WO2021190266A1 - 一种充电方法、自移动设备以及存储介质 - Google Patents

一种充电方法、自移动设备以及存储介质 Download PDF

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Publication number
WO2021190266A1
WO2021190266A1 PCT/CN2021/079058 CN2021079058W WO2021190266A1 WO 2021190266 A1 WO2021190266 A1 WO 2021190266A1 CN 2021079058 W CN2021079058 W CN 2021079058W WO 2021190266 A1 WO2021190266 A1 WO 2021190266A1
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WO
WIPO (PCT)
Prior art keywords
charging
self
charging pile
obstacle
moving device
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Application number
PCT/CN2021/079058
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English (en)
French (fr)
Inventor
崔俊伟
杜剑锋
杨越
黎建
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纳恩博（北京）科技有限公司
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Publication of WO2021190266A1 publication Critical patent/WO2021190266A1/zh

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    • 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

Definitions

  • the embodiments of the present invention belong to the technical field of smart device charging, and specifically relate to a charging method, a self-moving device, and a computer-readable storage medium.
  • the self-moving robot generally moves to the charging pile by itself for charging.
  • the self-moving robot is often required.
  • the driving wheel is charged to work to maintain a good charging contact pre-tightening force with the charging pile, resulting in poor charging efficiency.
  • embodiments of the present invention provide a charging method, a self-mobile device, and a computer-readable storage medium.
  • an embodiment of the present invention provides a charging method, which is applied to a self-moving device, the self-moving device includes a driving wheel and an obstacle wheel, and the charging method includes:
  • control to re-energize the driving wheel so that the driving wheel drives the obstacle crossing wheel to escape from the limit holding block of the charging pile.
  • the monitoring of the charging event of the charging pile docked with the self-mobile device includes:
  • the determining that the obstacle-crossing wheel enters the limit holding block includes:
  • the obstacle-crossing wheel completes an obstacle-crossing action and the fuselage recovers to the level after the obstacle is crossed, and the power-taking electrode is in contact with the output electrode of the charging pile.
  • the request information includes identification information of the charging pile, and after receiving the request information sent by the charging pile, it further includes:
  • the method further includes:
  • a response message is sent to the charging post, so that the output electrode of the charging post outputs electrical energy to the power-taking electrode of the self-mobile device.
  • the embodiments of the present invention also provide a self-moving device, which includes a driving wheel and an obstacle wheel, and the self-moving device further includes a monitoring module and a control module,
  • the control module is configured to control the power-off of the driving wheel when the monitoring module monitors the charging event of the charging pile docked with the self-mobile device;
  • the control module is further configured to control the re-power on the driving wheel after the monitoring module determines that the charging event is completed, so that the driving wheel drives the obstacle crossing wheel to maintain the limit position of the charging pile The block comes out.
  • the monitoring module includes a monitoring unit and a receiving unit
  • the monitoring unit is used to determine that the obstacle-crossing wheel enters the limit holding block
  • the receiving unit is used to receive request information sent by the charging pile.
  • the monitoring unit is specifically used to monitor that the obstacle-crossing wheel completes an obstacle-crossing action and the body recovers to the level after the obstacle is crossed, and that the power-taking electrode is in contact with the output electrode of the charging pile.
  • the request information includes identification information of the charging pile
  • the identification module is used to identify the identification information of the charging pile
  • the determining module is used to determine to charge the self-moving device through the charging pile.
  • a sending module which is used to send response information to the charging post in response to the request information, so that the output electrode of the charging post outputs electrical energy to the power-taking electrode of the self-mobile device .
  • an embodiment of the present invention also provides a computer-readable storage medium, and the computer-readable storage medium stores a computer program
  • the computer program enables the computer to implement the charging method as described in any of the above items when executed by the computer.
  • the driving wheel of the self-mobile device is de-energized, and the self-mobile device is charged in the de-energized state to improve the self-determination.
  • the charging efficiency of mobile devices by monitoring the charging event of the charging pile docked by the self-mobile device, the driving wheel of the self-mobile device is de-energized, and the self-mobile device is charged in the de-energized state to improve the self-determination.
  • FIG. 1 is a schematic diagram of a side structure of a charging pile provided by the first embodiment of the present invention
  • FIG. 2 is a schematic diagram of a three-dimensional structure of a charging pile provided by the first embodiment of the present invention
  • FIG. 3 is a top view of a charging pile provided by the first embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a side structure of a charging system provided by a second embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a side structure of a charging system during charging according to a second embodiment of the present invention.
  • FIG. 6 is a method flowchart of a charging method provided by the third embodiment of the present invention.
  • FIG. 7 is another method flowchart of a charging method provided by the third embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a block structure of a self-mobile device provided by the fourth embodiment of the present invention.
  • FIG. 10 is a schematic diagram of another block structure of a self-mobile device provided by the fourth embodiment of the present invention.
  • FIG. 11 is a schematic diagram of another block structure of a self-mobile device according to the fourth embodiment of the present invention.
  • FIG. 12 is a schematic diagram of another block structure of a self-mobile device according to the fourth embodiment of the present invention.
  • first device is coupled to a second device
  • first device can be directly electrically coupled to the second device, or indirectly electrically coupled through other devices or coupling means. Connected to the second device.
  • the following description of the specification is a preferred embodiment for implementing the present invention, but the description is for the purpose of explaining the general principles of the present invention, and is not intended to limit the scope of the present invention.
  • the protection scope of the present invention shall be subject to those defined by the appended claims.
  • self-moving devices on the market such as sweeping robots, food delivery robots, etc.
  • the robot moves to the charging pile by itself when the battery is insufficient.
  • the power-taking electrode on the robot chassis will be aligned with the charging pile.
  • the output electrode on the battery is charged for wired charging, or the robot is close to the charging pile for wireless charging.
  • the robot and the charging pile are required to be close to each other and keep the position unchanged to ensure a better charging contact pre-tightening force.
  • the embodiments of the present invention mainly provide a charging pile, a charging system, a charging method, a self-moving device, and a computer-readable storage medium, wherein the robot is mechanically restricted by a limit holding block on the charging pile during the charging process, In order to provide a better charging contact pre-tightening force, the robot can charge the battery in a power-off state, thereby improving the charging efficiency of the robot.
  • FIG. 1 is a schematic diagram of a side structure of a charging pile provided by a first embodiment of the present invention.
  • the charging pile includes a housing 10, an output electrode 20 and a limit holding block 30.
  • the housing 10 includes a front housing 110 and a back cover 120 connected to the front housing 110; the output electrode 20 is arranged in the housing 10 and one end extends from the panel of the front housing 110 1101;
  • the limit holding block 30 is used to fix a self-moving device, is located in front of the panel 1101, includes a first protrusion 310, the first protrusion 310 and the bottom of the panel 1101 are separated by a first spacing.
  • the front shell 110 includes a side plate 1102 and the panel 1101.
  • the front shell 110 here includes, but is not limited to, an integrally formed structure.
  • the side plate 1102 and the panel 1101 are opposed to each other, and the side The board 1102 is located between the panel 1101 and the back cover 120, and the outer periphery of the back cover 120 is connected to the side plate 1102, that is, the back cover 120 and the front shell 110 are connected to each other to form an opposite A closed shell-like structure, that is, the housing 10, where the connection between the front housing 110 and the rear cover 120 includes but is not limited to screw connection, snap connection, or hinge connection, etc.,
  • the housing 10 is also provided with a charging power supply (not shown in the figure).
  • the charging power supply is electrically connected to an external power supply through a conductive cable.
