Pile returning distance detection circuit, pile returning distance detection device and robot

Abstract

The utility model belongs to the technical field of robots, and provides a pile return distance detection circuit, a pile return distance detection device and a robot, the pile return distance detection circuit is applied to the robot, the pile return distance detection circuit comprises a magnetic field induction module, an eddy current distance measurement module and a main control module, and the magnetic field induction module is used for detecting the pile return distance when the pile return distance is close to a charging pile. Induced current is generated according to an iron core in the charging pile, the eddy current distance measuring module generates an eddy current detection signal according to the induced current, and the main control module generates a pile return distance detection signal according to the eddy current detection signal. By means of the sensitivity of the oscillating current generated by the eddy current distance measuring module to the distance, the submillimeter-level distance detection precision is achieved, the robot is helped to adjust the charging posture in time, it is ensured that the robot can accurately locate the position of the charging pile, and the charging stability and reliability of the robot are improved.

Description

Technical Field

[0001] This application belongs to the technical field of robots, and particularly relates to a circuit for detecting the distance to a charging pile, a device for detecting the distance to a charging pile, and a robot. Background Art

[0002] During the process of a robot charging at a charging pile, it is necessary to measure the distance to the charging pile. If the distance between the robot and the charging pile cannot be accurately measured, it will lead to unstable contact between the charging electrode of the robot and the charging pile, thereby resulting in a problem of reduced charging reliability. For example, during the process of the robot returning to the charging pile, a wheel speedometer is used to calculate the distance, and at the same time, ultrasonic ranging is used. The wheel speedometer generates errors when the robot slides. The actual use of ultrasonic waves has certain requirements for the surface of the measured object. When the distance between the robot and the charging column is within 2 meters or close to 1 meter, there may be a measurement blind area, resulting in a decrease in the ranging accuracy of the robot. Summary of the Invention

[0003] In order to solve the above technical problems, the embodiments of this application provide a circuit for detecting the distance to a charging pile, a device for detecting the distance to a charging pile, and a robot, aiming to improve the accuracy of detecting the distance between the robot and the charging pile during the process of the robot charging at the charging pile.

[0004] The first aspect of the embodiments of this application provides a circuit for detecting the distance to a charging pile, which is applied inside a robot. The circuit for detecting the distance to a charging pile includes:

[0005] A magnetic field induction module, configured to generate an induced current according to the iron core inside the charging pile when the robot approaches the charging pile;

[0006] An eddy current ranging module, connected to the magnetic field induction module, configured to receive the induced current and generate an eddy current detection signal according to the induced current;

[0007] A main control module, connected to the eddy current ranging module, configured to generate a signal for detecting the distance to the charging pile according to the eddy current detection signal.

[0008] In some embodiments, the circuit for detecting the distance to a charging pile includes:

[0009] An eddy current detection activation module, connected to the eddy current ranging module, configured to generate an eddy current detection activation signal when the distance between the robot and the charging pile is less than a preset distance, so as to activate the eddy current ranging module.

[0010] In some embodiments, the circuit for detecting the distance to a charging pile includes:

[0011] An ultrasonic ranging module, connected to the eddy current detection activation module, is used to detect the distance between the robot and the charging pile, and generate an electromagnetic induction activation signal when the distance between the robot and the charging pile is equal to the preset distance;

[0012] The eddy current detection activation module is also used to generate the eddy current detection activation signal according to the electromagnetic induction activation signal.

[0013] In some embodiments, the main control module includes:

[0014] A signal processing unit, connected to the eddy current ranging module, is used to receive the eddy current detection signal and convert the eddy current detection signal into a frequency detection signal;

[0015] A distance calculation unit, connected to the signal processing unit, is used to generate a return-to-pile distance detection signal according to the frequency detection signal.

[0016] In some embodiments, the distance calculation unit is also used to determine the distance between the robot and the charging pile according to the relationship between the frequency detection signal and the frequency-distance characteristic.

[0017] In some embodiments, the main control module further includes:

[0018] A distance calibration unit, connected to the distance calculation unit, is used to calibrate the frequency-distance characteristic relationship.

[0019] In some embodiments, the eddy current detection signal is a square wave signal; the higher the frequency of the eddy current detection signal, the farther the distance between the robot and the charging pile; the lower the frequency of the eddy current detection signal, the closer the distance between the robot and the charging pile.

