CN102545284A - Docking system - Google Patents
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- CN102545284A CN102545284A CN2010105993915A CN201010599391A CN102545284A CN 102545284 A CN102545284 A CN 102545284A CN 2010105993915 A CN2010105993915 A CN 2010105993915A CN 201010599391 A CN201010599391 A CN 201010599391A CN 102545284 A CN102545284 A CN 102545284A
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Abstract
The invention relates to a docking system, which comprises a charging station and an automatic walking device. The charging station comprises a first group of terminals and an energy supply unit capable of supplying charging energy to the first group of terminals. The automatic walking device comprises an energy storage unit, a second group of terminals, a current detection unit and a master control unit, wherein the current detection unit detects charging current exerted on the energy storage unit by the second group of terminals, the master control unit is electrically connected with the current detection unit and controls the working state of the automatic walking device according to the charging current detected by the current detection unit, charging energy on the first group of terminals is transferred to the second group of terminals when the second group of terminals are correspondingly electrically connected with the first group of terminals, and the master control unit determines that docking of the first group of terminals of the charging station and the second group of terminals of the automatic walking device is successful after the current detection unit detects the charging current. By adopting the docking system, the automatic walking device can be reliably docked with the charging station with no need for human intervention, and therefore the docking system brings great convenience to production and living.
Description
Technical field
The present invention relates to a kind of docking system, particularly a kind of docking system of forming by automatic walking arrangement and charging station.
Background technology
Along with science and technology development; The automatic walking arrangement of intelligence is known by people; Because the program that automatic walking arrangement can be provided with is automatically in advance carried out the inter-related task that is provided with in advance, operation that need not be artificial and intervention, therefore the application on commercial Application and family product is very extensive.Application in the industry is as carrying out the robot of various functions, the application on the family product such as hay mover, dust catcher etc., and these smart machines have greatly been saved people's time, all bring great convenience to commercial production and life staying idle at home.But these automatic walking arrangements are owing to adopt the energy storage unit power supply; After the energy of energy storage unit is used up; These automatic walking arrangements just can't have been worked, and just must move to the charging station that energy can be provided for it to automatic walking arrangement artificially this moment, is its makeup energy.In some cases, makeup energy possibly need several hours time of cost, and people must wait for several hours, accomplish up to makeup energy, thereby open automatic walking arrangement once more, and it is worked on.
For overcoming the problems referred to above, must develop a kind of docking system that can make automatic walking arrangement automatic butt charging station.
Summary of the invention
The technical problem that the present invention solves is: the docking system that a kind of automatic walking arrangement automatic butt charging station is provided.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of docking system, said docking system comprise charging station and automatic walking arrangement, and said charging station comprises: first group of terminal comprises the first terminal and second terminal at least; Energy provides the unit, and rechargeable energy to the first terminal and second terminal are provided; Said automatic walking arrangement comprises: energy storage units, for automatic walking arrangement provides energy; Second group of terminal comprises the 3rd terminal and the 4th terminal at least, and second group of terminal is during with first group of corresponding electric connection of terminal, and the rechargeable energy of the first terminal and the output of second terminal passes to the 3rd terminal and the 4th terminal; Current detecting unit detects the charging current that the 3rd terminal and the 4th terminal are applied to energy storage units; Main control unit electrically connects with current detecting unit, controls the operating state of automatic walking arrangement according to the charging current of current detecting unit detection; After current detecting unit detected charging current, main control unit confirmed that first group of terminal docks successfully with second group of terminal
Preferably, after main control unit is confirmed first group of terminal and second group of terminal docked successfully, control automatic walking arrangement and stop walking.
Preferably, after walking arrangement stopped walking automatically, current detecting unit did not detect charging current once more in the preset time, and main control unit is controlled automatic walking arrangement and started walking.
Preferably; Automatically walking arrangement further comprises the energy control unit; When current detecting unit detected charging current less than the predetermined current value, main control unit stopped the NE BY ENERGY TRANSFER of the 3rd terminal and the 4th terminal to energy storage units according to the detected charging current control energy of current detecting unit control unit.
Preferably; Automatically walking arrangement further comprises the stored energy detecting unit; When the stored energy detection when the current energy of energy storage units is lower than preset energy value, main control unit is controlled automatic walking arrangement according to stored energy detecting unit energy delivered detection signal and is returned charging station.
Preferably, walking arrangement also comprises positive-action return automatically, and when positive-action return sent return instruction, the return instruction that main control unit sends according to positive-action return was controlled automatic walking arrangement and returned charging station.
Preferably, main control unit detects the operating time of automatic walking arrangement, and when the operating time reached the Preset Time value, main control unit was controlled automatic walking arrangement and returned charging station.
Preferably, said docking system also comprises the boundary line, and said charging station connects said boundary line, and walking arrangement returns charging station along the boundary line automatically.
Preferably; Automatically walking arrangement further comprises the rectification unit that is arranged between the 3rd terminal and the 4th terminal; Said rectification unit is provided with electrode input end, negative input, cathode output end and cathode output end, and electrode input end and the 3rd terminal electrically connect, and negative input and the 4th terminal electrically connect; The positive pole of cathode output end and energy storage units electrically connects, and the negative pole of cathode output end and energy storage units electrically connects.
