Charging device, charging terminal, and robot system

Abstract

The application provides a charging device, a charging terminal and a robot system, relates to the technical field of robot technology, and comprises a first charging circuit, a first interaction circuit and a first handshake circuit; the first end of the first charging circuit and the first end of the first interaction circuit are connected with the first end of the first handshake circuit; the second end of the first interaction circuit is connected with the second end of the first charging circuit; the first handshake circuit is used for triggering the signal interaction between the first interaction circuit and the charging terminal after the second end responds to the handshake action of the charging terminal; the first interaction circuit is used for performing signal interaction with the charging terminal, forming a charging signal and sending the charging signal to the first charging circuit; and the first charging circuit is used for responding to the charging signal, sending the current to the charging terminal through the first handshake circuit and charging. The safety of the charging device can be improved through the scheme in the embodiment of the application.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a charging device, a charging terminal, and a robot system. Background Technology

[0002] The health monitoring robot can move freely in the home environment. It can measure and monitor various parameters such as the user's vital signs, blood oxygen, blood pressure, respiratory rate, ECG, body temperature, and sleep status, and proactively issue warnings, thus enabling care and support for the elderly. The robot is powered by a lithium battery and can operate on standby for 8 hours. When the battery is low, the robot will autonomously return to its charging dock. The robot has two electrode plates, and the charging dock also has two electrode plates at the same height. When the robot approaches the dock, the electrode plates will contact it for charging. However, when the charging dock's electrode plates are pressed together by external force, it begins to supply power, and cannot distinguish whether the object approaching the dock is the robot itself. If a user or other object presses against the charging dock, the charging dock will also output current, potentially causing electric shock or short circuit accidents, making the charging dock less safe. Summary of the Invention

[0003] The present application provides a charging device, charging terminal, and robot system that can improve the safety of charging piles.

[0004] The technical solution of this application is implemented as follows:

[0005] This application provides a charging device, including: a first charging circuit, a first interaction circuit, and a first handshake circuit; a first terminal of the first charging circuit and a first terminal of the first interaction circuit are both connected to the first terminal of the first handshake circuit; a second terminal of the first interaction circuit is connected to the second terminal of the first charging circuit.

[0006] The first handshake circuit is used to trigger signal interaction between the first interaction circuit and the charging terminal after the second terminal responds to the handshake action of the charging terminal;

[0007] The first interactive circuit is used to interact with the charging terminal to generate a charging signal and send it to the first charging circuit.

[0008] The first charging circuit is used to respond to the charging signal and send current to the charging terminal for charging through the first handshake circuit.

[0009] In the above scheme, the third terminal of the first handshake circuit is connected to the first interaction circuit;

[0010] The first handshake circuit is used to send an interaction signal to the first interaction circuit after the second terminal responds to the handshake action of the charging terminal.

[0011] The first interaction circuit is used to respond to the interaction signal, send a request signal to the charging terminal through the first handshake circuit, and receive a response signal from the charging terminal in response to the request signal through the first handshake circuit, and generate a charging signal in response to the response signal and send it to the first charging circuit.

[0012] In the above scheme, the first interactive circuit includes: a first controller and a first signal processing circuit; a first terminal of the first controller is connected to a second terminal of the first charging circuit, a second terminal of the first controller is connected to a first terminal of the first signal processing circuit, a third terminal of the first controller is connected to a third terminal of the first handshake circuit, a fourth terminal of the first controller is connected to a second terminal of the first signal processing circuit, and a third terminal of the first signal processing circuit is connected to a first terminal of the first handshake circuit.

[0013] The first controller is configured to receive and respond to the interaction signal via a third terminal, and control the first signal processing circuit to send the request signal to the charging terminal via the first handshake circuit.

[0014] The first signal processing circuit is used to receive the response signal fed back by the charging terminal in response to the request signal through the first handshake circuit, and to process the response signal and send it to the first controller;

[0015] The first controller is configured to generate the charging signal in response to the response signal and send it to the first charging circuit.

[0016] In the above scheme, the first signal processing circuit includes: a first capacitor, a first multiplexer, and a first modulation and demodulation circuit; the first end of the first capacitor is connected to the first end of the first handshake circuit, the second end of the first capacitor is connected to the output end of the first multiplexer, the input end of the first multiplexer is connected to the first end of the first modulation and demodulation circuit, the second end of the first modulation and demodulation circuit is connected to the second end of the first controller; the control end of the first multiplexer is connected to the fourth end of the first controller.

[0017] The first controller is configured to receive and respond to the interactive signal, generate a low-frequency signal and send it to the first modulation and demodulation circuit, and control the first multiplexing switch to turn on.

[0018] The first modulation and demodulation circuit is used to convert the low-frequency signal into the high-frequency request signal and send it to the first multiplexing switch;

[0019] The first multiplexer switch is used to send the request signal to the first capacitor;

[0020] The first capacitor is used to send the request signal to the first handshake circuit, receive the response signal, and send the response signal to the first multiplexer.

[0021] The first multiplexing switch is used to send the response signal to the first modulation and demodulation circuit;

[0022] The first modulation and demodulation circuit is used to convert the response signal into a low-frequency response signal and send it to the first controller.

[0023] In the above scheme, the first modulation and demodulation circuit includes: a first modulation circuit and a first demodulation circuit; the first input terminal of the first multiplex switch is connected to the first terminal of the first modulation circuit, and the second terminal of the first modulation circuit is connected to the output terminal of the first controller; the second input terminal of the first multiplex switch is connected to the first terminal of the first demodulation circuit, and the second terminal of the first demodulation circuit is connected to the input terminal of the first controller.

[0024] The first controller is configured to receive and respond to the interaction signal, generate the low-frequency signal and send it to the first modulation circuit, and control the first input terminal of the first multiplexer to be turned on.

[0025] The first modulation circuit is used to convert the low-frequency signal into the high-frequency request signal and send it to the first multiplexing switch;

[0026] The first multiplexer switch is used to send the request signal to the first capacitor;

[0027] The first capacitor is used to send the request signal to the first handshake circuit, receive the response signal, and send the response signal to the first multiplexer.

[0028] The first controller is configured to turn on the second input terminal of the first multiplexer after the request signal is issued;

[0029] The first multiplexing switch is used to send the response signal to the first demodulation circuit;

[0030] The first demodulation circuit is used to convert the response signal into a low-frequency response signal and send it to the first controller.

[0031] In the above scheme, the first charging circuit includes: a switching circuit and a charging detection circuit; the first end of the switching circuit is connected to the first end of the first handshake circuit, the second end of the switching circuit is connected to the second end of the first interaction circuit, the third end of the switching circuit is connected to the first end of the charging detection circuit, and the second end of the charging detection circuit is connected to an AC power source.

[0032] The charging detection circuit is used to convert AC power into DC power signal and send it to the switching circuit;

[0033] The switching circuit is used to respond to the charging signal and send the current of the DC signal to the charging terminal through the first handshake circuit.

[0034] In the above scheme, the switching circuit includes: a first diode, a P-type transistor, an N-type transistor, a first resistor, and a second resistor; the first terminal of the first diode is connected to the first terminal of the first handshake circuit, the second terminal of the first diode is connected to the first terminal of the P-type transistor, the second terminal of the P-type transistor is connected to the first terminal of the charging detection circuit, the control terminal of the P-type transistor is connected to the first terminal of the first resistor, the second terminal of the first resistor is connected to the first terminal of the charging detection circuit, the first terminal of the N-type transistor is grounded, the second terminal of the N-type transistor is connected to the first terminal of the second resistor, the second terminal of the second resistor is connected to the first terminal of the first resistor, and the control terminal of the N-type transistor is connected to the second terminal of the first interaction circuit.

[0035] The N-type transistor is used to disconnect when the charging signal is not received, so that the control terminal of the P-type transistor receives a high-level signal;

[0036] The P-type transistor is used to disconnect under the action of the high-level signal;

[0037] The N-type transistor is turned on when the charging signal is received, so that the control terminal of the P-type transistor receives a low-level signal.

[0038] The P-type transistor is used to turn on under the action of the low-level signal, and send the current of the DC signal to the charging terminal through the first handshake circuit.