[0020] In some embodiments, the magnetic field induction module includes an induction coil, and the induction coil is a circular or square coil.

[0021] In the second aspect of the embodiments of the present application, a return-to-pile distance detection device is further provided, and the return-to-pile distance detection device includes the return-to-pile distance detection circuit as described in any one of the above embodiments.

[0022] In the third aspect of the embodiments of the present application, a robot is further provided, and the robot includes the return-to-pile distance detection circuit as described in any one of the above embodiments.

[0023] Advantages of the embodiments of the present application: The back-to-pile distance detection circuit is applied to a robot. The back-to-pile distance detection circuit includes: a magnetic field induction module, an eddy current ranging module, and a main control module. When the magnetic field induction module is close to the charging pile, an induced current is generated according to the iron core in the charging pile. The eddy current ranging module generates an eddy current detection signal based on the induced current, and the main control module generates a back-to-pile distance detection signal based on the eddy current detection signal. Utilizing the sensitivity of the oscillating current generated by the eddy current ranging module to distance, a distance detection accuracy at the sub-millimeter level is achieved, helping the robot timely adjust the charging posture, ensuring that the robot can accurately locate the position of the charging pile, and improving the charging stability and reliability of the robot. Description of the Drawings

[0024] Figure 1 is a schematic structural diagram of the back-to-pile distance detection circuit provided by an embodiment of the present application;

[0025] Figure 2 is a schematic structural diagram of the back-to-pile distance detection circuit provided by another embodiment of the present application;

[0026] Figure 3 is a schematic structural diagram of the back-to-pile distance detection circuit provided by still another embodiment of the present application;

[0027] Figure 4 is a schematic structural diagram of the back-to-pile distance detection circuit provided by still another embodiment of the present application;

[0028] Figure 5 is a schematic structural diagram of the back-to-pile distance detection circuit provided by still another embodiment of the present application;

[0029] Figure 6 is a schematic structural diagram of the eddy current ranging module provided by an embodiment of the present application;

[0030] Figure 7 is a waveform schematic diagram of the eddy current detection signal generated when the distance between the robot and the charging pile is relatively far;

[0031] Figure 8 is a waveform schematic diagram of the eddy current detection signal generated when the distance between the robot and the charging pile is relatively close. Detailed Embodiments

[0032] In order to make the technical problems, technical solutions, and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0033] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0034] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0035] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means one or more than one, unless otherwise specifically defined.

[0036] During the process of the robot returning to the charging pile for charging, it is necessary to measure the distance from the pile. If the distance between the robot and the charging pile cannot be accurately measured, it will lead to unstable contact between the charging electrode of the robot and the charging pile, resulting in a problem of reduced charging reliability.

[0037] To solve the above technical problems, an embodiment of the present application provides a circuit for detecting the distance of returning to the pile. This circuit for detecting the distance of returning to the pile is applied inside the robot and is used to detect the distance between the robot and the charging pile 400. See Figure 1 As shown, the circuit for detecting the distance of returning to the pile in the embodiment of the present application includes: a magnetic field induction module 300, an eddy current ranging module 200, and a main control module 100. The magnetic field induction module 300 is used to generate an induced current according to the iron core in the charging pile 400 when the robot approaches the charging pile 400. The eddy current ranging module 200 is connected to the magnetic field induction module 300. The eddy current ranging module 200 is used to receive the induced current and generate an eddy current detection signal according to the induced current. The main control module 100 is connected to the eddy current ranging module 200. The main control module 100 is used to generate a circuit for detecting the distance of returning to the pile according to the eddy current detection signal.

[0038] In this embodiment, when the robot returns to the charging pile, when the magnetic field induction module 300 is close to the charging pile 400, an induced current is generated according to the iron core in the charging pile 400. The eddy current ranging module 200 generates an eddy current detection signal based on the induced current, and the main control module 100 generates a return-to-pile distance detection signal based on the eddy current detection signal. Utilizing the sensitivity of the oscillating current generated by the eddy current ranging module 200 to the distance between the induction coils, a distance detection accuracy at the sub-millimeter level is achieved, which helps the robot timely adjust the charging posture, ensures that the robot can accurately locate the position of the charging pile 400, and improves the charging stability and reliability of the robot.

[0039] In some embodiments, as shown in Figure 2 the return-to-pile distance detection circuit includes an eddy current detection activation module 510. The eddy current detection activation module 510 is connected to the eddy current ranging module 200. The eddy current detection activation module 510 is configured to generate an eddy current detection activation signal when the distance between the robot and the charging pile 400 is less than a preset distance, so as to activate the eddy current ranging module 200.

