divide the power supply voltage of the charging power supply. The voltage value Va of the second voltage signal detected by the charging device control module 220 can be determined based on the voltage of the charging power supply, the third resistor, the fourth resistor, and the fifth resistor. Va can specifically be the product of the ratio of the resistance value of the fifth resistor to the sum of the resistance values ​​of the three resistors and the power supply voltage. Va can also be a value within a fluctuation range centered on this product value. For example, if the product value is 5, the fluctuation range can be 5.1 to 5.2. Before actually using this circuit, Va can be calculated according to the above logic, or the voltage value range of the second voltage signal in this scenario can be directly measured to serve as the value range of Va. In actual use of the circuit, when the voltage value Va is detected based on the second voltage signal and the current value of 0 is detected based on the current detection signal, it can be determined that the electrode connection state is disconnected.

[0078] In the second scenario, when the charging device control module 220 detects a voltage value of Vb based on the second voltage signal, it can determine that the electrode connection state has switched from the unconnected state to the connected state (that is, the mobile robot has just been connected to the charging device), control the switch tube to switch from the off state to the on state, and stop transmitting the recharging signal. In this scenario, see Figure 3 When the electrode connection state switches from the unconnected state to the connected state, the switch is still in the off state. A first circuit is formed, sequentially, from the positive electrode of the charging power supply, the third resistor, the fourth resistor, the fifth resistor, and the negative electrode of the charging power supply. A second circuit is also formed, from the positive electrode of the charging power supply, the third resistor, the positive electrode sheet of the charging output electrode in the charging device, the positive electrode sheet of the charging input electrode in the self-propelled robot, the first resistor, the second resistor, the negative electrode sheet of the charging input electrode, the negative electrode sheet of the charging output electrode, and the negative electrode of the charging power supply. The first, second, third, fourth, and fifth resistors can divide the supply voltage of the charging power supply. The value of Vb can be determined according to the method used to determine the value of Va, and Va is not equal to Vb. Since the second circuit is formed when the self-propelled robot is first connected to the charging device, and the third resistor is a large-value resistor, the current in the circuit is very low at this time, and the voltage signal output by the charging device to the self-propelled robot can be much smaller than the power supply voltage of the charging device. This can avoid sparks when the self-propelled robot is connected to the charging device, improving charging safety.

[0079] In the third scenario, when the charging device control module 220 detects a voltage value of Vc based on the second voltage signal and a current value of Ia based on the current detection signal, it can determine that the electrode connection state is connected, the switch tube is in the on state, and it is determined that the self-mobile robot is charging normally, and at this time, it keeps stopping the transmission of the recharge signal. Normal charging can be understood as constant current charging. In this scenario, a first loop can be formed from the positive electrode of the charging power supply, the input end of the switch tube, the output end of the switch tube, the fourth resistor, the fifth resistor, and the negative electrode of the charging power supply. The fourth resistor and the fifth resistor can divide the power supply voltage of the charging power supply. Similar to the principle used in determining Va and Vb, the value of Vc can also be determined before the circuit is used, and Vc is not equal to Va and is not equal to Vb. Furthermore, a second circuit can be formed, sequentially from the positive electrode of the charging power supply, the input end of the switching tube, the output end of the switching tube, the positive electrode sheet of the charging output electrode, the positive electrode sheet of the charging input electrode, the first resistor, the second resistor, the negative electrode sheet of the charging input electrode, the negative electrode sheet of the charging output electrode, and the negative electrode of the charging power supply. This circuit can be a charging path for the charging device to charge the self-propelled robot. Moreover, in this scenario, when the self-propelled robot is normally charging, it can be charged using the maximum effective current value output by the charging device. In this case, Ia can be calculated based on circuit principles or obtained by measuring the current value corresponding to the current detection signal in this scenario before the circuit is used. The value of Ia is not equal to zero.

[0080] In the fourth scenario, the charging device control module 220 can determine that the electrode connection state is connected, the switch tube is in the on state, and the self-moving robot is fully charged when the voltage value detected by the second voltage signal is Vc and the current value detected by the current detection signal is Ib. At this time, it stops transmitting the recharge signal. Among them, Ib is less than Ia, and Ib is not equal to zero. It can be understood that in this scenario, based on Figure 3 The resulting circuit can be the same as the circuit formed during normal charging of the autonomous robot. However, when the autonomous robot is fully charged, the current in the circuit decreases to protect the robot's battery, resulting in Ib being less than Ia. The value of Ib can be determined by measuring the current corresponding to the current detection signal in this scenario before using the circuit.

