CN113442770B - Charging method, self-mobile device and storage medium - Google Patents

Charging method, self-mobile device and storage medium Download PDF

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Publication number
CN113442770B
CN113442770B CN202010231915.9A CN202010231915A CN113442770B CN 113442770 B CN113442770 B CN 113442770B CN 202010231915 A CN202010231915 A CN 202010231915A CN 113442770 B CN113442770 B CN 113442770B
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China
Prior art keywords
charging
self
charging pile
wheel
obstacle
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CN202010231915.9A
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Chinese (zh)
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CN113442770A (en
Inventor
崔俊伟
杜剑锋
杨越
黎建
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Ninebot Beijing Technology Co Ltd
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Ninebot Beijing Technology Co Ltd
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Priority to CN202010231915.9A priority Critical patent/CN113442770B/en
Priority to PCT/CN2021/079058 priority patent/WO2021190266A1/en
Publication of CN113442770A publication Critical patent/CN113442770A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/31—Charging columns specially adapted for electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Abstract

The embodiment of the invention discloses a charging method, self-mobile equipment and a storage medium. The charging method is applied to a self-moving device, the self-moving device comprises a driving wheel and an obstacle surmounting wheel, and the charging method comprises the following steps: under the condition that the charging event of the charging pile docked by the self-mobile device is monitored, controlling the driving wheel to be powered off; and after the charging event is determined to be completed, controlling the driving wheel to be electrified again, so that the driving wheel drives the obstacle surmounting wheel to deviate from the limit retaining block of the charging pile. According to the charging method, the self-mobile device and the storage medium, the charging efficiency and the charging safety can be improved.

Description

Charging method, self-mobile device and storage medium
Technical Field
The embodiment of the invention belongs to the technical field of intelligent equipment charging, and particularly relates to a charging method, self-mobile equipment and a computer readable storage medium.
Background
At present, various types of self-moving robots have been used for the life of more and more people, and play an important role in the fast-paced life of people.
However, in the method for charging the self-mobile machine in the prior art, the self-mobile robot generally moves to the charging pile for charging, and in order to avoid inaccurate butt joint of the charging electrode caused by movement of the self-mobile robot in the charging process, the driving wheel of the self-mobile robot is often required to work in a charged manner so as to keep good charging contact pretightening force with the charging pile, so that the charging efficiency is poor.
Disclosure of Invention
To solve the technical problems existing in the prior art, embodiments of the present invention provide a charging method, a self-mobile device, and a computer readable storage medium.
In a first aspect, an embodiment of the present invention provides a charging method applied to a self-moving device, the self-moving device including a driving wheel and an obstacle surmounting wheel, the charging method including:
under the condition that the charging event of the charging pile docked by the self-mobile device is monitored, controlling the driving wheel to be powered off;
and after the charging event is determined to be completed, controlling the driving wheel to be electrified again, so that the driving wheel drives the obstacle surmounting wheel to deviate from the limit retaining block of the charging pile.
Further, the monitoring of the charging event of the charging pile docked from the mobile device includes:
and determining that the obstacle crossing wheel enters the limit retaining block and receiving request information sent by the charging pile.
Further, the determining that the obstacle detouring wheel enters the limit holding block comprises:
and monitoring that the obstacle crossing wheel completes one obstacle crossing action and the machine body is restored to the horizontal state after obstacle crossing, and enabling the power taking electrode to be in contact with the output electrode of the charging pile.
Further, the request information includes identification information of the charging pile, and after receiving the request information sent by the charging pile, the method further includes:
and identifying the identification information of the charging pile, and determining to charge the self-mobile equipment through the charging pile.
Further, after determining that the self-mobile device is charged through the charging pile, the method further comprises:
and responding to the request information, and sending response information to the charging pile, so that the output electrode of the charging pile outputs electric energy to the power-taking electrode of the self-mobile device.
In a second aspect, embodiments of the present invention provide a self-moving device including a driving wheel and an obstacle detouring wheel, the self-moving device further including a monitoring module and a control module,
the control module is used for controlling the power-off of the driving wheel under the condition that the monitoring module monitors the charging event of the charging pile docked by the self-mobile device;
the control module is also used for controlling the driving wheel to be electrified again after the monitoring module determines that the charging event is completed, so that the driving wheel drives the obstacle surmounting wheel to deviate from the limit retaining block of the charging pile.
Further, the monitoring module comprises a monitoring unit and a receiving unit,
the monitoring unit is used for determining that the obstacle crossing wheel enters the limit retaining block;
the receiving unit is used for receiving the request information sent by the charging pile.