[0040] In this embodiment, only when the distance between the robot and the charging pile 400 is less than the preset distance, the magnetic field induction module 300 generates an induced current. At the same time, the eddy current detection activation module 510 generates an eddy current detection activation signal based on the condition that the distance between the robot and the charging pile 400 is less than the preset distance, so that the eddy current ranging module 200 performs signal conversion on the induced current output by the magnetic field induction module 300 to obtain a corresponding eddy current detection signal. This eddy current detection signal can be a square wave signal, and then the main control module 100 analyzes the frequency of the eddy current detection signal, and determines the actual distance between the robot and the charging pile 400 according to the analysis result.

[0041] In some embodiments, the preset distance can be 1 meter, or the preset distance is determined by the usage environment of the charging pile 400. The eddy current detection activation module 510 generates an eddy current detection activation signal based on the condition that the distance between the robot and the charging pile 400 is less than the preset distance, so that the eddy current ranging module 200 performs signal conversion on the induced current output by the magnetic field induction module 300 to obtain a corresponding eddy current detection signal. This eddy current detection signal can be a square wave signal, and then the main control module 100 analyzes the frequency of the eddy current detection signal, and determines the actual distance between the robot and the charging pile 400 according to the analysis result, avoiding the problem of decreased ranging accuracy when the robot is close to the charging pile 400.

[0042] In some embodiments, as shown in Figure 3As shown, the back-to-pile distance detection circuit includes an ultrasonic ranging module 520. The ultrasonic ranging module 520 is connected to an eddy current detection activation module 510. The ultrasonic ranging module 520 is used to detect the distance between the robot and the charging pile 400, and generate an electromagnetic induction activation signal when the distance between the robot and the charging pile 400 is equal to a preset distance. The eddy current detection activation module 510 is further used to generate an eddy current detection activation signal according to the electromagnetic induction activation signal.

[0043] In this embodiment, when the distance between the robot and the charging pile 400 is relatively large, the ultrasonic ranging module 520 detects the distance between the robot and the charging pile 400. For example, when the distance between the robot and the charging pile 400 is greater than the preset distance, the ultrasonic ranging module 520 detects the distance between the robot and the charging pile 400. The ultrasonic ranging module 520 generates an electromagnetic induction activation signal when the distance between the robot and the charging pile 400 is equal to the preset distance. The eddy current detection activation module 510 generates an eddy current detection activation signal according to the electromagnetic induction activation signal, so that the eddy current ranging module 200 performs signal conversion on the induced current output by the magnetic field induction module 300 to obtain a corresponding eddy current detection signal, and then the main control module 100 analyzes the frequency of the eddy current detection signal, and determines the actual distance between the robot and the charging pile 400 according to the analysis result, so as to achieve the purpose of improving the distance detection accuracy.

[0044] In some embodiments, the detection of the distance between the robot and the charging pile 400 by the ultrasonic ranging module 520 will be affected by some obstacles between the robot and the charging pile 400. These obstacles may have a negative impact on the detection accuracy of the ultrasonic ranging module 520. By the magnetic field induction module 300 and the eddy current ranging module 200 sensing the electromagnetic field emitted by the charging pile 400 and generating a corresponding eddy current detection signal, the distance between the robot and the charging pile 400 can be accurately detected through the obstacles.

[0045] In some embodiments, when the distance between the robot and the charging pile 400 is greater than the preset distance, the eddy current ranging module 200 is in a sleep state. In this way, the power consumption of the robot can be saved. Only during the process of the robot returning to the pile and approaching the charging pile 400, when the distance between the robot and the charging pile 400 is less than or equal to the preset distance, the eddy current detection activation module 510 is further used to generate an eddy current detection activation signal according to the electromagnetic induction activation signal, so as to achieve the purpose of activating the eddy current ranging module 200.

[0046] In some embodiments, refer to Figure 4As shown in the figure, the main control module 100 includes: a signal processing unit 110 and a distance calculation unit 120. The signal processing unit 110 is connected to the eddy current ranging module 200. The signal processing unit 110 is configured to receive an eddy current detection signal and convert the eddy current detection signal into a frequency detection signal. The distance calculation unit 120 is connected to the signal processing unit 110. The distance calculation unit 120 is configured to generate a return-to-pile distance detection signal based on the frequency detection signal.

