Charging pile, charging system and charging control method

Abstract

The invention provides a charging pile, a charging system and a charging control method.The charging pile comprises a first charging pole piece, a second charging pole piece and a charging detection device, the charging detection device comprises a first detection module, a second detection module and a control module, the first detection module comprises a first action mechanism and a first sampling unit, and the second detection module comprises a second action mechanism and a second sampling unit; the second detection module comprises a second action mechanism and a second sampling unit; the first action mechanism and the second action mechanism are configured to generate action change along with contact of the mobile cleaning equipment and the charging pile, and the first sampling unit and the second sampling unit are configured to sample the action change degree of the action mechanisms to obtain a first sampling signal and a second sampling signal; and the control module is configured to control on-off of a charging loop of the charging pile and the mobile cleaning equipment according to the first sampling signal and the second sampling signal. According to the invention, the safety and stability of charging the mobile cleaning equipment by the charging pile can be improved.

Description

Technical Field

[0001] This application relates to the field of charging technology, and in particular to a charging pile, a charging system and a charging control method. Background Technology

[0002] With the rapid popularization of smart landscaping, mobile cleaning equipment such as lawnmowers and snowplows have been widely used in parks, residential areas, airports, and many other scenarios due to their automation and intelligence. The stability and safety of charging stations have become core requirements for ensuring the continuous operation of these mobile cleaning devices.

[0003] In actual charging, when the mobile cleaning equipment moves to the charging position of the charging pile, docking deviation may occur, resulting in poor contact during the charging process. This affects the safety and stability of charging and cannot ensure that the mobile cleaning equipment can complete charging safely and stably.

[0004] Therefore, improving the safety and stability of charging stations for mobile cleaning equipment has become an urgent problem to be solved. Summary of the Invention

[0005] The main purpose of this application is to provide a charging pile, a charging system, and a charging control method, which aim to improve the safety and stability of charging the mobile cleaning equipment.

[0006] In a first aspect, this application provides a charging pile, which includes a first charging electrode, a second charging electrode, and a charging detection device. The first charging electrode is used to connect to a first charging terminal of a mobile cleaning device, and the second charging electrode is used to connect to a second charging terminal of the mobile cleaning device. The mobile cleaning device is configured to charge via the first charging terminal and the second charging terminal after moving to the charging position of the charging pile. The charging detection device includes a first detection module, a second detection module, and a control module; wherein: The first detection module includes a first action mechanism and a first sampling unit. The first action mechanism is configured to change its action as the mobile cleaning device comes into contact with the charging pile. The first sampling unit is configured to sample the degree of change in the action of the first action mechanism to obtain a first sampling signal. The second detection module includes a second action mechanism and a second sampling unit. The second action mechanism is configured to change its action as the mobile cleaning device comes into contact with the charging pile. The second sampling unit is configured to sample the degree of change in the action of the second action mechanism to obtain a second sampling signal. The control module is configured to determine a first connection state between the first charging electrode and the first charging terminal based on the first sampling signal, and to determine a second connection state between the second charging electrode and the second charging terminal based on the second sampling signal; the control module is also configured to control the on / off state of the charging circuit between the charging pile and the mobile cleaning device based on the first connection state and the second connection state.

[0007] Secondly, this application also provides a charging system, characterized in that the charging system includes a mobile cleaning device and a charging pile as described in the embodiments of this application, wherein the charging pile is configured to dock with the mobile cleaning device to provide charging power to the mobile cleaning device.

[0008] Thirdly, this application also provides a charging control method, characterized in that it is used for a charging pile, the charging pile including a first charging electrode, a second charging electrode, a first actuating mechanism, and a second actuating mechanism, the first charging electrode being used to connect to a first charging terminal of a mobile cleaning device, and the second charging electrode being used to connect to a second charging terminal of the mobile cleaning device; the first actuating mechanism and the second actuating mechanism are disposed at different positions on the charging pile and configured to generate a change in action in response to contact with the mobile cleaning device; the method includes: A first sampling signal and a second sampling signal are acquired. The first sampling signal is obtained by sampling based on the degree of change in the action of the first actuating mechanism, and the second sampling signal is obtained by sampling based on the degree of change in the action of the second actuating mechanism. The first connection state between the first charging electrode and the first charging terminal is determined based on the first sampling signal, and the second connection state between the second charging electrode and the second charging terminal is determined based on the second sampling signal. Based on the first connection state and the second connection state, the connection between the charging pile and the mobile cleaning device is controlled.

[0009] This application provides a charging pile, a charging system, and a charging control method. The charging detection device of the charging pile includes a first detection module, a second detection module, and a control module. The first detection module includes a first actuating mechanism and a first sampling unit, and the second detection module includes a second actuating mechanism and a second sampling unit. The first and second actuating mechanisms are configured to change their movements upon contact between the mobile cleaning device and the charging pile. The first sampling unit is configured to sample the degree of change in the movement of the first actuating mechanism to obtain a first sampling signal, and the second sampling unit is configured to sample the degree of change in the movement of the second actuating mechanism to obtain a second sampling signal. The control module can determine a first connection state between a first charging electrode and a first charging terminal based on the first sampling signal, and determine a second connection state between a second charging electrode and a second charging terminal based on the second sampling signal. Furthermore, the control module controls the connection and disconnection of the charging circuit between the charging pile and the mobile cleaning device based on the first and second connection states. This charging station employs two sets of detection modules and corresponding processing mechanisms for the control module. It can accurately detect the first connection status between the first charging electrode and the first charging terminal, as well as the second connection status between the second charging electrode and the second charging terminal. This avoids problems such as poor charging contact and low charging efficiency caused by inaccurate alignment, and enables stable control of the charging process. This helps improve the safety and stability of the charging station charging mobile cleaning equipment, ensuring that the mobile cleaning equipment can complete charging safely and stably, thereby reducing the risk of equipment damage and safety accidents caused by charging problems. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A schematic block diagram illustrating a charging scenario provided in an embodiment of this application; Figure 2 A schematic block diagram of a charging pile provided for an embodiment of this application; Figure 3 A schematic diagram of a mobile cleaning device provided in an embodiment of this application; Figure 4 A schematic diagram of the structure of a charging pile provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of the first part of the charging pile provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of the second part of the charging pile provided in the embodiments of this application; Figure 7 This is a flowchart illustrating the steps of a charging control method provided in an embodiment of this application; Figure 8 This is a schematic block diagram of a charging system provided in an embodiment of this application.

[0012] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0013] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0014] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation. Furthermore, although functional modules are divided in the device diagram, in some cases, a different module division may be used.

[0015] In existing charging scenarios for mobile cleaning equipment, such as lawnmowers and snowplows, there are some technical issues in the charging process. Traditional charging methods may lack an accurate detection mechanism for the charging connection status. When the mobile cleaning equipment moves to the charging station, factors such as the uncertainty of equipment movement, wear and tear on the charging electrodes and terminals, and interference from dust or foreign objects may lead to poor contact between the charging electrodes and terminals, or even intermittent connection.

[0016] This poor connection not only affects charging efficiency and prolongs charging time, but may also cause safety hazards, such as overheating and sparks during charging. In severe cases, it may damage the charging station or mobile cleaning equipment, or even cause fires.

[0017] Based on this, embodiments of this application provide a charging pile, a charging system, and a charging control method. The charging pile can monitor the charging connection status with the mobile cleaning equipment in real time, control the on / off state of the charging circuit in a timely manner, improve the safety and stability of the charging pile charging the mobile cleaning equipment, thereby reducing the damage to the charging pile and the mobile cleaning equipment caused by poor connection, and extending the service life of the charging pile and the mobile cleaning equipment.

[0018] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0019] Please refer to Figure 1 , Figure 1 This is a schematic block diagram illustrating a charging scenario provided in an embodiment of this application.

[0020] The charging scenario includes a charging pile 100 and a mobile cleaning device 200. The charging pile 100 includes a first charging electrode 110, a second charging electrode 120, and a charging detection device 130. The mobile cleaning device 200 includes a first charging terminal 210 and a second charging terminal 220. The first charging electrode 110 is used to connect to the first charging terminal 210 of the mobile cleaning device 200, and the second charging electrode 120 is used to connect to the second charging terminal 220 of the mobile cleaning device 200. The mobile cleaning device 200 is configured to charge via the first charging terminal 210 and the second charging terminal 220 after moving to the charging position of the charging pile 100.