Further, the monitoring unit is specifically configured to monitor that the obstacle crossing wheel completes an obstacle crossing action and the body returns to a horizontal state after obstacle crossing, and the power taking electrode is in contact with the output electrode of the charging pile.
Further, the system also comprises an identification module and a determination module, wherein the request information comprises identification information of the charging pile,
the identification module is used for identifying the identification information of the charging pile;
the determining module is used for determining that the self-mobile device is charged through the charging pile.
Further, the device also comprises a sending module, wherein the sending module is used for responding to the request information and sending response information to the charging pile, so that the output electrode of the charging pile outputs electric energy to the power taking electrode of the self-moving equipment.
In a third aspect, embodiments of the present invention also provide a computer-readable storage medium storing a computer program;
the computer program causes a computer to perform the charging method according to any one of the preceding claims when executed.
According to the technical scheme provided by the embodiment of the invention, the power-off processing is carried out on the driving wheel of the self-mobile device under the condition that the charging event of the charging pile docked by the self-mobile device is monitored, and the charging is carried out in the power-off state, so that the charging efficiency of the self-mobile device is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic side structure of a charging pile according to a first embodiment of the present invention;
fig. 2 is a schematic perspective view of a charging pile according to a first embodiment of the present invention;
FIG. 3 is a top view of a charging pile according to a first embodiment of the present invention;
fig. 4 is a schematic side structure of a charging system according to a second embodiment of the present invention;
fig. 5 is a schematic side view of a charging system according to a second embodiment of the present invention;
FIG. 6 is a flow chart of a charging method according to a third embodiment of the present invention;
fig. 7 is a flowchart of a charging method according to a third embodiment of the present invention;
fig. 8 is a flowchart of a charging method according to a third embodiment of the present invention;
fig. 9 is a schematic block diagram of a self-mobile device according to a fourth embodiment of the present invention
Fig. 10 is a schematic block diagram of a self-mobile device according to a fourth embodiment of the present invention;
fig. 11 is a schematic block diagram of a self-mobile device according to a fourth embodiment of the present invention;
fig. 12 is a schematic block diagram of a self-mobile device according to a fourth embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention will be given with reference to the accompanying drawings and examples, by which the implementation process of how the present invention can be applied to solve the technical problems and achieve the technical effects can be fully understood and implemented.
Certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the form of an element differentiated by name, but rather by functionality. As used throughout the specification and claims, the word "comprise" is an open-ended term, and thus should be interpreted to mean "include, but not limited to. By "substantially" is meant that within an acceptable error range, a person skilled in the art is able to solve the technical problem within a certain error range, substantially achieving the technical effect. Furthermore, the terms "coupled" or "electrically connected," as used herein, encompass any direct or indirect electrical coupling. Accordingly, if a first device couples to a second device, that connection may be through a direct electrical coupling to the second device, or through another device or coupling means coupled to ground. The description hereinafter sets forth a preferred embodiment for practicing the invention, but is not intended to limit the scope of the invention, as the description is given for the purpose of illustrating the general principles of the invention. The scope of the invention is defined by the appended claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
At present, self-moving equipment (such as a floor sweeping robot, a meal delivery robot and the like) in the market generally has a self-charging function, and generally, a robot automatically moves to a charging pile when the electric quantity is insufficient, an electricity taking electrode on a robot chassis can be aligned with an output electrode on the charging pile to perform wired charging, or the robot approaches the charging pile to perform wireless charging, no matter which charging mode needs that the robot and the charging pile are close to each other and the position is kept unchanged, so that better charging contact pretightening force can be ensured, in addition, the driving wheel of the robot is electrified to generate driving force close to the charging pile, but the electrified work of the driving wheel of the robot tends to consume the electric quantity of the robot, so that the charging efficiency of the robot is poor, and meanwhile, the robot is electrified to perform charging, so that certain potential safety hazards are also provided.
The embodiment of the invention mainly provides a charging pile, a charging system, a charging method, self-moving equipment and a computer readable storage medium, wherein a robot is mechanically limited by a limiting and retaining block on the charging pile in the charging process so as to provide good charging contact pretightening force, so that the robot can charge a battery in a power-off state, and the charging efficiency of the robot is improved.
Example 1
Referring to fig. 1, a schematic side structure of a charging pile according to a first embodiment of the present invention is shown, where the charging pile includes a housing 10, an output electrode 20 and a limit retaining block 30.
Wherein the housing 10 includes a front case 110 and a rear cover 120 coupled to the front case 110; the output electrode 20 is disposed in the housing 10 and has one end protruding from the panel 1101 of the front case 110; the limit holding block 30 is used for fixing a self-moving device, is arranged in front of the panel 1101, and comprises a first protrusion 310, and a first interval is formed between the first protrusion 310 and the bottom of the panel 1101.