[0039] In the above scheme, the charging detection circuit includes: a charging module and a current detection sensor; the first end of the current detection sensor is connected to the third end of the switching circuit, the second end of the current detection sensor is connected to the first end of the charging module, and the second end of the charging module is connected to the AC power supply;

[0040] The charging module is used to convert AC power into DC power signal and send it to the current detection sensor;

[0041] The current detection sensor is used to send the DC signal to the switching circuit when the DC signal detection is normal.

[0042] In the above scheme, the third terminal of the charging module and the third terminal of the current detection sensor are both connected to the first controller;

[0043] The current detection sensor is used to send a first abnormal signal to the first controller when an abnormality is detected in the DC signal.

[0044] The first controller is used to respond to the first abnormal signal and block the DC signal output of the charging module.

[0045] This application embodiment also provides a charging terminal, including: a second charging circuit, a second interaction circuit, a second handshake circuit, and a battery; a first terminal of the second charging circuit and a first terminal of the second interaction circuit are both connected to the first terminal of the second handshake circuit; a second terminal of the second interaction circuit is connected to the second terminal of the second charging circuit; and a third terminal of the second charging circuit is connected to the battery.

[0046] The second handshake circuit is used to trigger the signal interaction between the second interaction circuit and the charging device after the second terminal responds to the handshake action of the charging device;

[0047] The second interactive circuit is used to interact with the charging device via signals;

[0048] The second charging circuit is used to receive the current sent by the charging device through the second handshake circuit to charge the battery; wherein, after interacting with the second interaction circuit, the charging device sends current to the second handshake circuit.

[0049] In the above scheme, the second interaction circuit is used to receive a request signal through the second handshake circuit, and respond to the request signal to form a response signal, and feed back the response signal to the charging device through the second handshake circuit; wherein, the charging device responds to the response signal and sends current to the second handshake circuit.

[0050] In the above scheme, the second interaction circuit includes: a second controller and a second signal processing circuit; the first terminal of the second controller is connected to the second terminal of the second charging circuit, the second terminal of the second controller is connected to the first terminal of the second signal processing circuit, the third terminal of the second controller is connected to the second terminal of the second signal processing circuit, and the third terminal of the second signal processing circuit is connected to the first terminal of the second handshake circuit.

[0051] The second signal processing circuit is used to receive the request signal through the second handshake circuit and send the request signal to the second controller;

[0052] The second controller is configured to generate a response signal in response to the request signal and send it to the second signal processing circuit;

[0053] The second signal processing circuit is used to send the response signal to the charging device through the second handshake circuit.

[0054] In the above scheme, the second signal processing circuit includes: a second capacitor, a second multiplex switch, and a second modulation and demodulation circuit; the first end of the second capacitor is connected to the first end of the second handshake circuit, the second end of the second capacitor is connected to the output end of the second multiplex switch, the input end of the second multiplex switch is connected to the first end of the second modulation and demodulation circuit, the second end of the second modulation and demodulation circuit is connected to the second end of the second controller; the control end of the second multiplex switch is connected to the third end of the first controller.

[0055] The second capacitor is used to receive the request signal through the second handshake circuit and send the request signal to the second multiplex switch;

[0056] The second multiplexing switch is used to send the request signal to the second modulation and demodulation circuit;

[0057] The second modulation and demodulation circuit is used to convert the request signal into a low-frequency request signal and send it to the second controller;

[0058] The second controller is configured to generate a response signal in response to the request signal and send it to the second modulation and demodulation circuit;

[0059] The second modulation and demodulation circuit is used to convert the response signal into a high-frequency response signal and send it to the second multiplexing switch;

[0060] The second multiplexer switch is used to send the response signal to the second capacitor;

[0061] The second capacitor is used to send the response signal to the charging device through the second handshake circuit.

[0062] In the above scheme, the second modulation and demodulation circuit includes: a second modulation circuit and a second demodulation circuit; the first input terminal of the second multiplex switch is connected to the first terminal of the second modulation circuit, and the second terminal of the second modulation circuit is connected to the output terminal of the second controller; the second input terminal of the second multiplex switch is connected to the first terminal of the second demodulation circuit, and the second terminal of the second demodulation circuit is connected to the input terminal of the second controller.

[0063] The second controller is configured to turn on the second input terminal of the second multiplex switch after the charging terminal receives the request signal;

[0064] The second demodulation circuit is used to convert the request signal into a low-frequency request signal and send it to the second controller;

[0065] The second controller is configured to generate a response signal in response to the request signal and send it to the second modulation circuit, and to control the first input terminal of the second multiplex switch to be turned on;

[0066] The second modulation circuit is used to convert the response signal into a high-frequency response signal and send it to the second multiplexing switch;

[0067] The second multiplexer is used to send the response signal to the second capacitor.

[0068] In the above scheme, the second charging circuit includes: a second diode, a low-pass filter, and a current sensor; the first end of the second diode is connected to the first end of the second handshake circuit, the second end of the second diode is connected to the first end of the low-pass filter, the second end of the low-pass filter is connected to the first end of the current sensor, and the second end of the current sensor is connected to the first end of the battery.

[0069] The second diode is used to send a DC signal to the low-pass filter;

[0070] The low-pass filter is used to send a DC signal to the current sensor;

[0071] The current sensor is used to send the DC signal to the battery for charging when the DC signal is detected to be normal.

[0072] The above solution also includes: a power conversion module; the second terminal of the battery is connected to the first terminal of the power conversion module; the third terminal of the current sensor and the second terminal of the power conversion module are both connected to the second controller;

[0073] The current sensor is used to send a second abnormal signal to the second controller when an abnormality is detected in the DC signal.

[0074] The second controller is used to respond to the second abnormal signal by blocking battery charging through the power conversion module.

[0075] This application also provides a robot system, including the charging device and the charging terminal described above.

[0076] The charging device in this embodiment includes: a first charging circuit, a first interaction circuit, and a first handshake circuit; a first terminal of the first charging circuit and a first terminal of the first interaction circuit are both connected to the first terminal of the first handshake circuit; a second terminal of the first interaction circuit is connected to the second terminal of the first charging circuit; the first handshake circuit is used to trigger signal interaction between the first interaction circuit and the charging terminal after the second terminal responds to the handshake action of the charging terminal; the first interaction circuit is used to interact with the charging terminal to form a charging signal and send it to the first charging circuit; the first charging circuit is used to respond to the charging signal and send current to the charging terminal for charging through the first handshake circuit. Thus, even if the first handshake circuit of the charging device is triggered by another user or object, since the other object or user cannot interact with the first interaction circuit in the charging device, the first interaction circuit will not form a charging signal, thereby preventing the first charging circuit from transmitting current to the first handshake circuit. Therefore, it can effectively prevent electric shock and short circuits, improving the safety of the charging device. Attached Figure Description

[0077] Figure 1 A block diagram of a charging device provided in an embodiment of this application;

[0078] Figure 2 A block diagram of a charging device provided in an embodiment of this application;

[0079] Figure 3 A block diagram of a charging device provided in an embodiment of this application;

[0080] Figure 4 A block diagram of a charging device provided in an embodiment of this application;

[0081] Figure 5 This is a schematic diagram of the structure of the charging device provided in the embodiments of this application;

[0082] Figure 6 A block diagram of a charging device provided in an embodiment of this application;

[0083] Figure 7 A block diagram of a charging device provided in an embodiment of this application;

[0084] Figure 8 A block diagram of a charging device provided in an embodiment of this application;

[0085] Figure 9 This is a schematic diagram of the structure of the charging device provided in the embodiments of this application;

[0086] Figure 10 This is a schematic diagram of the structure of the charging device and charging terminal provided in the embodiments of this application;

[0087] Figure 11 This is a schematic diagram illustrating the charging dynamics of the charging device provided in the embodiments of this application;

[0088] Figure 12 A schematic diagram illustrating the charging dynamics of the charging device and charging terminal provided in the embodiments of this application;

[0089] Figure 13 A block diagram of a robot system provided in an embodiment of this application;

[0090] Figure 14 A block diagram of the robot provided in an embodiment of this application;

[0091] Figure 15 This is a schematic diagram of the charging method provided in an embodiment of this application. Detailed Implementation

[0092] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0093] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0094] If the application documents contain similar descriptions such as "first / second", the following explanation shall be added: In the following description, the terms "first / second / third" are used only to distinguish similar objects and do not represent a specific order of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0095] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0096] In related technologies, the robot uses a 24V battery, with the battery voltage fluctuating between 19V and 29.2V. The voltage range between the charging pile electrodes also fluctuates between 19V and 29.2V. According to national standards, voltages below 24V are considered extra-low voltage for safety, while voltages above 24V require protective measures to prevent direct contact with live parts. Currently, the robot charging design is as follows: the electrodes on the charging pile have a 2cm elastic range and are normally uncharged. When the robot approaches the charging pile, it presses against the electrodes, causing the charging plates to move inwards, triggering a positioning switch within the charging pile. The electrodes then become energized, charging the robot. The main drawback of this current method is that the charging pile electrodes begin to supply power when pressed by external force, without being able to identify whether the object approaching the pile is the robot itself. If a user or other object presses on the charging pile, it will also supply power, potentially causing electric shock or a short circuit.