[0021] It should be noted that the mobile cleaning device 200 can be an intelligent device responsible for outdoor cleaning work, such as a lawnmower, snowplow, or sweeper—an outdoor cleaning robot. Of course, the mobile cleaning device 200 can also operate indoors. The mobile cleaning device 200 is typically powered by a battery and needs to return to the charging station 100 to recharge when the battery is low to maintain normal operation. The charging station 100 is configured to dock with the mobile cleaning device 200 to provide it with charging power.

[0022] like Figure 2 As shown, Figure 2This is a schematic block diagram of a charging pile provided in an embodiment of this application. The charging detection device 130 includes a first detection module 131, a second detection module 132, and a control module 133. The first detection module 131 includes a first actuation mechanism 1311 and a first sampling unit 1312. The second detection module 132 includes a second actuation mechanism 1321 and a second sampling unit 1322. The first actuation mechanism 1311 is configured to change its movement upon contact between the mobile cleaning device 200 and the charging pile 100. The first sampling unit 1312 is configured to sample the degree of change in the movement of the first actuation mechanism 1311 to obtain a first sampling signal. The second actuation mechanism 1321 is configured to change its movement upon contact between the mobile cleaning device 200 and the charging pile 100. The second sampling unit 1322 is configured to sample the degree of change in the movement of the second actuation mechanism 1321 to obtain a second sampling signal. The control module 133 is configured to determine the first connection state between the first charging electrode 110 and the first charging terminal 210 based on the first sampling signal, and to determine the second connection state between the second charging electrode 120 and the second charging terminal 220 based on the second sampling signal; the control module 133 is also configured to control the on / off state of the charging circuit between the charging pile 100 and the mobile cleaning device 200 based on the first connection state and the second connection state.

[0023] It should be noted that the first actuation mechanism 1311 and the second actuation mechanism 1321 can be set at different positions on the charging pile 100, such as symmetrically set on the left and right sides of the main body of the charging pile 100 facing the charging position. When the mobile cleaning device 200 moves to the charging position of the charging pile 100 and comes into contact with the charging pile 100, the first actuation mechanism 1311 and the second actuation mechanism 1321 can change their movement as the mobile cleaning device 200 comes into contact with the charging pile 100 (such as direct contact with the actuation mechanism itself, indirect contact through the transmission mechanism, or contact movement detected by the sensor). For example, when the mobile cleaning device 200 approaches the charging position of the charging pile 100, the mobile cleaning device 200 simultaneously comes into contact with the first actuation mechanism 1311 and the second actuation mechanism 1321, and changes its movement as the mobile cleaning device 200 approaches. When the mobile cleaning device 200 is fully in the charging position, the first charging electrode 110 and the first charging terminal 210 are stably connected, and the movement of the first actuation mechanism 1311 and the second actuation mechanism 1321 is completed. The first sampling unit 1312 samples the degree of change in the movement of the first actuating mechanism 1311 and converts it into a first sampling signal. For example, it detects the angle of change in the movement of the first actuating mechanism 1311 and converts it into a corresponding electrical signal as the first sampling signal. The working mechanism of the second sampling unit 1322 may be the same as or different from that of the first sampling unit 1312.

[0024] It should be noted that the control module 133 is used to receive the first sampling signal and the second sampling signal, determine the first connection state between the first charging electrode 110 and the first charging terminal 210 based on the first sampling signal, and determine the second connection state between the second charging electrode 120 and the second charging terminal 220 based on the second sampling signal. For example, if the first sampling signal indicates that the movement of the first actuating mechanism 1311 is within the normal range, it means that the first charging electrode 110 and the first charging terminal 210 are in good contact. Otherwise, there may be a connection problem. The control module 133 is also used to control the opening and closing of the charging circuit between the charging pile 100 and the mobile cleaning device 200 based on the first connection state and the second connection state. For example, the control module 133 will only close the charging circuit and allow current to flow from the charging pile 100 to the mobile cleaning device 200 for charging when both the first and second connection states indicate a normal connection. If either connection state is poor, the control module 133 will disconnect the charging circuit to prevent safety hazards caused by poor connection.

[0025] It should be understood that the control module 133 can be a Central Processing Unit (CPU), which can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0026] In this embodiment, the charging detection device 130 of the charging pile 100 can monitor the charging connection status between the charging pile 100 and the mobile cleaning equipment 200 in real time, promptly control the on / off state of the charging circuit, reduce damage to the equipment caused by poor connection, protect the safety of the mobile cleaning equipment 200 and the charging pile 100, thereby extending the service life of the mobile cleaning equipment 200 and the charging pile 100, reducing the maintenance cost and replacement frequency of the mobile cleaning equipment 200, and improving the long-term reliability of the mobile cleaning equipment 200. Furthermore, it ensures good contact between the two pairs of charging terminals and the charging plates of the mobile cleaning equipment 200, improving the alignment accuracy between the two pairs of charging terminals and the charging plates, thereby reducing resistance during the charging process, reducing energy loss, and making the charging process more efficient. Thus, the mobile cleaning equipment 200 can be fully charged in a shorter time, allowing it to return to its work position more quickly, thereby improving the working efficiency of the mobile cleaning equipment 200 and reducing work delays caused by excessive charging waiting time.

[0027] For example, such as Figure 3 and Figure 4 As shown, taking a lawnmower as an example of a mobile cleaning device 200, assume a large lawn needs to be mowed regularly. After completing a mowing task, the lawnmower's battery gradually decreases. When the battery level is detected to be below a set threshold, the lawnmower automatically initiates a return program, returning to the charging station 100 for charging. As the lawnmower approaches the charging position of the charging station 100 along the entry direction, its first charging terminal 210 aligns with the first charging electrode 110 on the first actuating mechanism 1311. Figure 4 (Not shown in the image), the second charging terminal 220 is aligned with the second charging electrode 120 on the second actuation mechanism 1321. As the lawnmower approaches, the first actuation mechanism 1311 and the second actuation mechanism 1321 come into contact with the lawnmower and undergo a change in motion, such as contacting the scrapers on the first actuation mechanism 1311 and the second actuation mechanism 1321. The scrapers are used to clean debris adhering to the charging terminal of the lawnmower. The first sampling unit 1312 and the second sampling unit 1322 ( Figure 4 (not shown) The first sampling signal and the second sampling signal are collected respectively, and the first sampling signal and the second sampling signal are transmitted to the control module 133 respectively. Figure 4(Not shown in the image). If the lawnmower is not fully in the charging position, it may cause poor contact between the charging terminal and the first charging electrode 110 or the second charging electrode 120, resulting in an abnormal first or second sampling signal. Upon detecting the abnormality, the control module 133 will immediately disconnect the charging circuit to prevent charging under faulty connection. The user can check (e.g., clean the grass clippings from the charging terminal) and then try charging the lawnmower again. When the lawnmower's charging electrode makes good contact with the charging terminal, the first and second sampling signals will show normal readings, and the control module 133 will close the charging circuit and begin charging the lawnmower. In this way, the lawnmower can complete charging safely and efficiently, ready for the next lawn mowing session.

[0028] In one embodiment, such as Figure 4 As shown, the first actuation mechanism 1311 is rotatably connected to the main body of the charging pile 100. The first actuation mechanism 1311 is configured to rotate relative to the main body of the charging pile 100 in response to the contact action of the mobile cleaning device 200.

[0029] It should be noted that the mobile cleaning device 200 needs to be moved to the charging position of the charging pile 100 before it can be charged. The first action mechanism 1311 can start to rotate when it touches the cleaning device. The action mechanism will rotate to the specified angle when the mobile cleaning device 200 is fully in the charging position. At this time, the charging electrode and the charging terminal are in the ideal charging position, and then charging will begin.

[0030] It should be noted that the rotation of the first actuation mechanism 1311 can convert the contact status between the first charging electrode 110 and the first charging terminal 210 into a visually apparent rotational change. This rotational change can more sensitively reflect the initial connection status between the first charging electrode 110 and the first charging terminal 210. Compared with traditional detection methods, it can more accurately determine whether the contact is good and promptly detect potential connection problems, such as slight loose connections or incomplete contact.

[0031] For example, such as Figure 3 and Figure 4 As shown, the first charging terminal 210 of the mobile cleaning device 200 contacts the first actuating mechanism 1311 and applies a certain force. Under the action of this force, the first actuating mechanism 1311 will rotate relative to the main body of the charging pile 100. This rotation is due to the force breaking its original equilibrium state, causing it to rotate around the rotational connection point with the main body of the charging pile 100.