Specifically, the front case 110 includes a side plate 1102 and the panel 1101, where the front case 110 includes, but is not limited to, an integrally formed structure, the side plate 1102 and the panel 1101 are disposed opposite to each other, the side plate 1102 is disposed between the panel 1101 and the rear cover 120, the outer periphery of the rear cover 120 is connected to the side plate 1102, that is, the rear cover 120 and the front case 110 are connected to each other, so as to form a relatively closed shell structure, that is, the case 10, where the connection form between the front case 110 and the rear cover 120 includes, but is not limited to, a screw connection, a snap connection, or a hinge connection, etc., and a charging power source (not shown in the drawing) is further disposed in the case 10, and is electrically connected to an external power source, that includes, but is not limited to, a commercial power source, one end of the output electrode 20 passing through the panel 1101 of the front case 110 extends out of the case 10, and the other end is disposed inside the case 10 and is electrically connected to the charging power source.
The limit holding block 30 is disposed outside the housing 10, both are disposed on the ground or other bearing structures, the limit holding block 30 is disposed in front of the panel 1101, where the limit holding block 30 may be an integral structure with the panel 1101 or a structure separated from the panel 1101, the first protrusion 310 is disposed on the limit holding block 30, and the first protrusion 310 and the bottom of the panel 1101 are separated by the first space D, where the size of the first space D may be set according to practical needs.
When the self-moving device (such as a sweeping robot) moves towards the charging pile under the drive of the driving wheel of the self-moving device, the obstacle crossing wheel positioned at the front end of the advancing direction passes over the first protrusion 310 and reaches the upper part of the limit holding block 30, at the moment, the power taking electrode on the side plate of the base of the self-moving device just contacts with the output electrode 20, so that the charging pile starts to charge the self-moving device, and meanwhile, the driving wheel of the self-moving device is powered off to stop rotating, but the first protrusion 310 plays a role of preventing the self-moving device from moving, namely the limit holding block 20 plays a role of fixing the self-moving device, so that the power taking electrode of the self-moving device and the output electrode 20 have better charging contact pretightening force, the reliability of two electrode contact in the charging process is improved, and the charging efficiency of the self-moving device is further improved.
After the charging is completed, the charging pile stops charging the self-moving equipment to enter a corresponding standby state, and after the self-moving equipment receives a task, the driving wheel of the self-moving equipment reversely rotates to drive the obstacle crossing wheel of the self-moving equipment to reversely cross the first protrusion 310, and the obstacle crossing wheel of the self-moving equipment is separated from the limit retaining block 30, so that a corresponding working task is started.
Further, in other preferred embodiments of the present invention, in order to further enhance the pre-tightening force of the charging contact between the output electrode 20 and the power-taking electrode of the self-moving device, the end of the output electrode 20 extending out of the panel 1101 may reciprocate in the direction perpendicular to the panel 1101.
Specifically, the output electrode 20 is a movable electrode that can move in a direction perpendicular to the panel 1101, and in one possible embodiment, the output electrode 20 is a metal spring sheet with a certain elasticity; in another possible embodiment, the output electrode 20 is provided with a compression spring structure on the side facing the inside of the housing 10, and it should be noted that the above two structures are only exemplary, and do not limit the present invention,
in addition, in another preferred embodiment of the present invention, in order to make the charging post adaptable to self-moving devices of different specifications and models, the range of use of the charging post is extended, and the first protrusion 310 is reciprocally movable in a direction from a bottom portion far from the panel 1101 to a bottom portion near to the panel 1101.
Specifically, the spacing between the limit holding block 30 and the housing 10 may be adjusted according to the types of the self-moving devices of different specifications, that is, the first spacing D between the first protrusion 310 and the bottom of the panel 1101 may be adjusted according to the types of the self-moving devices of different specifications.
Further, referring to fig. 2, a schematic perspective view of a charging pile according to a first embodiment of the present invention is provided, and in a further preferred embodiment of the present invention, in order to facilitate the obstacle detouring wheel of the self-moving device to reach the limit holding block 30 beyond the first protrusion 310, a side of the first protrusion 310 facing away from the panel 1101 is provided with a slope 320.
Specifically, the top end of the slope 320 is the top of the first protrusion 310 facing away from the side of the panel 1101, the bottom end of the slope 320 is the bottom of the limit holding block 30, and the gradient of the slope 320 may be set according to the obstacle surmounting capability of the self-moving device.
In addition, the limit holding block 30 further includes a second protrusion 330, and the second protrusion 330 is disposed between the first protrusion 310 and the panel 1101.