[0047] In this embodiment, the eddy current detection signal output by the eddy current ranging module 200 may be a square wave signal. The frequency of the square wave signal is related to the distance between the robot and the charging pile 400. The signal processing unit 110 converts the eddy current detection signal into a frequency detection signal. The frequency detection signal can be used to characterize the frequency of the eddy current detection signal within a period of time. The distance calculation unit 120 calculates the distance between the robot and the charging pile 400 based on the frequency detection signal to obtain the corresponding return-to-pile distance detection signal, realizing accurate, stable and efficient ranging detection between the robot and the charging pile 400 through electromagnetic induction ranging technology, and improving the autonomy and return-to-pile charging efficiency of the robot.

[0048] In some embodiments, the magnetic field induction module 300 is very sensitive to changes in the magnetic field. The magnetic field induction module 300 can generate corresponding induced current changes according to extremely small magnetic field changes. Therefore, during the process of the robot approaching the charging pile 400, ranging can be achieved through the interaction between the induced electromagnetic field and the target object (such as the charging pile 400), enabling accurate distance measurement without the need for direct contact between the robot and the charging pile 400, and having relatively low requirements for the material and surface state of the target object. Whether the target object is metal, plastic or other materials, effective ranging can be achieved by appropriately designing the induced electromagnetic field. This adaptability enables the electromagnetic induction ranging technology to work reliably between various different types of charging piles 400 and robots.

[0049] In some embodiments, the induction coil on the charging pile 400 can be used to generate a magnetic field, and the magnetic field induction module 300 inside the robot can be used to receive the electromagnetic field and generate corresponding induced current. The magnetic field induction module 300 inside the robot can be designed considering factors such as charging distance, frequency, power and environmental adaptability.

[0050] In some embodiments, the robot can communicate with the charging pile 400. When the traveling distance of the robot is small but the frequency change of the eddy current detection signal is large, the electromagnetic field generated by the charging pile 400 can be optimized by adjusting parameters such as the frequency, amplitude, and phase of the electromagnetic field generated by the induction coil in the charging pile 400, so as to achieve a more stable and accurate ranging effect, reduce interference under complex environmental conditions, and accurately measure the distance between the robot and the charging pile 400 even in the presence of other electromagnetic interference or metal impurities.

[0051] If the robot remains stationary, the frequency of the eddy current detection signal can remain unchanged.

[0052] In some embodiments, the distance calculation unit 120 is further configured to determine the distance between the robot and the charging pile 400 according to the frequency detection signal and the frequency-distance characteristic relationship.

[0053] In some embodiments, the frequency detection signal is used to characterize the frequency of the eddy current detection signal. The distance calculation unit 120 can pre-establish a frequency-distance characteristic relationship, in which each frequency value corresponds to a distance. The distance calculation unit 120 can select the distance corresponding to the frequency value as the distance between the robot and the charging pile 400 according to the frequency value characterized by the frequency detection signal.

[0054] In some embodiments, the frequency of the eddy current detection signal can be the average frequency of two adjacent continuous square wave signals.

[0055] In some embodiments, referring to Figure 5 As shown, the main control module 100 further includes a distance calibration unit 130. The distance calibration unit 130 is connected to the distance calculation unit 120, and the distance calibration unit 130 is used to calibrate the frequency-distance characteristic relationship.

[0056] In this embodiment, the distance calibration unit 130 is used to calibrate the frequency-distance characteristic relationship. The user can establish the frequency-distance characteristic relationship by making the actual distance correspond one by one to the frequency of the eddy current detection signal.

[0057] In some embodiments, the eddy current detection signal is a square wave signal; the higher the frequency of the eddy current detection signal, the farther the distance between the robot and the charging pile 400; the higher the frequency of the eddy current detection signal, the farther the distance between the robot and the charging pile 400.

[0058] In some embodiments, the magnetic field induction module 300 includes an induction coil, and the induction coil is a ring-shaped or square coil.

[0059] In some embodiments, in combination with Figure 6 As shown, the magnetic field induction module 300 includes a first inductor L1.

[0060] In this embodiment, both ends of the first inductor L1 are connected to the eddy current ranging module 200. The first inductor L1 and some resistors and some capacitors in the eddy current ranging module 200 form an oscillation circuit, and an eddy current detection signal in the form of a square wave is obtained through signal conversion.