[0032] In one embodiment, such as Figure 4As shown, the second actuation mechanism 1321 is rotatably connected to the main body of the charging pile 100. The second actuation mechanism 1321 is configured to rotate relative to the main body of the charging pile 100 in response to the contact action of the mobile cleaning device 200.

[0033] It should be noted that in complex outdoor environments, factors such as dust and rain may affect the stability of the charging connection. The rotating mechanism can better adapt to these environmental changes. Even if external interference causes changes in the connection status, the rotation can promptly reflect these changes, ensuring accurate detection of the connection status under different environmental conditions and improving charging reliability.

[0034] For example, such as Figure 3 and Figure 4 As shown, similar to the first actuating mechanism 1311, when the mobile cleaning device 200 contacts the second actuating mechanism 1321, the second actuating mechanism 1321 will rotate relative to the main body of the charging pile 100. The second charging terminal 220 of the mobile cleaning device 200 contacts the second actuating mechanism 1321 and applies force, causing the second actuating mechanism 1321 to rotate around its rotational connection point with the main body of the charging pile 100.

[0035] In one embodiment, such as Figure 4 As shown, the first charging electrode 110 is disposed on the first actuating mechanism 1311. After the mobile cleaning device 200 moves to the charging position of the charging pile 100, the first actuating mechanism 1311 rotates relative to the main body of the charging pile 100 so that the first charging terminal 210 is electrically connected to the first charging electrode 110.

[0036] It should be noted that the first charging electrode 110 is mounted on the first actuating mechanism 1311. When the mobile cleaning device 200 moves to the charging position of the charging pile 100, the first charging terminal 210 of the mobile cleaning device 200 will make contact with the first actuating mechanism 1311. This contact will apply a force to the first actuating mechanism 1311. Since the first actuating mechanism 1311 is rotatably connected to the main body of the charging pile 100, according to the lever principle and the effect of force, the first actuating mechanism 1311 will rotate relative to the main body of the charging pile 100 under the action of this force. As the first actuating mechanism 1311 rotates, the position and angle of the first charging electrode 110 will change accordingly, thereby achieving an electrical connection with the first charging terminal 210.

[0037] For example, such as Figure 4As shown, the first actuating mechanism 1311 can be a hinge mechanism. The first charging electrode 110 is installed at the bottom of the hinge mechanism. When the first charging terminal 210 contacts one end of the hinge mechanism, the hinge mechanism rotates around the rotation connection point, so that the first charging electrode 110 installed at the bottom of the hinge mechanism can fit tightly with the first charging terminal 210, thereby establishing an electrical connection.

[0038] In one embodiment, such as Figure 4 As shown, the second charging electrode 120 is disposed on the second actuating mechanism 1321; after the mobile cleaning device 200 moves to the charging position of the charging pile 100, the second actuating mechanism 1321 rotates relative to the main body of the charging pile 100 so that the second charging terminal 220 is electrically connected to the second charging electrode 120.

[0039] It should be noted that the second charging electrode 120 is mounted on the second actuating mechanism 1321. When the mobile cleaning device 200 moves to the charging position, the second charging terminal 220 contacts and applies force to the second actuating mechanism 1321, causing the second actuating mechanism 1321 to rotate relative to the main body of the charging pile 100. During this rotation, the position and angle of the second charging electrode 120 are adjusted, thereby achieving electrical connection with the second charging terminal 220. This rotational design allows the charging electrode to adaptively match the charging terminal, ensuring good contact even if the mobile cleaning device 200 has a certain positional deviation during charging, thanks to the rotation of the actuating mechanism.

[0040] Understandably, the rotation of the first actuating mechanism 1311 and the second actuating mechanism 1321 can adaptively adjust the position and angle of the charging electrodes, ensuring that even with a certain positional deviation of the mobile cleaning device 200 or external environmental interference, the first charging electrode 110 and the first charging terminal 210, and the second charging electrode 120 and the second charging terminal 220, can still maintain good contact. This greatly improves the reliability of the charging connection and reduces charging problems caused by poor contact. Furthermore, a reliable charging connection means lower resistance and lower energy loss during charging. Achieving a good electrical connection through the rotation of the actuating mechanisms improves charging efficiency, shortens the charging time of the mobile cleaning device 200, and thus improves overall work efficiency.

[0041] In one embodiment, the first sampling unit 1312 is fixedly connected to the main body of the charging pile 100. The first sampling unit 1312 is configured to sample the degree of rotation of the first actuation mechanism 1311 relative to the main body of the charging pile 100 to obtain a first sampling signal.

[0042] It should be noted that the first sampling unit 1312 can sample the degree of rotation of the first actuating mechanism 1311. For example, it can detect physical quantities such as the rotation angle, angular velocity, or displacement generated during the rotation of the first actuating mechanism 1311, and convert these physical quantities into electrical signals to obtain the first sampling signal. Different degrees of rotation correspond to different connection status information. For example, a larger rotation angle may indicate good contact, while a smaller rotation angle or almost no rotation may indicate poor contact.

[0043] When the mobile cleaning device 200 moves to the charging position of the charging pile 100, the first actuation mechanism 1311 rotates relative to the main body of the charging pile 100 under the contact action of the first charging terminal 210. The first sampling unit 1312 samples the degree of rotation of the first actuation mechanism 1311 by establishing a specific correlation with the rotating first actuation mechanism 1311.

[0044] For example, an angle sensor can be installed on the rotation shaft of the first actuation mechanism 1311, and the first sampling unit 1312 is connected to the angle sensor. When the first actuation mechanism 1311 rotates, the angle sensor will detect the rotation angle of the rotation shaft in real time. This rotation angle is a quantitative representation of the degree of rotation of the first actuation mechanism 1311. The first sampling unit 1312 converts the rotation angle and other information into an electrical signal, thereby obtaining the first sampling signal.

[0045] In one embodiment, the second sampling unit 1322 is fixedly connected to the main body of the charging pile 100. The second sampling unit 1322 is configured to sample the degree of rotation of the second action mechanism 1321 relative to the main body of the charging pile 100 to obtain a second sampling signal.

[0046] It should be noted that the second sampling unit 1322 can sample the degree of rotation of the second actuating mechanism 1321 to obtain a second sampling signal. Similarly, it can determine the connection status between the second charging electrode 120 and the second charging terminal 220 based on the relevant physical quantities of rotation. When the mobile cleaning device 200 contacts the second actuating mechanism 1321, the second actuating mechanism 1321 rotates relative to the main body of the charging pile 100. The second sampling unit 1322 establishes a connection with the rotating second actuating mechanism 1321 and samples its degree of rotation.

[0047] For example, an angle sensor can be installed on the rotation shaft of the second actuation mechanism 1321, and the second sampling unit 1322 can be connected to the sensor to acquire the rotation angle of the second actuation mechanism 1321 in real time and convert it into an electrical signal to obtain the second sampling signal. The connection status between the second charging electrode 120 and the second charging terminal 220 can be determined by the second sampling signal.

[0048] Understandably, by accurately sampling the degree of rotation of the actuating mechanism through the first sampling unit 1312 and the second sampling unit 1322, the connection status information between the charging electrode and the charging terminal can be obtained in real time and accurately. Compared with traditional simple detection methods, detection based on the degree of rotation can more sensitively perceive subtle changes in the connection process and promptly detect potential connection problems, such as slight loose connections or incomplete contact, thereby improving the accuracy and reliability of the charging connection.

[0049] In one embodiment, such as Figure 5 As shown, the first actuation mechanism 1311 includes a first hinge mechanism 1331 and a first magnet 1332. The first hinge mechanism 1331 is configured to rotate relative to the main body of the charging pile 100 in response to a contact action of the mobile cleaning device 200. The first magnet 1332 is configured to change its relative position with the first sampling unit 1312 as the first hinge mechanism 1331 rotates. Figure 6 As shown, the first sampling unit 1312 includes a first Hall sensor 1333 and a first ADC sampling circuit ( Figure 5 (Not shown in the image) The first Hall sensor 1333 and the first magnet 1332 may be arranged facing each other. The first Hall sensor 1333 may be configured to output a first electrical signal in response to a sensed first electromagnetic signal, which may be generated by the first magnet 1332. The first ADC sampling circuit may be configured to output a first ADC value as a first sampling signal based on the first electrical signal.

