A mowing robot charging control device

Abstract

The utility model relates to a kind of mower robot charging control device, including power voltage acquisition module, charging switch module, single-chip microcontroller, current sampling module, positive pole charging interface and negative pole charging interface;One end of charging switch module connects the positive pole of charging power supply, the other end of charging switch module connects positive pole charging interface, the control end of charging switch module connects the signal output end of single-chip microcontroller, the both ends of current sampling module are connected respectively negative pole charging interface and the negative pole of charging power supply, the power supply end of current sampling module is connected first power voltage, the feedback end of current sampling module connects the signal input end of single-chip microcontroller;The voltage input end of power voltage acquisition module is used for connecting charging power supply output end, the signal output end of power voltage acquisition module connects the signal input end of single-chip microcontroller;The utility model can be flexibly charged according to the current size of the battery equipped with robot control.

Description

Technical Field

[0001] This utility model relates to the field of charging technology, specifically to a charging control device for a lawnmower robot. Background Technology

[0002] Currently, most intelligent lawnmower charging systems control charging based on battery voltage. This results in the robot being unable to function properly after a load is connected to the battery. It is evident that controlling the charging of the battery by monitoring its voltage is insufficient to meet practical needs. Therefore, existing intelligent lawnmower charging systems cannot flexibly control charging based on the current of the battery equipped in the robot. Utility Model Content

[0003] In order to solve the technical problems in the prior art, such as the inability to flexibly control charging according to the current of the battery equipped in the robot, this utility model provides a charging control device for a lawnmower robot.

[0004] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A lawnmower robot charging control device includes a power voltage acquisition module, a charging switch module, a microcontroller, a current sampling module, a positive charging interface, and a negative charging interface; the positive charging interface is used to connect to the positive terminal of a battery, the negative charging interface is used to connect to the negative terminal of the battery, and the negative charging interface is grounded. One end of the charging switch module is connected to the positive terminal of the charging power supply, and the other end of the charging switch module is connected to the positive charging interface. The control terminal of the charging switch module is connected to the signal output terminal of the microcontroller. The two ends of the current sampling module are respectively connected to the negative charging interface and the negative terminal of the charging power supply. The power supply terminal of the current sampling module is connected to the first power supply voltage, and the feedback terminal of the current sampling module is connected to the signal input terminal of the microcontroller. The voltage input terminal of the power supply voltage acquisition module is connected to the output terminal of the charging power supply, and the signal output terminal of the power supply voltage acquisition module is connected to the signal input terminal of the microcontroller.

[0005] The beneficial effects of this utility model are: by using a current sampling module to collect the current value of the battery after it is connected to the load, and feeding the collected current value back to the microcontroller, the microcontroller controls the on / off state of the charging switch module through the feedback current value, so as to realize the control of the charging of the battery on or off; this utility model can flexibly control the charging according to the current of the battery equipped on the robot.

[0006] Based on the above technical solution, the present invention can be further improved as follows.

[0007] Furthermore, the power supply voltage acquisition module includes a voltage divider unit and a voltage drop unit. One end of the voltage divider unit is connected to the positive terminal of the charging power supply, and the other end of the voltage divider unit is grounded. The voltage divider output terminal of the voltage divider unit is connected to the signal input terminal of the microcontroller. The input terminal of the voltage drop unit is connected to the charging power supply, and the output terminal of the voltage drop unit is connected to the power supply terminal of the current sampling module and the power supply terminal of the microcontroller, respectively.

[0008] The beneficial effect of adopting the above-mentioned further solution is that, by setting up a voltage divider unit and a voltage drop unit, the voltage of the charging power supply can be collected by the voltage divider unit, and the voltage of the charging power supply can be reduced by the voltage drop unit so as to use the reduced power supply voltage to power some electrical components.

[0009] Furthermore, the voltage divider unit includes a first resistor and a second resistor. One end of the first resistor is connected to the positive terminal of the charging power supply, the other end of the first resistor is connected to one end of the second resistor, the other end of the second resistor is grounded, and one end of the second resistor is connected to the signal input terminal of the microcontroller.

[0010] Furthermore, the voltage drop unit includes a third resistor, a first voltage drop chip, a fourth resistor, and a second voltage drop chip; the input terminal of the first voltage drop chip is connected to the positive terminal of the charging power supply through the third resistor in series, the input terminal of the second voltage drop chip is connected to the output terminal of the first voltage drop chip through the fourth resistor in series, and the output terminal of the second voltage drop chip is connected to the power supply terminal of the current sampling module and the power supply terminal of the microcontroller, respectively.