Specifically, the limit retaining block 30 is a platform provided with two protrusions, namely, the first protrusion 310 and the second protrusion 330 are relatively disposed on two sides of the limit retaining block 30, and the second protrusion 330 is located between the first protrusion 310 and the housing 10, so that the second protrusion 330 has an intercepting effect when the obstacle crossing wheel of the self-moving device passes over the first protrusion 310, and prevents the obstacle crossing wheel from continuing to advance forward to collide with the charging pile body, thereby protecting the output electrode 20 and the panel 1101.
Further, in order to further enhance the interception capability of the second protrusion 330 to the self-moving device, the second protrusion 330 is prevented from colliding with the charging pile body, and the height of the second protrusion 330 is higher than that of the first protrusion 310.
In addition, in order to improve the stability of the movement of the self-moving device after passing over the first protrusion 310 and the stability of the self-moving device fixed to the limit holding block 30, and at the same time, to facilitate the obstacle detouring wheel of the self-moving device to enter the working state after passing over the first protrusion 310 again after the completion of the charging, the limit holding block 30 further includes a groove 340, and the groove 340 is located between the first protrusion 310 and the second protrusion 330.
Specifically, the groove 340 is located between the first protrusion 310 and the second protrusion 330 at both sides of the limit maintaining block 30, and the groove 340 is used to receive the bottom of the obstacle detouring wheel of the self-moving device.
In a preferred embodiment, in order to enhance the interception capability of the second protrusion 330 to the self-moving device, so as to avoid collision with the charging pile body, a slope between the bottom of the groove 340 and the second protrusion 330 is greater than a slope between the bottom of the groove 340 and the first protrusion 310.
Further, referring to fig. 3, which is a top view of a charging pile according to a first embodiment of the present invention, in other preferred embodiments of the present invention, the charging pile further includes a bottom plate 40, the bottom plate 40 is disposed at the bottom of the housing 10, and includes a protruding portion 410 protruding from the front of the panel 1101, and the limit retaining block 30 is disposed on the protruding portion 410.
Specifically, the bottom plate 40 is used as a carrying plate of other components of the charging pile, the bottom plate 40 is disposed at the bottom of the housing 10, and may be integrally formed with the front case 110, and the protruding portion 410 is formed by extending in the front direction of the panel 1101, and the size of the area of the protruding portion 410 is not particularly limited herein, and may be determined according to the specification and model of the actual self-mobile device. The spacing retaining block 30 is connected to the protruding portion 410, that is, the bottom plate 40 not only carries the charging pile body but also carries the spacing retaining block 30, so that the whole sense of the charging pile can be improved, and the charging pile is convenient to move, install and manage.
Further, the limit maintaining block 30 is provided with a sliding hole 350 perpendicular to the panel 1101, and a fastening bolt 360 passes through the sliding hole 350 to movably connect the limit maintaining block 30 to the protruding portion 410.
Specifically, the sliding holes 350 are respectively provided on opposite sides of the limit holding block 30 along the direction perpendicular to the panel 1101, the fastening bolts 360 penetrate through the sliding holes 350 to connect the limit holding block 30 to the protruding portion 410, by loosening the fastening bolts 360, the limit holding block 30 can be reciprocally moved along the direction perpendicular to the panel 1101 (as indicated by the arrow in the figure) until the limit holding block 30 is moved to a suitable position, and then the fastening bolts 360 are fastened, so as to fix the limit holding block 30 to the protruding portion 410, thereby realizing the movable connection between the limit holding block 30 and the bottom plate 40, that is, realizing the hope that the first distance D between the first protrusion 310 and the bottom of the panel 1101 in the above embodiments can be adjusted according to the self-moving devices of different specifications and models, and expanding the application range of the charging pile.
Example two
Referring to fig. 4, a schematic side structure of a charging system according to a second embodiment of the present invention is provided, where the charging system includes the charging pile 1 and the self-mobile device 2 described in the first embodiment.
Here, the self-moving device 2 includes, but is not limited to, a floor sweeping robot, a meal delivery robot, an electric balance car, etc., and the self-moving device 2 generally includes a chassis 21 and a device body, wherein the device body is provided on the chassis 21, and may have different shapes and specifications as required, and the present invention and the drawings are not related to this, so that the description is omitted. The side part of the chassis 21 is provided with an electricity taking electrode 211, and the arrangement height of the electricity taking electrode 211 is equal to the arrangement height of the output electrode 20 of the charging pile 1; the bottom of the chassis 21 is provided with a barrier-crossing wheel 212, and the height of the lowest point of the barrier-crossing wheel 212 is smaller than the height of the first protrusion 310 of the charging pile 1.