[0061] In some embodiments, Figure 6 As shown, the eddy current ranging module 200 includes an oscillation unit 210, a voltage limiting unit 220, and a level conversion unit 230. The oscillation unit 210 and the magnetic field induction module 300 form an oscillation circuit, which is used to sense the electromagnetic field emitted by the charging pile 400 and generate a corresponding oscillation signal. The voltage limiting unit 220 performs voltage limiting processing on the waveform of the oscillation signal, so that the waveform of the oscillation signal is limited in the positive direction. The level conversion unit 230 converts the oscillation signal in the form of a sine wave into an eddy current detection signal in the form of a square wave.

[0062] In some embodiments, Figure 7 It is a waveform schematic diagram of the eddy current detection signal generated when the distance between the robot and the charging pile 400 is relatively far. Figure 8 It is a waveform schematic diagram of the eddy current detection signal generated when the distance between the robot and the charging pile 400 is relatively close. As shown in Figure 7 and Figure 8 As shown, the eddy current detection signal is a square wave signal. The closer the distance between the robot and the charging pile 400, the lower the frequency of the eddy current detection signal; the farther the distance between the robot and the charging pile 400, the higher the frequency of the eddy current detection signal.

[0063] In some embodiments, as shown in Figure 6As shown in the figure, the oscillation unit 210 includes: a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a first capacitor C1, a second capacitor C2, a third capacitor C3, a first diode D1, a first triode Q1, and a second triode Q2. The first ends of the first resistor R1, the second resistor R2, and the third resistor R3 are commonly connected to a first power supply terminal VCC1. The second end of the third resistor R3 is grounded via the sixth resistor R6, and the second end of the third resistor R3 is connected to the base of the first triode Q1. The second end of the first resistor R1, the emitter of the first triode Q1, and the collector of the second triode Q2 are commonly connected. The collector of the first triode Q1, the first end of the magnetic field induction module 300, the first end of the fifth resistor R5, the first end of the first capacitor C1, and the first end of the second capacitor C2 are commonly connected. The second end of the first capacitor C1 is connected to the first end of the fourth resistor R4. The second end of the fourth resistor R4, the second end of the second resistor R2, the base of the second triode Q2, and the first end of the eighth resistor R8 are commonly connected. The second end of the second capacitor C2 is grounded, and the second end of the eighth resistor R8 is grounded. The second end of the fifth resistor R5 is connected to the anode of the first diode D1. The cathode of the first diode D1, the first end of the seventh resistor R7, and the first end of the third capacitor C3 are commonly connected. The second end of the seventh resistor R7 and the second end of the third capacitor C3 are commonly connected to the voltage limiting unit 220 and the level conversion unit 230.

[0064] In this embodiment, the second end of the magnetic field induction module 300 is grounded. After the magnetic field induction module 300 is affected by the induction electric field of the charging pile 400, an induced current is generated. The second resistor R2 and the eighth resistor R8 form a voltage dividing circuit to control the switching state of the second triode Q2. The induced current adjusts the voltage of the base of the second triode Q2 via the first capacitor C1 and the fourth resistor R4. The third resistor R3 and the sixth resistor R6 form a voltage dividing circuit to adjust the switching state of the first triode Q1, and the first triode Q1 and the first resistor R1 form a feedback circuit to adjust the induced current. The induced current generates a corresponding sine wave signal via the fifth resistor R5, the first diode D1, the seventh resistor R7, and the third capacitor C3 and outputs it to the level conversion unit 230. The voltage limiting unit 220 limits the voltage of the sine wave signal.

[0065] In some embodiments, the voltage of the first power supply terminal is 24V.

[0066] In some embodiments, in combination with Figure 6 As shown in the figure, the voltage limiting unit 220 includes: a second diode D2 and a ninth resistor R9. The cathode of the second diode D2 and the first end of the ninth resistor R9 are commonly connected to the output end of the oscillation unit 210. The anode of the second diode D2 and the second end of the ninth resistor R9 are grounded.

[0067] In this embodiment, the second diode D2 and the ninth resistor R9 are connected in parallel to limit the voltage at the output end of the oscillation unit 210, so that the voltage at the output end of the oscillation unit 210 remains a positive voltage and the voltage amplitude at the output end of the oscillation unit 210 is limited.