[0011] Furthermore, the charging switch module includes a first MOSFET, a fifth resistor, a sixth resistor, a second MOSFET, a seventh resistor, an eighth resistor, and a first diode. The first MOSFET is a PMOS transistor, and the second MOSFET is an NMOS transistor. The source of the first MOSFET is connected to the positive terminal of the charging power supply, the drain of the first MOSFET is connected to the positive terminal of the first diode, and the negative terminal of the first diode is connected to the positive charging interface. One end of the fifth resistor is connected to the source of the first MOSFET, the other end of the fifth resistor is connected to the gate of the first MOSFET and one end of the sixth resistor, the other end of the sixth resistor is connected to the drain of the second MOSFET, the source of the second MOSFET is grounded, one end of the seventh resistor is connected to the gate of the second MOSFET, the other end of the seventh resistor is grounded, one end of the eighth resistor is connected to the gate of the second MOSFET, and the other end of the eighth resistor is connected to the signal output terminal of the microcontroller.

[0012] The beneficial effect of adopting the above-mentioned further solution is that by using a MOSFET switch to control the on / off state of the charging circuit, the on / off state of the MOSFET can be controlled by a microcontroller.

[0013] Furthermore, the charging switch module also includes a third MOS transistor, a ninth resistor, a tenth resistor, a fourth MOS transistor, an eleventh resistor, a twelfth resistor, and a first diode. The third MOS transistor is a PMOS transistor, and the fourth MOS transistor is an NMOS transistor. The source of the third MOSFET is connected to the drain of the first MOSFET, the drain of the third MOSFET is connected to the anode of the first diode, and the cathode of the first diode is connected to the positive charging interface. One end of the ninth resistor is connected to the source of the third MOSFET, the other end of the ninth resistor is connected to the gate of the third MOSFET and one end of the tenth resistor, the other end of the tenth resistor is connected to the drain of the fourth MOSFET, the source of the fourth MOSFET is grounded, one end of the eleventh resistor is connected to the gate of the fourth MOSFET, the other end of the eleventh resistor is grounded, one end of the twelfth resistor is connected to the gate of the fourth MOSFET, and the other end of the twelfth resistor is connected to the signal output terminal of the microcontroller.

[0014] The beneficial effect of adopting the above-mentioned further solution is that by setting two sets of MOSFET switches in series to control the charging on and off, the control capability can be improved, and the failure of a single MOSFET switch due to short circuit can be prevented from causing false charging.

[0015] Furthermore, the current sampling module includes a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, an operational amplifier, a sixteenth resistor, and a seventeenth resistor; one end of the thirteenth resistor is connected to the negative charging interface and one end of the fifteenth resistor, the other end of the thirteenth resistor is connected to the negative terminal of the charging power supply, the other end of the fifteenth resistor is connected to one end of the fourteenth resistor and the non-inverting input terminal of the operational amplifier, and the other end of the fourteenth resistor is connected to the output terminal of the second voltage drop chip; the inverting input terminal of the operational amplifier is connected to one end of the sixteenth resistor and one end of the seventeenth resistor, the other end of the sixteenth resistor is grounded, the other end of the seventeenth resistor is connected to the output terminal of the operational amplifier, and the output terminal of the operational amplifier is connected to the signal input terminal of the microcontroller.

[0016] Furthermore, it also includes an indicator light module, the positive terminal of which is connected to a second power supply voltage, the control terminal of which is connected to the signal output terminal of the microcontroller, and the negative terminal of which is grounded.

[0017] The advantage of adopting the above-mentioned further solution is that, by setting up an indicator light module, the charging status can be displayed intuitively.

[0018] Furthermore, it also includes a temperature sensor, the power supply terminal of which is connected to the first power supply voltage, and the signal output terminal of which is connected to the signal input terminal of the microcontroller.

[0019] The beneficial effect of adopting the above-mentioned further solution is that by setting a temperature sensor, the temperature of the battery can be detected, thus preventing safety hazards caused by overheating of the battery.

[0020] Furthermore, it also includes a serial communication module, the power supply terminal of which is connected to the first power supply voltage, and the transceiver terminal of the serial communication module is connected to the transceiver terminal of the microcontroller.