Specifically, the power-taking electrode 211 is generally disposed at a side portion of the chassis 21 in front of the normal traveling direction of the self-mobile device 2, and the shape and the specification of the power-taking electrode 211 are matched with those of the output electrode 20, such as a common male-female structure, and the number of the power-taking electrode 211 is the same, and two electrodes, namely, a positive electrode and a negative electrode, are generally respectively used; it should be emphasized here that the height of the power-taking electrode 211 and the output electrode 20 are identical, which is advantageous for self-alignment between the two electrodes; the obstacle detouring wheel 210 is generally disposed at the bottom of the chassis 21 in front of the normal traveling direction of the self-moving device 2, that is, the obstacle detouring wheel 212 is generally disposed in front of the driving wheel 213 along the normal traveling direction of the self-moving device, and the lowest point of the obstacle detouring wheel 212 needs to be higher than the lowest point of the driving wheel 213, so that when the obstacle is encountered in front of the normal traveling direction of the self-moving device 2, the thrust of the driving wheel 213 acts on the obstacle detouring wheel 212 to climb up the obstacle, thereby driving the self-moving device 2 to detoure the obstacle.
In this embodiment, the height of the first protrusion 310 on the limit holding block 30 of the charging pile 1 is higher than the height of the lowest point of the obstacle surmounting wheel 212, that is, the obstacle surmounting wheel 212 passes over the first protrusion 310 to reach above the limit holding block 30 under the thrust of the driving wheel 213, at this time, the power taking electrode 211 and the output electrode 20 are in contact with each other, the charging pile 1 starts to charge the self-moving device 2, at the same time, the driving wheel 213 of the self-moving device 2 is powered off, since the first protrusion 310 plays a role of blocking and retracting the obstacle surmounting wheel 212, that is, the self-moving device 2 is fixed on the limit holding block 30, as shown in fig. 5, the power taking electrode 211 and the output electrode 20 can be continuously in close contact to ensure that a better charging contact pre-tightening force is required to complete the charging work, and since the driving wheel 213 is not required to lift the pre-charging contact to maintain the charging efficiency of the self-moving device 2 during the charging process of the self-moving device 2.
In addition, since the driving wheel 213 is not required to be charged to maintain the charging contact pre-tightening force, that is, the self-moving device 2 does not use electric energy in the charging process, the charging safety is improved to a certain extent.
After the charging is completed, the charging pile 1 stops charging outwards, in general, the self-moving device 2 will park on the charging pile 1, and after the self-moving device 2 receives a work task, the driving wheel 213 will reversely rotate, thereby retreating and driving the obstacle surmounting wheel 212 to turn over the first protrusion 310, and separate from the limit holding block 30, so as to perform a corresponding work task, thereby leaving the charging pile 1.
Further, between the first protrusion 310 of the charging pile 1 and the front case panel 1101 is a holding surface 370 for fixing the obstacle detouring wheel 212, and the height of the holding surface 370 is not greater than the height of the lowest point of the obstacle detouring wheel 212.
Specifically, the holding surface 370 is on the limit holding block 30 and is located on the side of the first protrusion 310 facing the surface 1101, and when the obstacle detouring wheel 212 passes over the first protrusion 310, the holding surface 370 is placed on the holding surface 370, so that the holding surface 370 plays a role in limiting and fixing the obstacle detouring wheel 212; here, by the height of the holding surface 370 not being greater than the height of the lowest point of the obstacle surmounting wheel 212, that is, the height of the holding surface 370 is lower than the height of the lowest point of the obstacle surmounting wheel 212, or the height of the holding surface 370 is equal to the height of the lowest point of the obstacle surmounting wheel 212, the front end of the self-moving device 1 is not too high, so that the front end of the self-moving device 1 is still kept in a horizontal state, thereby facilitating the alignment between the power taking electrode 211 and the output electrode 20, and the reliability of the contact between the power taking electrode and the output electrode 20, and further improving the reliability of the charging pile 1 for charging the self-moving device 2.
Further, the retaining surface 370 is a concave surface, and the height of the lowest point of the concave surface is not greater than the height of the lowest point of the obstacle detouring wheel 212.
Specifically, when the obstacle detouring wheel 212 falls into the concave structure after passing over from the first protrusion 310, on the one hand, the limit fixing performance of the holding surface 370 to the obstacle detouring wheel 212 can be improved; in addition, the obstacle crossing wheel 212 can be prevented from crossing the first protrusion 310 and impacting the charging pile, so that the self-moving device 2 moves more stably; furthermore, the concave structure is arranged after the charging is completed, so that the obstacle detouring wheel 212 can conveniently reversely move back and over the first protrusion 310, and further can be separated from the limit holding block 30.