Preferably, automatically walking arrangement is a hay mover, comprises being used for cutting mechanism that the lawn is cut.
This beneficial effect then is: automatic walking arrangement need not human intervention and can reliably dock with charging station, brings very big facility for production and life.
Description of drawings
Technical problem, technical scheme and the beneficial effect that above-described the present invention solves can combine accompanying drawing to describe and clearly acquisition through the following detailed description that can realize specific embodiment of the present invention simultaneously.
Identical label in accompanying drawing and the specification is used to represent element identical or that be equal to symbol.
Fig. 1 is the automatic walking arrangement of the present invention's one preferred embodiment and the sketch map of charging station;
Fig. 2 is an automatic walking arrangement shown in Figure 1 and the sketch map that docks of charging station;
Fig. 3 is the circuit module figure of automatic walking arrangement shown in Figure 1 and charging station;
Fig. 4 is the circuit block diagram of automatic walking arrangement shown in Figure 1 and charging station;
Fig. 5 is the workflow diagram that automatic walking arrangement shown in Figure 1 docks with charging station.
10 charging stations 60 the 3rd terminal
12 power lines 62 the 4th terminal
14 first printed substrates, 72 rectification units
16 the first terminals, 76 main control units
18 second terminals, 80 current detecting units
20 energy provide the unit 82 stored energy detecting units
50 automatic walking arrangement 88 energy control units
52 motors, 90 positive-action returns
54 wheels 92 checkout gear of drenching with rain
56 energy storage units, 100 boundary lines
58 second printed substrates, 102 working regions
Embodiment
About detailed description of the present invention and technology contents, conjunction with figs. is explained as follows, yet appended accompanying drawing only provides reference and explanation, is not to be used for the present invention is limited.
Shown in Figure 1 is the system that charging station 10 and automatic walking arrangement 50 are formed; This system also comprises boundary line 100; Boundary line 100 is used to form working region 102; Charging station 10 is positioned on the boundary line 100, and walking arrangement 50 walking automatically in the working region 102 that boundary line 100 forms is automatically worked in working region 102 according to the program that is provided with in advance.When automatic walking arrangement 50 need charging, or work is accomplished or the operating time to, or detect when situation such as drenching with rain, walking arrangement 50 100 returns charging station 10 along the boundary line automatically, trial is docked with charging station 10.Automatically walking arrangement 50 is with after charging station 10 dock successfully, and automatic walking arrangement 50 stops to walk, and charging station 10 startups are to the charging of automatic walking arrangement 50.If charging station 10 does not comprise boundary line 100 with the system that automatic walking arrangement 50 is formed, walking arrangement 50 carries out work through the mode of signal guidance and returns automatically, returns along the border that signal is formed when then walking arrangement 50 returns charging station 10 automatically.
As shown in Figure 3; First printed substrate 14 further comprises to the first terminal 16 and second terminal 18 provides the energy of rechargeable energy that unit 20 is provided; It obtains energy through power line 12 from external ac power source, and Conversion of energy is applied to the first terminal 16 and second terminal 18 for the energy that is fit to energy storage units 56 charge modes in the automatic walking arrangement 50.When the 3rd terminal 60 and the 4th terminal 62 during respectively with the first terminal 16 and the 18 corresponding electric connections of second terminal, energy provides the energy of unit 20 can be applied to energy storage units 56.
Second printed substrate 58 further comprises main control unit 76, current detecting unit 80, stored energy detecting unit 82, energy control unit 88, rectification unit 72; Wherein energy control unit 88 is used to control the NE BY ENERGY TRANSFER of the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56; There is two states in energy control unit 88, and a kind of state is the NE BY ENERGY TRANSFER of forbidding the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56; A kind of state is for allowing the NE BY ENERGY TRANSFER of the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56; Stored energy detecting unit 82 is used for the current energy state of detected energy memory cell 56, and detection signal is passed to main control unit 76; Current detecting unit 80 is used to detect the charging current that the 3rd terminal 60 and the 4th terminal 62 are applied to energy storage units 56, and detection signal is passed to main control unit 76; Main control unit 76 electrically connects with current detecting unit 80, stored energy detecting unit 82 and energy control unit 88, according to the state of current detecting unit 80 with the signal controlling energy control unit 88 of stored energy detecting unit 82 detections; Rectification unit 72 is provided with electrode input end, negative input, cathode output end and cathode output end; Electrode input end and the 3rd terminal 60 electrically connect; Negative input and the 4th terminal 62 electrically connect; The positive pole of cathode output end and energy storage units 56 electrically connects; The negative pole of cathode output end and energy storage units 56 electrically connects; Therefore the 3rd terminal 60 is when corresponding relation that the 4th terminal 62 and the first terminal 16 are connected with second terminal 18 changes arbitrarily; The positive pole of the rechargeable energy that the first terminal 16 and second terminal 18 transmit electrically connects with the positive pole of energy storage units 56 all the time, and the negative pole of rechargeable energy electrically connects with the negative pole of energy storage units 56 all the time, and the corresponding relation change of effectively avoiding being connected with second terminal 18 owing to the 3rd terminal 60 and the 4th terminal 62 and the first terminal 16 causes electric current change direction that the 3rd terminal 60 and the 4th terminal 62 transmit and the inner member of automatic walking arrangement 50 is caused damage in automatic walking arrangement 50.