  • the external power supply here includes, but is not limited to, commercial power, and the output electrode
  • One end of the panel 1101 passing through the front housing 110 extends out of the housing 10, and the other end is located in the housing 10 and is electrically connected to the charging power source.
  • the limiting and retaining block 30 is provided on the outside of the housing 10, both of which are provided on the ground or other bearing structure, and the limiting and retaining block 30 is provided in front of the panel 1101, where The limiting and retaining block 30 may be an integral structure with the panel 1101, or a structure separated from the panel 1101.
  • the first protrusion 310 is provided on the limiting and retaining block 30, and The first protrusion 310 and the bottom of the panel 1101 are separated by the first distance D, where the size of the first distance D can be set according to actual needs.
  • a self-moving device such as a sweeping robot
  • the obstacle crossing wheel at the front end of the traveling direction crosses the first protrusion 310 to reach the limit retention
  • the power-taking electrode on the side plate of the self-mobile device base is in contact with the output electrode 20, so that the charging pile starts to charge the self-mobile device, and at the same time, the Since the mobile device is powered off, the drive wheel stops rotating, but because the first protrusion 310 prevents the self-moving device from moving, that is, the limit holding block 20 fixes the self-moving device.
  • the charging pile stops charging the self-mobile device and enters the corresponding standby state.
  • the drive wheel of the self-mobile device rotates in the reverse direction, driving the obstacle-crossing wheel to retreat and over the first A protrusion 310 escapes from the limit holding block 30, and then starts the corresponding work task.
  • the output electrode 20 extends The end of the panel 1101 can reciprocate in a direction perpendicular to the panel 1101.
  • the output electrode 20 here is a movable electrode that can move in a direction perpendicular to the panel 1101.
  • the output electrode 20 is a metal shrapnel with certain elasticity; another feasible
  • the output electrode 20 is provided with a compression spring structure on the inner side of the housing 10. It should be pointed out that the above two structures are merely examples and do not constitute a limitation of the present invention.
  • the first protrusion 310 may be It moves back and forth in the direction away from the bottom of the panel 1101 to close to the bottom of the panel 1101.
  • the distance between the limit retaining block 30 and the housing 10 can be adjusted according to different specifications and models of self-moving devices, that is, the distance between the first protrusion 310 and the bottom of the panel 1101
  • the first distance D can be adjusted according to different specifications and models of self-moving equipment.
  • FIG. 2 is a schematic diagram of a three-dimensional structure of a charging pile provided by the first embodiment of the present invention.
  • a slope 320 is provided on the side of the first protrusion 310 facing away from the panel 1101.
  • the top end of the slope 320 is the top of the first protrusion 310 facing away from the panel 1101
  • the bottom end of the slope 320 is the bottom of the limit holding block 30, and the slope of the slope 320
  • the slope can be set according to the obstacle crossing ability of the self-mobile device.
  • the limiting and retaining block 30 further includes a second protrusion 330 provided between the first protrusion 310 and the panel 1101.
  • the limit holding block 30 is a platform provided with two protrusions, namely the first protrusion 310 and the second protrusion 330, the first protrusion 310 and the second protrusion
  • the ridges 330 are oppositely arranged on both sides of the limit holding block 30, and the second protrusions 330 are located between the first protrusion 310 and the housing 10.
  • the second protrusion 330 acts as an interception, preventing it from continuing to move forward and colliding with the charging pile body, thereby protecting the output electrodes 20 and The role of the panel 1101.
  • the height of the second protrusion 330 is higher than that of the first protrusion. 310 height.
  • the limit holding block 30 also includes a groove 340, and the groove 340 is located between the first protrusion 310 and the first protrusion 310. Between the second protrusions 330.
  • the groove 340 is located between the first protrusion 310 and the second protrusion 330 on both sides of the limit holding block 30, and the groove 340 is used to accommodate the self-moving device The bottom of the obstacle wheel.
  • the bottom of the groove 340 and the second protrusion In order to improve the ability of the second protrusion 330 to intercept the self-moving device and prevent it from colliding with the charging pile body, the bottom of the groove 340 and the second protrusion The slope between 330 is greater than the slope between the bottom of the groove 340 and the first protrusion 310.
  • FIG. 3 is a top view of a charging pile provided by the first embodiment of the present invention.
  • the charging pile further includes a bottom plate 40, which is arranged at The bottom of the housing 10 includes a protrusion 410 extending from the front of the panel 1101, and the limiting and retaining block 30 is provided on the protrusion 410.
  • the bottom plate 40 is used as a bearing plate for other components of the charging pile, and the bottom plate 40 is provided at the bottom of the housing 10, and it can be formed integrally with the front housing 110, and can be used in all parts of the charging pile.
  • the front of the panel 1101 extends outward to form the extension portion 410.
  • the area of the extension portion 410 is not specifically limited here, and it can be determined according to the actual specification and model of the self-moving device.
  • the limit retaining block 30 is connected to the extension 410, that is, the bottom plate 40 carries the charging pile body and the limit retaining block 30. This design can improve the charging pile Integrity, easy to move, install and manage.
  • the limit holding 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 holding block 30 to the extension Exit 410 on.
  • the sliding holes 350 are respectively provided on opposite sides of the limit retaining block 30 along the direction perpendicular to the panel 1101, and the fastening bolts 360 pass through the sliding holes 350 to maintain the limit
  • the block 30 is connected to the extension 410.
  • the limit and holding block 30 can be moved back and forth in a direction perpendicular to the panel 1101 (as shown in the arrow direction in the figure).
  • the movable connection between the position holding block 30 and the bottom plate 40, that is, the first distance D between the first protrusion 310 and the bottom of the panel 1101 mentioned in the above embodiments can be realized according to different The vision of adjusting specifications and models from mobile devices expands the scope of use of the charging pile.
  • FIG. 4 is a schematic diagram of a side structure of a charging system according to a second embodiment of the present invention.
  • the charging system includes the charging post 1 and the self-moving device 2 described in the first embodiment above.
  • the self-moving device 2 includes, but is not limited to, a sweeping robot, a food delivery robot, an electric balance car, etc.
  • the self-moving device 2 generally includes a chassis 21 and a device body.
  • the device body here It is provided on the chassis 21, which can be of different shapes and specifications as required, which is not mentioned in the present invention and the drawings of the specification, so it is omitted.
  • the side of the chassis 21 is provided with power-taking electrodes 211, and the setting height of the power-taking electrodes 211 is equivalent to the setting height of the output electrodes 20 of the charging pile 1, and the bottom of the chassis 21 is provided with obstacle-crossing wheels 212 The height of the lowest point of the obstacle crossing wheel 212 is smaller than the height of the first protrusion 310 of the charging pile 1.
  • the power-taking electrode 211 is generally arranged on the side of the chassis 21 in front of the normal traveling direction of the self-mobile device 2, and the shape and specification of the power-taking electrode 211 are consistent with the shape of the output electrode 20.
  • the specifications match each other, such as the more common male and female structure, the number of the two is also the same, usually two electrodes, that is, positive and negative; what needs to be emphasized here is the power-taking electrode 211 and the output electrode
  • the installation height of 20 is the same, which facilitates self-alignment between the two electrodes;
  • the obstacle-crossing wheel 210 is generally set at the bottom of the chassis 21 in front of the normal traveling direction of the self-moving device 2, that is, along the self-moving device 2
  • the obstacle-crossing wheel 212 is generally arranged in front of the driving wheel 213 in the normal traveling direction of the mobile device, and the lowest point of the obstacle-crossing wheel 212 needs to be higher than the lowest point of the driving wheel 213 in order to be in the free position.