However, it should be noted that the height of the lowest point of the concave surface is not greater than the height of the lowest point of the obstacle surmounting wheel 212, that is, the height of the lowest point of the concave surface is lower than the height of the lowest point of the obstacle surmounting wheel 212, or the height of the lowest point of the concave surface is equal to the height of the lowest point of the obstacle surmounting wheel 212, so that the obstacle surmounting wheel 212 is not too high when being limited and fixed, the chassis 21 still keeps a horizontal state, which is beneficial to horizontally aligning the power-taking electrode 211 and the output electrode 20, and improving the reliability of mutual contact of the power-taking electrode 211 and the output electrode 20, thereby improving the reliability of charging the self-moving device 2 by the charging pile 1.
Example III
Referring to fig. 6, a method flowchart of a charging method according to a third embodiment of the present invention is provided, where the self-mobile device includes a driving wheel and an obstacle surmounting wheel, and the charging method includes:
step S100, under the condition that the charging event of the charging pile docked by the self-mobile device is monitored, the driving wheel is controlled to be powered off;
and step 200, after the charging event is determined to be completed, controlling the driving wheel to be electrified again, so that the driving wheel drives the obstacle surmounting wheel to deviate from the limit retaining block of the charging pile.
Specifically, in step S100, the self-mobile device monitors the occurrence of a charging event in real time, and when the self-mobile device monitors that the charging pile docked with the self-mobile device has a corresponding charging event, the self-mobile device performs power-off processing on the driving wheel by controlling the travel switch inside the self-mobile device, and receives the electric energy input of the output electrode of the charging pile for charging. Because in the charging process of the self-moving equipment, the driving wheel is in a power-off state, and no extra electric energy is required to be consumed, the charging efficiency of the self-moving robot can be improved, the simultaneous charging and discharging is avoided, and the charging safety of the sweeping robot can be ensured to a certain extent.
Referring to fig. 7, a flowchart of another method of the charging method according to the third embodiment of the present invention, in step S100, the monitoring of the charging event of the charging post docked from the mobile device specifically includes:
step S110, determining that the obstacle crossing wheel enters the limit maintaining block and receiving request information sent by the charging pile.
Here, monitoring the occurrence of the charging event needs to satisfy the determination that the obstacle detouring wheel enters the limit holding block and the reception of the request information sent by the charging pile.
The method comprises the steps of determining that the obstacle crossing wheel enters the limiting and retaining block, specifically comprises the steps of monitoring that the obstacle crossing wheel completes obstacle crossing action once and then the machine body is restored to be horizontal, and enabling the electricity taking electrode to be in contact with the output electrode of the charging pile. Specifically, the sensor arranged in the robot detects that a certain inclination occurs in the body in the travelling process, the obstacle crossing wheel is indicated to cross the obstacle, the body is simultaneously displaced forwards after the inclination occurs, then the body is restored to be horizontal, the obstacle crossing wheel is indicated to cross an obstacle, meanwhile, the self-moving equipment monitors that the power taking electrode of the self-moving equipment is in contact with the output electrode of the charging pile, the self-moving equipment monitors that the power taking electrode has current or electric signal input, when the self-moving equipment completes obstacle crossing and then restores to be horizontal, and the power taking electrode is in contact with the output electrode of the charging pile, the obstacle crossing wheel is indicated to be a protrusion arranged on the limit retaining block at the moment, namely, the obstacle crossing wheel enters the limit retaining block.
For the request information sent by the charging pile, when the power taking electrode is mainly in contact with the output electrode of the charging pile, the charging pile can send corresponding outward charging request information outwards, and the request information is transmitted to the main board of the self-mobile device through the power taking electrode.
After the above charging event is met, the self-moving device can control the driving wheel to be powered off, namely the driving wheel stops outputting driving force outwards, and the obstacle crossing wheel is sunk into the limit holding block at the moment, so that a good fixing effect is achieved on the self-moving device, namely the self-moving device cannot move back and forth, even if the driving wheel is in a power-off state at the moment, the power taking electrode and the charging pile output electrode have good charging pretightening force, and therefore reliability of benign contact between the power taking electrode and the charging pile output electrode is guaranteed, and charging efficiency of the self-moving robot is improved.
In addition, referring to fig. 8, a flowchart of another method of the charging method according to the third embodiment of the present invention is provided, where the request information includes identification information of the charging pile, and in step S110, after receiving the request information sent by the charging pile, the method further includes:
step S120, identifying the identification information of the charging pile, determining to charge the self-mobile device through the charging pile,
further, in step S120, after determining that the self-mobile device is charged by the charging pile, the method further includes:
and step S130, response information is sent to the charging pile in response to the request information, so that the output electrode of the charging pile outputs electric energy to the power taking electrode of the self-mobile device.