The first terminal 16 and second terminal 18 are during respectively with the 3rd terminal 60 and the 62 corresponding electric connections of the 4th terminal; Energy provides the rechargeable energy of unit 20 to be passed to the 3rd terminal 60 and the 4th terminal 62 through the first terminal 16 and second terminal 18; Further be passed to energy storage units 56 and be energy storage units 56 chargings through current detecting unit 80; Current detecting unit 80 can detect charging current under this state; And detected charging current passed to main control unit 76; Main control unit 76 detect confirm after this charging current the first terminal 16 and second terminal 18 respectively with the 3rd terminal 60 and the 62 corresponding electric connections of the 4th terminal, confirm that second group of terminal of automatic walking arrangement 50 docks successfully with first group of terminal of charging station 10.When the first terminal 16 and second terminal 18 do not have corresponding electric connection with the 3rd terminal 60 and the 4th terminal 62 respectively; Energy provides the rechargeable energy of unit 20 to be passed to the 3rd terminal 60 and the 4th terminal 62 through the first terminal 16 and second terminal 18; Further be passed to energy storage units 56 and be energy storage units 56 chargings through current detecting unit 80; Therefore current detecting unit 80 detections are that current detecting unit 80 detected charging currents are zero less than charging current; When main control unit 76 is zero through current detecting unit 80 detected charging currents; Confirm the first terminal 16 and second terminal 18 respectively with the 3rd terminal 60 and the 4th terminal 62 in one group or two groups of terminals do not have corresponding electric connection, do not confirm that second group of terminal of automatic walking arrangement 50 docks successfully with first group of terminal of charging station 10.
After main control unit 76 detects the condition of returning, control automatic walking arrangement 50 and return charging station 10, main control unit 76 control energy control units 88 are in the state of the NE BY ENERGY TRANSFER that allows the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56 simultaneously.In return course; Current detecting unit 80 detects the charging current that the 3rd terminal 60 and the 4th terminal 62 are applied to energy storage units 56 constantly; The first terminal 16 and second terminal 18 are with before the 3rd terminal 60 and the 4th terminal 62 dock successfully; Current detecting unit 80 detects less than charging current, and the first terminal 16 and second terminal 18 are with after the 3rd terminal 60 and the 4th terminal 62 dock successfully, and energy provides the rechargeable energy of unit 20 to be passed to the 3rd terminal 60 and the 4th terminal 62 through the first terminal 16 and second terminal 18; Further be passed to energy storage units 56 through current detecting unit 80; Current detecting unit 80 detects charging current, in case current detecting unit 80 detects charging current, main control unit 76 confirm the first terminals 16 and second terminal 18 respectively with the 3rd terminal 60 and the 62 corresponding electric connections of the 4th terminal; Second group of terminal confirming automatic walking arrangement 50 docks successfully with first group of terminal of charging station 10; The automatic walking arrangement 50 of main control unit 76 controls stops walking, and charging station 10 is automatic walking arrangement 50 chargings, and charging process starts.Preferably; Energy provides the energy of unit 20 to be applied to all the time on the first terminal 16 and second terminal 18, even walking arrangement 50 does not dock with charging station 10 automatically, the first terminal 16 and second terminal 18 are also exported rechargeable energy; The advantage of this scheme is simple in structure, dependable performance.A kind of deformation program to preferred version does; The rechargeable energy that the energy of charging station 10 provides unit 20 to provide is not applied on the first terminal 16 and second terminal 18 usually; When detecting automatic walking arrangement 50 near charging station 10; The rechargeable energy that energy provides unit 20 to provide just is applied on the first terminal 16 and second terminal 18 usually, and the advantage of this scheme is more power saving, and security performance is higher.Realize this scheme mode can for; Automatically on walking arrangement 50 and the charging station 10 sensing element is being set respectively, when automatic walking arrangement 50 during near charging station 10, the sensing element action; Charging station 10 control energy provide the energy of unit 20 to be applied to the first terminal 16 and second terminal 18; Sensing element can be various ways, as in charging station 10, tongue tube being set, in the walking arrangement 50 magnet steel is set automatically; When automatic walking arrangement 50 during near charging station 10; Magnet steel moves to tongue tube, and tongue tube converts closure state into by off-state, and the state variation control energy that charging station 10 detects tongue tube provides the rechargeable energy of unit 20 to be applied to the first terminal 16 and second terminal 18.