[0050] It should be noted that when the mobile cleaning device 200 moves to the charging position of the charging pile 100, the first charging terminal 210 of the mobile cleaning device 200 contacts the first hinge mechanism 1331 and applies a force. Under the action of this force, the first hinge mechanism 1331 can rotate relative to the main body of the charging pile 100. For example, the first hinge mechanism 1331 can be a door hinge structure, with one end rotatably connected to the main body of the charging pile 100 and the other end connected to related components such as the first charging electrode 110. When the first charging terminal 210 contacts the first hinge mechanism 1331, it is like pushing a door, causing the first hinge mechanism 1331 to rotate around the rotation connection point. The first magnet 1332 can be installed on the first hinge mechanism 1331. When the first hinge mechanism 1331 rotates, the first magnet 1332 will also rotate, thereby changing its relative position with the first sampling unit 1312. The change in the position of the first magnet 1332 will cause a change in the distribution of the magnetic field it generates, thereby generating different electromagnetic signals.

[0051] It should be noted that when the first magnet 1332 rotates with the first hinge mechanism 1331 and changes its relative position with the first Hall sensor 1333, the magnetic field strength and direction at the location of the first Hall sensor 1333 will change. According to the Hall effect, when a conductor (Hall sensor) is in a magnetic field and a current flows through it, a potential difference, i.e., Hall potential, will be generated in the direction perpendicular to the current and the magnetic field. Therefore, the first Hall sensor 1333 will output a first electrical signal in response to the sensed first electromagnetic signal (the change in magnetic field caused by the change in the position of the first magnet 1332). The magnitude and direction of the first electrical signal are related to the magnetic field strength and direction, which indirectly reflects the position change of the first magnet 1332, i.e., the degree of rotation of the first hinge mechanism 1331. The first ADC sampling is used to perform analog-to-digital conversion on the first electrical signal output by the first Hall sensor 1333. The first electrical signal can be an analog signal, while subsequent processing units such as the control module 133 are usually more suitable for processing digital signals. Therefore, the first ADC sampling circuit converts the analog first electrical signal into a digital first ADC value, which can be used as the first sampling signal. The magnitude of the first ADC value can quantitatively represent the degree of rotation of the first hinge mechanism 1331, thereby determining the connection status between the first charging electrode 110 and the first charging terminal 210.

[0052] In one embodiment, the second actuation mechanism 1321 includes a second hinge mechanism and a second magnet. The second hinge mechanism is configured to rotate relative to the main body of the charging pile 100 in response to a contact action of the mobile cleaning device 200. The second magnet is configured to change its relative position with the second sampling unit 1322 as the second hinge mechanism rotates. The second sampling unit 1322 includes a second Hall sensor and a second ADC sampling circuit. The second Hall sensor is configured to output a second electrical signal in response to a sensed second electromagnetic signal. The second ADC sampling circuit is configured to output a second ADC value as a second sampling signal based on the second electrical signal.

[0053] It should be noted that the working principle of the second hinge mechanism can be similar to that of the first hinge mechanism 1331. For example, the second hinge mechanism can also be a door hinge structure, with one end fixed to the main body of the charging pile 100 and able to rotate flexibly around the fixed point, and the other end connected to related components such as the second charging electrode 120. When the second charging terminal 220 contacts the second hinge mechanism, it is like pushing a door, causing the second hinge mechanism to rotate around its rotation connection point, thereby adjusting the position and angle of the second charging electrode 120 to achieve contact with the second charging terminal 220. The second magnet is installed on the second hinge mechanism, and when the second hinge mechanism rotates, the second magnet will rotate along with it. Because the position of the magnet changes, the distribution of the magnetic field it generates in the space where the second sampling unit 1322 is located will also change accordingly, thereby generating different second electromagnetic signals.

[0054] It should be noted that when the second magnet changes its relative position to the second Hall sensor as the second hinge mechanism rotates, the magnetic field strength and direction at the location of the second Hall sensor will change. The second Hall sensor will respond to the sensed second electromagnetic signal (the change in magnetic field caused by the change in the position of the second magnet) and output a second electrical signal. The magnitude and direction of this second electrical signal are related to the magnetic field strength and direction, thus indirectly reflecting the position change of the second magnet, i.e., the degree of rotation of the second hinge mechanism. The second ADC sampling circuit can convert the analog second electrical signal into a digital second ADC value, which can be used as a second sampling signal. The magnitude of the second ADC value can quantitatively represent the degree of rotation of the second hinge mechanism, thereby determining the connection status between the second charging electrode 120 and the second charging terminal 220.

[0055] Understandably, by utilizing the Hall effect sensor's sensitivity to changes in magnetic fields, minute positional changes in the magnet can be precisely detected, thereby achieving high-precision detection of the hinge mechanism's rotation. This helps to more accurately determine the connection status between the charging electrode and the charging terminal. Simultaneously, the Hall effect sensor operates non-contactly with the magnet, avoiding problems such as wear and poor contact that may occur with traditional contact detection methods, improving the reliability and stability of the detection, and reducing misjudgments caused by malfunctions in the detection device itself. Furthermore, the Hall effect sensor can sense changes in the magnetic field in real time and output electrical signals, and the ADC sampling circuit can convert these electrical signals into digital signals in real time, enabling real-time monitoring of the rotational state of the mechanism. The control module 133 can adjust the charging circuit's on / off state promptly based on the real-time monitoring results, ensuring the safety and efficiency of the charging process.

[0056] In one embodiment, the control module 133 is configured to: determine the first connection state as a press-fit connection when the sampled value of the first sampling signal is detected to be less than a preset press-fit determination threshold; determine the first connection state as a disconnection connection when the sampled value of the first sampling signal is detected to be greater than a preset disconnection determination threshold; and determine the first connection state as a virtual insertion connection when the sampled value of the first sampling signal is detected to be greater than the disconnection determination threshold and less than the press-fit determination threshold.

[0057] Specifically, when the first connection state is a press-fit connection, the rotation angle of the first actuating mechanism 1311 relative to the main body of the charging pile 100 is greater than a first preset angle threshold. When the first connection state is a disengaged connection, the rotation angle of the first actuating mechanism 1311 relative to the main body of the charging pile 100 is less than a second preset angle threshold. When the first connection state is a loose insertion connection, the rotation angle of the first actuating mechanism 1311 relative to the main body of the charging pile 100 is between the second preset angle threshold and the first preset angle threshold. The second preset angle threshold and the first preset angle threshold can be determined according to actual conditions.

[0058] It should be noted that the preset pressing threshold can be derived from a large number of experiments and actual tests, representing the numerical range of the first sampling signal when the first charging electrode 110 and the first charging terminal 210 are tightly pressed together. For example, when the first charging electrode 110 and the first charging terminal 210 are tightly pressed together, the first actuation mechanism 1311 (such as the first hinge mechanism 1331) rotates to a suitable position under the action of the first charging terminal 210 of the moving cleaning device 200, so that the first magnet 1332 (associated with the first actuation mechanism 1311) is also in the corresponding position, thereby causing the magnetic field strength and direction sensed by the first Hall sensor 1333 (part of the first sampling unit 1312) to be in a specific state. The output first electrical signal is converted into a sampled value of the first sampling signal by the first ADC sampling circuit, and this sampled value is less than the pressing threshold. This indicates that the first charging electrode 110 and the first charging terminal 210 are in close contact with low resistance, which can achieve efficient and stable charging connection.

[0059] It should be noted that the preset separation threshold was also determined through experiments and tests, representing the expected range of values ​​for the first sampling signal when the first charging electrode 110 is completely separated from the first charging terminal 210. For example, when the first charging electrode 110 is completely separated from the first charging terminal 210, the first actuation mechanism 1311 is not subjected to the force of the first charging terminal 210 and is in its initial position. The first magnet 1332 is also in its initial position. The magnetic field strength and direction sensed by the first Hall sensor 1333 are significantly different from those when the first charging electrode 110 and the first charging terminal 210 are tightly pressed together. The sampled value of the first sampling signal obtained after conversion of the output first electrical signal is greater than the separation threshold. This means that there is no effective contact between the first charging electrode 110 and the first charging terminal 210, and charging cannot be performed.