Specifically, the request information sent by the charging pile is received, the request information includes identification information of the charging pile, in step S120, the identification information includes, but is not limited to, parameters such as a model number, an output voltage, an output current and the like of the charging pile, the self-mobile device identifies the charging device matched with the self-mobile device after receiving the information, and when the information is identified and the matching condition is met, the self-mobile device is determined to be charged through the charging pile, so that charging failure and even charging failure caused by charging of the self-mobile robot by the unmatched charging device can be avoided, and reliability and safety of charging are improved.
Then, after determining that the self-mobile device is to be charged by the charging pile, in step S130, corresponding response information is to be sent to the charging pile in response to the request information sent by the charging pile, so that the output electrode of the charging pile outputs electric energy to the power-taking electrode of the self-mobile device, meanwhile, the self-mobile device controls the driving wheel to be powered off through an internal travel switch, and opens a process switch for charging the battery of the self-mobile device, and receives the electric energy output from the output electrode of the charging pile to the power-taking electrode of the self-mobile device.
After the step S100, the charging pile continuously charges the self-mobile device, in the step S200, the charging pile continuously reads the battery power of the self-mobile device in the process of charging the self-mobile device, when the battery power reaches a preset power, the self-mobile device automatically stops charging, when detecting that the battery power reaches the preset power after detecting that the input current to the power taking electrode stops through the circuit detection module, the self-mobile device indicates that the charging is completed, and at the moment, the self-mobile device re-charges the driving wheel by controlling the internal travel switch, and the state of the self-mobile device at the moment can be understood as a standby state; when the self-moving equipment in the standby state receives a work task, the driving wheel is controlled to retract, namely, the driving wheel is controlled to reversely rotate, and at the moment, the driving wheel drives the obstacle surmounting wheel to cross the bulge on the limit retaining block, so that the obstacle surmounting wheel is separated from the limit retaining block, and the corresponding work task is started.
It should be noted that, the self-moving device may detect that the electric quantity is insufficient when a task is not completed, move to the charging pile, the obstacle crossing wheel passes over the protrusion on the limit holding block and enters the limit holding block, the electricity taking electrode contacts with the output electrode, then power off the driving wheel, the self-moving device is fixed by means of the limit holding block to provide a pre-tightening force for charging between the two electrodes, so as to ensure that the charging action is completed efficiently, after the charging is completed, the self-moving device stops charging outwards, re-electrifies the driving wheel, controls the driving wheel to rotate reversely, drives the obstacle crossing wheel to pass over the protrusion on the limit holding block, and is separated from the limit holding block, and continues to perform the task which is not completed before.
Example IV
Referring to fig. 9, a block diagram of a self-moving device according to a fourth embodiment of the present invention is provided, wherein the self-moving device includes a driving wheel and an obstacle surmounting wheel (not shown), and further includes a monitoring module 41 and a control module 42.
The control module 42 is configured to control the driving wheel to be powered off when the monitoring module 41 monitors a charging event of the charging pile docked by the self-mobile device;
the control module 42 is further configured to control the driving wheel to be re-electrified after the monitoring module 41 determines that the charging event is completed, so that the driving wheel drives the obstacle surmounting wheel to separate from the limit holding block of the charging pile.
Referring to fig. 10, a schematic block diagram of a self-mobile device according to a fourth embodiment of the present invention is provided, in which, based on the previous embodiment, the monitoring module 41 includes a monitoring unit 411 and a receiving unit 412,
the monitoring unit 411 is used for determining that the obstacle crossing wheel enters the limit retaining block;
the receiving unit 412 is configured to receive the request information sent by the charging pile.
Further, the monitoring unit 411 is specifically configured to monitor that the obstacle detouring wheel completes an obstacle detouring action and the body returns to a horizontal state after obstacle detouring, and the power taking electrode contacts with the output electrode of the charging pile.
Referring to fig. 11, a schematic block diagram of a self-mobile device according to a fourth embodiment of the present invention is provided, where, based on the above embodiment, the self-mobile device further includes an identification module 43 and a determination module 44, the request information includes identification information of the charging pile,
the identification module 43 is configured to identify identification information of the charging pile;
the determining module 44 is configured to determine that the self-mobile device is charged by the charging pile.
Referring to fig. 12, a schematic block diagram of a self-mobile device according to a fourth embodiment of the present invention is provided, where the self-mobile device further includes a sending module 45, and the sending module 45 is configured to send response information to the charging pile in response to the request information, so that an output electrode of the charging pile outputs electric energy to an electricity taking electrode of the self-mobile device.
Example five
The fifth embodiment of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method as in one or more of the above third embodiments of the present invention.