[0097] Please see Figure 1 This is a block diagram of the charging device provided in an embodiment of this application.

[0098] This application provides a charging device 10, including: a first charging circuit 100, a first interaction circuit 200, and a first handshake circuit 300; the first end of the first charging circuit 100 and the first end of the first interaction circuit 200 are both connected to the first end of the first handshake circuit 300; the second end of the first interaction circuit 200 is connected to the second end of the first charging circuit 100.

[0099] The first handshake circuit 300 is used to trigger signal interaction between the first interaction circuit 200 and the charging terminal 20 after the second terminal responds to the handshake action of the charging terminal 20;

[0100] The first interactive circuit 200 is used to interact with the charging terminal 20 to generate a charging signal and send it to the first charging circuit 100.

[0101] The first charging circuit 100 is used to respond to the charging signal and send current to the charging terminal 20 through the first handshake circuit 300 for charging.

[0102] The signal interaction between the first interactive circuit 200 and the charging terminal 20 may include: the first interactive circuit 200 actively sending a request signal to the charging terminal 20 and then receiving a response signal from the charging terminal 20. Alternatively, the charging terminal 20 actively sending a request signal to the first interactive circuit 200 of the charging device 10, and the first interactive circuit 200 feeding back a response signal to the charging terminal 20.

[0103] In this way, even if the first handshake circuit 300 of the charging device 10 is triggered by another user or object to perform a handshake action, since the other object or user cannot interact with the first interaction circuit 200 in the charging device 10, the first interaction circuit 200 will not generate a charging signal, thereby preventing the first charging circuit 100 from transmitting current to the first handshake circuit 300. Therefore, it can effectively prevent the user from being electrocuted and short-circuited, and improve the safety of the charging device 10.

[0104] Please see Figure 2 This is a block diagram of the charging device provided in an embodiment of this application.

[0105] In this embodiment of the application, the third terminal of the first handshake circuit 300 is connected to the first interaction circuit 200;

[0106] The first handshake circuit 300 is used to send an interaction signal to the first interaction circuit 200 after the second terminal responds to the handshake action of the charging terminal 20;

[0107] The first interactive circuit 200 is used to respond to the interactive signal, send a request signal to the charging terminal 20 through the first handshake circuit 300, and receive a response signal from the charging terminal 20 in response to the request signal through the first handshake circuit 300, and generate a charging signal in response to the response signal and send it to the first charging circuit 100.

[0108] In this way, even if the first handshake circuit 300 of the charging device 10 is triggered by another user or object to perform a handshake action, since the other object or user cannot receive the request signal sent by the charging device 10 and respond with a response signal, the first interaction circuit 20 will not generate a charging signal, thereby preventing the first charging circuit 200 from transmitting current to the first handshake circuit 300. Therefore, it can effectively prevent the user from being electrocuted and short-circuited, thus improving the safety of the charging device 10.

[0109] Please see Figure 3 This is a block diagram of the charging device provided in an embodiment of this application.

[0110] In this embodiment of the application, the first interactive circuit 200 includes: a first controller 210 and a first signal processing circuit 220; a first terminal of the first controller 210 is connected to a second terminal of the first charging circuit 100, a second terminal of the first controller 210 is connected to a first terminal of the first signal processing circuit 220, a third terminal of the first controller 210 is connected to a third terminal of the first handshake circuit 300, a fourth terminal of the first controller 210 is connected to a second terminal of the first signal processing circuit 220, and a third terminal of the first signal processing circuit 220 is connected to a first terminal of the first handshake circuit 300;

[0111] The first controller 210 is configured to receive and respond to the interaction signal via a third terminal, and control the first signal processing circuit 220 to send the request signal to the charging terminal 20 via the first handshake circuit 300.

[0112] The first signal processing circuit 220 is used to receive the response signal fed back by the charging terminal 20 in response to the request signal through the first handshake circuit 300, and to process the response signal and send it to the first controller 210;

[0113] The first controller 210 is configured to generate the charging signal in response to the response signal and send it to the first charging circuit 100.

[0114] The first controller can be a microcontroller unit (MCU).

[0115] In this way, even if the first handshake circuit 300 of the charging device 10 is triggered by another user or object to perform a handshake action, the first controller 210 will receive an interaction signal and the first signal processing circuit 220 will not receive a response signal after sending a request signal. Therefore, the first controller 210 will not generate a charging signal and will not be able to output current. This can effectively prevent users from being electrocuted and short-circuited, thus improving the safety of the charging device 10.

[0116] Please see Figure 4 This is a block diagram of the charging device provided in an embodiment of this application.

[0117] In this embodiment, the first signal processing circuit 220 includes: a first capacitor C1, a first multiplexer 222, and a first modulation / demodulation circuit 221; the first end of the first capacitor C1 is connected to the first end of the first handshake circuit 300, the second end of the first capacitor C1 is connected to the output end of the first multiplexer 222, the input end of the first multiplexer 222 is connected to the first end of the first modulation / demodulation circuit 221, the second end of the first modulation / demodulation circuit 221 is connected to the second end of the first controller 210; the control end of the first multiplexer 222 is connected to the fourth end of the first controller 210.

[0118] The first controller 210 is used to receive and respond to the interaction signal, form a low-frequency signal and send it to the first modulation and demodulation circuit 221, and control the first multiplexing switch 222 to be turned on.

[0119] The first modulation and demodulation circuit 221 is used to convert the low-frequency signal into the high-frequency request signal and send it to the first multiplexing switch 222;

[0120] The first multiplexer 222 is used to send the request signal to the first capacitor C1;

[0121] The first capacitor C1 is used to send the request signal to the first handshake circuit 300, receive the response signal, and send the response signal to the first multiplexer 222;

[0122] The first multiplexing switch 222 is used to send the response signal to the first modulation and demodulation circuit 221;

[0123] The first modulation and demodulation circuit 221 is used to convert the response signal into a low-frequency response signal and send it to the first controller 210.

[0124] In this embodiment, connecting the first terminal of the first handshake circuit 300 to the first capacitor C1 effectively prevents DC power from flowing to the first interactive circuit 200 during charging. Furthermore, by processing the signal through the first modulation and demodulation circuit 221, the signal flowing through the first capacitor C1 is always a high-frequency signal, and the signal flowing to the first controller 210 is always a low-frequency signal, ensuring the accuracy of signal flow and preventing short circuits on one side of the charging device 10 during charging.

[0125] Please see Figure 5 This is a schematic diagram of the charging device provided in the embodiments of this application.

[0126] In this embodiment, the first modulation and demodulation circuit 221 includes a first modulation circuit 2211 and a first demodulation circuit 2212; the first input terminal A of the first multiplexer 222 is connected to the first terminal of the first modulation circuit 2211, and the second terminal of the first modulation circuit 2211 is connected to the output terminal of the first controller 210; the second input terminal B of the first multiplexer 222 is connected to the first terminal of the first demodulation circuit 2212, and the second terminal of the first demodulation circuit 2212 is connected to the input terminal of the first controller 210;

[0127] The first controller 210 is used to receive and respond to the interaction signal, form the low-frequency signal and send it to the first modulation circuit 2211, and control the first input terminal A of the first multiplex switch 222 to be turned on.

