Charging method of intelligent mobile robot

Abstract

The invention relates to a charging method for an intelligent mobile robot, and the intelligent mobile robot comprises a main controller, a local storage module, an automatic driving module, a battery, a battery management module, and a receiving coil. The receiving coil identifies the ID information and compares the ID information with the ID-position database to determine the position of the intelligent mobile robot; the battery management module checks the electric quantity of the battery, and drives the intelligent mobile robot to move to a pavement coil for charging if the electric quantity is smaller than a preset value; when the intelligent mobile robot is charged, magnetic field change activates the coil end control module to operate the self-checking system, and obtained data is converted into self-checking information through the coil end communication module and sent to the receiving coil; the intelligent mobile robot further comprises a robot end communication module, the robot end communication module separates the ID information and the self-inspection information, decodes the self-inspection information and transmits the self-inspection information to the cloud end, and the coil state is monitored. And meanwhile, robot charging and coil self-inspection are triggered, and good practicability is achieved.

Description

Technical Field

[0001] This invention relates to the field of charging robot technology, and in particular to a charging method for an intelligent mobile robot. Background Technology

[0002] The market for mobile car charging products is showing a growth trend, and the government is accelerating the construction of charging and battery swapping infrastructure, which undoubtedly promotes the development of intelligent mobile robots. These intelligent mobile robots integrate LiDAR, visual fusion positioning, autonomous driving modules, path planning algorithms, and DC fast charging modules. They can autonomously navigate within enclosed parking lots, identify vehicle charging requests, park in charging bays, and recharge vehicles using a telescopic charging arm. They offer good flexibility and can be flexibly deployed in existing parking lots, enabling a single device to serve multiple parking spaces at different times, demonstrating broad application prospects.

[0003] However, in actual operation, the robot's operation is limited by the capacity of its onboard battery. A single charge can only sustain continuous work for about 2 hours, after which it needs to interrupt service and return to the charging station to recharge. This results in a reduction in the average daily effective working time of a single robot, significantly increasing user waiting time and decreasing work efficiency. To solve this problem, existing technologies have developed robots capable of automatic charging, such as the charging robot and automatic charging system disclosed in patent number CN202310018215.5. This system includes a mobile unit, a receiving coil, a robotic arm, and a central controller. The receiving coil is installed on the bottom of the charging robot and is used to induce a high-frequency electrical signal under the action of a high-frequency alternating magnetic field generated by a transmitting coil deployed on the ground. A transmitting coil is located along the robot's movement path, and the robot is charged intermittently through wireless induction between the transmitting and receiving coils, improving the convenience of robot charging.

[0004] However, in this charging method, the transmitting coil is laid on a guide rail and exposed to the open environment of the parking lot, which easily leads to coil aging and corrosion of metal components, causing the transmitting coil to fail. Furthermore, the aforementioned charging robot and automatic charging system does not provide a detection device for the transmitting coil, so staff cannot promptly ascertain its working status. Once the coil fails, the robot's power cannot be replenished in time, causing the robot to cease operation. Therefore, a charging method for an intelligent mobile robot that can solve the above problems is proposed. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a charging method for intelligent mobile robots, which can effectively solve the aforementioned problems.

[0006] To achieve the above requirements, the technical solution adopted by the present invention to solve its technical problem is as follows:

[0007] A charging method for an intelligent mobile robot is provided. The intelligent mobile robot has a main controller, a local storage module, an autonomous driving module, a battery, a battery management module, and a receiving coil. Multiple road surface coils are embedded in the working road. The local storage module pre-stores a working road map and an ID-location database containing the location data of each coil. The charging method includes the following steps:

[0008] The receiving coil identifies the ID information emitted by the road surface coil and compares it with the ID-location database stored locally to determine the location of the intelligent mobile robot;

[0009] The battery management module checks the battery power. If it is less than the preset value, the main controller controls the autonomous driving module to drive the intelligent mobile robot to move to one of the road coils for charging.

[0010] The road surface coil has a main control module, a self-testing system, and a coil-end communication module that transmits the data from the self-testing system to the receiving coil. When the intelligent mobile robot is charging, the change in the magnetic field activates the coil-end control module to run the self-testing system, and the obtained data is converted into self-testing information through the coil-end communication module and sent to the receiving coil.

[0011] The intelligent mobile robot also includes a robot-end communication module. The robot-end communication module separates the ID information and self-test information sent by the coil-end communication module, decodes the self-test information and transmits it to the cloud to monitor the coil status.