[0060] It should be noted that a "virtual connection" indicates that there is some contact between the first charging electrode 110 and the first charging terminal 210, but the contact is not tight enough. For example, this may be due to inaccurate positioning of the mobile cleaning device 200, dust or foreign objects on the charging terminal, causing the first actuating mechanism 1311 to rotate to a certain extent but not to reach a tight pressing position. Consequently, the position of the first magnet 1332 is also in an intermediate state, and the magnetic field strength and direction sensed by the first Hall sensor 1333 are also in an intermediate state. The sampling value of the first sampling signal obtained after conversion of the output first electrical signal is between the separation judgment threshold and the pressing judgment threshold. This kind of virtual connection will lead to low charging efficiency and may even cause safety hazards such as overheating.

[0061] Understandably, by setting pressing and disengagement thresholds and judging based on the sampling value of the first sampling signal, it is possible to accurately distinguish between the three different states of pressing connection, disengagement connection, and loose connection between the first charging electrode 110 and the first charging terminal 210. This provides a precise basis for subsequent charging control and ensures the docking accuracy between the first charging electrode 110 and the first charging terminal 210. Furthermore, after accurately judging the first connection state, efficient charging is only allowed in the pressing connection state, avoiding the low charging efficiency caused by loose connection. This allows for full utilization of charging time, improves charging efficiency, and shortens the charging time of the mobile cleaning device 200.

[0062] In one embodiment, the control module 133 is configured to: determine the second connection state as a pressed connection when the sampled value of the second sampling signal is detected to be less than a preset pressing determination threshold; determine the second connection state as a disconnected connection when the sampled value of the second sampling signal is detected to be greater than a preset disconnection determination threshold; and determine the second connection state as a virtual insertion connection when the sampled value of the second sampling signal is detected to be greater than the disconnection determination threshold and less than the pressing determination threshold.

[0063] It should be noted that the relevant detection of the second connection state can refer to the relevant implementation method of the first connection state described above, and will not be repeated here.

[0064] For example, such as Figures 3 to 6As shown, when the mobile cleaning device 200 enters the charging position of the charging pile 100, the first charging electrode 110 contacts the first charging terminal 210, and the second charging electrode 120 contacts the second charging terminal 220, respectively, and respectively lifts the first action mechanism 1311 and the second action mechanism 1321 on the corresponding side, causing the first action mechanism 1311 and the second action mechanism 1321 to rotate by an angle θ. As θ increases, the magnet gradually moves away from the linear Hall sensitive surface (or the magnetic field weakens), resulting in a change in the Hall output voltage, and thus a monotonic change in the ADC value. The mapping relationship is: the larger the opening angle → the farther the magnet is / the weaker the magnetic field → the lower the Hall output → the smaller the ADC sampling value, so the ADC threshold can be used to characterize the pressing state. The ADC values ​​on each side are denoted as ADC_L and ADC_R, respectively, and the following judgment interval is set (the threshold is configurable / calibrable): Pressing judgment threshold TH_ON: when the ADC value on a certain side is less than 2800, it is considered that the electrode on that side has been pressed and contacted, and the charging switch has the basic conditions for conduction. The detachment determination threshold TH_OFF: When the ADC value on a certain side is greater than 2900, the electrode on that side is considered to be detached. TH_ON and TH_OFF constitute the hysteresis interval (2800~2900), which is used to suppress repeated state reversals caused by mechanical vibration and contact bounce.

[0065] In one embodiment, the control module 133 is configured to: acquire multiple first sampling signals at preset intervals, and filter the multiple first sampling signals respectively to obtain first filtered signals corresponding to the multiple first sampling signals; determine the first connection state as a pressed connection when the sample value of the first filtered signal is continuously detected to be less than a preset pressing determination threshold for a set number of times; determine the first connection state as a disconnected connection when the sample value of the first filtered signal is continuously detected to be greater than a preset disconnection determination threshold for a set number of times; and determine the first connection state as a dummy connection when the sample value of the first filtered signal is detected to be greater than the disconnection determination threshold and less than the pressing determination threshold.

[0066] The preset interval time can be reasonably set according to actual conditions, such as acquiring a sampling signal every few milliseconds or tens of milliseconds. Multiple sampling aims to obtain more comprehensive charging connection status information and avoid the randomness and errors of a single sampling. Filtering is used to remove noise and interference from the sampled signal. In outdoor environments, charging may be affected by electromagnetic interference, equipment vibration, and other factors, causing fluctuations and noise in the sampled signal. Filtering makes the sampled signal smoother and more stable, thus more accurately reflecting the actual charging connection status. Various filtering algorithms can be used, such as mean filtering and median filtering, to process multiple first sampled signals into multiple first filtered signals.

[0067] It should be noted that when the control module 133 continuously detects that the sampled value of the first filtered signal is less than the preset pressing judgment threshold for a set number of times, it determines that the first connection state is a pressing connection. The set number of times is also preset according to the actual situation, such as 10 or 20 consecutive detections. The pressing judgment threshold represents the value range of the first filtered signal when the first charging electrode 110 and the first charging terminal 210 are tightly pressed together. When the sampled value of the first filtered signal detected multiple times is less than the pressing judgment threshold, it indicates that the first charging electrode 110 and the first charging terminal 210 maintain tight contact with low contact resistance, which can achieve efficient and stable charging connection. Therefore, the connection state is determined to be a pressing connection.

[0068] It should be noted that when the control module 133 continuously detects that the sample value of the first filtered signal is greater than the preset disconnection judgment threshold for a set number of times, it determines that the first connection state is disconnected. The preset disconnection judgment threshold can represent the value range of the first filtered signal when the first charging electrode 110 and the first charging terminal 210 are completely disconnected. When the sample value of the first filtered signal detected multiple times is greater than this threshold, it indicates that there is no effective contact between the first charging electrode 110 and the first charging terminal 210, and charging cannot be performed. Therefore, the connection state is determined to be disconnected.

[0069] It should be noted that when the control module 133 detects that the sampled value of the first filtered signal is greater than the separation determination threshold but less than the pressing determination threshold, it determines that the first connection state is a loose connection. This situation indicates that there is some contact between the first charging electrode 110 and the first charging terminal 210, but the contact is not tight enough. This may be due to inaccurate positioning of the mobile cleaning device 200, dust or foreign objects on the charging terminal, etc., resulting in unstable contact, thus determining the connection state as a loose connection.

[0070] Understandably, multiple sampling and filtering processes reduce the randomness and noise interference of single sampling, making the detection results more accurate and reliable. Continuously detecting the sampled values ​​of the first filtered signal multiple times provides a more stable reflection of the actual charging connection status, avoiding the influence of instantaneous interference factors on the detection results. Simultaneously, continuous detection and judgment of the charging connection status can promptly identify changes in the connection status, ensuring accurate monitoring of the connection between the charging electrode and the charging terminal throughout the charging process, thereby guaranteeing the mating accuracy between the first charging electrode 110 and the first charging terminal 210. This stable detection mechanism helps improve the stability and reliability of the charging system.

[0071] In one embodiment, the control module 133 is configured to: acquire a plurality of second sampling signals at preset intervals, and filter the plurality of second sampling signals respectively to obtain second filtered signals corresponding to the plurality of second sampling signals; when the sampling value of the second filtered signal is continuously detected to be less than a preset pressing determination threshold for a set number of consecutive times, determine that the second connection state is a pressing connection; when the sampling value of the second filtered signal is continuously detected to be greater than a preset disengagement determination threshold for a set number of consecutive times, determine that the second connection state is a disengagement connection; when the sampling value of the second filtered signal is detected to be greater than the disengagement determination threshold and less than the pressing determination threshold, determine that the second connection state is a virtual insertion connection.

[0072] It should be noted that the relevant detection of the second connection state can refer to the relevant implementation method of the first connection state described above, and will not be repeated here.

[0073] In one embodiment, when the control module 133 determines that both the first connection state and the second connection state are in a press-fit connection within a first preset time period, it outputs a charging enable signal to control the charging circuit between the charging pile 100 and the mobile cleaning device 200 to be connected. When the control module 133 determines that the first connection state and / or the second connection state are in a disconnected connection at any time, it does not output a charging enable signal to control the charging circuit between the charging pile 100 and the mobile cleaning device 200 to be disconnected.