[0128] The first modulation circuit 2211 is used to convert the low-frequency signal into the high-frequency request signal and send it to the first multiplexing switch 222;

[0129] The first multiplexer 222 is used to send the request signal to the first capacitor C1;

[0130] The first capacitor C1 is used to send the request signal to the first handshake circuit 300, receive the response signal, and send the response signal to the first multiplexer 222;

[0131] The first controller 210 is configured to control the second input terminal B of the first multiplex switch 222 to be turned on after the request signal is issued;

[0132] The first multiplexing switch 222 is used to send the response signal to the first demodulation circuit 2212;

[0133] The first demodulation circuit 2212 is used to convert the response signal into a low-frequency response signal and send it to the first controller 210.

[0134] The first modulation and demodulation circuit 221 is used to convert the input digital frequency band signal into a signal form suitable for transmission and restore it at the receiving end. Modulation is the process of controlling the change of one or more parameters of the carrier signal with the baseband signal to form a modulated signal for transmission. In this embodiment, the first modulation circuit 2211 is used to convert the low-frequency signal into a high-frequency signal. Demodulation is the reverse process of modulation, recovering the original baseband signal from the parameter changes of the modulated signal through specific methods. In this embodiment, the first demodulation circuit 2212 is used to convert the high-frequency signal into a low-frequency signal.

[0135] In this embodiment, connecting the first terminal of the first handshake circuit 300 to the first capacitor C1 effectively prevents DC power from flowing to the first interactive circuit 200 during charging. Furthermore, the first modulation circuit 2211 processes the signal to ensure that the signal flowing through the first capacitor C1 is always a high-frequency signal, and the first demodulation circuit 2212 processes the signal to ensure that the signal flowing to the first controller 210 is always a low-frequency signal. This ensures the accuracy of the signal flow and prevents a short circuit on one side of the charging device 10 during charging.

[0136] Please see Figure 5 This is a schematic diagram of the charging device provided in the embodiments of this application.

[0137] In this embodiment of the application, the first charging circuit includes: a switching circuit 110 and a charging detection circuit 120; the first terminal of the switching circuit 110 is connected to the first terminal of the first handshake circuit 300, the second terminal of the switching circuit 110 is connected to the second terminal of the first interaction circuit 200, the third terminal of the switching circuit 110 is connected to the first terminal of the charging detection circuit 120, and the second terminal of the charging detection circuit 120 is connected to an AC power source.

[0138] The charging detection circuit 120 is used to convert AC power into DC power signal and send it to the switching circuit 110;

[0139] The switching circuit 110 is used to respond to the charging signal and send the current of the DC signal to the charging terminal through the first handshake circuit 300.

[0140] In this embodiment, the charging device 10 only generates a charging signal and begins charging after sending a request signal to the charging terminal 20 and receiving a response signal. Therefore, if other objects or users trigger a handshake action, the switching circuit 110 will not conduct because it cannot complete the signal interaction and has no response signal. Consequently, no current will be output from the charging device 10 side, which improves the safety of the charging device.

[0141] Please see Figure 5 This is a schematic diagram of the charging device provided in the embodiments of this application.

[0142] In this embodiment, the switching circuit 120 includes: a first diode D1, a P-type transistor PMOS, an N-type transistor NMOS, a first resistor R1, and a second resistor R2; the first terminal of the first diode D1 is connected to the first terminal of the first handshake circuit 300, the second terminal of the first diode D1 is connected to the first terminal of the P-type transistor PMOS, the second terminal of the P-type transistor PMOS is connected to the first terminal of the charging detection circuit 120, the control terminal of the P-type transistor PMOS is connected to the first terminal of the first resistor R1, the second terminal of the first resistor R1 is connected to the first terminal of the charging detection circuit 120, the first terminal of the N-type transistor NMOS is grounded, the second terminal of the N-type transistor NMOS is connected to the first terminal of the second resistor R2, the second terminal of the second resistor R2 is connected to the first terminal of the first resistor R1, and the control terminal of the N-type transistor NMOS is connected to the second terminal of the first interactive circuit 200;

[0143] The N-type transistor NMOS is used to disconnect when the charging signal is not received, so that the control terminal of the P-type transistor PMOS receives a high-level signal;

[0144] The P-type transistor PMOS is used to disconnect under the action of the high-level signal;

[0145] The N-type transistor NMOS is used to turn on when receiving the charging signal, so that the control terminal of the P-type transistor PMOS receives a low-level signal.

[0146] The P-type transistor PMOS is used to turn on under the action of the low-level signal, and send the current of the DC signal to the charging terminal 200 through the first handshake circuit 300.

[0147] In this embodiment, the charging device 10 only generates a charging signal after sending a request signal to the charging terminal 20 and receiving a response signal, ensuring that the P-type transistor PMOS is turned on for charging. Therefore, if other objects or users trigger a handshake action, the N-type transistor NMOS will not turn on due to the inability to complete signal interaction, and the P-type transistor PMOS will be turned off. Consequently, no current will be output from the charging device 10 side, improving the safety of the charging device 10.

[0148] Please see Figure 5 This is a schematic diagram of the charging device provided in the embodiments of this application.

[0149] In this embodiment of the application, the charging detection circuit 120 includes: a charging module 121 and a current detection sensor 122; the first end of the current detection sensor 122 is connected to the third end of the switching circuit 110, the second end of the current detection sensor 122 is connected to the first end of the charging module 121, and the second end of the charging module 121 is connected to the AC power supply.

[0150] The charging module 121 is used to convert AC power into DC power signal and send it to the current detection sensor 122;

[0151] The current detection sensor 122 is used to send the DC signal to the switching circuit 110 when the DC signal detection is normal.

[0152] In this embodiment, the current detection sensor 122 is used to send the DC signal to the switching circuit 110 when the DC signal detection is normal. This allows for the detection of the output current during charging, and enables rapid and targeted blocking of the output current when an abnormality occurs, preventing accidents.

[0153] Please see Figure 5 This is a schematic diagram of the charging device provided in the embodiments of this application.

[0154] The third terminal of the charging module 121 and the third terminal of the current detection sensor 122 are both connected to the first controller 210.

[0155] The current detection sensor 122 is used to send a first abnormal signal to the first controller 210 when an abnormality is detected in the DC signal.

[0156] The first controller 210 is used to respond to the first abnormal signal and block the DC signal output of the charging module 121.

[0157] In this embodiment, since the current detection sensor 122 can detect DC signals, it can block the DC signal output of the charging module 121 when the DC signal is abnormal. Thus, when the output voltage is high, the charging operation can be directly stopped, ensuring the safety of the user and the charging terminal 20.

[0158] Please see Figure 5 This is a schematic diagram of the charging device provided in the embodiments of this application.

[0159] In this embodiment, the first handshake circuit 300 includes: a positive terminal 310 of a first electrode plate, a negative terminal 320 of a first electrode plate, and a position detection switch 330; the positive terminal 310 and the negative terminal 320 of the first electrode plate are spaced apart by a predetermined distance, and the negative terminal 320 of the first electrode plate is grounded; the second ends of the positive terminal 310 and the negative terminal 320 of the first electrode plate face the charging terminal 20, and the first ends of the positive terminal 310 and the negative terminal 320 of the first electrode plate face the position detection switch 330, and the first end of the positive terminal 310 of the first electrode plate serves as the first end of the first handshake circuit 300.

[0160] The positive end 310 and the negative end 320 of the first electrode plate are used to respond to the handshake action of the charging terminal 20 and trigger the position detection switch 330.

[0161] The position detection switch 330 is used to send an interactive signal to the first controller 210 after being triggered.

[0162] The interaction signal sent by the position detection switch 330 needs to be processed by level conversion before being sent to the first controller 210.

[0163] The handshake action of the charging terminal 20 in response to the positive end 310 and the negative end 320 of the first electrode sheet may include: the electrode sheet of the charging terminal 20 pressing the positive end 310 and the negative end 320 of the first electrode sheet.

[0164] Please see Figure 6 This is a block diagram of the charging device provided in an embodiment of this application.