[0068] In some embodiments, in combination with Figure 6 As shown, the level conversion unit 230 includes: a tenth resistor R10 and a third triode Q3. The first end of the tenth resistor R10 is connected to the second power supply terminal. The second end of the tenth resistor R10 and the collector of the third triode Q3 are commonly connected to the signal monitoring terminal Sig of the main control module. The emitter of the third triode Q3 is grounded, and the base of the third triode Q3 is connected to the output end of the oscillation unit 210.

[0069] In this embodiment, the tenth resistor R10 and the third triode Q3 form a signal conversion circuit. The switching state of the third triode Q3 is controlled by the voltage at the output end of the oscillation unit 210, so as to convert the sine wave signal at the output end of the oscillation unit 210 into an eddy current detection signal in the form of a square wave, which is convenient for the main control module to monitor the frequency change of the eddy current detection signal.

[0070] The embodiment of the present application also provides a pile-back distance detection device, and the pile-back distance detection device includes the pile-back distance detection circuit described in any one of the above embodiments.

[0071] The embodiment of the present application also provides a robot, and the robot includes the pile-back distance detection circuit described in any one of the above embodiments.

[0072] The beneficial effects of the embodiment of the present application: The pile-back distance detection circuit is applied in the robot. The pile-back distance detection circuit includes: a magnetic field induction module, an eddy current ranging module, and a main control module. When approaching the charging pile, the magnetic field induction module generates an induced current according to the iron core in the charging pile, and the eddy current ranging module generates an eddy current detection signal according to the induced current. The main control module generates a pile-back distance detection signal according to the eddy current detection signal. Utilizing the sensitivity of the oscillating current generated by the eddy current ranging module to distance, the distance detection accuracy at the sub-millimeter level is achieved, which helps the robot timely adjust the charging posture, ensures that the robot can accurately locate the position of the charging pile, and improves the charging stability and reliability of the robot.

[0073] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0074] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A return distance detection circuit, used in a robot, characterized in that: The return distance detection circuit comprises: A magnetic field sensing module, used to generate an induced current according to the iron core in the charging pile when the robot is close to the charging pile; an eddy current ranging module, connected to the magnetic field sensing module, and configured to receive the induced current and generate an eddy current detection signal according to the induced current; The main control module is connected to the eddy current distance measurement module and is used to generate a pile return distance detection signal according to the eddy current detection signal.

2. The return distance detection circuit according to claim 1, characterized in that: The return distance detection circuit comprises: An eddy current detection activation module is connected to the eddy current ranging module and is used to generate an eddy current detection activation signal to activate the eddy current ranging module when the distance between the robot and the charging pile is less than a preset distance.

3. The return distance detection circuit according to claim 2, characterized in that: The return distance detection circuit comprises: an ultrasonic ranging module, connected to the eddy current detection activation module, for detecting the distance between the robot and the charging pile, and generating an electromagnetic induction activation signal when the distance between the robot and the charging pile is equal to the preset distance; The eddy current detection activation module is also used to generate the eddy current detection activation signal according to the electromagnetic induction activation signal.

4. The pile return distance detection circuit according to any one of claims 1 to 3, characterized in that: The main control module comprises: A signal processing unit, connected to the eddy current ranging module, for receiving the eddy current detection signal and converting the eddy current detection signal into a frequency detection signal; The distance calculation unit is connected to the signal processing unit and is used to generate a pile-return distance detection signal according to the frequency detection signal.

5. The return distance detection circuit according to claim 4, characterized in that: The distance calculation unit is also used to determine the distance between the robot and the charging pile according to the frequency detection signal and the frequency-distance characteristic relationship.

6. The return distance detection circuit according to claim 5, characterized in that: The main control module also includes: A distance calibration unit is connected to the distance calculation unit and is used to calibrate the frequency-distance characteristic relationship.

7. The return distance detection circuit according to claim 4, characterized in that: The eddy current detection signal is a square wave signal; the higher the frequency of the eddy current detection signal, the farther the distance between the robot and the charging pile; the lower the frequency of the eddy current detection signal, the closer the distance between the robot and the charging pile.

8. The return distance detection circuit according to any one of claims 1 to 3, characterized in that: The magnetic field induction module includes an induction coil, and the induction coil is a ring-shaped or square coil.

9. A pile return distance detection device, characterized in that: The return distance detection device comprises a return distance detection circuit as claimed in any one of claims 1 to 8.

10. A robot, characterized in that: The robot comprises the return distance detection circuit as described in any one of claims 1 to 8.

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