[0012] The present invention discloses a charging method for an intelligent mobile robot, wherein a self-testing system sequentially executes a temperature detection process, a health detection process, and a physical detection process.

[0013] The present invention provides a charging method for an intelligent mobile robot, wherein the temperature detection process includes the following steps:

[0014] The main control module injects a sinusoidal excitation signal into the coil;

[0015] The main control module synchronously acquires the voltage amplitude V and current amplitude I across the coil, and measures the current-voltage phase difference θ.

[0016] Calculate the impedance magnitude |Z| = V / I and the fundamental frequency resistance R = |Z|cosθ;

[0017] The system retrieves the reference temperature T0, the corresponding resistance R0, and the temperature coefficient of resistance α of the coil material pre-stored in the main control module. It then calculates the real-time temperature using the formula T = T0 + 1 / α[(R0 / R) - 1]. If the real-time temperature T > 85 degrees Celsius, an over-temperature fault is detected.

[0018] The present invention discloses a charging method for an intelligent mobile robot, wherein a health detection process is used to detect the aging degree of the coil, whether there is a short circuit, and whether there are metal foreign objects on the coil. The health detection process includes the following steps:

[0019] Based on the resistance R obtained in the temperature detection process, combined with the preset inductance value L and angular frequency ω, the quality factor Q = ωL / R is calculated.

[0020] If Q < 60, a fault determination is triggered. In the fault determination process, if R > 1.5 × R0, a short circuit fault is marked; if R ≤ 1.5 × R0, a metal foreign object intrusion fault is marked.

[0021] The present invention provides a charging method for an intelligent mobile robot, wherein the physical detection process includes the following steps:

[0022] The main control module injects pulses into the coil and acquires the reflected signal wave through a high-speed ADC;

[0023] If the number of reflected wave peaks detected is greater than one, a wire breakage fault is determined.

[0024] The present invention discloses a charging method for an intelligent mobile robot, wherein the coil-end communication module includes a modulator and a coil driving circuit; the self-test system assembles the data obtained after self-testing into a 25-bit binary data packet in the following format.

[0025] The calculated real-time temperature value is quantized into an integer, occupying 8 bits; the calculated quality factor Q value is quantized into an integer, occupying 8 bits; the metal foreign object intrusion fault flag occupies 5 bits.

[0026] The main control module transmits binary data packets to the modulator. The modulator controls the coil drive circuit to switch between a preset first frequency and a second frequency based on each binary value in the self-test information, thereby encoding the self-test information into a frequency-controllable electromagnetic transmission signal. The electromagnetic transmission signal and the position-ID information of the road surface coil are simultaneously transmitted through the transmitting coil.

[0027] The present invention discloses a charging method for an intelligent mobile robot, wherein the robot-end communication module includes a signal transmitting module and a signal receiving module; the signal receiving module includes a decoder, a high-pass filter, and a low-pass filter; after the receiving coil receives self-test information, it extracts the high-frequency self-test signal through the high-pass filter, and demodulates and restores the binary data packet corresponding to the self-test signal through a demodulator; the robot-end communication module also includes a signal transmitting module that communicates with the cloud, the signal transmitting module transmitting the binary data packet corresponding to the self-test signal to the cloud for remote monitoring and maintenance of the coil status.

[0028] The present invention discloses a charging method for an intelligent mobile robot, wherein the working road includes a road body and multiple parking spaces; each parking space is equipped with a parking space coil; the parking space coil continuously emits an electromagnetic signal containing its unique ID-position signal; the robot-end communication module further includes a decoder, which decodes the ID-position information received by the receiving coil when the robot travels and passes by one of the parking space coils or the road surface coil, and the main controller reads the map stored locally on the robot to determine the robot's position.

[0029] The present invention discloses a charging method for an intelligent mobile robot, wherein a parking space coil continuously emits a low-power detection signal to measure its own inductance value. When a car parks in the parking space, the inductance value of the parking space coil changes. A receiving coil receives the inductance value detection result of the parking space coil and compares it with a baseline value pre-stored in a local storage module to determine whether the parking space corresponding to this parking space coil is in an "occupied" or "idle" state. The parking space information is then uploaded to the cloud through the robot's communication module.