[0081] For the charging circuit of the self-propelled robot, see Figure 5The processing logic diagram of the autonomous robot is shown. The processing logic on the autonomous robot side can be summarized as follows: when the autonomous robot detects a voltage drop, it further checks whether it has received a recharge signal. If so, it determines that the autonomous robot is in an abnormally disconnected state. If not, it determines that the charging device is powered off. Specifically, the processing logic of the autonomous robot's charging circuit in different scenarios can be as follows.

[0082] When the robot control module 130 detects a voltage value Vd based on the first voltage signal, it can determine that the electrode connection state between the autonomous robot and the charging device is disconnected. Vd can be zero. The robot control module 130 can also determine that the electrode connection state is disconnected when a recharge signal is detected.

[0083] When the robot control module 130 detects a voltage value of Ve based on the first voltage signal, it can determine that the electrode connection state has switched from disconnected to connected (the autonomous robot has just been connected to the charging device). At this time, the switch in the charging device's charging control circuit is still off. For the autonomous robot, the circuit loop formed in this scenario can be seen in the second loop of the second scenario described above in the description of the charging device's charging control circuit. The first, second, third, fourth, and fifth resistors divide the supply voltage of the charging power supply. The value of Ve can be determined using the same method as for determining the value of Va, and Ve is not equal to Vd.

[0084] When the robot control module 130 detects a voltage value of Vf (charging voltage) based on the first voltage signal, it can determine that the electrode connection state is connected and that the switch in the charging device's charging control circuit is in the on state, thereby confirming that the autonomous robot is charging normally. For the autonomous robot, the circuit loop formed in this scenario can be seen in the second loop of the third scenario described above in the description of the charging device's charging control circuit. The first and second resistors divide the supply voltage of the charging power supply. The value of Vf can be determined using the same method as for determining the value of Va. Vf is not equal to Ve and is not equal to Vd.

[0085] When the robot control module 130 detects a voltage value of Vg based on the first voltage signal, it performs a detection action with a delay of t (preset duration) from the current time, specifically monitoring changes in the first voltage signal within t. If the value of the first voltage signal continues to decrease within t, the robot control module 130 further detects whether the signal receiving module has received a recharge signal. If the signal receiving module receives a recharge signal, the robot control module determines that the autonomous robot is in an abnormal disconnected state and controls the autonomous robot to perform a recharge action again. Vg is a value less than Vf, and Vg is not equal to Ve or Vd. It is understood that when the voltage value Vg is detected, it can be determined that the electrode connection state between the autonomous robot and the charging device may have switched from a connected state to a disconnected state. In this case, the detection action with a delay of t further determines that the electrode connection state has switched from a connected state to a disconnected state when the value of the first voltage signal continues to decrease within t, thereby improving the reliability of the electrode connection state determination.

[0086] When the robot control module 130 detects a voltage value of Vg based on the first voltage signal, it performs a detection operation with a delay of t (preset duration) from the current time, specifically detecting changes in the first voltage signal within t. If the value of the first voltage signal continues to decrease within t, it further detects whether the signal receiving module has received a recharge signal. If it detects that the signal receiving module has not received a recharge signal, it can be determined that the charging device is in a power-off state, and the self-propelled robot can be controlled to remain in its original position, generating a prompt indicating that the charging device is in a power-off state. When it is determined that the electrode connection state has switched from connected to disconnected, by further determining whether a recharge signal has been received, it can accurately determine whether the self-propelled robot is in an abnormally disconnected state or the charging device is in a power-off state, resolving the problem of being unable to distinguish between these two states based solely on voltage values.

[0087] An embodiment of the present application also provides a charging control method for a self-moving robot implemented by the charging circuit of the self-moving robot. The implementation solution to the problem provided by this method is similar to the implementation solution recorded in the charging circuit of the self-moving robot. Therefore, the specific limitations in the embodiments of the charging control method for one or more self-moving robots provided below can be found in the above limitations on the charging circuit of the self-moving robot and will not be repeated here.