[0021] The beneficial effect of adopting the above-mentioned further solution is that by setting up a serial communication module, the microcontroller can communicate with an external communication device, thereby enabling the microcontroller to exchange information with the external communication device. Attached Figure Description

[0022] Figure 1 This is a circuit block diagram of the present invention; Figure 2 This is a schematic diagram of the microcontroller structure; Figure 3 This is the circuit diagram of the power supply voltage acquisition module; Figure 4 The circuit diagram for the charging switch module; Figure 5 This is the circuit diagram for the indicator light module; Figure 6 This is the circuit diagram of the serial communication module; Figure 7 This is the circuit diagram of a temperature sensor.

[0023] The attached diagram lists the components represented by each number as follows: 1. Temperature sensor; 2. Indicator light module; 3. Power supply voltage acquisition module; 4. Charging power supply; 5. Charging switch module; 6. Microcontroller; 7. Current sampling module; 8. Battery; 9. Serial communication module; 10. Charging identification module. Detailed Implementation

[0024] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0025] like Figures 1 to 2As shown, this embodiment provides a lawnmower robot charging control device, including a power voltage acquisition module 3, a charging switch module 5, a microcontroller 6, a current sampling module 7, a positive charging interface C+, and a negative charging interface C-. The positive charging interface C+ is used to connect to the positive terminal of the battery 8, and the negative charging interface C- is used to connect to the negative terminal of the battery 8. The negative charging interface C- is grounded. It also includes a temperature sensor 1, an indicator light module 2, a serial communication module 9, and a charging identification module 10 connected to the microcontroller 6.

[0026] One end of the charging switch module 5 is connected to the positive terminal of the charging power supply 4, and the other end of the charging switch module 5 is connected to the positive charging interface C+. The control terminal of the charging switch module 5 is connected to the signal output terminal of the microcontroller 6. The two ends of the current sampling module 7 are respectively connected to the negative charging interface C- and the negative terminal of the charging power supply 4. The power supply terminal of the current sampling module 7 is connected to the first power supply voltage, and the feedback terminal of the current sampling module 7 is connected to the signal input terminal of the microcontroller 6.

[0027] The voltage input terminal of the power supply voltage acquisition module 3 is used to connect to the output terminal of the charging power supply 4, and the signal output terminal of the power supply voltage acquisition module 3 is connected to the signal input terminal of the microcontroller 6.

[0028] This utility model embodiment uses a current sampling module 7 to collect the current value of the battery 8 after it is connected to the load, and feeds the collected current value back to the microcontroller 6. The microcontroller 6 controls the charging switch module 5 to turn on or off based on the feedback current value, so as to control the charging of the battery 8 to be turned on or off. This utility model can flexibly control the charging according to the current of the battery equipped on the robot.

[0029] like Figure 3 As shown, the power supply voltage acquisition module 3 includes a voltage divider unit and a voltage drop unit. One end of the voltage divider unit is connected to the positive terminal of the charging power supply 4, and the other end of the voltage divider unit is grounded. The voltage divider output terminal of the voltage divider unit is connected to the signal input terminal of the microcontroller 6. The input terminal of the voltage drop unit is connected to the charging power supply 4, and the output terminal of the voltage drop unit is connected to the power supply terminal of the current sampling module 7 and the power supply terminal of the microcontroller 6, respectively.

[0030] By setting up a voltage divider unit and a voltage drop unit, the voltage of the charging power supply 4 can be collected by the voltage divider unit, and the voltage of the charging power supply 4 can be stepped down by the voltage drop unit so as to use the stepped-down power supply voltage to power some electrical components.

[0031] The voltage divider unit includes a first resistor R1 and a second resistor R2. One end of the first resistor R1 is connected to the positive terminal of the charging power supply 4, and the other end of the first resistor R1 is connected to one end of the second resistor R2. The other end of the second resistor R2 is grounded, and one end of the second resistor R2 is connected to the signal input terminal of the microcontroller 6.

[0032] The voltage drop unit includes a third resistor R3, a first voltage drop chip U1, a fourth resistor R4, and a second voltage drop chip U2. The input terminal of the first voltage drop chip U1 is connected to the positive terminal of the charging power supply 4 via the third resistor R3 in series. The input terminal of the second voltage drop chip U2 is connected to the output terminal of the first voltage drop chip U1 via the fourth resistor R4 in series. The output terminal of the second voltage drop chip U2 is connected to the power supply terminal of the current sampling module 7 and the power supply terminal of the microcontroller 6, respectively. The first voltage drop chip U1 outputs a voltage of 12V, and the second voltage drop chip U2 outputs a voltage of 5V. Both the first voltage drop chip U1 and the second voltage drop chip U2 can be purchased directly from the market. That is, the first voltage drop chip U1 is a voltage drop chip that converts 24V DC voltage to 12V voltage, and the second voltage drop chip U2 is a voltage drop chip that converts 12V DC voltage to 5V voltage.

