CN103078364B - Based on the charging system of robot - Google Patents

Based on the charging system of robot Download PDF

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Publication number
CN103078364B
CN103078364B CN201210572712.1A CN201210572712A CN103078364B CN 103078364 B CN103078364 B CN 103078364B CN 201210572712 A CN201210572712 A CN 201210572712A CN 103078364 B CN103078364 B CN 103078364B
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electric automobile
robot
charge
charging
module
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CN103078364A (en
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徐国卿
周翊民
陈炎锋
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Abstract

Based on a charging system for robot, for automatic to charging electric vehicle to be charged, comprise the robot be connected with power supply and the charge management module be connected with electric automobile; Charge management module comprises communication module, control command output module and charge mode sending module for being connected with electric automobile; Obtain the battery information of the position of electric automobile and electric automobile by communication module, charge mode sending module generates charge mode instruction according to battery information, control command output module generates charge target instruction and charge target position command according to the position of battery information and electric automobile simultaneously.The robot be connected with charge management module is after receiving charge mode instruction, charge target instruction and charge target position command, perform corresponding charge mode according to charge mode instruction, charge parameter is set according to charge target instruction and according to charge target position command Automatic-searching electric automobile, thus realize automatic, intelligent to charging electric vehicle.

Description

Based on the charging system of robot
Technical field
The present invention relates to charging system, particularly relate to a kind of intelligence, the automatic charging system based on robot.
Background technology
Due to the impact of energy crisis and greenhouse effect, the exploitation day of new forms of energy and technology shows important.And in automotive field, the technology of electric automobile obtains and develops fast and reach its maturity.Emission-free, green, the advantage such as environmental protection and noiselessness, determines the leading position of electric automobile in future.Due to the finite capacity of battery, so realize the charging station also necessary supporting development of quick charge to electric automobile.
The charging station of the electric automobile in current solution mainly contains two kinds of forms, and the first is the charging station based on changing battery, and the second is the charging station based on power supply stake (post).Because the producer of different automobile batteries, model and health status are all different, this brings certain restriction with regard to giving the application of the first solution.And second method cannot realize automation charging, cause certain potential safety hazard to staff, in the rainy day or because operate miss, can electric shock accidents be caused.
Summary of the invention
Based on this, provide a kind of intelligence, the automatic charging system based on robot.
Based on a charging system for robot, for automatic to charging electric vehicle to be charged, comprise the robot be connected with power supply and the charge management module be connected with electric automobile;
Described charge management module comprises communication module, control command output module and charge mode sending module for being connected with electric automobile;
Described communication module, also for communicating with electric automobile, obtains the position of described electric automobile and the battery information of described electric automobile;
Described charge mode sending module is connected with described communication module, for generating the charge mode instruction of described robot to described electric automobile according to described battery information;
Described control command output module is connected with described communication module, for generating charge target instruction and the charge target position command of described robot according to the position of described electric automobile;
Described robot is connected with described charge mode sending module and described control command output module respectively, described robot is used for the charge mode determining described electric automobile according to described charge mode instruction, and according to described charge mode to described charging electric vehicle;
Described robot is also for arranging according to described charge target instruction the charge parameter charged to described electric automobile;
Described robot is used for electric automobile according to described charge target position command Automatic-searching, and is connected with the charging inlet of described electric automobile.
Wherein in an embodiment, described power supply comprises exporting and meets the described electric current of electric automobile needs and the AC power of voltage and storage battery, when the load in circuit is excessive or in peak of power consumption, stop using described AC power, then described robot is by described storage battery, powers to described electric automobile; In time being in low power consumption, then described robot is charged to described storage battery by described AC power.
Wherein in an embodiment, described storage battery is solar storage battery, and described solar storage battery, when described AC power is stopped power supply, is stored by solar power generation and powered to described electric automobile by robot.
Wherein in an embodiment, described communication module communicates with described electric automobile, obtains the positional information of the state-of-charge of described electric automobile, battery actual capacity, battery remaining power, depth of discharge and described electric automobile.
Wherein in an embodiment, described communication module also obtains the charge mode of described electric automobile, described charge mode comprises constant current charging mode, constant voltage charge pattern and constant-current constant-voltage charging pattern, and described charge mode sending module receives the charge mode instruction of the charge mode generation correspondence that described communication module obtains.
Wherein in an embodiment, described charge management module also comprises the charging payment module be connected with communication module, and described charging payment module is according to the charging of described charging electric vehicle parameter and receive paying.
Wherein in an embodiment, described robot is connected by cable with power supply.
Wherein in an embodiment, described charge management module also for controlling described robot after completing the charging to described electric automobile, turns back to initial position.
Wherein in an embodiment, described robot after completing the charging to described electric automobile, described robot the time of staying reach threshold value and described charge management module does not export return instruction time, described robot auto-returned initial position.
Wherein in an embodiment, described robot and the power interface of described electric automobile adopt the mode of cold plug to be connected.
The above-mentioned charging system based on robot obtains the position of electric automobile and the battery information of electric automobile by communication module.The charge mode sending module be connected with communication module generates charge mode instruction according to battery information, and the control command output module be simultaneously connected with communication module generates charge target instruction and charge target position command according to the position of battery information and electric automobile.The robot be connected with charge management module is after receiving charge mode instruction, charge target instruction and charge target position command, perform corresponding charge mode according to charge mode instruction, charge parameter is set according to charge target instruction and according to charge target position command Automatic-searching electric automobile, thus realize automatic, intelligent to charging electric vehicle.
Accompanying drawing explanation
Fig. 1 is the module map of the charging system based on robot.
Embodiment
As shown in Figure 1, be the module map of the charging system based on robot.
Based on a charging system for robot, for automatic to charging electric vehicle to be charged, comprise the robot 10 be connected with power supply and the charge management module 20 be connected with electric automobile.
Described charge management module 20 comprises communication module 201, control command output module 203 and charge mode sending module 205 for being connected with electric automobile.
Described communication module 201, also for communicating with electric automobile, obtains the position of described electric automobile and the battery information of described electric automobile.