[0165] This application provides a charging terminal, including: a second charging circuit 400, a second interaction circuit 500, a second handshake circuit 600, and a battery 700; the first terminal of the second charging circuit 400 and the first terminal of the second interaction circuit 500 are both connected to the first terminal of the second handshake circuit 600; the second terminal of the second interaction circuit 500 is connected to the second terminal of the second charging circuit 400; and the third terminal of the second charging circuit 400 is connected to the battery 700.

[0166] The second handshake circuit 600 is used to trigger the signal interaction between the second interaction circuit 500 and the charging device 10 after the second terminal responds to the handshake action of the charging device 10.

[0167] The second interactive circuit 500 is used to interact with the charging device 10 via signals;

[0168] The second charging circuit 400 is used to receive the current sent by the charging device 10 through the second handshake circuit 600 and charge the battery 700; wherein, after interacting with the second interaction circuit 500, the charging device 10 sends current to the second handshake circuit 600.

[0169] Because the charging device 10 only sends current to the second handshake circuit 600 after interacting with the second interaction circuit 500, even if the charging device 10 is triggered to perform a handshake action by another user or object, the charging device 10 will not send current because the other object or user cannot interact with the signals in the charging device 10. Therefore, this effectively prevents electric shock and short circuits, improving the safety of the charging device 10.

[0170] Please see Figure 6 This is a block diagram of the charging device provided in an embodiment of this application.

[0171] In this embodiment of the application, the second interactive circuit 500 is used to receive a request signal through the second handshake circuit 600, and respond to the request signal to form a response signal, and feed back the response signal to the charging device 10 through the second handshake circuit 600; wherein, the charging device 10 responds to the response signal and sends current to the second handshake circuit 600.

[0172] In this way, even if the charging device 10 is triggered by a handshake action by another user or object, the charging device 10 will not generate a charging signal and will not output current because the other object or user cannot receive the request signal sent by the charging device 10 and respond with a response signal. Therefore, it can effectively prevent users from being electrocuted and short-circuited, thus improving the safety of the charging device 10.

[0173] Please see Figure 7 This is a block diagram of the charging device provided in an embodiment of this application.

[0174] In this embodiment of the application, the second interaction circuit 500 includes: a second controller 510 and a second signal processing circuit 520; a first terminal of the second controller 510 is connected to a second terminal of the second charging circuit 400, a second terminal of the second controller 510 is connected to a first terminal of the second signal processing circuit 520, a third terminal of the second controller 510 is connected to a second terminal of the second signal processing circuit 520, and a third terminal of the second signal processing circuit 520 is connected to a first terminal of the second handshake circuit 600;

[0175] The second signal processing circuit 520 is used to receive the request signal through the second handshake circuit 600 and send the request signal to the second controller 510;

[0176] The second controller 510 is configured to generate a response signal in response to the request signal and send it to the second signal processing circuit 520;

[0177] The second signal processing circuit 520 is used to send the response signal to the charging device 10 through the second handshake circuit 600.

[0178] The second controller 510 can also be a microcontroller unit (MCU).

[0179] In this way, even if the charging device 10 is triggered by a handshake action by another user or object, the other user or object does not have the functions of the second controller 510 and the second signal processing circuit 522, so it will not give feedback response signals to the charging device 10. Therefore, the charging device 10 will not output current, which can effectively prevent the user from being electrocuted and short-circuited, thus improving the safety of the charging device 10.

[0180] Please see Figure 8 This is a block diagram of the charging device provided in an embodiment of this application.

[0181] In this embodiment, the second signal processing circuit 520 includes: a second capacitor C2, a second multiplexer 521, and a second modulation / demodulation circuit 522; the first end of the second capacitor C2 is connected to the first end of the second handshake circuit 600, the second end of the second capacitor C2 is connected to the output end of the second multiplexer 521, the input end of the second multiplexer 521 is connected to the first end of the second modulation / demodulation circuit 522, the second end of the second modulation / demodulation circuit 522 is connected to the second end of the second controller 510; the control end of the second multiplexer 521 is connected to the third end of the first controller 510.

[0182] The second capacitor C2 is used to receive the request signal through the second handshake circuit 600 and send the request signal to the second multiplex switch 521;

[0183] The second multiplexing switch 521 is used to send the request signal to the second modulation and demodulation circuit 522;

[0184] The second modulation and demodulation circuit 522 is used to convert the request signal into a low-frequency request signal and send it to the second controller 510;

[0185] The second controller 510 is configured to generate a response signal in response to the request signal and send it to the second modulation and demodulation circuit 522;

[0186] The second modulation and demodulation circuit 522 is used to convert the response signal into a high-frequency response signal and send it to the second multiplexing switch 521;

[0187] The second multiplexer switch 521 is used to send the response signal to the second capacitor C2;

[0188] The second capacitor C2 is used to send the response signal to the charging device through the second handshake circuit 600.

[0189] In this embodiment, connecting the first terminal of the second handshake circuit 600 to the second capacitor C2 effectively prevents DC power from flowing to the second interactive circuit 500 during charging. Furthermore, by processing the signal through the second modulation / demodulation circuit 522, the signal flowing through the second capacitor C2 is always a high-frequency signal, and the signal flowing to the second controller 510 is always a low-frequency signal, ensuring the accuracy of signal flow and preventing short circuits on the charging terminal 20 side during charging.

[0190] Please see Figure 9 This is a block diagram of the charging device provided in an embodiment of this application.

[0191] In this embodiment, the second modulation and demodulation circuit 522 includes: a second modulation circuit 5221 and a second demodulation circuit 5222; the first input terminal A of the second multiplex switch 521 is connected to the first terminal of the second modulation circuit 5221, and the second terminal of the second modulation circuit 5221 is connected to the output terminal of the second controller; the second input terminal B of the second multiplex switch 521 is connected to the first terminal of the second demodulation circuit 5222, and the second terminal of the second demodulation circuit 5222 is connected to the input terminal of the second controller 510;

[0192] The second controller 510 is used to control the second input terminal B of the second multiplex switch 521 to be turned on after the charging terminal 20 receives the request signal;

[0193] The second demodulation circuit 5222 is used to convert the request signal into a low-frequency request signal and send it to the second controller 510;

[0194] The second controller 510 is configured to respond to the request signal, generate a response signal, send it to the second modulation circuit 5221, and control the first input terminal A of the second multiplex switch 521 to be turned on.

[0195] The second modulation circuit 5221 is used to convert the response signal into a high-frequency response signal and send it to the second multiplexing switch 521;

[0196] The second multiplexer 521 is used to send the response signal to the second capacitor C2.

[0197] In this embodiment, the second modulation circuit 5221 is used to convert a low-frequency signal into a high-frequency signal. The second demodulation circuit 5222 in this embodiment is used to convert a high-frequency signal into a low-frequency signal.

[0198] In this embodiment, connecting the first terminal of the second handshake circuit 600 to the second capacitor C2 effectively prevents DC power from flowing to the second interactive circuit 500 during charging. Furthermore, the signal processing by the second modulation circuit 5221 ensures that the signal flowing through the second capacitor C2 is always a high-frequency signal, and the signal processing by the second demodulation circuit 5222 ensures that the signal flowing to the second controller 510 is always a low-frequency signal. This guarantees the accuracy of the signal flow and prevents short circuits on the charging terminal 20 side during charging.

[0199] See Figure 9 This is a schematic diagram of the charging device provided in the embodiments of this application.

[0200] In this embodiment of the application, the second charging circuit includes: a second diode D2, a low-pass filter 410, and a current sensor 420; the first end of the second diode D2 is connected to the first end of the second handshake circuit 600, the second end of the second diode D2 is connected to the first end of the low-pass filter 410, the second end of the low-pass filter 410 is connected to the first end of the current sensor 420, and the second end of the current sensor 420 is connected to the first end of the battery 700;

[0201] The second diode D2 is used to send a DC signal to the low-pass filter 410;

[0202] The low-pass filter 410 is used to send the DC signal to the current sensor 420;

[0203] The current sensor 420 is used to send the DC signal to the battery 700 for charging when the DC signal is detected to be normal.

[0204] In this embodiment, since the low-pass filter 410 has the characteristic of passing DC and blocking AC, the high-frequency request signal and response signal will not flow to the battery during the signal interaction between the charging device 10 and the charging terminal 20, thereby ensuring the normal operation of the battery and ensuring the safety of the charging terminal 20.