  • 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 crossing wheel 212, that is, the height of the obstacle crossing wheel 212 is
  • the thrust of the driving wheel 213 crosses the first protrusion 310 and reaches the limit holding block 30.
  • the power-taking electrode 211 and the output electrode 20 are in contact with each other, and the charging pile 1 is activated.
  • the self-moving device 2 is charged, and at the same time, the driving wheel 213 of the self-moving device 2 is powered off, because the first protrusion 310 serves to block the obstacle-crossing wheel 212 and retreat Function, that is, the self-moving device 2 is fixed on the limit holding block 30, as shown in FIG.
  • a good charging contact pre-tightening force is used to complete the charging work. Since the self-mobile device 2 is in a power-off state during the charging process, the driving wheel 213 is not required to be charged to maintain the charging contact pre-tightening force. This can improve the charging efficiency of the charging pile 1 to the self-mobile device 2.
  • the self-mobile device 2 since the driving wheel 213 does not need to be charged to maintain the charging contact preload, that is, the self-mobile device 2 does not use electric energy during the charging process, which also improves the charging safety to a certain extent.
  • the charging pile 1 stops charging.
  • the self-moving device 2 will be parked on the charging pile 1.
  • the drive The wheel 213 will rotate in the opposite direction, and then retreat, and drive the obstacle crossing wheel 212 over the first protrusion 310, escape from the limit holding block 30, leave the charging pile 1, and perform corresponding work Task.
  • a holding surface 370 for fixing the obstacle crossing wheel 212 is not greater than that of the obstacle crossing wheel. 212 The height of the lowest point.
  • 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.
  • the holding surface 370 plays a role of limiting and fixing the obstacle crossing wheel 212; here, the height passing through the holding surface 370 is not greater than the obstacle crossing wheel
  • the height of the lowest point of 212 that is, the height of the holding surface 370 is lower than the height of the lowest point of the obstacle crossing wheel 212, or the height of the holding surface 370 is equal to the height of the lowest point of the obstacle crossing wheel 212.
  • the front end of the self-moving device 1 is not too high, so that it remains horizontal, which is beneficial to the completion of the alignment between the power-taking electrode 211 and the output electrode 20, and the reliability of the mutual contact between the two. Furthermore, the reliability of charging the self-mobile device 2 by the charging pile 1 is improved.
  • the holding 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 crossing wheel 212.
  • the limiting and fixing performance of the retaining surface 370 to the obstacle crossing wheel 212 can be improved; In addition, it can also prevent the obstacle-climbing wheel 212 from colliding with the charging pile after passing over the first protrusion 310, so that the self-moving device 2 moves more smoothly; in addition, the concave structure is provided after the charging is completed. After that, it is convenient for the obstacle crossing wheel 212 to reverse backward to pass over the first protrusion 310, and then to escape from the limit retaining block 30.
  • the height of the lowest point of the concave surface is not greater than the height of the lowest point of the obstacle crossing 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 crossing wheel 212, or The height of the lowest point of the concave surface is equivalent to the height of the lowest point of the obstacle crossing wheel 212.
  • This design can prevent the obstacle crossing wheel 212 from being too high when it is restricted and fixed, so that the chassis 21 remains horizontal. , Which is beneficial to the horizontal alignment between the power-taking electrode 211 and the output electrode 20, and improves the reliability of their mutual contact, thereby improving the reliability of the charging pile 1 for the self-mobile device 2 .
  • FIG. 6 is a method flowchart of a charging method according to a third embodiment of the present invention.
  • the self-moving device includes a driving wheel and an obstacle wheel, and the charging method includes:
  • step S100 when a charging event of the charging pile docked with the self-mobile device is monitored, control to power off the driving wheel;
  • step S200 after it is determined that the charging event is completed, control to re-energize the driving wheel, so that the driving wheel drives the obstacle crossing wheel to escape from the limit holding block of the charging pile.
  • the self-mobile device will monitor the occurrence of a charging event in real time.
  • the self-mobile device monitors that the charging pile docked with it emits a corresponding charging event
  • the self-mobile device By controlling its internal travel switch, the driving wheel will be powered off, and the electric energy input of the output electrode of the charging pile will be received for charging. Since the driving wheel is in a power-off state during the charging process of the self-mobile device, no additional power consumption is required, which can improve the charging efficiency of the self-mobile robot, and avoid simultaneous charging and discharging. The above can also ensure the safety of the charging of the sweeping robot.
  • step S100 the monitoring of the charging event of the charging pile docked with the mobile device specifically includes :
  • step S110 it is determined that the obstacle-crossing wheel enters the limit holding block, and the request information sent by the charging pile is received.
  • the monitoring of the occurrence of the charging event needs to satisfy the determination that the obstacle-crossing wheel enters the limit holding block and the request information sent by the charging pile is received.
  • determining that the obstacle-crossing wheel enters the limit holding block specifically includes monitoring that the obstacle-crossing wheel completes an obstacle-crossing action and the fuselage returns to the level after the obstacle is crossed, and the power-taking electrode is in contact with the output electrode of the charging pile.
  • the sensor provided inside the sweeping robot detects that the body has a certain tilt during the travel, which means that the obstacle crossing wheel is crossing the obstacle, and at the same time, the body is tilted and then moved forward, and then If the fuselage returns to the level, it indicates that the obstacle-crossing wheel has crossed an obstacle, and at the same time, the self-moving device detects that its power-taking electrode is in contact with the output electrode of the charging pile.
  • the power-taking electrode has current or electrical signal input, when the self-mobile device completes the obstacle crossing and then returns to the level and the power-taking electrode is in contact with the output electrode of the charging pile At this time, it indicates that the obstacle that was crossed the previous time was a protrusion provided on the limit holding block, that is, the obstacle crossing wheel entered the limit holding block at this time.
  • the charging pile When the request information sent by the charging pile is received, the charging pile will send out corresponding external charging request information when the power-taking electrode is in contact with the output electrode of the charging pile. Information is transmitted to the main board of the self-mobile device via the power-taking electrode.
  • the self-moving device will control the driving wheel to power off, that is, the driving wheel will stop outputting driving force, and at this time the obstacle crossing wheel is trapped in the limit holding block
  • the self-moving device has a good fixation effect, that is, the self-moving device will not move back and forth. Even if the driving wheel is in the power-off state at this time, the power-taking electrode and the The output electrodes of the charging post have a better charging pre-tightening force, so as to ensure the reliability of the benign contact between the power taking electrodes and the output electrodes of the charging post, thereby improving the charging efficiency of the self-moving robot.
  • the request information includes identification information of the charging pile.
  • the request information sent by the charging pile is received. After that, it also includes:
  • Step S120 Identify the identification information of the charging pile, and determine to charge the self-mobile device through the charging pile,
  • step S120 after determining to charge the self-mobile device through the charging pile, the method further includes:
  • Step S130 in response to the request information, send response information to the charging post, so that the output electrode of the charging post outputs electric energy to the power-taking electrode of the self-mobile device.
  • the request information sent by the charging pile is received, and the request information includes the identification information of the charging pile.
  • the identification information is to be identified.
  • the identification information here includes but is limited to The model, output voltage, output current and other parameters of the charging pile, the self-mobile device will recognize the matching charging device after receiving this information, and when the information is recognized and the matching conditions are met, it is determined to pass the The charging pile charges the self-moving device, so that charging failure or even charging failure caused by the charging of the self-moving robot by a non-matching charging device can be avoided, and the reliability and safety of charging can be improved.