[0033] like Figure 3 As shown, the charging switch module 5 includes a first MOSFET Q1, a fifth resistor R5, a sixth resistor R6, a second MOSFET Q2, a seventh resistor R7, an eighth resistor R8, and a first diode D2. The first MOSFET Q1 is a PMOS transistor, and the second MOSFET Q2 is an NMOS transistor. The source of the first MOSFET Q1 is connected to the positive terminal of the charging power supply 4, and the drain of the first MOSFET Q1 is connected to the positive terminal of the first diode D2. The negative terminal of the first diode D2 is connected to the positive charging interface C+. One end of the fifth resistor R5 is connected to the source of the first MOSFET Q1, and the other end of the fifth resistor R5 is connected to the gate of the first MOSFET Q1 and one end of the sixth resistor R6. The other end of the sixth resistor R6 is connected to the drain of the second MOSFET Q2, and the source of the second MOSFET Q2 is grounded. One end of the seventh resistor R7 is connected to the gate of the second MOSFET Q2, and the other end of the seventh resistor R7 is grounded. One end of the eighth resistor R8 is connected to the gate of the second MOSFET Q2, and the other end of the eighth resistor R8 is connected to the signal output terminal of the microcontroller 6. By using a MOSFET switch to control the on / off state of the charging circuit, the microcontroller 6 can control the on / off state of the MOSFET.

[0034] like Figure 3As shown, in some embodiments, the charging switch module 5 further includes a third MOS transistor Q3, a ninth resistor R9, a tenth resistor R10, a fourth MOS transistor Q4, an eleventh resistor R11, a twelfth resistor R12, and a first diode D2. The third MOS transistor Q3 is a PMOS transistor, and the fourth MOS transistor Q4 is an NMOS transistor. The source of the third MOSFET Q3 is connected to the drain of the first MOSFET Q1, and the drain of the third MOSFET Q3 is connected to the anode of the first diode D2. The cathode of the first diode D2 is connected to the positive charging interface C+. One end of the ninth resistor R9 is connected to the source of the third MOSFET Q3, and the other end of the ninth resistor R9 is connected to the gate of the third MOSFET Q3 and one end of the tenth resistor R10. The other end of the tenth resistor R10 is connected to the drain of the fourth MOSFET Q4, and the source of the fourth MOSFET Q4 is grounded. One end of the eleventh resistor R11 is connected to the gate of the fourth MOSFET Q4, and the other end of the eleventh resistor R11 is grounded. One end of the twelfth resistor R12 is connected to the gate of the fourth MOSFET Q4, and the other end of the twelfth resistor R12 is connected to the signal output terminal of the microcontroller 6.

[0035] Charging state: When MOS1 and MOS2 are low-level signals, the gate G of MOS transistors Q1 and Q3 is high-level, MOS transistors Q1 and Q3 are turned on, and the charging power supply charges the battery through MOS transistors Q1 and Q3 and diode D2.

[0036] Charging stopped state: MOS1 and MOS2 are both high level signals, the gate G of MOS transistors Q1 and Q3 is pulled low, MOS transistors Q1 and Q3 are cut off, the charging circuit is disconnected, and the battery stops charging.

[0037] This circuit controls the switching of the battery charging circuit by switching MOSFETs Q1 and Q3 on and off. The two output signals MOSFET1 and MOSFET2 of the microcontroller 6 provide the drive signals. Diode D2 prevents reverse connection, and Zener diodes D3 and D4 protect the MOSFETs. Overall, it realizes a safe and controllable battery charging function.

[0038] By setting two sets of MOSFET switches in series to control the charging on and off, the control capability can be improved, and the failure of a single MOSFET switch due to short circuit can be prevented from causing false charging.