[0030] The present invention discloses a charging method for an intelligent mobile robot, wherein the intelligent mobile robot further includes a sensor module; when the intelligent mobile robot starts working, the main controller reads a road map, the autonomous driving module drives the intelligent robot to patrol the parking lot along a preset path, and the sensor module collects environmental data in real time and uploads the environmental data to a cloud database.

[0031] The beneficial effects of this invention are as follows:

[0032] The significant benefits of this invention lie in its ingenious use of the robot's charging behavior as a trigger for coil self-checks, effectively addressing two core pain points in the mobile charging field: battery life and infrastructure maintenance. In traditional solutions, the wireless transmitting coils providing mid-course charging for robots are constantly exposed to complex environments, making them highly susceptible to aging and corrosion failure. Furthermore, the lack of effective status monitoring mechanisms leads to poor charging system reliability, causing frequent service interruptions due to power shortages or coil malfunctions. This invention fundamentally overturns this passive situation by establishing a closed-loop self-checking system driven by charging events. When a robot enters the coil for charging due to insufficient power, the magnetic field changes generated during charging automatically activate the self-checking program embedded in the coil, allowing it to perform self-diagnosis while performing energy transmission. This not only enables the robot to conveniently replenish energy along its work path, greatly extending its single-operation time and daily work efficiency, but more importantly, each charging session becomes a "check-up" of the infrastructure, achieving real-time, proactive control of the coil's status and preventing system-wide paralysis caused by hidden faults.

[0033] Furthermore, this innovative mechanism, which simultaneously triggers charging of the intelligent mobile robot and coil self-testing, constructs a highly intelligent and low-maintenance-cost operation and maintenance system. The robot is no longer merely an energy-consuming unit, but rather a mobile sensor node distributed throughout the entire road network. Its built-in communication module can upload decoded coil self-testing information to the cloud in real time, providing maintenance personnel with a global, visualized view of the facility's health status. This transforms the traditional "periodic inspection" or "post-fault repair" model into precise "predictive maintenance," allowing for early warnings and scheduled repairs before coil performance degrades but before complete failure, significantly improving the availability and reliability of the infrastructure. Ultimately, this solution, with extremely low additional costs, optimizes both the robot's operational efficiency and the maintenance efficiency of the entire charging network system, clearing key obstacles for large-scale commercial deployment and demonstrating high practical value and market potential. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort:

[0035] Figure 1 This is a structural diagram of the intelligent robot in the charging method of an intelligent mobile robot according to the present invention.

[0036] Figure 2 This is a structural diagram of the road surface coil in a charging method for an intelligent mobile robot according to the present invention.

[0037] Figure 3 This is a top view of a parking lot in a charging method for an intelligent mobile robot according to the present invention.

[0038] Figure 4 This is a structural diagram of the cloud in the charging method for an intelligent mobile robot according to the present invention.

[0039] Figure 5 This is a structural diagram of the parking space coil in a charging method for an intelligent mobile robot according to the present invention.

[0040] In the diagram: 1. Work road map; 10. Work road; 11. Parking space; 12. Road surface loop; 13. Parking space loop. Detailed Implementation

[0041] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0042] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0043] "Multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0044] Furthermore, the terms indicating orientation, such as "up," "down," "left," "right," "upper end," "lower end," and "longitudinal," are all based on the posture and position of the device or equipment described in this solution during normal use.

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0046] A preferred embodiment of the present invention provides a charging method for an intelligent mobile robot, such as... Figures 1-5 As shown, the intelligent mobile robot has a main controller, a local storage module, an autonomous driving module, a battery, a battery management module, and a receiving coil; multiple road surface coils are buried on the working road; the local storage module pre-stores a working road map and an ID-location database containing the location data of each coil; the charging method includes the following steps:

[0047] The receiving coil identifies the ID information emitted by the road surface coil and compares it with the ID-location database stored locally to determine the location of the intelligent mobile robot;

[0048] The battery management module checks the battery power. If it is less than the preset value, the main controller controls the autonomous driving module to drive the intelligent mobile robot to move to one of the road coils for charging.

[0049] The road surface coil has a main control module, a self-testing system, and a coil-end communication module that transmits the data from the self-testing system to the receiving coil. When the intelligent mobile robot is charging, the change in the magnetic field activates the coil-end control module to run the self-testing system, and the obtained data is converted into self-testing information through the coil-end communication module and sent to the receiving coil.

[0050] The intelligent mobile robot also includes a robot-end communication module. The robot-end communication module separates the ID information and self-test information sent by the coil-end communication module, decodes the self-test information and transmits it to the cloud to monitor the coil status.