After charging process starts; The current detecting unit 80 of automatic walking arrangement 50 detects the 3rd terminal 60 constantly and the 4th terminal 62 is applied to the charging current on the energy storage units 56; And detection signal passed to main control unit 76; When in a single day main control unit 76 detected electric current and be lower than preset value, control energy control unit 88 stopped the NE BY ENERGY TRANSFER of the 3rd terminals 60 and the 4th terminal 62 to energy storage units 56.Remove and detect through 80 pairs of charging currents of current detecting unit; Judge whether to forbid outside the mode of NE BY ENERGY TRANSFER; Also can be in the main control unit 76 through the current energy state of stored energy detecting unit 82 detected energy memory cell 56, thus judge whether to need to continue charging, in addition; Main control unit 76 also can judge whether the charging interval surpass preset value through the mode that portion within it is provided with timer, thereby whether control forbids NE BY ENERGY TRANSFER; Main control unit 76 also can be through the internal information of detected energy memory cell 56; Judge whether to forbid NE BY ENERGY TRANSFER; Like internal temperature of detected energy memory cell 56 etc.; When the internal temperature of energy storage units 56 surpasses preset temperature range, the NE BY ENERGY TRANSFER of forbidding the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56, thus stop charging to energy storage units 56.Main control unit 76 is judged through above-mentioned any one mode need forbid NE BY ENERGY TRANSFER; Control energy control unit 88 is in the state of the NE BY ENERGY TRANSFER of forbidding the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56; Charging process finishes; Automatically walking arrangement 50 returns working region 102 once more, works on.
Second group of terminal at the automatic walking arrangement 50 of above-mentioned affirmation docks in the successful process with first group of terminal of charging station 10, and walking arrangement 50 promptly starts charging process through once confirming butt joint automatically.In the actual conditions; Since detect electric current stop to walk with the automatic walking arrangement 50 of control between life period poor; Therefore after walking arrangement 50 stopped walking automatically, first group of terminal and second group of terminal possibly be separated from each other again, and current detecting unit 80 detects less than charging current.Main control unit 76 detects electric current less than preset value through current detecting unit 80 in the case, causes main control unit 76 to confirm that charging process finishes, and controls automatic walking arrangement 50 and returns working region 102 work once more.For avoiding the appearance of above-mentioned situation, second group of terminal that main control unit 76 is provided with the automatic walking arrangement 50 of twice affirmation docks successful process with first group of terminal of charging station 10.Main control unit 76 at second group of terminal confirming for the first time automatic walking arrangement 50 with after first group of terminal of charging station 10 docks successfully; Control automatic walking arrangement 50 and stop walking; Confirm subsequently whether current detecting unit 80 continues to detect the 3rd terminal 60 in the preset time and the 4th terminal 62 is applied to the charging current of energy storage units 56, if in the preset time, continue to detect charging current; Main control unit 76 reaffirms that second group of terminal of automatic walking arrangement 50 docks successfully with first group of terminal of charging station 10; Control the state that automatic walking arrangement 50 maintenances stop to walk, start charging process, finish until charging; If in the preset time; Do not detect charging current; The automatic walking arrangement 50 of main control unit 76 controls starts walking, attempts butt joint again, and the second group of terminal that repeats the automatic walking arrangement 50 of above-mentioned affirmation docks successful process with first group of terminal of charging station 10.Because the process of whole detection response is very short, therefore preset time operated by rotary motion is also shorter, and present embodiment is set to 2S.Second group of terminal of the automatic walking arrangement 50 of twice affirmation successively docks in the successful process with first group of terminal of charging station 10, and detected charging current can be identical, also can be inequality.
For overcoming the deficiency that needs human intervention; Automatically walking arrangement 50 is provided with the mode that multiple startup is returned; As the operating time to, work accomplish, electric weight is not enough, drench with rain, the user forces to return etc. all can be used as the condition that automatic walking arrangement 50 returns charging station 10; Main control unit 76 is controlled automatic walking arrangement 50 and is returned charging station 10 when detecting any above-mentioned condition.The detection that operating time accomplishes to the work of reaching realizes that through the operating time timer is set Preset Time arrives in main control unit 76, then control automatic walking arrangement 50 and return charging station 10, and concrete implementation is known for those skilled in the art, repeats no more at this.The detection that electric weight is not enough detects the dump energy situation of current energy storage units 56 constantly through stored energy detecting unit 82; And detected energy residue situation fed back to main control unit 76; When the energy of energy storage units 56 is reduced to predetermined threshold value; The automatic walking arrangement 50 of main control unit 76 controls returns charging station 10; Be energy storage units 56 chargings; Predetermined threshold value once can make full use of to guarantee energy storage units 56 chargings according to the chemical characteristic of energy storage units 56, information summaries such as the working condition consideration setting of walking arrangement 50 automatically, can avoid in returning on the way, energy storage units 56 energy drains occurring simultaneously again and cause automatic walking arrangement 50 can't return charging station 10; Drench with rain and realize through the checkout gear 92 of drenching with rain in the surface of shell setting of automatic walking arrangement 50; The checkout gear 92 of drenching with rain electrically connects with main control unit 76; When drenching with rain; The checkout gear 92 of drenching with rain produces corresponding signal and passes to main control unit 76, and the automatic walking arrangement 50 of main control unit 76 controls returns charging, and this mode can effectively avoid because the damage of drenching with rain automatic walking arrangement 50 being caused; The user forces to return through the surface of shell at automatic walking arrangement 50 positive-action return 90 realizations is set; This positive-action return 90 electrically connects with main control unit 76; When positive-action return 90 detects the user and forces to return demand, can the form that user's request is converted into the signal of telecommunication be passed to main control unit 76, the automatic walking arrangement 50 of main control unit 76 controls returns charging station 10; This mode is mainly used in the quick response user demand of charging; Even the energy of energy storage units 56 is higher, but the user can send return instruction to main control unit 76 through positive-action return 90, after main control unit 76 receives this return instruction; Control automatic walking arrangement 50 and return charging station 10, be energy storage units 56 chargings.