Communication module 201 plays information interaction effect between charge management module 20 and electric automobile, for obtaining electric automobile information, specifically comprises the positional information of electric automobile and the battery information of electric automobile.Owing to not fixing the charge position of electric automobile in based on the charging system of robot, therefore, when charging electric vehicle, in order to allow robot 10 accurately can find electric automobile, communication module 201 is needed to obtain the positional information of electric automobile.Thus robot 10 is after the positional information obtaining electric automobile, can find charge target by the mode in automatic seeking footpath.And the battery information obtaining electric automobile is to send charging instruction to robot 10, wherein charging instruction comprises charging interval, charge mode and charge volume.
Described charge mode sending module 205 is connected with described communication module 201, for generating the charge mode instruction of described robot 10 to described electric automobile according to described battery information.Due to the charge mode difference of the battery that different model and different manufacturers are produced, thus, need communication module 201 to obtain the charge mode information of batteries of electric automobile, avoid damaging battery because charge mode is not inconsistent, the useful life of the battery of impact.
Described control command output module 203 is connected with described communication module 201, for generating charge target instruction and the charge target position command of described robot 10 according to the position of described electric automobile.Control command output module 203 generates corresponding control command for the position of the battery information that communication module 201 obtained and electric automobile.Such as, communication module 201 is with current location setting coordinate system, and then obtain the position coordinates (x of electric automobile, y, z) after, obtain the position coordinates (m of robot 10 simultaneously, n, g), then pass through to calculate according to both coordinates, send the control command in the Distance geometry direction that robot 10 advances to electric automobile.Thus, robot 10 receive control command output module 203 export control command after, the forward travel distance corresponding according to control command and direction Automatic-searching charge target.
Particularly, communication module 201 communicates with described electric automobile, obtains the positional information of the state-of-charge of described electric automobile, battery actual capacity, battery remaining power, depth of discharge and described electric automobile.
Communication module 201 also obtains the charge mode of described electric automobile, described charge mode comprises constant current charging mode, constant voltage charge pattern and constant-current constant-voltage charging pattern, and described charge mode sending module 205 receives the charge mode instruction of the charge mode generation correspondence that described communication module 201 obtains.
Described robot 10 is connected with described charge mode sending module 205 and described control command output module 203 respectively, described robot 10 for determining the charge mode to described electric automobile according to described charge mode instruction, and according to described charge mode to described charging electric vehicle.
Described robot 10 is also for arranging according to described charge target instruction the charge parameter charged to described electric automobile.Charge parameter comprises charging voltage, charging current, charging interval and charge volume etc.
Described robot 10 for electric automobile according to described charge target position command Automatic-searching, and is connected with the charging inlet of described electric automobile.
Power supply comprises exporting and meets the described electric current of electric automobile needs and the AC power of voltage and storage battery, when the load in circuit is excessive or in peak of power consumption, stop using described AC power, then described robot 10 is by described storage battery, powers to described electric automobile; In time being in low power consumption, then robot 10 is charged to described storage battery by described AC power.
Preferably, storage battery is solar storage battery, and described solar storage battery, when described AC power is stopped power supply, is stored by solar power generation and powered to described electric automobile by robot.
When electric automobile needs charging, first electric automobile will carry out information interaction with charge management module 20.Namely the communication module 201 of charge management module 20 communicates with electric automobile.Communication module 201, by the communication with electric automobile, obtains the position of electric automobile and the battery information of electric automobile.Wherein, obtain electronic position to provide the position of charge target to robot 10, by charge management module 20, the position of electric automobile is sent to robot 10 with the form of control command simultaneously.After robot 10 receives the control command of the position being loaded with electric automobile, look for electric automobile according to this control command in the mode in automatic seeking footpath.And the battery information obtaining electric automobile is the charge information in order to provide charge target to robot 10, charging interval that electric automobile needs, charging modes and charge volume can be determined according to the battery information of electric automobile.By being loaded with, electric automobile needs the time of charging to charge management module 20, the control command of charging modes and charge volume sends to robot, robot 10 is after receiving this control command, charge parameter is set, thus the charging completed electric automobile that can be intelligent, accurate, safe.
Robot 10, before the control command receiving charge management module 20, needs to carry out charging preparation.Namely first robot 10 needs to be connected with power supply.Robot 10 is connected with the earth by metal, prevents from leaking electricity or producing larger electrostatic.And robot 10 is when contacting with the charging inlet of electric automobile, meet the function of not warm swap, namely robot 10 is connected with the charging inlet of electric automobile, and when needing the certain position of the charging inlet being deep into electric automobile, robot 10 just starts charging electric vehicle.And at the end of charging, first need the connection between robot 10 and power supply to disconnect, could disconnect between robot 10 and the charging inlet of electric automobile.
Charge management module 20 also comprises the charging payment module 207 be connected with communication module 201, and described charging payment module 207 is according to the charging of described charging electric vehicle parameter and receive paying.After communication module 201 communicates with electric automobile, battery remaining power and the battery actual capacity of electric automobile can be obtained, and then according to time of electric automobile, the actual charge volume of electric automobile can be calculated, thus calculate expense according to the expenses standard of correspondence, then charged by payment system.
Robot 10 is connected by cable with power supply.
Charge management module 20 also for controlling described robot after completing the charging to described electric automobile, turns back to initial position.
Robot 10 after completing the charging to described electric automobile, described robot 10 the time of staying reach threshold value and described charge management module 20 does not export return instruction time, described robot 10 auto-returned initial position.
Robot 10 and the power interface of described electric automobile adopt cold pluggable mode to be connected, and namely the mode of warm swap does not connect.
The above-mentioned charging system based on robot obtains the position of electric automobile and the battery information of electric automobile by communication module 201.The charge mode sending module 205 be connected with communication module 201 generates charge mode instruction according to battery information, and the control command output module 203 be simultaneously connected with communication module 201 generates charge target instruction and charge target position command according to the position of battery information and electric automobile.The robot 10 be connected with charge management module 20 is after receiving charge mode instruction, charge target instruction and charge target position command, perform corresponding charge mode according to charge mode instruction, charge parameter is set according to charge target instruction and according to charge target position command Automatic-searching electric automobile, thus realize automatic, intelligent to charging electric vehicle.
The above embodiment only have expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.