[0074] It should be noted that when the control module 133 determines that within a first preset time period (e.g., 5 seconds, 10 seconds, etc., which can be reasonably set according to the actual situation), both the first connection state (the connection state between the first charging electrode 110 and the first charging terminal 210) and the second connection state (the connection state between the second charging electrode 120 and the second charging terminal 220) are in a press-fit connection, it outputs a charging enable signal. A press-fit connection means that the first charging electrode 110 and the first charging terminal 210, and the second charging electrode 120 and the second charging terminal 220 are in close contact with low contact resistance, enabling efficient and stable charging. When both connection states meet the conditions for a press-fit connection, it indicates that the charging connection between the mobile cleaning device 200 and the charging pile 100 is reliable. At this time, the control module 133 outputs a charging enable signal, which triggers the charging circuit between the charging pile 100 and the mobile cleaning device 200 to be connected, thus allowing charging of the mobile cleaning device 200 to begin.

[0075] It should be noted that when the control module 133 determines that the first connection state and / or the second connection state is disconnected at any given time, it does not output a charging enable signal. Disconnection means that there is no effective contact between the first charging electrode 110 and the first charging terminal 210, and between the second charging electrode 120 and the second charging terminal 220, or the contact is very loose, making normal charging impossible. If charging is forced under these conditions, not only will the mobile cleaning device 200 fail to receive power, but it may also cause overheating, sparks, and other safety hazards due to poor contact, potentially damaging the equipment. Therefore, the control module 133 does not output a charging enable signal, thereby controlling the charging circuit between the charging pile 100 and the mobile cleaning device 200 to shut down, preventing charging under poor connection conditions.

[0076] Understandably, by strictly controlling the on / off state of the charging circuit, charging is only permitted when the charging connection is reliable (both connection states are pressed together). This avoids safety hazards such as overheating, short circuits, and fires caused by charging in unreliable connection states, such as disconnection or loose connection, effectively ensuring the safety of the mobile cleaning equipment 200 and the charging pile 100. Charging under reliable connection conditions ensures the alignment accuracy between the charging electrodes and charging terminals, reduces contact resistance, minimizes energy loss, and improves charging efficiency. Simultaneously, this control mechanism can monitor the charging connection status in real time, promptly cutting off the charging circuit under unreliable connection conditions, reducing damage to the equipment caused by poor connection, extending the service life of the mobile cleaning equipment 200 and the charging pile 100, and enhancing the reliability of the entire charging system.

[0077] For example, such as Figures 3 to 6 As shown, ADC_L and ADC_R are acquired at a fixed period T (configurable from 5ms to 20ms to adapt to the response requirements of different devices), and then subjected to moving average / exponential average / median filtering to obtain filtered values ​​F_L and F_R. This effectively reduces signal glitches caused by environmental noise and mechanical vibration, providing a stable signal basis for subsequent state determination.

[0078] Maintain the contact state Contact_i (i∈{L,R}) on each side: If F_i≤TH_ON(2800) is satisfied for N consecutive samplings, then set Contact_i=1 (pressing); If F_i≥TH_OFF(2900) is satisfied for N consecutive samplings, then Contact_i=0 (detach); When F_i is in the hysteresis interval (TH_ON, TH_OFF), it remains unchanged to achieve anti-jitter.

[0079] When Contact_L=1 and Contact_R=1 continuously satisfy T_align (e.g., 100ms~500ms), it is determined that the robot is aligned with charging pile 100 (Aligned=1). If Contact_i=0 on either side, then Aligned=0.

[0080] Charging enable is only allowed when Aligned=1 (closed relay / MOS / output enable). During charging or docking: If any side becomes disconnected (Contact_i changes from 1 to 0), immediately cancel the charging enable and trigger the safety policy (stop / return / retry / alarm) to prevent arcing, overheating, or unreliable charging caused by single-sided contact. Optionally, if Contact_L≠Contact_R continuously exceeds T_mis, a skew risk is identified, and the process either proceeds to correction or exits for retry.

[0081] For example, taking an outdoor cleaning robot as an example, in the cleaning work of a large logistics park, when the outdoor cleaning robot's battery is low, it returns to the charging pile 100 to recharge. When the robot accurately moves to the charging position, the first charging terminal 210 and the first charging electrode 110, and the second charging terminal 220 and the second charging electrode 120 are all tightly pressed together. The control module 133 detects that both the first connection state and the second connection state are pressed together within a first preset time. At this time, the control module 133 outputs a charging enable signal, and the charging circuit between the charging pile 100 and the outdoor cleaning robot is connected, starting to charge the outdoor cleaning robot. The outdoor cleaning robot can efficiently replenish its power and continue to engage in cleaning work after charging is completed. If the outdoor cleaning robot is subjected to collision or vibration during movement, causing the connection between the first charging terminal 210 and the first charging electrode 110 or the second charging terminal 220 and the second charging electrode 120 to become loose, resulting in a disconnection, the control module 133 will not output a charging enable signal and the charging circuit will be turned off once it detects that the first connection state and / or the second connection state is disconnected at any time. Once staff discover the issue, they can promptly readjust the outdoor cleaning robot to the correct position, ensuring tight contact between the two pairs of charging electrodes and the charging terminals. When the control module 133 detects that both connections are now firmly engaged, it outputs a charging enable signal, resuming charging. This avoids charging under faulty connection conditions, ensuring the safety of equipment and personnel, while also improving charging efficiency.

[0082] In one embodiment, when the control module 133 determines that the sampled value of the first sampling signal and / or the sampled value of the second sampling signal are both less than a preset abnormal detection threshold within a second preset time, it outputs a charging restriction signal to restrict the automatic charging of the charging pile 100 and the mobile cleaning device 200.

[0083] The preset anomaly detection threshold can be derived through extensive experiments and actual testing. This threshold represents the numerical range boundary of the first and second sampled signals under normal charging connection and without anomalies. When the sampled value of the first and / or second sampled signals are both less than the preset anomaly detection threshold, it indicates that the charging connection and related processes are in a stable and normal state. The anomaly detection threshold TH_FAULT can be defined as follows: if the ADC value on one side is consistently less than 2100, it is considered that the charging detection device 130 on that side has an anomaly (such as magnet detachment, sensor damage, or mechanism jamming leading to extreme positions).

[0084] It should be noted that the control module 133 can continuously monitor the sampled values ​​of the first sampling signal and / or the second sampling signal within a second preset time (e.g., 30 seconds, 60 seconds, etc., which can be adjusted according to actual conditions). If, within this second preset time, the sampled values ​​of both the first and / or the second sampling signals are less than a preset abnormality detection threshold, it indicates that a potential abnormality may have occurred in the charging connection process. This abnormality may be due to electromagnetic interference causing abnormally low sampling signals, slight oxidation or wear of the charging electrodes or charging terminals causing minor abnormalities in the charging parameters, etc.

[0085] It should be noted that the charging restriction signal can be applied to the charging control systems of the charging pile 100 and the mobile cleaning device 200, limiting the automatic charging process of both. For example, it may reduce the charging power, pause charging, or prohibit the automatic initiation of the charging program to avoid potential risks associated with continued charging under abnormal conditions. By restricting automatic charging under potentially abnormal conditions, safety accidents such as overheating, short circuits, and equipment damage caused by abnormal charging connections or parameters can be effectively prevented, ensuring the safety of the mobile cleaning device 200 and the charging pile 100.

[0086] For example, if during the charging process of the mobile cleaning device 200, electromagnetic interference is generated by the start-up of a large motor nearby, or there is slight oxidation of the charging electrodes, causing the sampled values ​​of the first and / or second sampling signals to be lower than a preset abnormality detection threshold within a second preset time period, the control module 133 will output a charging limit signal after detecting this abnormality. At this time, the charging pile 100 can pause the automatic charging program or reduce the charging power to prevent charging from continuing under abnormal conditions. Personnel can check the charging environment and equipment connection status, eliminate interference factors or address the oxidation problem of the charging electrodes, and restart the charging process after the sampling signals return to normal, ensuring charging safety and normal equipment use.

[0087] For example, to ensure the reliability of the charging detection device 130, an abnormal self-check mechanism can be set: if the duration of F_i≤TH_FAULT(2100) on either side is ≥T_fault (e.g., 2s~10s, configurable), set Fault_i=1, disable automatic charging and report the fault / prompt maintenance; if necessary, enter the degraded mode (only allow manual intervention or limit charging power / time).