Introduce the composition and the working method of each functional unit of first printed substrate 14 and second printed substrate 58 in detail below in conjunction with Fig. 4, at first the functional unit of second printed substrate 58 is introduced.
Stored energy detecting unit 82 is mainly used in the energy of moment detected energy memory cell 56 in automatic walking arrangement 50 work and charging process; And detection signal passed to receiver port RX2; In automatic walking arrangement 50 courses of work; Micro controller MCU judges according to its signal that receives whether the energy of energy storage units 56 exceeds a certain preset value, thereby judges whether to return charging station 10 chargings; In automatic walking arrangement 50 charging processes, micro controller MCU judges according to its signal that receives whether the energy of energy storage units 56 exceeds a certain preset value, thereby need judging whether stops charging processes through energy control unit 88.In automatic walking arrangement 50 courses of work, when the energy that detects energy storage units 56 was lower than a certain preset value, micro controller MCU controlled automatic walking arrangement 50 and 100 returns charging station 10 along the boundary line; In automatic walking arrangement 50 charging processes, when the energy that detects energy storage units 56 was higher than a certain preset value, micro controller MCU controlled automatic walking arrangement 50 and stops charging.Be the current energy state of detected energy memory cell 56; Can pass through detected energy memory cell 56 voltage statuss, also can be through the discharging current of detected energy memory cell 56 or the multiple modes such as stored energy of charging current and discharge or charging interval calculating energy memory cell 56.In the present embodiment, adopted the mode of measured energy memory cell 56 voltage statuss, the advantage of this mode is to realize simple.As shown in Figure 4, stored energy detecting unit 82 comprises that resistance R 5, R6 are composed in series voltage divider, and the voltage divider of forming through resistance R 5, R6 detects the voltage of energy storage units 56.In automatic walking arrangement 50 courses of work; This predeterminated voltage value is generally and is higher than 90% of energy storage units 56 nominal voltages; Setting both can guarantee the abundant work of automatic walking arrangement 50 like this; Can guarantee that again automatic walking arrangement 50 returned charging station 10 before the energy drain of energy storage units 56, be energy storage units 56 makeup energy; In automatic walking arrangement 50 charging processes, this predeterminated voltage value is traditionally arranged to be and is higher than 10% of energy storage units 56 nominal voltages.In the present embodiment because energy storage units 56 adopts lead-acid battery; The nominal voltage of this battery is 24V; Therefore the predeterminated voltage value in the course of work is set to 21.6V; But because whether lead-acid battery generally adopts the form decision of judging charging current to stop charging, so the signal of the stored energy detecting unit 82 in the present embodiment and being not used in judges whether the condition that stops charging predeterminated voltage in charging process not to be limited at this.
Positive-action return 90 is used for responding fast user's charging demand, and its major function is response user's charging demand, and this demand is fed back to micro controller MCU with the form of the signal of telecommunication; This function of implemented in many forms can be arranged; As respond to user voice, sensing user touch etc., compared to the form of induction user voice, the mode of sensing user touch is more easy; Therefore adopt the mode of sensing user touch in the present embodiment; Based on this mode, positive-action return 90 can be set to normal open switch or trigger switch form, is specially the trigger switch form.As shown in Figure 4, switch SW 1 one ends and energy storage units 56 negative poles electrically connect, and the receiver port RX3 of an end and main control unit 76 electrically connects; Under normal conditions; Receiver port RX3 is in high-impedance state, in case user's push switch SW1 is closed, receiver port RX3 can receive low level; The low level that main control unit 76 response signal receiving port RX3 receive is promptly controlled automatic walking arrangement 50 and is returned charging station 10, is energy storage units 56 chargings.
Whether the checkout gear 92 of drenching with rain is used for detecting has the rainwater pouring to drop down onto automatic walking arrangement 50; If detect rainwater; Then detected signal is passed to main control unit 76 through receiver port RX4; The automatic walking arrangement 50 of main control unit 76 controls returns charging station 10 and takes shelter from rain, thereby avoids the erosion of rainwater to automatic walking arrangement 50.The checkout gear 92 of drenching with rain can be realized through two sheet metals of isolating each other; The receiver port RX4 of sheet metal and micro controller MCU electrically connects, and another sheet metal and 62 electric connections of the 4th terminal be not when having rainwater; Two sheet metals keep separate state; Receiver port RX4 is in vacant state, and when rainwater, two sheet metals interconnect through rainwater; Receiver port RX4 receives low level signal, and micro controller MCU controls automatic walking arrangement 50 and returns charging station 10 and take shelter from rain.The function of two sheet metals is equivalent to the effect of switch, and therefore in Fig. 4, the checkout gear 92 of drenching with rain is through switch SW 2 signals.