[0205] See Figure 9 This is a schematic diagram of the charging device provided in the embodiments of this application.

[0206] In this embodiment of the application, it further includes: a power conversion module 430; the second end of the battery is connected to the first end of the power conversion module 430; the third end of the current sensor 420 and the second end of the power conversion module 430 are both connected to the second controller 510;

[0207] The current sensor 420 is used to send a second abnormal signal to the second controller 510 when an abnormality is detected in the DC signal.

[0208] The second controller 510 is used to respond to the second abnormal signal and block the battery charging through the power conversion module 430.

[0209] In this embodiment, the power conversion module 430 blocks battery charging when an abnormality is detected in the DC current signal. This allows for the detection of the input current during charging, and when an abnormality is detected, the current to the battery 700 can be quickly and specifically blocked to prevent accidents.

[0210] Please see Figure 9 This is a schematic diagram of the charging device provided in the embodiments of this application.

[0211] In this embodiment of the application, the second handshake circuit 600 includes: a positive end 610 of the second electrode plate and a negative end 620 of the second electrode plate; the positive end 610 of the second electrode plate and the negative end 620 of the second electrode plate are arranged at a predetermined distance apart, and the negative end 620 of the second electrode plate is grounded; the second ends of the positive end 610 of the second electrode plate and the negative end 620 of the second electrode plate face the charging device 10, and the first end of the positive end 610 of the second electrode plate serves as the first end of the second handshake circuit 600.

[0212] The positive terminal 610 and the negative terminal 620 of the second electrode are used to respond to the handshake action of the charging device 10, receive the request signal, and send it to the second interactive circuit 500.

[0213] The handshake action of the charging device 10 in response to the positive end 610 and the negative end 620 of the second electrode sheet may include: the positive end 310 of the first electrode sheet of the charging device 10 pressing the positive end 610 of the second electrode sheet, and the negative end 320 of the first electrode sheet of the charging device 10 pressing the negative end 620 of the second electrode sheet.

[0214] Please see Figure 10 This is a schematic diagram of the charging device and charging terminal provided in the embodiments of this application.

[0215] In this embodiment, the charging device 10 converts 220V AC power to DC power for charging the battery 700 of the charging terminal 20. A current detection sensor 122 on one side of the charging device 10 monitors the charging current. When a short circuit occurs, the first controller 210 sends a command to the charging module 121 to stop outputting DC power. When the first controller 210 IO1 outputs a high-level signal (charging signal), NMOS1 is turned on and PMOS1 is turned on; when the first controller 210 IO1 outputs a low-level signal, NMOS1 is turned off and PMOS1 is turned off. The first diode D1 prevents current from flowing back into the first charging circuit 100. The first capacitor C1 is used for AC coupling; high-frequency signals can pass through C1, while low-frequency DC is blocked by C1. The first controllers 210 IO2 and IO3 can control the conduction of the first multiplexed switches 222A-C, NC-C, and BC. The first modulation circuit 2211 modulates the low-frequency signal sent by the first controller into a high-frequency signal. The first demodulation circuit 2212 demodulates the received signal and sends it to the first controller 210. The second diode D2 on one side of the charging terminal 20 is used to prevent the battery current from flowing back to the positive terminal 610 and the negative terminal 620 of the second electrode plate. This avoids the electrode plates being charged when the charging terminal 20 is not charging. The second capacitor C2 is used for AC coupling; high-frequency signals can pass through C2, while low-frequency DC signals are blocked by C2. The low-pass filter 410 prevents high-frequency signals from being transmitted into the battery 700 during communication, thus affecting the operation of the battery management system (BMS) of the battery 700. The second controller 510 IO1 and IO2 can control the conduction between the second multiplexer switches 521 A-C, NC-C, and BC. The second modulation circuit 5221 can modulate the low-frequency signal sent by the second controller 510 into a high-frequency signal. The second demodulation circuit 5222 can demodulate the received signal and send it to the second controller 510. During the charging process of the charging device 10 and the charging terminal 20, C1 and C2 are cut off to the DC power supply, while the low-pass filter 410 is turned on to the DC power supply.

[0216] Please continue reading. Figure 10The handshake action between the charging terminal 20 and the charging device 10 includes: after the charging terminal 20 is near the charging device 10, it triggers the position detection switch 330, which, after level conversion, forms an interactive signal and reports it to the first controller 210. During the handshake action response between the charging terminal 20 and the charging device 10, PMOS1 is in the off state, preventing current from flowing through PMOS1 in the charging module 121. After the charging terminal 20 is near the charging device, it triggers the position detection switch 330 to report an interactive signal to the first controller 210. Upon detecting the interactive signal, the first controller 210 controls the first multiplexer switch 222AC to turn on. The first controller 210TX sends a low-frequency signal to the first modulation circuit 2211, which modulates it to form a request signal, which is then sent from the first multiplexer switch 222C. After the request signal is sent, the first controller 210 controls the first multiplexer switch 222BC to turn on, waiting for a response signal. The first capacitor C1 is conducting for high-frequency signals, and the first diode D1 is cut off for high-frequency signals. The request signal sent by the charging device 10 is transmitted to the charging terminal 20 through the contact between the electrode plates. The low-pass filter 410 is cut off for the modulated request signal, while C2 is turned on for the modulated request signal. The request signal passes through the BC terminals of the second multiplexer 521, and then through the second demodulation circuit 5222 before being sent to the RX terminal of the second controller 510. After receiving the request signal, the second controller 510 controls the A-C terminals of the second multiplexer 521 to be turned on, and simultaneously sends a response signal via TX. After being modulated by the second modulation circuit 5221, the signal is sent to the first controller 210 via the BC terminals of the second multiplexer 521, C2, the electrode plate, C1, the first multiplexer 222, and the first demodulation circuit 2212. The first controller 210 responds to the response signal and generates a charging signal, which is sent to the NMOS. The NMOS1 is turned on and the PMOS1 is turned on. The current from the charging module 121 is used to charge the battery 700 through the current detection sensor 122, PMOS, D1, charging electrode, D2, low-pass filter 410, and current sensor 420.

[0217] Please refer to the following: Figure 11 After the arrival detection switch is triggered, the charging device 10 sends a request signal within the time interval t1 to t2. At this time, the first multiplexer switch 210A-C is turned on, and the C terminal outputs a high-frequency request signal modulated by the first modulation circuit 2211. The modulation strategy is that 0 to N pulses are low level, and N to 2N pulses are high level. t2 to t3 is the waiting response period, during which the first controller 210 controls the first multiplexer switch 222B-C to turn on. If no response signal is received, the request signal is repeatedly sent from time t3 to t4 until a response signal is received or the transmission times out.

[0218] Please refer to the following: Figure 12At time t1, the charging terminal 20 approaches the charging device 10, triggering the positioning detection switch. Between t1 and t2, the first controller 210 sends a low-frequency signal, which is modulated and converted into a high-frequency request signal. At this time, the first multiplexer 222A-C is turned on. The request signal is transmitted through C1, the charging electrode, and C2 to the second multiplexer 521C terminal, at which time the second multiplexer 521B-C is turned on. After passing through the second demodulation circuit 5222, it is sent to the second controller. At time t3, the second controller 510TX terminal sends a response signal and simultaneously controls the second multiplexer 521A-C terminals to turn on. The response signal passes through the second modulation circuit 5221, then through the second multiplexer 521, C2, the charging electrode, C1, the first multiplexer 222, and the first demodulation circuit 2212 before being sent to the first controller 210. The charging connection is established. The first controller 210 controls the first multiplexer 222NC-C to connect and simultaneously turns on PMOS1, allowing the charging device 10 to charge the charging terminal 20. After the current sensor 420 detects the charging current, the second multiplexer switch 521NC-C is connected. At time t5, charging is complete, and the charging terminal 20 leaves the charging device 10. The first controller 210 controls PMOS1 to turn off. After the second controller 510 detects that there is no charging current from the current sensor 420, it controls the second multiplexer switch 521A-C to turn on, waiting for the next charging handshake.