In addition, it should be noted that the charging pile 1 in the second embodiment of the present invention is the charging pile structure in the first embodiment, and for other components and structures of the charging pile 1 not mentioned in the second embodiment, reference may be made to the description of the first embodiment, and details are not repeated herein; a third embodiment of the present invention is a method embodiment of the charging method of the self-mobile device in the above second embodiment; a fourth embodiment of the present invention is an apparatus embodiment corresponding to the above third embodiment, and the self-mobile device of the fourth embodiment of the present invention may execute the charging method in the above third embodiment; a fifth embodiment of the present invention is a storage medium embodiment corresponding to the above third embodiment, and reference may be made to each other if the above embodiments are not clear from the description.
It should be noted that, although the specific embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention should not be construed as limiting the scope of the present invention. In the case that the structures do not conflict, the structures of the parts mentioned in the above embodiments may be combined with each other, so that the technical solutions obtained after the combination are not described herein, but the technical solutions obtained after the combination should also belong to the protection scope of the present invention. Various modifications and variations which may be made by those skilled in the art without the creative effort fall within the protection scope of the present invention within the scope described in the claims.
Examples of embodiments of the present invention are intended to briefly illustrate technical features of embodiments of the present invention so that those skilled in the art may intuitively understand the technical features of the embodiments of the present invention, and are not meant to be undue limitations of the embodiments of the present invention.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units, and some or all of the modules may be selected according to actual needs to achieve the purposes of this embodiment, which may be understood and implemented by those skilled in the art without inventive effort.
While the foregoing description illustrates and describes several preferred embodiments of the present invention, it is to be understood that the embodiments of the invention are not limited to the forms disclosed herein, but are not to be construed as excluding other embodiments, and that various other combinations, modifications and environments are possible within the scope of the inventive concepts described herein, either as a result of the foregoing teachings or as a result of knowledge or knowledge of the relevant art. And that modifications and variations such as will be apparent to those skilled in the art are intended to be included within the spirit and scope of embodiments of the invention as defined by the following claims.

Claims (9)

1. A charging method applied to a self-moving device, the self-moving device including a driving wheel and an obstacle surmounting wheel, the charging method comprising:
determining that the obstacle crossing wheel enters a limit retaining block of a charging pile, and controlling to power off the driving wheel under the condition that request information sent by the charging pile is received;
and after the charging event is determined to be completed, controlling the driving wheel to be electrified again, so that the driving wheel drives the obstacle surmounting wheel to deviate from the limit retaining block.
2. The charging method of claim 1, wherein the determining that the obstacle detouring wheel enters the limit holding block comprises:
and monitoring that the obstacle crossing wheel completes one obstacle crossing action and the machine body is restored to the horizontal state after obstacle crossing, and enabling the power taking electrode to be in contact with the output electrode of the charging pile.
3. The charging method according to claim 1, wherein the request information includes identification information of the charging post, and further comprising, after receiving the request information sent by the charging post:
and identifying the identification information of the charging pile, and determining to charge the self-mobile equipment through the charging pile.
4. The charging method of claim 3, further comprising, after determining to charge the self-mobile device via the charging peg:
and responding to the request information, and sending response information to the charging pile, so that the output electrode of the charging pile outputs electric energy to the power-taking electrode of the self-mobile device.
5. The self-moving device comprises a driving wheel and an obstacle surmounting wheel, and is characterized by also comprising a monitoring module and a control module, wherein the monitoring module comprises a monitoring unit and a receiving unit,
the control module is used for controlling the power-off of the driving wheel under the condition that the monitoring unit determines that the obstacle crossing wheel enters the limit retaining block of the charging pile and the receiving unit receives the request information sent by the charging pile;
the control module is also used for controlling the driving wheel to be electrified again after the monitoring module determines that the charging event is finished, so that the driving wheel drives the obstacle surmounting wheel to deviate from the limit retaining block.
6. The self-moving device according to claim 5, wherein the monitoring unit is specifically configured to monitor that the obstacle detouring wheel completes an obstacle detouring action and the body returns to a horizontal state after obstacle detouring, and that the power taking electrode is in contact with the output electrode of the charging pile.
7. The self-mobile device of claim 5, further comprising an identification module and a determination module, wherein the request information includes identification information of the charging stake,
the identification module is used for identifying the identification information of the charging pile;
the determining module is used for determining that the self-mobile device is charged through the charging pile.
8. The self-mobile device of claim 7, further comprising a transmitting module for transmitting response information to the charging post in response to the request information, such that an output electrode of the charging post outputs electrical energy to a power taking electrode of the self-mobile device.
9. A computer-readable storage medium storing a computer program;
the computer program causes the charging method according to any one of claims 1 to 4 to be implemented when executed by a computer.
CN202010231915.9A 2020-03-27 2020-03-27 Charging method, self-mobile device and storage medium Active CN113442770B (en)

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