Current detecting unit 80 is mainly used in to return at automatic walking arrangement 50 and detects the charging current that the 3rd terminal 60 and the 4th terminal 62 are applied to energy storage units 56 in charging station 10 and the charging process, and detected charging current is fed back to main control unit 76.In return course, whether automatic walking arrangement 50 detects charging current through current detecting unit 80 is judged whether second group of terminal of automatic walking arrangement 50 docks success with first group of terminal of charging station 10; In charging process, whether automatic walking arrangement 50 is lower than preset value through current detecting unit 80 detected charging currents judges whether to need to stop charging.To the function of current detecting unit 80, current detecting unit 80 can be set to various ways, in the present embodiment, adopts the mode of little resistance well known to those skilled in the art and operational amplifier to realize.As shown in Figure 4, current detecting unit 80 comprises the little resistance R 1 that is arranged between the 3rd terminal 60 to energy storage units 56 positive poles, to being applied to that voltage on the resistance R 1 amplifies and amplifying signal being passed to the operational amplifier A of receiver port RX1.Micro controller MCU carries out corresponding operation after detecting the voltage that is applied on the resistance R 1 through receiver port RX1, judges the charging current of the resistance R 1 of flowing through, and can obtain the charging current value of the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56.When the first terminal 16 and second terminal 18 during respectively with the 3rd terminal 60 and the 62 corresponding electric connections of the 4th terminal; Energy provides the energy of unit 20 to be applied to the 3rd terminal 60 and the 4th terminal 62 through the first terminal 16 and second terminal 18; Further provide to energy storage units 56 through current detecting unit 80; This moment, current detecting unit 80 detected charging current, and main control unit 76 confirms that second group of terminal of automatic walking arrangement 50 docks successfully with first group of terminal of charging station 10; Otherwise when throwing off each other for one group or two groups in the first terminal 16 and second terminal 18 and the 3rd terminal 60 and the 4th terminal 62; There is not electric current to provide to energy storage units 56; Therefore current detecting unit 80 detects less than charging current, and main control unit 76 does not confirm that second group of terminal of automatic walking arrangement 50 docks successfully with first group of terminal of charging station 10.As previously mentioned; The docking operation that not only is used for current detecting unit 80 detects electric current and feeds back to main control unit 76 and is used to judge whether that second group of terminal of automatic walking arrangement 50 docks successfully with first group of terminal of charging station 10, thereby also being applied to simultaneously in the charging process electric current detected and feed back to main control unit 76 judges whether to stop charging.In docking operation, if main control unit 76 be set to detect charging current promptly judge the first terminal 16 and second terminal 18 respectively with the 3rd terminal 60 and the 62 corresponding electric connections of the 4th terminal; In charging process; Main control unit 76 is set to detected charging current and promptly sends signal to the 88 control termination chargings of energy control unit less than a certain preset value; This predetermined current value is according to the characteristic setting of energy storage units 56; What energy storage units 56 adopted in the present embodiment is lead-acid battery, and according to its characteristic, preset value is set to 200mA.
Energy control unit 88 is used to forbid or allow the NE BY ENERGY TRANSFER of the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56.Automatically after walking arrangement 50 detected the condition of returning, main control unit 76 sent the state that control signal control energy control unit 88 is in the power transfer that allows the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56; 10 pairs of automatic walking arrangements 50 of charging station carry out in the charging process, and the charging current that main control unit 76 detects according to rechargeable energy detecting unit 80 is sent control signal control energy control unit 88 through signal sending end mouth TX1 and is in permission or forbids the state of the NE BY ENERGY TRANSFER of the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56.Function to energy control unit 88; Energy control unit 88 can be set to drive circuit at least and add the mode of metal-oxide-semiconductor or the mode that drive circuit adds relay; As shown in Figure 4; Adopted drive circuit to add the metal-oxide-semiconductor mode in the present embodiment; Wherein metal-oxide-semiconductor Q1 is arranged between the positive pole of the 3rd terminal 60 and energy storage units 56, and drive circuit is arranged between secondary signal transmit port TX1 and the metal-oxide-semiconductor, and drive circuit further comprises the resistance R 2 that is used for the driven MOS pipe and the resistance R 4 of R3, switching transistor Q2 and driving switch transistor Q2.Generally, micro controller MCU sends low level signal through signal sending end mouth TX1, and control switch transistor Q2 breaks off, and then control metal-oxide-semiconductor Q1 disconnection, avoids the energy consumption of control circuit to energy storage units 56.When in case micro controller MCU receives the charging inverse signal from receiver port RX2 or RX3; Micro controller MCU sends high level signal through signal sending end mouth TX1; Control switch transistor Q2 conducting; And then control metal-oxide-semiconductor Q1 conducting, thus allow the power transfer of the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56, promptly allow the charging of 10 pairs of automatic walking arrangements 50 of charging station.After the charging beginning; Current detecting unit 80 detects the charging current of the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56 constantly; And detection signal passed to micro controller MCU through receiver port RX1, in case when micro controller MCU detects charging current less than 200mA, promptly send low level signal through signal sending end mouth TX1; Control switch transistor Q2 breaks off; And then control metal-oxide-semiconductor Q1 disconnection, thereby the power transfer of interruption ability flow control three terminals 60 and the 4th terminal 62 to energy storage units 56 promptly stops the charging of 10 pairs of automatic walking arrangements 50 of charging station.