  • step S130 in response to the request information sent by the charging pile, corresponding response information is sent to the charging pile to Make the output electrode of the charging pile output electric energy to the power-taking electrode of the self-moving device, and at the same time, the self-moving device controls the driving wheel to power off through the internal travel switch, and turns on the battery of the self-moving device
  • the charging process switch receives the electric energy output from the output electrode of the charging pile to the power-taking electrode of the mobile device.
  • step S200 the charging pile will continue to read the self-mobile device during the process of charging the self-mobile device.
  • the battery power reaches the preset power, it will automatically stop charging.
  • the self-mobile device detects that the current input to the power-taking electrode has stopped through the circuit detection module, and detects that the battery power has reached the preset power, it indicates charging Completed, at this time the self-moving device re-energizes the drive wheels by controlling the internal travel switch.
  • the state of the self-moving device at this time can be understood as the standby state; the self-moving device in the standby state is in the standby state.
  • the drive wheel When receiving a work task, the drive wheel will be controlled to retreat, that is, the drive wheel will be controlled to rotate in the opposite direction. At this time, the drive wheel will drive the obstacle crossing wheel over the protrusion on the limit holding block, Then it gets out of the limit holding block and starts the corresponding work task.
  • the self-moving device may also detect insufficient power when a work task is not completed, and move to the charging pile, and the obstacle-crossing wheel crosses the protrusion on the limit holding block. Enter the limit holding block, and make the power-taking electrode contact the output electrode, and then cut off the power to the driving wheel, relying on the limit holding block to fix the self-moving device and provide two The charging pre-tightening force between the electrodes ensures that the charging action is completed efficiently.
  • the charging pile stops external charging, the self-moving device re-energizes the driving wheel, and controls the driving wheel to reverse Rotation drives the obstacle crossing wheel to cross the protrusions on the limit holding block, escape from the limit holding block, and continue the unfinished work tasks before.
  • FIG. 9 is a schematic block diagram of a self-moving device according to a fourth embodiment of the present invention.
  • the self-moving device includes a driving wheel and an obstacle wheel (not shown in the figure), and also includes a monitoring module to 41 and control module 42.
  • the control module 42 is configured to control the power-off of the driving wheel when the monitoring module 41 monitors the charging event of the charging pile docked with the self-mobile device;
  • the control module 42 is also used for the monitoring module 41 to control the re-power on the driving wheel after determining that the charging event is completed, so that the driving wheel drives the obstacle crossing wheel to limit the distance from the charging pile.
  • the bit retention block comes out.
  • FIG. 10 is a schematic diagram of another block structure of a self-mobile device provided by the fourth embodiment of the present invention.
  • the monitoring module 41 includes a monitoring unit 411 and a receiving unit. 412,
  • the monitoring unit 411 is used to determine that the obstacle-crossing wheel enters the limit holding block
  • the receiving unit 412 is configured to receive request information sent by the charging pile.
  • the monitoring unit 411 is specifically configured to monitor that the obstacle-crossing wheel completes an obstacle-crossing action and the body recovers to the level after the obstacle is crossed, and that the power-taking electrode is in contact with the output electrode of the charging pile.