[0219] Please see Figure 13 This is a block diagram of the robot system provided in an embodiment of this application.

[0220] This application also provides a robot system 30, including a charging device 10 and a charging terminal 20.

[0221] Please see Figure 14 This diagram illustrates the operation of a health monitoring robot (charging terminal 20). The robot operates in a home environment, moving freely indoors and actively monitoring the user's vital signs. Users can also issue commands to the robot. The robot uploads the monitored vital sign data to the cloud, where a health inference model calculates the results and sends them back to the robot. The robot can then display the results to the user via a monitor and voice function. In case of an emergency, the robot can connect to an emergency medical center and upload the user's status information to facilitate emergency personnel's assessment. The robot is powered by a lithium battery and can operate on standby for up to 8 hours. When the battery is low, the robot will autonomously return to the charging station (charging device) to recharge. The robot has two electrode plates, and the charging station also has two electrode plates at the same height. When the robot approaches the charging station, the electrode plates will contact the charging station for charging.

[0222] Please see Figure 15 This is a schematic flowchart of the charging method provided in the embodiments of this application.

[0223] S101. The robot detects low battery and moves back to the charging station to prepare for charging.

[0224] In this embodiment, if the robot detects that the battery level is lower than a preset threshold, it will perform a handshake action with the charging station to prepare for charging.

[0225] S102, The charging pile arrival detection switch is triggered, and the charging pile senses that the robot has returned to the pile.

[0226] In this embodiment of the application, after the robot approaches the charging pile, the charging pile's arrival detection switch is triggered, sending an interaction signal to the first controller, and the charging pile senses the robot's return to the pile.

[0227] S103. With the help of the contact of the charging plates, the charging pile and the robot establish a conductive circuit.

[0228] In this embodiment, the electrode plates of the charging pile are in contact with the electrode plates of the robot, and a conductive circuit is established between the charging pile and the robot.

[0229] S104, The charging pile sends a connection establishment request.

[0230] In this embodiment, the charging pile sends a request signal to the robot via electrode plates.

[0231] S105. Is the impedance of the electrode sheet normal?

[0232] In this embodiment, the charging pile detects whether the impedance of the electrode plate is less than a preset threshold. If yes, then S107 is executed; otherwise, S106 is executed.

[0233] S106. The link impedance is too high, and the charging pile handshake request cannot be received by the robot normally.

[0234] In this embodiment, if the electrode impedance is greater than the threshold, the link impedance between the charging pile and the robot is too high, and the request signal cannot be received normally by the robot, thus executing S108.

[0235] S107. Has the robot received the request signal?

[0236] In this embodiment, the robot's second controller detects whether a request signal has been received. If yes, S111 is executed; otherwise, S108 is executed.

[0237] S108, charging pile waiting, robot end response message timed out and resent connection establishment request.

[0238] In this embodiment of the application, the charging pile waits for the robot's response signal. If the waiting time is longer than a preset time, the charging pile sends a request signal again.

[0239] S109. Has the number of reconnection requests exceeded the preset value?

[0240] In this embodiment, the robot detects whether the magnitude of the request signal exceeds a preset value. If it does, S110 is executed; otherwise, S104 is executed.

[0241] S110, charging failed, report charging abnormality and request maintenance personnel to intervene.

[0242] S111, The robot returns a response signal.

[0243] In this embodiment, the robot returns a response signal to the charging station.

[0244] S112. After receiving the response message, the charging station charges the robot.

[0245] In this embodiment of the application, the charging pile charges the robot after receiving a response signal.

[0246] S113. The robot has finished charging and leaves the charging station. The charging station is powered off and awaits the next charging event.

[0247] In this embodiment, an AC coupling circuit is added to the electrode plates on both the charging pile side and the robot side. When the robot approaches the charging pile, it triggers the positioning detection switch on the charging pile side. The charging pile, using the charging electrode plates and the newly added AC coupling circuit, sends a request signal to the robot, which then responds with a response signal. Upon receiving the response signal, the charging pile begins charging the robot. This improves the safety of the charging circuit by relying solely on the existing charging electrode plates without adding any additional components. Furthermore, this solution enables the detection of the charging circuit status. If oxidation or corrosion of the charging electrode plates causes an increase in impedance, it will also affect the communication circuit. In this case, the abnormality of the charging electrode plates can be detected immediately, preventing overheating problems during charging caused by increased impedance.

[0248] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0249] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0250] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the apparatus or units can be electrical, mechanical, or other forms.

[0251] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0252] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included 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 device, characterized in that, include: A first charging circuit, a first interactive circuit, and a first handshake circuit; The first terminal of the first charging circuit and the first terminal of the first interaction circuit are both connected to the first terminal of the first handshake circuit; the second terminal of the first interaction circuit is connected to the second terminal of the first charging circuit. The first handshake circuit is used to trigger signal interaction between the first interaction circuit and the charging terminal after the second terminal responds to the handshake action of the charging terminal; The first interactive circuit is used to interact with the charging terminal to generate a charging signal and send it to the first charging circuit. The first charging circuit is used to respond to the charging signal and send current to the charging terminal for charging through the first handshake circuit.

2. The charging device according to claim 1, characterized in that, The third terminal of the first handshake circuit is connected to the first interaction circuit; The first handshake circuit is used to send an interaction signal to the first interaction circuit after the second terminal responds to the handshake action of the charging terminal. The first interaction circuit is used to respond to the interaction signal, send a request signal to the charging terminal through the first handshake circuit, and receive a response signal from the charging terminal in response to the request signal through the first handshake circuit, and generate a charging signal in response to the response signal and send it to the first charging circuit.

3. The charging device according to claim 2, characterized in that, The first interactive circuit includes: a first controller and a first signal processing circuit; a first terminal of the first controller is connected to a second terminal of the first charging circuit, a second terminal of the first controller is connected to a first terminal of the first signal processing circuit, a third terminal of the first controller is connected to a third terminal of the first handshake circuit, a fourth terminal of the first controller is connected to a second terminal of the first signal processing circuit, and a third terminal of the first signal processing circuit is connected to a first terminal of the first handshake circuit. The first controller is configured to receive and respond to the interaction signal via a third terminal, and control the first signal processing circuit to send the request signal to the charging terminal via the first handshake circuit. The first signal processing circuit is used to receive the response signal fed back by the charging terminal in response to the request signal through the first handshake circuit, and to process the response signal and send it to the first controller; The first controller is configured to generate the charging signal in response to the response signal and send it to the first charging circuit.

4. The charging device according to claim 3, characterized in that, The first signal processing circuit includes: a first capacitor, a first multiplex switch, and a first modulation and demodulation circuit; a first terminal of the first capacitor is connected to a first terminal of the first handshake circuit, a second terminal of the first capacitor is connected to an output terminal of the first multiplex switch, an input terminal of the first multiplex switch is connected to a first terminal of the first modulation and demodulation circuit, a second terminal of the first modulation and demodulation circuit is connected to a second terminal of the first controller; and a control terminal of the first multiplex switch is connected to a fourth terminal of the first controller. The first controller is configured to receive and respond to the interactive signal, generate a low-frequency signal and send it to the first modulation and demodulation circuit, and control the first multiplexing switch to turn on. The first modulation and demodulation circuit is used to convert the low-frequency signal into the high-frequency request signal and send it to the first multiplexing switch; The first multiplexer switch is used to send the request signal to the first capacitor; The first capacitor is used to send the request signal to the first handshake circuit, receive the response signal, and send the response signal to the first multiplexer. The first multiplexing switch is used to send the response signal to the first modulation and demodulation circuit; The first modulation and demodulation circuit is used to convert the response signal into a low-frequency response signal and send it to the first controller.