[0088] In one embodiment, a charging control method for a self-moving robot is provided, which can be executed in a robot control module in a charging circuit of the self-moving robot. The method may include: collecting a first circuit signal and detecting whether a recharging signal is received; the first circuit signal is obtained by converting an input circuit signal of the self-moving robot; the recharging signal is emitted by a charging device when the electrode connection state between the charging device and the self-moving robot is in a disconnected state; when it is determined that the recharging signal is received, the self-moving robot is controlled to perform a recharging action; when it is determined that the electrode connection state is in a connected state according to the first circuit signal, the self-moving robot is controlled to be charged through the charging device.

[0089] In one embodiment, the charging control method for a self-propelled robot further includes: upon determining, based on a first circuit signal, that the electrode connection state has switched from a connected state to a disconnected state, detecting whether a recharge signal has been received; if the recharge signal is received, determining that the self-propelled robot is in an abnormally disconnected state, and controlling the self-propelled robot to perform a recharge action again; and if the recharge signal is not received, determining that the charging device is in a power-off state, and generating a prompt indicating that the charging device is in a power-off state. In some examples, the first circuit signal can be a voltage signal or a current signal.

[0090] An embodiment of the present application also provides a charging control method for a charging device implemented by the charging control circuit of the above-mentioned charging device. The implementation solution to the problem provided by this method is similar to the implementation solution recorded in the charging control circuit of the above-mentioned charging device. Therefore, the specific limitations in the charging control method embodiments of one or more charging devices provided below can be found in the above-mentioned limitations on the charging control method for the charging device, and will not be repeated here.

[0091] In one embodiment, a charging control method for a charging device is provided, which can be executed in a charging device control module of a charging control circuit of the charging device, the method comprising: collecting a second circuit signal; the second circuit signal is obtained based on a conversion of an output circuit signal of the charging device; determining the electrode connection state between the charging device and the self-moving robot according to the second voltage signal; when the electrode connection state is an unconnected state, controlling the transmission of a recharge signal; the recharge signal is used to instruct the self-moving robot to perform a recharge action; when the electrode connection state is a connected state, controlling the formation of a charging path so that the charging device charges the self-moving robot.

[0092] In one embodiment, the electronic device may be a self-propelled robot, including the charging circuit of the self-propelled robot in the above embodiments. In one embodiment, the electronic device may be a charging device, including the charging control circuit of the charging device in the above embodiments.

[0093] In one embodiment, a charging system is also provided, comprising the self-moving robot and a charging device.

[0094] In the description of this specification, reference to the terms "some embodiments" or "other embodiments" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0095] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A charging circuit for a self-propelled robot, characterized in that: include: a first conversion module, configured to convert the input circuit signal of the self-moving robot into a collectable first circuit signal; a signal receiving module, configured to receive a recharging signal, wherein the recharging signal is transmitted when the electrode connection state between the charging device and the autonomous robot is disconnected; The robot control module is electrically connected to the first conversion module and the signal receiving module respectively, and is used to control the self-moving robot to perform a recharging action when it is detected that the signal receiving module receives a recharging signal; it is also used to collect the first circuit signal, and when it is determined based on the first circuit signal that the electrode connection state is in a connected state, the self-moving robot is controlled to be charged through the charging device.

2. The charging circuit according to claim 1, wherein: The first circuit signal is a first voltage signal. The robot control module is also used to detect whether the signal receiving module receives a recharging signal when it is determined that the electrode connection state is switched from a connected state to a disconnected state based on the first voltage signal; when it is detected that the signal receiving module receives a recharging signal, it is determined that the self-moving robot is in an abnormally detached state, and the self-moving robot is controlled to perform a recharging action again.

3. The charging circuit according to claim 1, wherein: The first circuit signal is a first voltage signal. The robot control module is further used to detect whether the signal receiving module receives a recharge signal when it is determined that the electrode connection state is switched from a connected state to an unconnected state based on the first voltage signal; when it is detected that the signal receiving module does not receive the recharge signal, it is determined that the charging device is in a power-off state, and a prompt message indicating that the charging device is in a power-off state is generated.

4. The charging circuit according to any one of claims 1 to 3, characterized in that: The first circuit signal is a first voltage signal, and the first conversion module includes a first resistor and a second resistor, wherein: The first end of the first resistor is electrically connected to the first end of the charging input electrode of the self-moving robot; The second end of the first resistor is electrically connected to the first end of the second resistor; The second end of the second resistor is electrically connected to the second end of the charging input electrode of the self-moving robot; The robot control module is further configured to collect a first voltage signal at a connection point between the second end of the first resistor and the first end of the second resistor.