[0039] Furthermore, the current sampling module 7 includes a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, an operational amplifier U3, a sixteenth resistor R16, and a seventeenth resistor R17. One end of the thirteenth resistor R13 is connected to the negative charging interface C- and one end of the fifteenth resistor R15, respectively. The other end of the thirteenth resistor R13 is connected to the negative terminal of the charging power supply 4. The other end of the fifteenth resistor R15 is connected to one end of the fourteenth resistor R14 and the non-inverting input terminal of the operational amplifier U3, respectively. The other end of the fourteenth resistor R14 is connected to the output terminal of the second voltage drop chip U2. The inverting input terminal of the operational amplifier U3 is connected to one end of the sixteenth resistor R16 and one end of the seventeenth resistor R17, respectively. The other end of the sixteenth resistor R16 is grounded. The other end of the seventeenth resistor R17 is connected to the output terminal of the operational amplifier U3, and the output terminal of the operational amplifier U3 is connected to the signal input terminal of the microcontroller 6.

[0040] exist Figure 4 In the charging identification module 10, there are a thirty-seventh resistor R37, a thirty-eighth resistor R38, an eleventh capacitor C11, and a fifth diode D5. The 5V voltage is connected to the KEY node through a resistor. The KEY node is also connected to a capacitor to GND and to the charging interface C+ of the subsequent circuit through a diode.

[0041] The core function of this circuit is charging identification. When the condition that the KEY voltage is pulled low is met, the load can be connected.

[0042] When no load is connected: 5V voltage supplies power to the KEY node through the resistor. Since the voltage across the eleventh capacitor C11 cannot change abruptly, the capacitor is initially equivalent to a short circuit, but after stabilization, the capacitor can be regarded as an open circuit. At this time, the voltage of the KEY node is approximately 5V. The fifth diode D5 is in the off state because the voltage at the KEY terminal (5V) is higher than the voltage at the C+ terminal on the right. It is assumed that there is no voltage or the voltage at the C+ terminal is low at this time, and the load is not connected.

[0043] When a load is connected (charging identification triggered): When an external load is connected (such as a charging device connected to the C+ interface), the voltage at the C+ terminal may be pulled up or a path may be formed through the load, causing a change in the voltage relationship across the diode. If the C+ terminal voltage rises after the load is connected, causing the diode to conduct, the KEY node is connected to the C+ terminal through the diode. If the C+ terminal voltage is lower than 5V, the KEY node voltage will be pulled down (pulled down to near the C+ terminal voltage, depending on the diode's forward voltage drop and load characteristics). After the KEY voltage is pulled down, the trigger circuit recognizes the load connection signal, thus completing the charging identification process and achieving an effective connection between the load and the power supply.

[0044] In addition, the capacitor connected to the KEY node acts as a filter or delay, stabilizing the KEY terminal voltage and preventing false triggering due to transient interference, thus ensuring the reliability of charging identification. The diode provides unidirectional conductivity, preventing reverse current flow and protecting the front-end 5V circuit from load voltage fluctuations.

[0045] In summary, this circuit determines whether a load is connected by monitoring whether the voltage at the KEY node is pulled low, and uses a combination of resistors, capacitors, and diodes to achieve simple charging identification and load connection control functions.

[0046] Figure 4 In this circuit, the current sampling module is a battery current sampling and conditioning circuit. It converts the loop current into a voltage signal through sampling resistor R13. After amplification by operational amplifier U3 and RC filtering, it outputs the ANG_IB signal for current monitoring. Its core function is to achieve high-precision current signal acquisition and preprocessing.

[0047] like Figure 5 As shown, the positive terminal of the indicator module 2 is connected to the second power supply voltage, the control terminal of the indicator module 2 is connected to the signal output terminal of the microcontroller 6, and the negative terminal of the indicator module 2 is grounded. The indicator module 2 includes a first LED DZ1, a second LED DZ2, a third LED DZ3, an eighteenth resistor R18, a nineteenth resistor R19, a twentieth resistor R20, a fifth MOSFET Q5, a twenty-first resistor R21, a twenty-second resistor R22, a twenty-third resistor R23, a sixth MOSFET Q6, a twenty-fourth resistor R24, a twenty-fifth resistor R25, a twenty-sixth resistor R26, and a seventh MOSFET Q7. The microcontroller 6 controls the switching on and off of the fifth MOSFET Q5, the sixth MOSFET Q6, and the seventh MOSFET Q7 to control the three LEDs: the first LED DZ1, the second LED DZ2, and the third LED DZ3. By setting up the indicator module 2, the charging status can be intuitively displayed.