[0088] This application provides a charging pile 100. The charging detection device 130 of the charging pile 100 includes a first detection module 131, a second detection module 132, and a control module 133. The first detection module 131 includes a first actuation mechanism 1311 and a first sampling unit 1312. The second detection module 132 includes a second actuation mechanism 1321 and a second sampling unit 1322. The charging pile 100 adopts the corresponding processing mechanism of two sets of detection modules and the control module 133, which can accurately detect the first connection state between the first charging electrode 110 and the first charging terminal 210 and the second connection state between the second charging electrode 120 and the second charging terminal 220. This avoids problems such as poor charging contact and low charging efficiency caused by inaccurate alignment, and enables stable control of the charging process. This helps to improve the safety and stability of the charging pile 100 charging the mobile cleaning equipment 200, ensuring that the mobile cleaning equipment 200 can complete charging safely and stably, thereby reducing the risk of equipment damage and safety accidents caused by charging problems.

[0089] The following combination Figure 3 , 4 Taking the mobile cleaning device 200 as a lawnmower as an example, the implementation method of the charging pile 100 provided in this application embodiment will be described by way of example.

[0090] The charging pile 100 includes a main body, a base, and a charging connection assembly (including a first actuating mechanism 1311 and a second actuating mechanism 1321): When the lawnmower reaches the charging position along one side of the charging pile 100 channel, the body is placed on the base of the charging pile 100, and the charging electrode of the charging connection assembly is elastically abutted against the charging terminal of the device body to conduct current; the charging connection assembly is rotatably connected to the main body of the charging pile 100, and is in the first state when not charging (the charging electrode faces the entry direction of the mobile cleaning device 200), and rotates to the second state when charging (the charging electrode abuts against the charging terminal of the mobile cleaning device 200).

[0091] The charging pile 100 is equipped with a Hall effect component (also called a sampling unit). The Hall effect component includes a magnet and a Hall plate (also called a Hall sensor). The magnet is mounted on the charging connection component, and the Hall plate is mounted on the main body of the charging pile 100. The magnet can change its position relative to the Hall plate as the charging connection component rotates. Based on the change in the position of the magnet relative to the Hall element, the circuit system containing the Hall element will experience a corresponding current change. Thus, the control module 133 can determine whether the lawnmower has entered the designated charging position of the charging pile 100 based on the current change, and then confirm whether charging has started. The magnet of the Hall effect component moves synchronously with the rotation of the charging connection component, realizing real-time detection of the pressing state. The charging connection component is rotatably connected to the charging pile 100. When the charging pile 100 is not charging, the charging connection component is in the first state, with the electrode facing the direction in which the lawnmower enters, but not limited to the above direction. When the lawnmower is charging, the charging connection component rotates to the second state, at which time the charging terminal abuts against the charging electrode.

[0092] Please see Figure 7 , Figure 7 This is a flowchart illustrating the steps of a charging control method provided in an embodiment of this application.

[0093] Specifically, the charging control method can be used in a charging pile, which includes a first charging electrode, a second charging electrode, a first actuating mechanism, and a second actuating mechanism. The first charging electrode is used to connect to a first charging terminal of a mobile cleaning device, and the second charging electrode is used to connect to a second charging terminal of the mobile cleaning device. The first actuating mechanism and the second actuating mechanism are located at different positions on the charging pile and are configured to change their action in response to contact with the mobile cleaning device.

[0094] like Figure 7 As shown, the charging station includes steps S101 to S103.

[0095] Step S101: Obtain the first sampling signal and the second sampling signal.

[0096] The first sampling signal is obtained by sampling based on the degree of change in the action of the first actuating mechanism, and the second sampling signal is obtained by sampling based on the degree of change in the action of the second actuating mechanism.

[0097] In one embodiment, acquiring a first sampling signal includes: acquiring multiple first sampling signals at preset intervals, and filtering the multiple first sampling signals respectively to obtain a first filtered signal corresponding to the multiple first sampling signals.

[0098] Step S102: Determine the first connection state between the first charging electrode and the first charging terminal based on the first sampling signal, and determine the second connection state between the second charging electrode and the second charging terminal based on the second sampling signal.

[0099] In one embodiment, determining the first connection state between the first charging electrode and the first charging terminal based on the first sampling signal includes: determining the first connection state as a pressed connection when the sampled value of the first sampling signal is less than a preset pressing determination threshold; determining the first connection state as a disconnected connection when the sampled value of the first sampling signal is greater than a preset disconnection determination threshold; and determining the first connection state as a loose connection when the sampled value of the first sampling signal is greater than the disconnection determination threshold and less than the pressing determination threshold.

[0100] In one embodiment, the first sampling signal includes a plurality of first filtered signals corresponding to the first sampling signals; determining the first connection state between the first charging electrode and the first charging terminal based on the first sampling signal includes: determining the first connection state as a pressed connection when the sampled value of the first filtered signal is continuously detected to be less than a preset pressing determination threshold for a set number of consecutive detections; determining the first connection state as a disconnected connection when the sampled value of the first filtered signal is continuously detected to be greater than a preset disconnection determination threshold for a set number of consecutive detections; and determining the first connection state as a loose connection when the sampled value of the first filtered signal is detected to be greater than the disconnection determination threshold and less than the pressing determination threshold.

[0101] Step S103: Control the on / off state of the charging circuit between the charging pile and the mobile cleaning equipment according to the first connection state and the second connection state.

[0102] In one embodiment, controlling the on / off state of the charging circuit between the charging pile and the mobile cleaning device according to the first connection state and the second connection state includes: when it is determined that both the first connection state and the second connection state are pressed connection within a first preset time, outputting a charging enable signal to control the charging circuit between the charging pile and the mobile cleaning device to be turned on; when it is determined that the first connection state and / or the second connection state are disconnected at any time, not outputting a charging enable signal to control the charging circuit between the charging pile and the mobile cleaning device to be turned off.

[0103] In one embodiment, the method further includes: when it is determined that the sampled value of the first sampling signal and / or the sampled value of the second sampling signal are both less than a preset anomaly detection threshold within a second preset time period, outputting a charging restriction signal to restrict the automatic charging of the charging pile and the mobile cleaning device.

[0104] The charging control method provided in the above embodiments can accurately detect the first connection state between the first charging electrode and the first charging terminal and the second connection state between the second charging electrode and the second charging terminal, avoiding problems such as poor charging contact and low charging efficiency caused by inaccurate alignment. It can achieve stable control of the charging process, which helps to improve the safety and stability of charging the mobile cleaning equipment by the charging pile, ensuring that the mobile cleaning equipment can complete charging safely and stably, thereby reducing the risk of equipment damage and safety accidents caused by charging problems.

[0105] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the charging control method described above can be referred to the corresponding process in the aforementioned charging pile embodiments, and will not be repeated here.

[0106] Please refer to Figure 8 , Figure 8 This is a schematic block diagram of a charging system provided in an embodiment of this application.

[0107] like Figure 8 As shown, the charging system 300 includes: a mobile cleaning device 310 and a charging pile 320 as described in the above embodiment. The charging pile 320 is configured to dock with the mobile cleaning device 310 to provide charging power to the mobile cleaning device 310.

[0108] Among them, the mobile cleaning device 310 can be the mobile cleaning device 200 in the above embodiment, and the charging pile 320 can be the charging pile 100 in the above embodiment.

[0109] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the charging system described above can be referred to the corresponding process in the aforementioned charging control method embodiments, and will not be repeated here.

[0110] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can refer to various embodiments of the charging control method provided in this application.

[0111] The computer-readable storage medium can be an internal storage unit of the control device described in the foregoing embodiments, such as the hard disk or memory of the control device. Alternatively, the computer-readable storage medium can be an external storage device of the control device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the control device.

[0112] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0113] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A charging pile, characterized in that, The charging pile includes a first charging electrode, a second charging electrode, and a charging detection device. The first charging electrode is used to connect to a first charging terminal of the mobile cleaning device, and the second charging electrode is used to connect to a second charging terminal of the mobile cleaning device. The mobile cleaning device is configured to charge via the first charging terminal and the second charging terminal after moving to the charging position of the charging pile. The charging detection device includes a first detection module, a second detection module, and a control module; wherein: The first detection module includes a first action mechanism and a first sampling unit. The first action mechanism is configured to change its action as the mobile cleaning device comes into contact with the charging pile. The first sampling unit is configured to sample the degree of change in the action of the first action mechanism to obtain a first sampling signal. The second detection module includes a second action mechanism and a second sampling unit. The second action mechanism is configured to change its action as the mobile cleaning device comes into contact with the charging pile. The second sampling unit is configured to sample the degree of change in the action of the second action mechanism to obtain a second sampling signal. The control module is configured to determine a first connection state between the first charging electrode and the first charging terminal based on the first sampling signal, and to determine a second connection state between the second charging electrode and the second charging terminal based on the second sampling signal; the control module is also configured to control the on / off state of the charging circuit between the charging pile and the mobile cleaning device based on the first connection state and the second connection state.