5. A charging control circuit for a charging device, characterized in that: include: a second conversion module, configured to convert the output circuit signal of the charging device into a collectible second circuit signal; a charging device control module, electrically connected to the second conversion module, configured to collect the second circuit signal and determine a connection state of electrodes between the charging device and the autonomous robot based on the second circuit signal; a signal transmitting module electrically connected to the charging device control module, configured to transmit a recharging signal when the electrode connection state is disconnected; the recharging signal is configured to instruct the self-propelled robot to perform a recharging action; The charging switch module is electrically connected to the charging device control module and is used to form a charging path when the electrode connection state is in the connected state, so that the charging device can charge the self-moving robot.

6. The charging control circuit according to claim 5, characterized in that: The charging switch module includes a third resistor and a switch tube. The first end of the third resistor is electrically connected to the charging power supply of the charging device and the input end of the switch tube, respectively. The second end of the third resistor is electrically connected to the charging output electrode of the charging device and the output end of the switch tube, respectively. The control end of the switch tube is electrically connected to the charging device control module, wherein: The third resistor is used to limit the output current of the charging device when the switch tube is in the off state and the electrode connection state is the connected state, so as to prevent the charging device from charging the autonomous robot; The switch tube is used to switch to the on state when receiving the charging trigger signal transmitted by the charging device control module, connecting the input end of the switch tube and the output end of the switch tube to form a charging path, so that the charging device can charge the self-moving robot; the charging trigger signal is generated by the charging device control module when it detects that the electrode connection state is switched to the connected state.

7. The charging control circuit according to claim 6, characterized in that: The second circuit signal is a second voltage signal, the first end of the third resistor is electrically connected to the first end of the charging power supply, and the second conversion module includes a fourth resistor and a fifth resistor, wherein: The first end of the fourth resistor is electrically connected to the second end of the third resistor and the first end of the charging output electrode respectively; The second end of the fourth resistor is connected to the first end of the fifth resistor; The second end of the fifth resistor is electrically connected to the second end of the charging output electrode and the second end of the charging power supply respectively; The charging device control module is further configured to collect a second voltage signal at a connection point between the second end of the fourth resistor and the first end of the fifth resistor.

8. The charging control circuit according to any one of claims 5 to 7, characterized in that: The second circuit signal is a second voltage signal. The charging control circuit further includes a current sampling module, which is electrically connected to the charging device control module and is configured to convert the output current signal of the charging device into a current detection signal. The charging device control module is further configured to determine a connection state of electrodes between the charging device and the self-moving robot according to the second voltage signal and the current detection signal.

9. A charging control method for a self-propelled robot, characterized in that: include: collecting a first circuit signal and detecting whether a recharge signal is received; the first circuit signal is obtained by converting an input circuit signal of the self-propelled robot; the recharge signal is emitted when the electrode connection between the charging device and the self-propelled robot is disconnected; When it is determined that a recharging signal is received, controlling the self-propelled robot to perform a recharging action; When it is determined according to the first circuit signal that the electrode connection state is a connected state, the self-propelled robot is controlled to be charged through the charging device.

10. The charging control method according to claim 9, characterized in that: The charging control method further includes: When it is determined according to the first circuit signal that the electrode connection state is switched from a connected state to a disconnected state, detecting whether a recharge signal is received; If a recharging signal is received, it is determined that the self-moving robot is in an abnormally disengaged state, and the self-moving robot is controlled to perform a recharging action again; If it is detected that no recharge signal is received, it is determined that the charging device is in a power-off state, and a prompt message indicating that the charging device is in a power-off state is generated.

11. A charging control method for a charging device, characterized in that: include: collecting a second circuit signal; The second circuit signal is obtained by converting an output voltage signal of the charging device; determining, based on the second circuit signal, a connection state of electrodes between the charging device and the autonomous robot; When the electrode connection state is the disconnected state, controlling the transmission of a recharging signal; the recharging signal is used to instruct the self-propelled robot to perform a recharging action; When the electrode connection state is the connected state, a charging path is controlled to be formed so that the charging device charges the self-moving robot.

12. An electronic device, characterized in that: The electronic device comprises the charging circuit according to any one of claims 1 to 4, or / and comprises the charging control circuit according to any one of claims 5 to 8.

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