  • FIG. 11 is a schematic diagram of another block structure of a self-mobile device provided by the fourth embodiment of the present invention.
  • 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 used to identify the identification information of the charging pile
  • the determining module 44 is configured to determine to charge the self-moving device through the charging pile.
  • FIG. 12 is a schematic diagram of another block structure of a self-mobile device provided by the fourth embodiment of the present invention.
  • the self-mobile device further includes a sending module 45.
  • the sending module 45 is configured to send response information to the charging post in response to the request information, so that the output electrode of the charging post outputs electric energy to the power-taking electrode of the self-mobile device.
  • the fifth embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored.
  • a computer program is stored on which a computer program is stored.
  • the computer program is executed by a processor, one or more of the above third embodiments of the present invention can be implemented. Methods.
  • the charging pile 1 in the second embodiment of the present invention is the charging pile structure in the above-mentioned first embodiment.
  • the third embodiment of the present invention is the method embodiment of the charging method of the self-mobile device in the above second embodiment
  • the fourth embodiment of the present invention This is the device embodiment corresponding to the above third embodiment, the self-mobile device of the fourth embodiment of the present invention can execute the charging method in the above third embodiment
  • the fifth embodiment of the present invention is the storage medium corresponding to the above third embodiment Embodiments, if the description of the above embodiments is unclear, cross-reference can be made.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units, and some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • Those of ordinary skill in the art can, without creative work, That can be understood and implemented.

Abstract

提供了一种充电方法、自移动设备以及存储介质。其充电方法应用于自移动设备（2），自移动设备（2）包括驱动轮（213）和越障轮（212）；充电方法包括：监测到自移动设备（2）对接的充电桩的充电事件的情况下，控制对驱动轮（213）进行断电；确定充电事件完成后，控制驱动轮（213）进行重新上电，使得驱动轮（213）带动越障轮（212）从充电桩的限位保持块（30）脱出。本充电方法、自移动设备以及存储介质可提升充电效率以及充电安全性。

Description

一种充电方法、自移动设备以及存储介质
相关申请的交叉引用
本申请基于申请号为202010231915.9，申请日为2020年03月27日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本发明实施例属于智能设备充电技术领域，具体而言，涉及一种充电方法、一种自移动设备以及一种计算机可读存储介质。
背景技术
现阶段，各种类型的自移动机器人已走进越来越多人的生活，在人们快节奏的生活中扮演者重要角色。
然而现有技术对自移动机器进行充电的方法中，自移动机器人一般会自行移动到充电桩进行充电，在充电过程中为避免自移动机器人移动导致充电电极对接不准确，往往需要自移动机器人的驱动轮带电工作以保持与充电桩具有良好的充电接触预紧力，造成充电效率较差。
发明内容
为解决现有技术中所存在的技术问题，本发明实施例提供一种充电方法、一种自移动设备以及一种计算机可读存储介质。
第一方面，本发明实施例提供了一种充电方法，其应用于自移动设备，所述自移动设备包括驱动轮和越障轮，所述充电方法包括：
监测到所述自移动设备对接的充电桩的充电事件的情况下，控制对所述驱动轮进行断电；
确定所述充电事件完成后，控制对所述驱动轮进行重新上电，使得所述驱动轮带动所述越障轮从所述充电桩的限位保持块脱出。
进一步地，监测到所述自移动设备对接的充电桩的充电事件的情况包括：
确定越障轮进入限位保持块，以及接收到充电桩发送的请求信息。
进一步地，所述确定越障轮进入限位保持块包括：
监测所述越障轮完成一次越障动作且越障之后机身恢复水平，以及取电电极与所述充电桩的输出电极接触。
进一步地，所述请求信息包括充电桩的标识信息，接收到充电桩发送的请求信息之后，还包括：
识别所述充电桩的标识信息，确定通过所述充电桩向所述自移动设备进行充电。
进一步地，确定通过所述充电桩向所述自移动设备进行充电之后，还包括：
响应于所述请求信息，向所述充电桩发送应答信息，使得所述充电桩的输出电极向所述自移动设备的取电电极输出电能。
第二方面，本发明实施例并提供了一种自移动设备，其包括驱动轮和越障轮，所述自移动设备还包括监测模块以及控制模块，
所述控制模块用于在所述监测模块监测到所述自移动设备对接的充电桩的充电事件的情况下，控制对所述驱动轮进行断电；
所述控制模块还用于所述监测模块确定所述充电事件完成后，控制对所述驱动轮进行重新上电，使得所述驱动轮带动所述越障轮从所述充电桩的限位保持块脱出。
进一步地，所述监测模块包括监测单元和接收单元，
所述监测单元用于确定越障轮进入限位保持块；
所述接收单元用于接收充电桩发送的请求信息。
进一步地，所述监测单元具体用于监测所述越障轮完成一次越障动作且越障之后机身恢复水平，以及取电电极与所述充电桩的输出电极接触。
进一步地，还包括识别模块以及确定模块，所述请求信息包括充电桩的标识信息，
所述识别模块用于识别所述充电桩的标识信息；
所述确定模块用于确定通过所述充电桩向所述自移动设备进行充电。
进一步地，还包括发送模块，所述发送模块用于响应于所述请求信息，向所述充电桩发送应答信息，使得所述充电桩的输出电极向所述自移动设备的取电电极输出电能。
第三方面，本发明实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序；
所述计算机程序使计算机执行时实现如以上任一项所述的充电方法。
根据本发明实施例提供的技术方案，通过在监测到自移动设备对接的充电桩的充电事件的情况下，对自移动设备的驱动轮进行断电处理，在断电状态下进行充电，提升自移动设备的充电效率。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明第一实施例提供的一种充电桩的一侧面结构示意图；