[0048] like Figure 6 As shown, the microcontroller 6 communicates with external devices through the serial communication module 9, which uses an RS485 interface chip. The power supply terminal of the RS485 interface chip is connected to the first power supply voltage, i.e., the 5V voltage output from the output terminal of the second voltage drop chip U2. The transceiver terminals of the RS485 interface chip are connected to the transceiver terminals of the microcontroller 6 through the 33rd resistor R33, the 34th resistor R34, and the 35th resistor R35. The ground terminal of the RS485 interface chip is grounded.

[0049] By configuring the serial communication module 9, the microcontroller 6 can communicate with external communication devices, thereby enabling information exchange between the microcontroller and the external communication devices. like Figure 7 As shown, the power supply terminal of the temperature sensor 1 is connected to the 5V voltage output from the first power supply voltage (i.e., the output terminal of the second voltage drop chip U2) via a series resistor R36. The signal output terminal of the temperature sensor 1 is connected to the signal input terminal of the microcontroller 6. For example, the temperature sensor 1 can be configured as a thermistor, and the microcontroller samples the temperature by acquiring the voltage across the thermistor. By setting the temperature sensor 1, the ambient temperature can be detected, preventing the safety hazards of component failure or damage caused by overheating.

[0050] It should be noted that using a microcontroller to collect voltage signals and sensor signals, and output control signals are all conventional techniques in this field. Therefore, this invention does not improve the computer program.

[0051] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the concept and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A charging control device for a lawnmower robot, characterized in that: It includes a power supply voltage acquisition module (3), a charging switch module (5), a microcontroller (6), a current sampling module (7), a positive charging interface (C+), and a negative charging interface (C-); the positive charging interface (C+) is used to connect to the positive terminal of the battery (8), the negative charging interface (C-) is used to connect to the negative terminal of the battery (8), and the negative charging interface (C-) is grounded; One end of the charging switch module (5) is connected to the positive terminal of the charging power supply (4), and the other end of the charging switch module (5) is connected to the positive charging interface (C+). The control terminal of the charging switch module (5) is connected to the signal output terminal of the microcontroller (6). The two ends of the current sampling module (7) are respectively connected to the negative charging interface (C-) and the negative terminal of the charging power supply (4). The power supply terminal of the current sampling module (7) is connected to the first power supply voltage, and the feedback terminal of the current sampling module (7) is connected to the signal input terminal of the microcontroller (6). The voltage input terminal of the power supply voltage acquisition module (3) is used to connect to the output terminal of the charging power supply (4), and the signal output terminal of the power supply voltage acquisition module (3) is connected to the signal input terminal of the microcontroller (6).

2. The lawnmower robot charging control device according to claim 1, characterized in that: The power supply voltage acquisition module (3) includes a voltage divider unit and a voltage drop unit. One end of the voltage divider unit is connected to the positive terminal of the charging power supply (4), and the other end of the voltage divider unit is grounded. The voltage divider output terminal of the voltage divider unit is connected to the signal input terminal of the microcontroller (6). The input terminal of the voltage drop unit is connected to the charging power supply (4), and the output terminal of the voltage drop unit is connected to the power supply terminal of the current sampling module (7) and the power supply terminal of the microcontroller (6), respectively.

3. The lawnmower robot charging control device according to claim 2, characterized in that: The voltage divider unit includes a first resistor (R1) and a second resistor (R2). One end of the first resistor (R1) is connected to the positive terminal of the charging power supply (4), and the other end of the first resistor (R1) is connected to one end of the second resistor (R2). The other end of the second resistor (R2) is grounded, and one end of the second resistor (R2) is connected to the signal input terminal of the microcontroller (6).

4. The lawnmower robot charging control device according to claim 2, characterized in that: The voltage drop unit includes a third resistor (R3), a first voltage drop chip (U1), a fourth resistor (R4), and a second voltage drop chip (U2). The input terminal of the first voltage drop chip (U1) is connected to the positive terminal of the charging power supply (4) through the third resistor (R3) in series. The input terminal of the second voltage drop chip (U2) is connected to the output terminal of the first voltage drop chip (U1) through the fourth resistor (R4) in series. The output terminal of the second voltage drop chip (U2) is connected to the power supply terminal of the current sampling module (7) and the power supply terminal of the microcontroller (6) respectively.