Detailed elaboration has been done in the concrete structure of each functional unit that foregoing is comprised second printed substrate 58, working method and influence each other, and the concrete structure and the working method of the functional unit that below will be comprised first printed substrate 14 are set forth in detail.
First printed substrate 14 comprises that further energy provides unit 20, energy provide unit 20 through power line 12 from external ac power source obtain energy and transform accordingly after pass to the first terminal 16 and second terminal 18.Usually energy provides unit 20 can be set to that Switching Power Supply adds the control circuit pattern or transformer adds the control circuit pattern; Because it is higher that Switching Power Supply is compared the transformer energy transformation efficiency; Therefore being set to Switching Power Supply in the present embodiment adds the control circuit pattern; After Switching Power Supply was converted into low-voltage AC with High Level AC Voltage, control circuit carried out rectification to low-voltage AC and forms low-voltage DC at last.Control circuit is controlled the operating state of Switching Power Supply simultaneously, adjusts the output of Switching Power Supply according to the characteristic of the energy storage units that is recharged 56.In present embodiment; Energy storage units 56 is the 24V lead-acid battery; The mode of operation of the control circuit regulating switch power supply ductility limit die pressing type that exceeds, voltage limiting value is set to 29.5V, and cut-off current is set to 1.5A; Based on the regulation and control of control circuit, the energy ceiling voltage that energy provides unit 20 finally to be applied to the first terminal 16 and second terminal 18 is up to 1.5A for the 29.5V electric current.Provide in the unit 20 at energy; Do not have row that energy is set and stop device; Therefore as long as power line 12 and external ac power source electrically connect the DC power supply that 29.5V is promptly arranged on the then the first terminal 16 and second terminal 18; In case the 3rd terminal 60 and the 4th terminal 62 electrically connect with the first terminal 16 and second terminal, 18 correspondences respectively, and current delivery to the three terminals 60 and the 4th terminal 62 are then arranged, and further pass to energy storage units 56.Although on the first terminal 16 and second terminal 18 power supply is arranged all the time, the ceiling voltage of this power supply is merely 29.5V, therefore also can not produce damage to human body, also is safe.
Above combined circuit block diagram has carried out detailed description to function, concrete structure, the mutual Collaboration of each functional unit of first printed substrate 14 and second printed substrate 58, automatic walking arrangement 50 and docking operation, the charging process of charging station 10 is carried out the detailed description of integral body below in conjunction with the workflow diagram of micro controller MCU.
As shown in Figure 5, automatically after the walking arrangement 50 startup work, micro controller MCU gets into step S0 and carries out initialization, initialization finish back micro controller MCU control automatic walking arrangement 50 in the working region 102 of boundary line 100 planning according to preset rules work; Shown in step S1, get into step S2 subsequently, judge the state of switch SW 1 sense switch SW1; Whether judges forces the output return instructions through positive-action return 90, if judged result is for being then to change step S5 over to; If judged result then changes step S3 over to, the state of sense switch SW2 for not; Judge whether to drench with rain, if judged result is for being then to change step S5 over to; Whether the magnitude of voltage through stored energy detecting unit 82 detected energy memory cell 56 is lower than 21.6V if judged result, then changes step S4 over to for not, and promptly whether the current energy of energy memory cell 56 is lower than preset value; If judged result is then returned step S1 for not, if judged result is for being; Then change step S5 over to and control automatic walking arrangement 50 and 100 return charging station 10 along the boundary line, control energy control unit 88 is in conducting state when returning, and allows the NE BY ENERGY TRANSFER of the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56; Change the charging current that step S6 detects the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56 subsequently over to; Get into step S7; Further judge whether to detect charging current, if the result who judges then returns step S5 for not; If the result who judges is for being; Then get into step S8, confirm that second group of terminal of automatic walking arrangement 50 docks successfully with first group of terminal of charging station 10, control automatic walking arrangement 50 and stop walking; Change the charging current that step S9 continues to detect the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56 over to; Change step S11 subsequently over to, judge in preset time 2S whether continue to detect charging current, if the result who judges is not; Then show the butt joint failure, control automatic walking arrangement 50 and start walking, attempt butt joint again; Return step S5, if the result who judges is for being then to get into step S12; Second group of terminal reaffirming automatic walking arrangement docks successfully with first group of terminal of charging station, controls the state that automatic walking arrangement 50 maintenances stop to walk, and charging process starts.Automatically second group of terminal of walking arrangement 50 is with after first group of terminal of charging station 10 docks successfully; The first terminal 16 and second terminal 18 respectively with the 3rd terminal 60 and corresponding electric connection respectively of the 4th terminal 62, energy provides unit 20 to provide and passes to energy storage units 56 to energy warp the 3rd terminal 60 of the first terminal 16 and second terminal 18 and the 4th terminal 62 is its charging.In charging process, current detecting unit 80 continues to detect charging current shown in step S13; Change step S14 subsequently over to and judge that whether charging current is less than 200mA; If judged result is returned step S13 and is continued to detect charging current, if judged result is for being for not; Then change step S15 control energy control unit 88 over to and be in the NE BY ENERGY TRANSFER of forbidding the 3rd terminal 60 and the 4th terminal 62 to energy storage units 56; Stop charging process, whole butt joint and charging process also finish thereupon, and automatic walking arrangement 50 can return working region 102 once more and work on.