图2为本发明第一实施例提供的一种充电桩的一立体结构示意图；
图3为本发明第一实施例提供的一种充电桩的俯视图；
图4为本发明第二实施例提供的一种充电系统的一侧面结构示意图；
图5为本发明第二实施例提供的一种充电系统充电过程中的侧面结构示意图；
图6为本发明第三实施例提供的一种充电方法的一方法流程图；
图7为本发明第三实施例提供的一种充电方法的又一方法流程图；
图8为本发明第三实施例提供的一种充电方法的又一方法流程图；
图9为本发明第四实施例提供的一种自移动设备的一方框结构示意图
图10为本发明第四实施例提供的一种自移动设备的又一方框结构示意图；
图11为本发明第四实施例提供的一种自移动设备的又一方框结构示意图；
图12为本发明第四实施例提供的一种自移动设备的又一方框结构示意图。
具体实施方式
以下将配合附图及实施例来详细说明本发明的实施方式，藉此对本发明如何应用技术手段来解决技术问题并达成技术功效的实现过程能充分理解并据以实施。
如在说明书及权利要求当中使用了某些词汇来指称特定组件。本领域技术人员应可理解，硬件制造商可能会用不同名词来称呼同一个组件。本说明书及权利要求并不以名称的差异来作为区分组件的方式，而是以组件在功能上的差异来作为区分的准则。如在通篇说明书及权利要求当中所提及的“包含”为一开放式用语，故应解释成“包含但不限定于”。“大致”是指在可接收的误差范围内，本领域技术人员能够在一定误差范围内解决所述技术问题，基本达到所述技术效果。此外，“耦接”或“电性连接”一词在此包含任何直接及间接的电性耦接手段。因此，若文中描述一第一装置耦接于一第二装置，则代表所述第一装置可直接电性耦接于所述第二装置，或通过其它装置或耦接手段间接地电性耦接至所述第二装置。说明书后续描述为实施本发明的较佳实施方式，然所述描述乃以说明本发明的一般原则为目的，并非用以限定本发明的范围。本发明的保护范围当视所附权利要求所界定者为准。
还需要说明的是，术语“包括”、“包含”或者其任何其它变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者系统不仅包括那些要素，而且还包括没有明确列出的其它要素，或者是还包括为这种过 程、方法、商品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者系统中还存在另外的相同要素。
具体实施例
目前，市场上的自移动设备(如扫地机器人、送餐机器人等)一般具有自行充电电功能，通常为机器人在电量不足时自行移动至充电桩，机器人底盘上的取电电极会对准充电桩上的输出电极进行有线充电，或者是机器人靠近充电桩进行无线充电，无论是哪种充电形式都需要机器人和充电桩相互靠近且保持位置不变可以保证有较好的充电接触预紧力，而现阶段的做法是让机器人的驱动轮带电工作产生靠近充电桩的驱动力，但是机器人驱动轮的带电工作势必会消耗机器人自身的电量，进而使得机器人的充电效率较差，同时，机器人带电工作时进行充电也具有一定的安全隐患。
本发明实施例主要是提供一种充电桩、充电系统、充电方法、自移动设备以及计算机可读存储介质，其中，在充电过程中通过充电桩上的限位保持块对机器人进行机械限位，以提供较好的充电接触预紧力，使得机器人可以在断电的状态下对电池进行充电，从而提升机器人的充电效率。
实施例一
请参考图1，为本发明第一实施例提供的一种充电桩的一侧面结构示意图，所述充电桩包括壳体10、输出电极20以及限位保持块30。
其中，所述壳体10包括前壳110以及连接在所述前壳110上的后盖120；所述输出电极20设在所述壳体10内且一端伸出于所述前壳110的面板1101；所述限位保持块30用于固定自移动设备，设在所述面板1101前方，包括第一凸起310，所述第一凸起310与所述面板1101的底部之间相隔第一间距。
具体地，所述前壳110包括侧板1102和所述面板1101，这里的所述前壳110包括但不限定于是一体成型结构，所述侧板1102和所述面板1101相对设 置，所述侧板1102位于所述面板1101和所述后盖120之间，所述后盖120的外周与所述侧板1102连接，即所述后盖120和所述前壳110相互连接，从而构成一相对封闭的壳状结构，即所述壳体10，这里所述前壳110和所述后盖120之间的连接形式包括但不限定于是螺钉连接，卡扣连接，或者是通过合页连接等，所述壳体10内还设有充电电源(图中未示出)，所述充电电源通过导电线缆与外部电源电性连接，这里的外部电源包括但不限定于是市电，所述输出电极20的穿过所述前壳110的所述面板1101一端伸出于所述壳体10之外，而另一端位于所述壳体10之内并和所述充电电源之间电性连接。
所述限位保持块30设在所述壳体10的外部，两者均设在地面上或者其他承载结构上，所述限位保持块30设在所述面板1101的前方，在这里，所述限位保持块30可以是与所述面板1101一体的结构，也可以是与所述面板1101相互分离的结构，所述第一凸起310设在所述限位保持块30上，且所述第一凸起310和所述面板1101的底部之间相隔所述第一间距D，在这里所述第一间距D的大小可根据实际需要设置。
在使用时，自移动设备(如扫地机器人)在其驱动轮的带动下向所述充电桩移动，且位于行进方向前端的越障轮越过所述第一凸起310，到达所述限位保持块30的上方，此时所述自移动设备底座侧板上的取电电极正好与所述输出电极20相接触，以使得所述充电桩开始向所述自移动设备充电，与此同时所述自移动设备断电其驱动轮停止转动，但由于所述第一凸起310起到阻止所述自移动设备移动的作用，即所述限位保持块20对所述自移动设备起到固定的作用，可以使所述自移动设备的取电电极和所述输出电极20之间具有较好的充电接触预紧力，提升充电过程中两电极接触的可靠性，进而提升所述自移动设备的充电效率，同时，所述自移动设备断电充电也保证了充电的安全性。
在充电完成后，所述充电桩停止向所述自移动设备充电进入相应的待机状态，所述自移动设备在接到任务后其驱动轮反向转动，带动其越障轮后退翻越所述第一凸起310，从所述限位保持块30上脱出，进而开始相应的工作任务。
进一步地，在本发明其他较佳的实施例中，为了进一步提升所述输出电极20与所述自移动设备的取电电极之间具有较好的充电接触预紧力，所述输出电极20伸出所述面板1101的端部可在垂直于所述面板1101方向上往复移动。
具体地，这里的所述输出电极20为可在垂直于所述面板1101方向上移动的活动电极，一种可行的实施方式中所述输出电极20为具有一定弹性的金属弹片；另一种可行的实施方式中所述输出电极20朝向所述壳体10内部一侧设有一压簧结构，这里需要指出的是以上两种结构仅仅是事例性质，并不构成对本发明的限定，
另外，在本发明另一较佳的实施例中，为了使得所述充电桩可以适应于不同规格型号的自移动设备，拓展所述充电桩的使用范围，所述第一凸起310可在从远离所述面板1101的底部到靠近所述面板1101的底部方向上往复移动。
具体地，所述限位保持块30和所述壳体10之间的间距可根据不同规格型号的自移动设备进行调整，即所述第一凸起310和所述面板1101底部之间的所述第一间距D可根据不同规格型号的自移动设备进行调整。
进一步地，请结合图2，为本发明第一实施例提供的一种充电桩的一立体结构示意图，在本发明的又一较佳实施例中，为了方便所述自移动设备的越障轮越过所述第一凸起310到达所述限位保持块30上，所述第一凸起310背离所述面板1101一侧面设有斜坡320。
具体地，所述斜坡320的顶端为所述第一凸起310背离所述面板1101一侧的顶部，所述斜坡320的底端为所述限位保持块30的底部，所述斜坡320的坡度可根据所述自移动设备的越障能力设定。
另外，所述限位保持块30还包括第二凸起330，所述第二凸起330设在所述第一凸起310和所述面板1101之间。
具体地，所述限位保持块30为一平台上设置两个凸起，即所述第一凸起310和所述第二凸起330，所述第一凸起310和所述第二凸起330相对设置在所 述限位保持块30的两侧，所述第二凸起330位于所述第一凸起310和所述壳体10之间，如此设计可使得当所述自移动设备的越障轮越过所述第一凸起310后，所述第二凸起330起到拦截的作用，避免其继续向前行进而冲撞所述充电桩本体，起到保护所述输出电极20和所述面板1101的作用。
更进一步地，为了进一步提升所述第二凸起330对所述自移动设备的拦截能力，避免其冲撞所述充电桩本体，所述第二凸起330的高度高于所述第一凸起310的高度。
另外，为了提升所述自移动设备越过所述第一凸起310后运动的稳定性，以及所述自移动设备固定于所述限位保持块30上的稳定性，同时方便所述自移动设备的越障轮在充电完成后再次越过所述第一凸起310进入工作状态，所述限位保持块30还包括凹槽340，所述凹槽340位于所述第一凸起310和所述第二凸起330之间。
具体地，所述凹槽340位于所述限位保持块30两侧的所述第一凸起310和所述第二凸起330之间，所述凹槽340用于容纳所述自移动设备的越障轮的底部。
较佳的实施例中，为了提升所述第二凸起330对所述自移动设备的拦截能力，避免其冲撞所述充电桩本体，所述凹槽340的槽底与所述第二凸起330之间的坡度大于所述凹槽340的槽底与所述第一凸起310之间的坡度。