5. The charging device according to claim 4, characterized in that, The first modulation and demodulation circuit includes: a first modulation circuit and a first demodulation circuit; the first input terminal of the first multiplexer is connected to the first terminal of the first modulation circuit, and the second terminal of the first modulation circuit is connected to the output terminal of the first controller; the second input terminal of the first multiplexer is connected to the first terminal of the first demodulation circuit, and the second terminal of the first demodulation circuit is connected to the input terminal of the first controller. The first controller is configured to receive and respond to the interaction signal, generate the low-frequency signal and send it to the first modulation circuit, and control the first input terminal of the first multiplexer to be turned on. The first modulation circuit is used to convert the low-frequency signal into the high-frequency request signal and send it to the first multiplexing switch; The first multiplexer switch is used to send the request signal to the first capacitor; The first capacitor is used to send the request signal to the first handshake circuit, receive the response signal, and send the response signal to the first multiplexer. The first controller is configured to turn on the second input terminal of the first multiplexer after the request signal is issued; The first multiplexing switch is used to send the response signal to the first demodulation circuit; The first demodulation circuit is used to convert the response signal into a low-frequency response signal and send it to the first controller.

6. The charging device according to any one of claims 3 to 5, characterized in that, The first charging circuit includes a switching circuit and a charging detection circuit; the first terminal of the switching circuit is connected to the first terminal of the first handshake circuit, the second terminal of the switching circuit is connected to the second terminal of the first interaction circuit, the third terminal of the switching circuit is connected to the first terminal of the charging detection circuit, and the second terminal of the charging detection circuit is connected to an AC power source. The charging detection circuit is used to convert AC power into DC power signal and send it to the switching circuit; The switching circuit is used to respond to the charging signal and send the current of the DC signal to the charging terminal through the first handshake circuit.

7. The charging device according to claim 6, characterized in that, The switching circuit includes: a first diode, a P-type transistor, an N-type transistor, a first resistor, and a second resistor; the first terminal of the first diode is connected to the first terminal of the first handshake circuit, the second terminal of the first diode is connected to the first terminal of the P-type transistor, the second terminal of the P-type transistor is connected to the first terminal of the charging detection circuit, the control terminal of the P-type transistor is connected to the first terminal of the first resistor, the second terminal of the first resistor is connected to the first terminal of the charging detection circuit, the first terminal of the N-type transistor is grounded, the second terminal of the N-type transistor is connected to the first terminal of the second resistor, the second terminal of the second resistor is connected to the first terminal of the first resistor, and the control terminal of the N-type transistor is connected to the second terminal of the first interaction circuit. The N-type transistor is used to disconnect when the charging signal is not received, so that the control terminal of the P-type transistor receives a high-level signal; The P-type transistor is used to disconnect under the action of the high-level signal; The N-type transistor is turned on when the charging signal is received, so that the control terminal of the P-type transistor receives a low-level signal. The P-type transistor is used to turn on under the action of the low-level signal, and send the current of the DC signal to the charging terminal through the first handshake circuit.

8. The charging device according to claim 6, characterized in that, The charging detection circuit includes a charging module and a current detection sensor; the first end of the current detection sensor is connected to the third end of the switching circuit, the second end of the current detection sensor is connected to the first end of the charging module, and the second end of the charging module is connected to the AC power supply. The charging module is used to convert AC power into DC power signal and send it to the current detection sensor; The current detection sensor is used to send the DC signal to the switching circuit when the DC signal detection is normal.

9. The charging device according to claim 8, characterized in that, The third terminal of the charging module and the third terminal of the current detection sensor are both connected to the first controller. The current detection sensor is used to send a first abnormal signal to the first controller when an abnormality is detected in the DC signal. The first controller is used to respond to the first abnormal signal and block the DC signal output of the charging module.

10. A charging terminal, characterized in that, include: The system includes a second charging circuit, a second interaction circuit, a second handshake circuit, and a battery. The first terminal of the second charging circuit and the first terminal of the second interaction circuit are both connected to the first terminal of the second handshake circuit; the second terminal of the second interaction circuit is connected to the second terminal of the second charging circuit; and the third terminal of the second charging circuit is connected to the battery. The second handshake circuit is used to trigger the signal interaction between the second interaction circuit and the charging device after the second terminal responds to the handshake action of the charging device; The second interactive circuit is used to interact with the charging device via signals; The second charging circuit is used to receive the current sent by the charging device through the second handshake circuit to charge the battery; wherein, after interacting with the second interaction circuit, the charging device sends current to the second handshake circuit.

11. The charging terminal according to claim 10, characterized in that, The second interaction circuit is used to receive a request signal through the second handshake circuit, and to generate a response signal in response to the request signal, and to feed back the response signal to the charging device through the second handshake circuit; wherein, the charging device responds to the response signal by sending current to the second handshake circuit.

12. The charging terminal according to claim 11, characterized in that, The second interactive circuit includes: a second controller and a second signal processing circuit; a first terminal of the second controller is connected to a second terminal of the second charging circuit, a second terminal of the second controller is connected to a first terminal of the second signal processing circuit, a third terminal of the second controller is connected to a second terminal of the second signal processing circuit, and a third terminal of the second signal processing circuit is connected to a first terminal of the second handshake circuit. The second signal processing circuit is used to receive the request signal through the second handshake circuit and send the request signal to the second controller; The second controller is configured to generate a response signal in response to the request signal and send it to the second signal processing circuit; The second signal processing circuit is used to send the response signal to the charging device through the second handshake circuit.

13. The charging device according to claim 12, characterized in that, The second signal processing circuit includes: a second capacitor, a second multiplex switch, and a second modulation and demodulation circuit; the first terminal of the second capacitor is connected to the first terminal of the second handshake circuit, the second terminal of the second capacitor is connected to the output terminal of the second multiplex switch, the input terminal of the second multiplex switch is connected to the first terminal of the second modulation and demodulation circuit, the second terminal of the second modulation and demodulation circuit is connected to the second terminal of the second controller; the control terminal of the second multiplex switch is connected to the third terminal of the first controller. The second capacitor is used to receive the request signal through the second handshake circuit and send the request signal to the second multiplex switch; The second multiplexing switch is used to send the request signal to the second modulation and demodulation circuit; The second modulation and demodulation circuit is used to convert the request signal into a low-frequency request signal and send it to the second controller; The second controller is configured to generate a response signal in response to the request signal and send it to the second modulation and demodulation circuit; The second modulation and demodulation circuit is used to convert the response signal into a high-frequency response signal and send it to the second multiplexing switch; The second multiplexer switch is used to send the response signal to the second capacitor; The second capacitor is used to send the response signal to the charging device through the second handshake circuit.

14. The charging terminal according to claim 13, characterized in that, The second modulation and demodulation circuit includes: a second modulation circuit and a second demodulation circuit; the first input terminal of the second multiplex switch is connected to the first terminal of the second modulation circuit, and the second terminal of the second modulation circuit is connected to the output terminal of the second controller; the second input terminal of the second multiplex switch is connected to the first terminal of the second demodulation circuit, and the second terminal of the second demodulation circuit is connected to the input terminal of the second controller. The second controller is configured to turn on the second input terminal of the second multiplex switch after the charging terminal receives the request signal; The second demodulation circuit is used to convert the request signal into a low-frequency request signal and send it to the second controller; The second controller is configured to generate a response signal in response to the request signal and send it to the second modulation circuit, and to control the first input terminal of the second multiplex switch to be turned on; The second modulation circuit is used to convert the response signal into a high-frequency response signal and send it to the second multiplexing switch; The second multiplexer is used to send the response signal to the second capacitor.

15. The charging terminal according to any one of claims 12 to 14, characterized in that, The second charging circuit includes: a second diode, a low-pass filter, and a current sensor; the first end of the second diode is connected to the first end of the second handshake circuit, the second end of the second diode is connected to the first end of the low-pass filter, the second end of the low-pass filter is connected to the first end of the current sensor, and the second end of the current sensor is connected to the first end of the battery. The second diode is used to send a DC signal to the low-pass filter; The low-pass filter is used to send a DC signal to the current sensor; The current sensor is used to send the DC signal to the battery for charging when the DC signal is detected to be normal.

16. The charging terminal according to claim 15, characterized in that, Also includes: A power conversion module; the second terminal of the battery is connected to the first terminal of the power conversion module; the third terminal of the current sensor and the second terminal of the power conversion module are both connected to the second controller; The current sensor is used to send a second abnormal signal to the second controller when an abnormality is detected in the DC signal. The second controller is used to respond to the second abnormal signal by blocking battery charging through the power conversion module.

17. A robot system, characterized in that, It includes the charging device according to any one of claims 1 to 9, and the charging terminal according to any one of claims 10 to 16.

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