In the present invention, automatic walking arrangement 50 can be various ways such as hay mover, dust catcher, industrial robot.When walking arrangement 50 is hay mover automatically, also further comprise cutting mechanism, cutting mechanism comprises cutting motor 52 and cutting blade, and when hay mover was worked in the working region 102 of boundary line 100 planning, cutting motor 52 drove cutting blades rotation, cutting lawns.
Claims (10)
1. docking system, said docking system comprises charging station and automatic walking arrangement,
Said charging station comprises:
First group of terminal comprises the first terminal and second terminal at least;
Energy provides the unit, and rechargeable energy to the first terminal and second terminal are provided; Said automatic walking arrangement comprises:
Energy storage units is for automatic walking arrangement provides energy;
Second group of terminal comprises the 3rd terminal and the 4th terminal at least, and second group of terminal is during with first group of corresponding electric connection of terminal, and the rechargeable energy of the first terminal and the output of second terminal passes to the 3rd terminal and the 4th terminal;
Current detecting unit detects the charging current that the 3rd terminal and the 4th terminal are applied to energy storage units;
Main control unit electrically connects with current detecting unit, controls the operating state of automatic walking arrangement according to the charging current of current detecting unit detection;
It is characterized in that: after current detecting unit detected charging current, main control unit confirmed that first group of terminal docks successfully with second group of terminal.
2. docking system according to claim 1 is characterized in that: after main control unit is confirmed first group of terminal and second group of terminal docked successfully, control automatic walking arrangement and stop walking.
3. docking system according to claim 2 is characterized in that: after walking arrangement stopped walking automatically, current detecting unit did not detect charging current once more in the preset time, and main control unit is controlled automatic walking arrangement and started walking.
4. according to each described docking system in the claim 1 to 3; It is characterized in that: walking arrangement further comprises the energy control unit automatically; When current detecting unit detected charging current less than the predetermined current value, main control unit stopped the NE BY ENERGY TRANSFER of the 3rd terminal and the 4th terminal to energy storage units according to the detected charging current control energy of current detecting unit control unit.
5. docking system according to claim 1; It is characterized in that: walking arrangement further comprises the stored energy detecting unit automatically; When the stored energy detection when the current energy of energy storage units is lower than preset energy value, main control unit is controlled automatic walking arrangement according to stored energy detecting unit energy delivered detection signal and is returned charging station.
6. docking system according to claim 1; It is characterized in that: walking arrangement also comprises positive-action return automatically; When positive-action return sent return instruction, the return instruction that main control unit sends according to positive-action return was controlled automatic walking arrangement and is returned charging station.
7. docking system according to claim 1 is characterized in that: main control unit detects the operating time of automatic walking arrangement, and when the operating time reached the Preset Time value, main control unit was controlled automatic walking arrangement and returned charging station.
8. according to each described docking system in the claim 5 to 7, it is characterized in that: said docking system also comprises the boundary line, and said charging station connects said boundary line, and walking arrangement returns charging station along the boundary line automatically.
9. docking system according to claim 1; It is characterized in that: walking arrangement further comprises the rectification unit that is arranged between the 3rd terminal and the 4th terminal automatically; Said rectification unit is provided with electrode input end, negative input, cathode output end and cathode output end; Electrode input end and the 3rd terminal electrically connect; Negative input and the 4th terminal electrically connect, and the positive pole of cathode output end and energy storage units electrically connects, and the negative pole of cathode output end and energy storage units electrically connects.
10. docking system according to claim 1 is characterized in that: automatically walking arrangement is a hay mover, comprises being used for cutting mechanism that the lawn is cut.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010599391.5A CN102545284B (en) | 2010-12-20 | 2010-12-20 | Docking system |
| US13/996,394 US9276419B2 (en) | 2010-12-20 | 2011-12-20 | Robot, a docking system and a docking method |
| PCT/CN2011/002139 WO2012083589A1 (en) | 2010-12-20 | 2011-12-20 | Automatic walking device, docking system and docking method therefor |
| EP11849936.7A EP2658073B1 (en) | 2010-12-20 | 2011-12-20 | Docking system and docking method for a robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010599391.5A CN102545284B (en) | 2010-12-20 | 2010-12-20 | Docking system |
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| CN102545284A true CN102545284A (en) | 2012-07-04 |
| CN102545284B CN102545284B (en) | 2014-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010599391.5A Active CN102545284B (en) | 2010-12-20 | 2010-12-20 | Docking system |
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| CN104635728A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Automatic charging system and automatic charging method for robot |
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| CN110556656A (en) * | 2018-06-01 | 2019-12-10 | 和硕联合科技股份有限公司 | Charging stand |
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