[0051] In this embodiment, the self-test system sequentially executes temperature detection, health detection, and physical detection procedures to achieve a comprehensive self-test of the coil's electrical performance and physical condition. Through this step-by-step self-test mechanism, the electrical and physical condition of the coil is systematically diagnosed, ensuring comprehensive and logically clear detection, avoiding missed detections or misjudgments, and improving system reliability.

[0052] In this embodiment, the temperature detection process includes the following steps:

[0053] The main control module injects a sinusoidal excitation signal with a frequency of 85kHz into the coil;

[0054] The main control module synchronously acquires the voltage amplitude V and current amplitude I across the coil, and measures the current-voltage phase difference θ.

[0055] Calculate the impedance magnitude |Z| = V / I and the fundamental frequency resistance R = |Z|cosθ;

[0056] Retrieve the reference temperature T0, the corresponding resistance R0, and the temperature coefficient of resistance α of the coil material pre-stored in the main control module; where the temperature coefficient of resistance α is taken as 0.00403 / ℃ for copper; according to the formula

[0057]

[0058] Calculate the real-time temperature. When the real-time temperature T > 85 degrees Celsius, mark it as an over-temperature fault.

[0059] In this embodiment, the health detection process is used to detect the degree of coil aging, whether there is a short circuit, and whether there are any metallic foreign objects on the coil. The health detection process includes the following steps:

[0060] Based on the resistance R obtained in the temperature detection process, combined with the preset inductance value L and angular frequency ω, where angular frequency ω=2πf, f=85kHz;

[0061] Calculate the quality factor:

[0062]

[0063] If Q < 60, a fault determination is triggered; if R > 1.5 × R0, a short circuit fault is marked; if R ≤ 1.5 × R0, a metal foreign object intrusion fault is marked.

[0064] The quality factor Q is a dimensionless parameter commonly used in resonant systems such as capacitor-inductor circuits and mechanical oscillators. It represents the ratio of the energy loss rate to the stored energy of a resonant system (in this application, the resonant system is a road surface coil). Calculating the Q value to monitor whether a resonant system has a fault, and combining this with the detected resistance R value to determine whether a resonant system is short-circuited or whether its vibration frequency has been affected by other metallic foreign objects, is a common fault diagnosis logic for resonant systems in the prior art.

[0065] In this embodiment, the physical detection process includes the following steps:

[0066] The main control module injects a high-voltage, narrow pulse into the coil, with a pulse width ≤1μs, and acquires the reflected signal wave through a high-speed ADC. The high-speed ADC is an analog-to-digital converter, an existing technology used to convert continuous analog signals into discrete digital signals.

[0067] If the number of reflected wave peaks detected is greater than 1, then a disconnection fault is determined.

[0068] During the process, the main control module transmits a high-voltage narrow pulse p(t) and receives the echo e(t). The coil is modeled as a transmission line with an impulse response h(t). The received signal is then: e(t) = p(t) × h(t) + n(t), where n(t) represents noise, which is reduced using an average filter by the main control module. The echo e(t) of a healthy coil has no significant peak value. When the coil breaks:

[0069] An impedance mismatch occurs at position d, resulting in an echo peak.

[0070] fracture location Where γ1 is the echo peak time and v is the echo propagation speed, which are pre-stored constants in the robot.

[0071] fracture marker

[0072] Where A tH L is the pre-stored amplitude threshold. coil The coil length is known.

[0073] Moisture detection: Moisture increases the dielectric constant, decreases the velocity v, and increases attenuation.

[0074] Δv = v0 - v,

[0075] Where v0 is the pre-stored healthy velocity, and γ2 is the current echo time. If the fracture does not exist, the master echo time is used.

[0076] Attenuation change detection:

[0077] E=∫|e(t)| 2 dt, E0=∫||e0(t)| 2 dt

[0078] Moisture sign

[0079] Where, δ v and δ E These are the moisture thresholds pre-stored in the main control module, both set to 0.05.

[0080] In this embodiment, the coil-end communication module includes a modulator and a coil driving circuit; the self-test system assembles the data obtained after the self-test into a 25-bit binary data packet b according to the following format. k Data packet b k include:

[0081]

[0082] The real-time temperature value obtained after the temperature detection process is run is quantized into an integer and marked as temperature self-test data, occupying 8 bits; the quality factor Q value obtained after the health detection process is run is quantized into an integer and marked as Q value self-test data, occupying 8 bits; the number of peaks obtained after the physical detection process is run is marked as fault flag bit group, occupying 5 bits, of which aging flag occupies 1 bit, short circuit flag occupies 1 bit, metal foreign object flag occupies 1 bit, fracture flag occupies 1 bit, and moisture flag occupies 1 bit.