2. The charging pile according to claim 1, characterized in that, The first actuating mechanism is rotatably connected to the main body of the charging pile, and the first actuating mechanism is configured to rotate relative to the main body of the charging pile in response to the contact action of the mobile cleaning device; and / or The second actuating mechanism is rotatably connected to the main body of the charging pile, and the second actuating mechanism is configured to rotate relative to the main body of the charging pile in response to the contact action of the mobile cleaning device.

3. The charging pile according to claim 2, characterized in that, The first charging electrode is disposed on the first actuating mechanism; after the mobile cleaning device moves to the charging position of the charging pile, the first actuating mechanism rotates relative to the main body of the charging pile so that the first charging terminal is electrically connected to the first charging electrode. and / or The second charging electrode is disposed on the second actuating mechanism; after the mobile cleaning device moves to the charging position of the charging pile, the second actuating mechanism rotates relative to the main body of the charging pile so that the second charging terminal is electrically connected to the second charging electrode.

4. The charging pile according to claim 2, characterized in that, The first sampling unit is fixedly connected to the main body of the charging pile. The first sampling unit is configured to sample the degree of rotation of the first actuating mechanism relative to the main body of the charging pile to obtain a first sampling signal; and / or The second sampling unit is fixedly connected to the main body of the charging pile. The second sampling unit is configured to sample the degree of rotation of the second actuating mechanism relative to the main body of the charging pile to obtain a second sampling signal.

5. The charging pile according to claim 1, characterized in that, The first actuating mechanism includes a first hinge mechanism and a first magnet. The first hinge mechanism is configured to rotate relative to the main body of the charging pile in response to the contact action of the mobile cleaning device. The first magnet is configured to change its relative position with the first sampling unit as the first hinge mechanism rotates. The first sampling unit includes a first Hall sensor and a first ADC sampling circuit. The first Hall sensor is configured to output a first electrical signal in response to a sensed first electromagnetic signal, and the first ADC sampling circuit is configured to output a first ADC value as a first sampling signal based on the first electrical signal.

6. The charging pile according to claim 1, characterized in that, The second actuating mechanism includes a second hinge mechanism and a second magnet. The second hinge mechanism is configured to rotate relative to the main body of the charging pile in response to the contact action of the mobile cleaning device. The second magnet is configured to change its relative position with the second sampling unit as the second hinge mechanism rotates. The second sampling unit includes a second Hall sensor and a second ADC sampling circuit. The second Hall sensor is configured to output a second electrical signal in response to a sensed second electromagnetic signal, and the second ADC sampling circuit is configured to output a second ADC value as a second sampling signal based on the second electrical signal.

7. The charging pile according to any one of claims 1-6, characterized in that, The control module is configured as follows: When the sampled value of the first sampling signal is detected to be less than the preset compression determination threshold, the first connection state is determined to be a compression connection. When the sampled value of the first sampled signal is detected to be greater than the preset disconnection determination threshold, the first connection state is determined to be disconnected. When the sampled value of the first sampling signal is detected to be greater than the disengagement determination threshold and less than the compression determination threshold, the first connection state is determined to be a virtual insertion connection.

8. The charging pile according to any one of claims 1-6, characterized in that, The control module is configured as follows: Multiple first sampling signals are acquired at preset intervals, and the multiple first sampling signals are filtered respectively to obtain the first filtered signals corresponding to the multiple first sampling signals; When the sampled value of the first filtered signal is continuously detected to be less than the preset compression determination threshold for a set number of times, the first connection state is determined to be a compression connection. When the sample value of the first filtered signal is continuously detected to be greater than the preset disconnection determination threshold for a set number of consecutive times, the first connection state is determined to be disconnected. When the sampled value of the first filtered signal is detected to be greater than the disengagement determination threshold and less than the compression determination threshold, the first connection state is determined to be a virtual insertion connection.

9. The charging pile according to any one of claims 1-6, characterized in that, When the control module determines that both the first connection state and the second connection state are press-fitted connections within a first preset time period, it outputs a charging enable signal to control the charging circuit between the charging pile and the mobile cleaning device to be connected. When the control module determines that the first connection state and / or the second connection state is disconnected at any time, it does not output the charging enable signal to control the charging circuit between the charging pile and the mobile cleaning device to be turned off.

10. The charging pile according to any one of claims 1-6, characterized in that, When the control module determines that the sampled value of the first sampling signal and / or the sampled value of the second sampling signal are both less than a preset abnormal detection threshold within a second preset time period, it outputs a charging restriction signal to restrict the automatic charging of the charging pile and the mobile cleaning device.

11. A charging system, characterized in that, It includes a mobile cleaning device and a charging pile as described in any one of claims 1 to 10; the charging pile is configured to dock with the mobile cleaning device to provide charging power to the mobile cleaning device.

12. A charging control method, characterized in that, A charging pile is used, the charging pile including a first charging electrode, a second charging electrode, a first actuating mechanism, and a second actuating mechanism. The first charging electrode is used to connect to a first charging terminal of a mobile cleaning device, and the second charging electrode is used to connect to a second charging terminal of the mobile cleaning device. The first actuating mechanism and the second actuating mechanism are disposed at different positions on the charging pile and are configured to generate a change in action in response to contact with the mobile cleaning device. The method includes: A first sampling signal and a second sampling signal are acquired. The first sampling signal is obtained by sampling based on the degree of change in the action of the first actuating mechanism, and the second sampling signal is obtained by sampling based on the degree of change in the action of the second actuating mechanism. The first connection state between the first charging electrode and the first charging terminal is determined based on the first sampling signal, and the second connection state between the second charging electrode and the second charging terminal is determined based on the second sampling signal. Based on the first connection state and the second connection state, the connection between the charging pile and the mobile cleaning device is controlled.

13. The charging control method according to claim 12, characterized in that, Determining the first connection state between the first charging electrode and the first charging terminal based on the first sampling signal includes: When the sampled value of the first sampling signal is detected to be less than the preset compression determination threshold, the first connection state is determined to be a compression connection. When the sampled value of the first sampled signal is detected to be greater than the preset disconnection determination threshold, the first connection state is determined to be disconnected. When the sampled value of the first sampling signal is detected to be greater than the disengagement determination threshold and less than the compression determination threshold, the first connection state is determined to be a virtual insertion connection.

14. The charging control method according to claim 12, characterized in that, Acquiring the first sampled signal includes: Multiple first sampling signals are acquired at preset intervals, and the multiple first sampling signals are filtered respectively to obtain the first filtered signals corresponding to the multiple first sampling signals; The step of determining the first connection state between the first charging electrode and the first charging terminal based on the first sampling signal includes: When the sampled value of the first filtered signal is continuously detected to be less than the preset pressing determination threshold for a set number of times, the first connection state is determined to be a pressing connection. When the sampled value of the first filtered signal is continuously detected to be greater than the preset disconnection determination threshold for a set number of times, the first connection state is determined to be disconnected. When the sampled value of the first filtered signal is detected to be greater than the disengagement determination threshold and less than the compression determination threshold, the first connection state is determined to be a virtual insertion connection.

15. The charging control method according to claim 12, characterized in that, The step of controlling the connection and disconnection of the charging circuit between the charging pile and the mobile cleaning device according to the first connection state and the second connection state includes: When both the first connection state and the second connection state are pressed connection within a first preset time period, a charging enable signal is output to control the charging circuit of the charging pile and the mobile cleaning device to be connected. When the first connection state and / or the second connection state is determined to be disconnected at any given time, the charging enable signal is not output to control the charging circuit between the charging pile and the mobile cleaning device to be shut down. When the sampled value of the first sampling signal and / or the sampled value of the second sampling signal are both less than a preset anomaly detection threshold within a second preset time period, a charging restriction signal is output to restrict the automatic charging of the charging pile and the mobile cleaning device.

Images