进一步地，请结合图3，为本发明第一实施例提供的一种充电桩的俯视图，在本发明其他较佳的实施例中，所述充电桩还包括底板40，所述底板40设在所述壳体10的底部，包括伸出于所述面板1101前方的伸出部410，所述限位保持块30设在所述伸出部410上。
具体地，所述底板40用作所述充电桩其他部件的承载板，所述底板40设在所述壳体10的底部，其可以和所述前壳110会一体成型的结构，并在所述面板1101前方向外延展形成所述伸出部410，所述伸出部410的面积大小在这里 并不做具体的限定，其可以根据实际的自移动设备的规格型号确定。所述限位保持块30连接在所述伸出部410上，即所述底板40既承载了所述充电桩本体又承载了所述限位保持块30，如此设计可以提升所述充电桩的整体感，便于移动、安装以及管理。
更进一步地，所述限位保持块30上设有垂直于所述面板1101的滑孔350，紧固螺栓360穿过所述滑孔350将所述限位保持块30活动连接在所述伸出部410上。
具体地，所述限位保持块30的相对两侧沿垂直于所述面板1101方向分别设置有所述滑孔350，所述紧固螺栓360穿过所述滑孔350将所述限位保持块30连接在所述伸出部410上，通过将所述紧固螺栓360松动，可以使得所述限位保持块30沿着垂直于所述面板1101的方向上往复移动(如图中箭头方向)，直至将所述限位保持块30移动到合适位置再将所述紧固螺栓360紧固，以将所述限位保持块30固定于所述伸出部410上，从而实现所述限位保持块30和所述底板40之间的活动连接，即实现以上实施例中所提到的所述第一凸起310和所述面板1101底部之间的所述第一间距D可根据不同规格型号的自移动设备进行调整的愿景，拓展所述充电桩的使用范围。
实施例二
请参考图4，为本发明第二实施例提供的一种充电系统的一侧面结构示意图，所述充电系统包括以上第一实施例中所述的充电桩1和自移动设备2。
在这里需要说明的是，所述自移动设备2包括但不限定于是扫地机器人、送餐机器人以及电动平衡车等，所述自移动设备2一般包括底盘21和设备本体，这里的所述设备本体设在所述底盘21上，其根据需要可以为不同形状和规格，本发明及说明书附图中并未涉及，故此省略。所述底盘21的侧部设有取电电极211，所述取电电极211的设置高度与所述充电桩1的输出电极20的设置高度相当；所述底盘21的底部设有越障轮212，所述越障轮212最低点的高度小于 所述充电桩1的第一凸起310的高度。
具体地，所述取电电极211一般设在所述自移动设备2常规行进方向前方的所述底盘21的侧部，所述取电电极211的形状和规格与所述输出电极20的形状和规格相互匹配，如比较常见的互为公母结构，两者数量也是相同的，通常分别为两个电极，即正、负极；在这里需要强调的是所述取电电极211和所述输出电极20的设置高度是一样的，这样有利于两电极间自行对准；所述越障轮210一般设在所述自移动设备2常规行进方向前方的所述底盘21的底部，即沿所述自移动设备常规行进方向所述越障轮212一般会设置在所述驱动轮213的前方，且所述越障轮212的最低点需要高于所述驱动轮213的最低点，以在所述自移动设备2常规行进方向的前方遇到障碍物时，所述驱动轮213的推力作用于所述越障轮212使其爬上障碍物，进而带动所述自移动设备2翻越障碍物。
在本实施例中，所述充电桩1的限位保持块30上的第一凸起310的高度要高于所述越障轮212的最低点的高度，即所述越障轮212在所述驱动轮213的推力作用下越过所述第一凸起310到达所述限位保持块30之上，此时所述取电电极211和所述输出电极20相互接触，所述充电桩1启动对所述自移动设备2进行充电，与此同时所述自移动设备2的所述驱动轮213断电，由于所述第一凸起310起到对所述越障轮212进行阻挡回退的作用，即所述自移动设备2被固定于所述限位保持块30上，如图5中所示，如此所述取电电极211和所述输出电极20可以持续紧密接触，以保证有较好的充电接触预紧力来完成充电工作，由于在对所述自移动设备2进行充电的过程中其属于断电状态，并不需要所述驱动轮213带电来维持充电接触预紧力，由此可以提升所述充电桩1对所述自移动设备2的充电效率。
另外，由于不需要所述驱动轮213带电来维持充电接触预紧力，即所述自移动设备2在充电过程中并不存在使用电能的情况，在一定程度上也提升了充电安全性。
当充电完成后，所述充电桩1停止向外充电，一般情况下所述自移动设备2会停放于所述充电桩1上，当所述自移动设备2接到工作任务后，所述驱动轮213会反向转动，进而回退，并带动所述越障轮212翻越所述第一凸起310，从所述限位保持块30上脱出，离开所述充电桩1，进行相应的工作任务。
进一步地，所述充电桩1的第一凸起310和前壳面板1101之间为用于固定所述越障轮212的保持面370，所述保持面370的高度不大于所述越障轮212最低点的高度。
具体地，所述保持面370在所述限位保持块30上，且位于所述第一凸起310朝向所述面1101一侧，当所述越障轮212从所述第一凸起310越过后置于所述保持面370上，如此使得所述保持面370对所述越障轮212起到限位固定作用；在这里，通过所述保持面370的高度不大于所述越障轮212最低点的高度，即所述保持面370的高度低于所述越障轮212最低点的高度，或者所述保持面370的高度和所述越障轮212最低点的高度相当，便可以使得所述自移动设备1的前端不被太高，使其仍旧保持水平状态，有利于所述取电电极211和所述输出电极20之间完成对准，以及两者相互接触的可靠性，进而提升所述充电桩1对所述自移动设备2充电的可靠性。
更进一步地，所述保持面370为一凹面，且所述凹面最低点的高度不大于所述越障轮212最低点的高度。
具体地，当所述越障轮212从所述第一凸起310越过后落入所述凹面结构内，一方面可以提升所述保持面370对所述越障轮212的限位固定性能；另外还可以避免所述越障轮212从所述第一凸起310越过后冲撞所述充电桩，使所述自移动设备2运动更平稳；再者，通过所述凹面结构的设置在充电完毕后，便于所述越障轮212反向后退从所述第一凸起310越过，进而从所述限位保持块30上脱出。
但是，这里需要指出的是，所述凹面的最低点高度不大于所述越障轮212 最低点的高度，即所述凹面的最低点高度低于所述越障轮212最低点的高度，或者所述凹面的最低点高度和所述越障轮212最低点的高度相当，如此设计可以使所述越障轮212被限位固定时而不会被太高，使所述底盘21仍旧保持水平状态，有利于所述取电电极211和所述输出电极20之间进行水平对准，以及提升两者相互接触的可靠性，进而提升所述充电桩1对所述自移动设备2充电的可靠性。
实施例三
请参考图6，为本发明第三实施例提供的一种充电方法的一方法流程图，所述自移动设备包括驱动轮和越障轮，所述充电方法包括：
步骤S100，监测到所述自移动设备对接的充电桩的充电事件的情况下，控制对所述驱动轮进行断电；
步骤S200，确定所述充电事件完成后，控制对所述驱动轮进行重新上电，使得所述驱动轮带动所述越障轮从所述充电桩的限位保持块脱出。
具体地，在步骤S100中，所述自移动设备会实时监测充电事件的发生，当所述自移动设备监测到与其对接的所述充电桩发出相应的充电事件的情况下，所述自移动设备会通过控制其内部的行程开关，对所述驱动轮进行断电处理，并接收所述充电桩的输出电极的电能输入，进行充电。由于在所述自移动设备充电过程中，所述驱动轮处于断电状态，并不需要额外消耗电能，进而可以提升所述自移动机器人的充电效率，还避免了充放电同时进行，在一定程度上也可以保证所述扫地机器人充电的安全性。
请结合图7，为本发明第三实施例提供的一种充电方法的又一方法流程图，在步骤S100中，所述监测到所述自移动设备对接的充电桩的充电事件的情况具体包括：
步骤S110，确定越障轮进入限位保持块，以及接收到充电桩发送的请求信息。
在这里，监测到所述充电事件的发生需要满足确定越障轮进入限位保持块以及接收到充电桩发送的请求信息。
其中，确定越障轮进入限位保持块具体包括监测所述越障轮完成一次越障动作且越障之后机身恢复水平，以及取电电极与所述充电桩的输出电极接触。具体地，设在所述扫地机器人内部的传感器检测到在行进过程中机身出现一定的倾斜，表示所述越障轮在进行越障，同时在机身发生倾斜之后并接着向前位移，然后机身又恢复水平，则表明所述越障轮越过了一障碍物，且与此同时所述自移动设备监测测到其取电电极与所述充电桩的输出电极接触，这里可以是通过所述自移动设备内部的监测电路，监测到所述取电电极有电流或者电信号输入，当所述自移动设备完成越障然后恢复水平且所述取电电极与所述充电桩的输出电极接触时，表明前一次所越过的障碍物为设置在所述限位保持块上的突起，即此时所述越障轮进入到了所述限位保持块上。
对于接收到所述充电桩发送的请求信息，主要是当所述取电电极与所述充电桩的输出电极接触时，所述充电桩会向外发出相应的向外充电的请求信息，这个请求信息经由所述取电电极传送至所述自移动设备的主板。
在满足以上充电事件后，所述自移动设备会控制所述驱动轮断电，即所述驱动轮停止向外输出驱动力，而此时所述越障轮被陷入到所述限位保持块中，对所述自移动设备起到很好的固定作用，即所述自移动设备不会前后移动，纵使所述驱动轮此时处于断电状态，也可以使得所述取电电极与所述充电桩输出电极之间具有较好的充电预紧力，从而保证所述取电电极与所述充电桩输出电极之间良性接触的可靠性，进而提升所述自移动机器人的充电效率。
另外，请结合图8，为本发明第三实施例提供的一种充电方法的又一方法流程图，所述请求信息包括充电桩的标识信息，步骤S110中，接收到充电桩发送的请求信息之后，还包括：
步骤S120，识别所述充电桩的标识信息，确定通过所述充电桩向所述自移动设备进行充电，