[0083] The main control module transmits binary data packets to the modulator, which uses FSK modulation. The modulator controls the coil drive circuit to switch between a preset first frequency and a second frequency based on each binary value in the self-test information, thereby encoding the self-test information into a frequency-controllable electromagnetic transmission signal. The electromagnetic transmission signal and the position-ID information of the road surface coil are transmitted simultaneously through the transmitting coil.

[0084] In this embodiment, the robot-end communication module includes a signal transmitting module and a signal receiving module; the signal receiving module includes a decoder, a high-pass filter, and a low-pass filter; after the receiving coil receives the self-test information, it extracts the high-frequency self-test signal through the high-pass filter, and demodulates and restores the binary data packet corresponding to the self-test signal through the demodulator, decoding the temperature, Q value, and various fault flag information; wherein, the self-test signal is the frequency-controllable electromagnetic transmission signal output from the coil driving circuit.

[0085] The robot's communication module also includes a signal transmission module for communication with the cloud. This module transmits the binary data packets corresponding to the self-test signals to the cloud for remote monitoring and maintenance of the coil status. By separating and demodulating the signals using high-pass and low-pass filters, parallel processing of self-test and navigation information is achieved, improving system integration and response speed.

[0086] In this embodiment, the working road includes the road body and multiple parking spaces; each parking space is equipped with a parking space coil; the parking space coil continuously emits an electromagnetic signal containing its unique ID-position signal; the robot-end communication module also includes a decoder. When the robot travels and passes by one of the parking space coils or the road surface coil, the decoder decodes the ID-position information received by the receiving coil, and the main controller reads the map stored locally on the robot to determine the robot's position. Utilizing the ID-position signal emitted by the parking space coil assists the robot in positioning, enhances navigation accuracy, and is suitable for complex parking lot environments.

[0087] In this embodiment, the parking space coil continuously emits a low-power detection signal to measure its inductance value. When a vehicle parks in the space, the inductance value of the parking space coil changes: if a vehicle parks, the inductance value decreases; if the space is vacant, the inductance value remains at the baseline level. The receiving coil receives the inductance value detection result of the parking space coil and compares it with the baseline value pre-stored in the local storage module to determine whether the parking space corresponding to this parking space coil is in an "occupied" or "vacant" state. The parking space information is then uploaded to the cloud through the robot's communication module. By identifying the parking space occupancy status through inductance changes and updating parking space information in real time, the efficiency of parking lot management and the level of intelligent robot scheduling are improved.

[0088] In this embodiment, the intelligent mobile robot also includes a sensor module. When the intelligent mobile robot starts working, the main controller reads the road map, the autonomous driving module drives the intelligent robot to patrol the parking lot along a preset path, and the sensor module collects environmental data in real time and uploads the environmental data to a cloud database. The robot has both patrol and data collection functions, realizing dual management of parking lot environmental monitoring and charging facility health status, thereby improving the system's comprehensive service capabilities.