5. The lawnmower robot charging control device according to claim 4, characterized in that: The charging switch module (5) includes a first MOS transistor (Q1), a fifth resistor (R5), a sixth resistor (R6), a second MOS transistor (Q2), a seventh resistor (R7), an eighth resistor (R8), and a first diode (D2). The first MOS transistor (Q1) is a PMOS transistor, and the second MOS transistor (Q2) is an NMOS transistor. The source of the first MOS transistor (Q1) is connected to the positive terminal of the charging power supply (4), the drain of the first MOS transistor (Q1) is connected to the positive terminal of the first diode (D2), and the negative terminal of the first diode (D2) is connected to the positive charging interface (C+). One end of the fifth resistor (R5) is connected to the source of the first MOS transistor (Q1), and the other end of the fifth resistor (R5) is connected to the gate of the first MOS transistor (Q1) and one end of the sixth resistor (R6). The other end of the sixth resistor (R6) is connected to the drain of the second MOS transistor (Q2), and the source of the second MOS transistor (Q2) is grounded. One end of the seventh resistor (R7) is connected to the gate of the second MOS transistor (Q2), and the other end of the seventh resistor (R7) is grounded. One end of the eighth resistor (R8) is connected to the gate of the second MOS transistor (Q2), and the other end of the eighth resistor (R8) is connected to the signal output terminal of the microcontroller (6).

6. The lawnmower robot charging control device according to claim 5, characterized in that: The charging switch module (5) further includes a third MOS transistor (Q3), a ninth resistor (R9), a tenth resistor (R10), a fourth MOS transistor (Q4), an eleventh resistor (R11), a twelfth resistor (R12), and a first diode (D2). The third MOS transistor (Q3) is a PMOS transistor, and the fourth MOS transistor (Q4) is an NMOS transistor. The source of the third MOS transistor (Q3) is connected to the drain of the first MOS transistor (Q1), the drain of the third MOS transistor (Q3) is connected to the anode of the first diode (D2), and the cathode of the first diode (D2) is connected to the positive charging interface (C+). One end of the ninth resistor (R9) is connected to the source of the third MOS transistor (Q3), and the other end of the ninth resistor (R9) is connected to the gate of the third MOS transistor (Q3) and one end of the tenth resistor (R10). The other end of the tenth resistor (R10) is connected to the drain of the fourth MOS transistor (Q4), and the source of the fourth MOS transistor (Q4) is grounded. One end of the eleventh resistor (R11) is connected to the gate of the fourth MOS transistor (Q4), and the other end of the eleventh resistor (R11) is grounded. One end of the twelfth resistor (R12) is connected to the gate of the fourth MOS transistor (Q4), and the other end of the twelfth resistor (R12) is connected to the signal output terminal of the microcontroller (6).

7. The lawnmower robot charging control device according to claim 4, characterized in that: The current sampling module (7) includes a thirteenth resistor (R13), a fourteenth resistor (R14), a fifteenth resistor (R15), an operational amplifier (U3), a sixteenth resistor (R16), and a seventeenth resistor (R17). One end of the thirteenth resistor (R13) is connected to the negative charging interface (C-) and one end of the fifteenth resistor (R15), respectively. The other end of the thirteenth resistor (R13) is connected to the negative terminal of the charging power supply (4), and the other end of the fifteenth resistor (R15) is connected to one end of the fourteenth resistor (R14). The non-inverting input terminal of the operational amplifier (U3) is connected to the other end of the fourteenth resistor (R14), and the output terminal of the second voltage drop chip (U2) is connected to the other end of the fourteenth resistor (R16) and the seventeenth resistor (R17). The other end of the sixteenth resistor (R16) is grounded, and the other end of the seventeenth resistor (R17) is connected to the output terminal of the operational amplifier (U3). The output terminal of the operational amplifier (U3) is connected to the signal input terminal of the microcontroller (6).

8. The lawnmower robot charging control device according to claim 1, characterized in that: It also includes an indicator light module (2), the positive terminal of which is connected to a second power supply voltage, the control terminal of which is connected to the signal output terminal of the microcontroller (6), and the negative terminal of which is grounded.

9. The lawnmower robot charging control device according to claim 1, characterized in that: It also includes a temperature sensor (1), the power supply terminal of which is connected to the first power supply voltage, and the signal output terminal of the temperature sensor (1) is connected to the signal input terminal of the microcontroller (6).

10. The lawnmower robot charging control device according to claim 1, characterized in that: It also includes a serial communication module (9), the power supply terminal of which is connected to the first power supply voltage, and the transceiver terminal of the serial communication module (9) is connected to the transceiver terminal of the microcontroller (6).

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