进一步地，在步骤S120中，确定通过所述充电桩向所述自移动设备进行充电之后，还包括：
步骤S130，响应于所述请求信息，向所述充电桩发送应答信息，使得所述充电桩的输出电极向所述自移动设备的取电电极输出电能。
具体地，接收所述充电桩发送的所述请求信息，所述请求信息包括所述充 电桩的标识信息，在步骤S120中，要对所述标识信息进行识别，这里的标识信息包括但限定于是所述充电桩的型号、输出电压、输出电流等参数，所述自移动设备在接到这些信息后会与自身匹配的充电设备进行识别，当识别到这些信息且符合匹配条件后，确定通过所述充电桩向所述自移动设备进行充电，这样可以避免因不匹配的充电设备给所述自移动机器人充电而造成充电失败甚至充电故障，提升充电的可靠性和安全性。
接着，在确定要通过所述充电桩向所述自移动设备进行充电之后，在步骤S130中，要响应于所述充电桩所发送的请求信息，向所述充电桩发送相应的应答信息，以使得所述充电桩的输出电极向所述自移动设备的取电电极输出电能，同时所述自移动设备通过内部的行程开关控制所述驱动轮断电，并打开对所述自移动设备的电池进行充电的进程开关，接收所述充电桩的输出电极向所述自移动设备的取电电极输出的电能。
在上述步骤S100后，所述充电桩会持续对所述自移动设备进行充电，在步骤S200中，所述充电桩在给所述自移动设备进行充电过程中会持续读取所述自移动设备的电池电量，当达到预设电量时变自动停止充电，所述自移动设备通过电路检测模块检测到向所述取电电极输入电流停止后，检测其电池电量已达到预设电量时，表明充电完成，此时所述自移动设备通过控制内部行程开关对所述驱动轮进行重新上电，所述自移动设备此时的状态可以理解为待机状态；处在待机状态的所述自移动设备在接到工作任务时，会控制所述驱动轮回退，即控制所述驱动轮进行反向转动，此时所述驱动轮会带动所述越障轮越过所述限位保持块上的凸起，进而从所述限位保持块上脱出，开始相应的工作任务。
在这里需要指出的是，所述自移动设备也可以是在一项工作任务未完成时检测到电量不足，向所述充电桩移动，所述越障轮越过所述限位保持块上的凸起进入到所述限位保持块上，并使所述取电电极与所述输出电极接触，然后对所述驱动轮进行断电，依靠所述限位保持块固定所述自移动设备提供两电极间的充电预紧力，保证充电动作高效完成，在充电完成后，所述充电桩停止向外 充电，所述自移动设备对所述驱动轮重新上电，控制所述驱动轮进行反向转动，带动所述越障轮越过所述限位保持块上的凸起，从所述限位保持块上脱出，继续进行之前未完成的工作任务。
实施例四
请参考图9，为本发明第四实施例提供的一种自移动设备的一方框结构示意图，所述自移动设备包括驱动轮和越障轮(图中未示出)，还包括监测模块以41及控制模块42。
所述控制模块42用于在所述监测模块41监测到所述自移动设备对接的充电桩的充电事件的情况下，控制对所述驱动轮进行断电；
所述控制模块42还用于所述监测模块41确定所述充电事件完成后，控制对所述驱动轮进行重新上电，使得所述驱动轮带动所述越障轮从所述充电桩的限位保持块脱出。
请参考图10，为本发明第四实施例提供的一种自移动设备的又一方框结构示意图，本实施例在前一实施例的基础上，所述监测模块41包括监测单元411和接收单元412，
所述监测单元411用于确定越障轮进入限位保持块；
所述接收单元412用于接收充电桩发送的请求信息。
进一步地，所述监测单元411具体用于监测所述越障轮完成一次越障动作且越障之后机身恢复水平，以及取电电极与所述充电桩的输出电极接触。
请参考图11，为本发明第四实施例提供的一种自移动设备的又一方框结构示意图，本实施例在以上实施例的基础上，所述自移动设备还包括识别模块43以及确定模块44，所述请求信息包括充电桩的标识信息，
所述识别模块43用于识别所述充电桩的标识信息；
所述确定模块44用于确定通过所述充电桩向所述自移动设备进行充电。
请参考图12，为本发明第四实施例提供的一种自移动设备的又一方框结构示意图，本实施例在以上实施例的基础上，所述自移动设备还包括发送模块45，所述发送模块45用于响应于所述请求信息，向所述充电桩发送应答信息，使得所述充电桩的输出电极向所述自移动设备的取电电极输出电能。
实施例五
本发明第五实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时可实现如本发明以上第三实施例的中的一个或多个的方法。
另外，还需要指出的是本发明第二实施例中的所述充电桩1为上述第一实施例中的充电桩结构，对于在第二实施例中未被提及的所述充电桩1的其他部件和结构可参考第一实施例的描述，在此不予赘述；本发明第三实施例为上述第二实施例中的自移动设备的充电方法的方法实施例；本发明第四实施例为以上第三实施例对应的装置实施例，本发明第四实施例的自移动设备可以执行以上第三实施例中的充电方法；本发明第五实施例为以上第三实施例对应的存储介质实施例，若以上各个实施例有描述不清楚的地方可进行相互参考。
需要说明的是，虽然结合附图对本发明的具体实施方式进行了详细地描述，但不应理解为对本发明的保护范围的限定。在结构不相冲突的情况下，上述各实施例中提及的各部分的结构可相互组合，为避免重复，组合后获得的技术方案在此不再赘述，但组合后获得的技术方案也应属于本发明的保护范围。在权利要求书所描述的范围内，本领域技术人员不经创造性劳动即可做出的各种修改和变形仍属于本发明的保护范围。
本发明实施例的示例旨在简明地说明本发明实施例的技术特点，使得本领域技术人员能够直观了解本发明实施例的技术特点，并不作为本发明实施例的不当限定。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上，可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的，本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
上述说明示出并描述了本发明实施例的若干优选实施例，但如前所述，应 当理解本发明实施例并非局限于本文所披露的形式，不应看作是对其他实施例的排除，而可用于各种其他组合、修改和环境，并能够在本文所述发明构想范围内，通过上述教导或相关领域的技术或知识进行改动。而本领域人员所进行的改动和变化不脱离本发明实施例的精神和范围，则都应在本发明实施例所附权利要求的保护范围内。

Claims (11)

  1. 一种充电方法，应用于自移动设备，所述自移动设备包括驱动轮和越障轮，其特征在于，所述充电方法包括：
    监测到所述自移动设备对接的充电桩的充电事件的情况下，控制对所述驱动轮进行断电；
    确定所述充电事件完成后，控制对所述驱动轮进行重新上电，使得所述驱动轮带动所述越障轮从所述充电桩的限位保持块脱出。
  2. 根据权利要求1所述的充电方法，其特征在于，监测到所述自移动设备对接的充电桩的充电事件的情况包括：
    确定越障轮进入限位保持块，以及接收到充电桩发送的请求信息。
  3. 根据权利要求2所述的充电方法，其特征在于，所述确定越障轮进入限位保持块包括：
    监测所述越障轮完成一次越障动作且越障之后机身恢复水平，以及取电电极与所述充电桩的输出电极接触。
  4. 根据权利要求2或3所述的充电方法，其特征在于，所述请求信息包括充电桩的标识信息，接收到充电桩发送的请求信息之后，还包括：
    识别所述充电桩的标识信息，确定通过所述充电桩向所述自移动设备进行充电。
  5. 根据权利要求4所述的充电方法，其特征在于，确定通过所述充电桩向所述自移动设备进行充电之后，还包括：
    响应于所述请求信息，向所述充电桩发送应答信息，使得所述充电桩的输出电极向所述自移动设备的取电电极输出电能。
  6. 一种自移动设备，包括驱动轮和越障轮，其特征在于，还包括监测模块以及控制模块，
    所述控制模块用于在所述监测模块监测到所述自移动设备对接的充电桩的充电事件的情况下，控制对所述驱动轮进行断电；
    所述控制模块还用于所述监测模块确定所述充电事件完成后，控制对所述 驱动轮进行重新上电，使得所述驱动轮带动所述越障轮从所述充电桩的限位保持块脱出。
  7. 根据权利要求6所述的自移动设备，其特征在于，所述监测模块包括监测单元和接收单元，
    所述监测单元用于确定越障轮进入限位保持块；
    所述接收单元用于接收充电桩发送的请求信息。
  8. 根据权利要求7所述的自移动设备，其特征在于，所述监测单元具体用于监测所述越障轮完成一次越障动作且越障之后机身恢复水平，以及取电电极与所述充电桩的输出电极接触。
  9. 根据权利要求7或8所述的自移动设备，其特征在于，还包括识别模块以及确定模块，所述请求信息包括充电桩的标识信息，
    所述识别模块用于识别所述充电桩的标识信息；
    所述确定模块用于确定通过所述充电桩向所述自移动设备进行充电。
  10. 根据权利要求9所述的自移动设备，其特征在于，还包括发送模块，所述发送模块用于响应于所述请求信息，向所述充电桩发送应答信息，使得所述充电桩的输出电极向所述自移动设备的取电电极输出电能。
  11. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序；
    所述计算机程序使计算机执行时实现如权利要求1～5任一项所述的充电方法。
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