[0089] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A charging method of an intelligent mobile robot, characterized by, The intelligent mobile robot has a main controller, a local storage module, an automatic driving module, a battery, a battery management module and a receiving coil; a plurality of road surface coils are embedded on the working road; the local storage module pre-stores a working road map and an ID-position database containing position data of each coil; the charging method comprises the following steps: The receiving coil identifies the ID information transmitted by the road surface coil, and compares it with the ID-position database pre-stored locally to determine the position of the intelligent mobile robot; The battery management module checks the power of the battery, and if it is less than a preset value, the main controller controls the automatic driving module to drive the intelligent mobile robot to move to one of the road surface coils for charging; The road surface coil has a main control module, a self-checking system and a coil-end communication module for transmitting data of the self-checking system to the receiving coil; when the intelligent mobile robot is charging, the change of the magnetic field activates the main control module to run the self-checking system, and the obtained data is converted into self-checking information by the coil-end communication module and sent to the receiving coil; The intelligent mobile robot further comprises a robot-end communication module which separates the ID information and the self-checking information sent by the coil-end communication module, decodes the self-checking information and transmits it to the cloud for monitoring the state of the coil. 2.The charging method of the intelligent mobile robot according to claim 1, wherein, The self-checking system gradually executes a temperature detection process, a health detection process and a physical detection process. 3.The charging method of the intelligent mobile robot according to claim 2, wherein, The temperature detection process comprises the following steps: The main control module injects a sinusoidal excitation signal into the coil; The main control module synchronously collects the voltage amplitude V and the current amplitude I across the coil, and measures the current-voltage phase difference θ; The impedance modulus |Z| = V / I and the fundamental resistance value R = |Z|cosθ are calculated; The data of the reference temperature t0, the corresponding resistance r0 and the resistance temperature coefficient α of the corresponding coil material pre-stored in the main control module are called, and the real-time temperature is calculated according to the formula T = T0 + 1 / α[(R0 / R)-1]. When the real-time temperature T > 85 degrees Celsius, it is marked as an over-temperature fault. 4.The charging method of the intelligent mobile robot according to claim 2, wherein The health detection process is used to detect the aging degree of the coil, whether it is short-circuited, and whether there is a metal foreign object on the coil, and the health detection process comprises the following steps: Based on the resistance R obtained in the temperature detection process, the inductance value L and the angular frequency ω are combined to calculate the quality factor Q = ωL / R; If Q < 60, a fault is triggered; in the fault determination process, if R > 1.5×R0, a short-circuit fault is marked; if R≤1.5×R0, a metal foreign object intrusion fault is marked. 5.The charging method of the intelligent mobile robot according to claim 2, wherein, The physical detection process comprises the following steps: The main control module injects a pulse into the coil, and collects the reflected signal wave through a high-speed ADC; If the number of detected reflected wave peaks is greater than one, a broken wire fault is determined. 6.The charging method of the intelligent mobile robot according to claim 2, wherein The coil-end communication module comprises a modulator and a coil driving circuit; the data obtained after self-checking by the self-checking system is assembled into a 25-bit binary data packet in the following format: Quantify the real-time temperature value obtained after running the temperature detection process into an integer, marked as temperature self-check data, occupying 8 bits; Quantify the quality factor Q value obtained after running the health detection process into an integer, marked as Q value self-check data, occupying 8 bits; Mark the number of wave peaks obtained after running the physical detection process as a fault flag bit group, occupying 5 bits; The main control module transmits the binary data packet to the modulator, which controls the coil driving circuit to switch between the preset first frequency and the second frequency according to each bit binary value in the self-check information, thereby encoding the self-check information into a frequency-controllable electromagnetic emission signal; The electromagnetic emission signal and the position-ID information of the road coil are simultaneously emitted outward through the coil body of the road coil. 7.The charging method of the intelligent mobile robot according to claim 1, wherein, The robot-end communication module includes a signal sending module and a signal receiving module; The signal receiving module includes a decoder, a high-pass filter and a low-pass filter; After the receiving coil receives the self-check information, the high-frequency self-check signal is extracted through the high-pass filter, and the binary data packet corresponding to the self-check signal is demodulated and restored through the demodulator; The robot-end communication module also includes a signal sending module for communication with the cloud, which transmits the binary data packet corresponding to the self-check signal to the cloud for remote monitoring and maintenance of the coil state. 8.The charging method of the intelligent mobile robot according to claim 1, wherein, The working road includes a road body and a plurality of parking spaces; Each parking space is provided with a parking coil; The parking coil continuously emits an electromagnetic signal containing its unique ID-position signal; The robot-end communication module also includes a decoder, which decodes the ID-position information received by the receiving coil when the robot travels and passes through one of the parking coils or road coils, and the main controller reads the map stored in the robot local to determine the robot position. 9.The charging method of the intelligent mobile robot according to claim 8, wherein, The parking coil continuously emits a low-power detection signal to measure its inductance value, and when a car is parked in the parking space, it will cause the inductance value of the parking coil to change; The receiving coil receives the inductance value detection result of the parking coil and compares it with the baseline value pre-stored in the local storage module to determine whether the parking space corresponding to this parking coil is "occupied" or "idle", and uploads the parking space information to the cloud through the robot-end communication module. 10.The charging method of the intelligent mobile robot according to claim 1, wherein, The intelligent mobile robot also includes a sensor module; When the intelligent mobile robot starts working, the main controller reads the road map, the automatic driving module drives the intelligent robot to patrol the parking lot along the preset path, and the sensor module collects environmental data in real time and uploads the environmental data to the cloud database.

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