Claims (7)

1. based on a charging system for robot, for automatic, charging electric vehicle to be charged be is characterized in that, comprise the robot be connected with power supply and the charge management module be connected with electric automobile;
Described charge management module comprises communication module, control command output module and charge mode sending module for being connected with electric automobile;
Described communication module, also for communicating with electric automobile, obtains the position of described electric automobile and the battery information of described electric automobile; The charging interval needed according to the battery information determination electric automobile of electric automobile, charging modes and charge volume;
Described communication module communicates with described electric automobile, obtains the positional information of the state-of-charge of described electric automobile, battery actual capacity, battery remaining power, depth of discharge and described electric automobile; Described communication module sets coordinate system with current location, and then obtain the position coordinates (x of electric automobile, y, z) after, obtain the position coordinates (m, n, g) of robot simultaneously, then pass through to calculate according to both coordinates, send the control command in the Distance geometry direction that robot advances to electric automobile;
Described charge mode sending module is connected with described communication module, for generating the charge mode instruction of described robot to described electric automobile according to described battery information; Described communication module also obtains the charge mode of described electric automobile, and described charge mode comprises constant current charging mode, constant voltage charge pattern and constant-current constant-voltage charging pattern;
Or described charge mode sending module receives the charge mode instruction of the charge mode generation correspondence that described communication module obtains;
Described control command output module is connected with described communication module, for generating charge target instruction and the charge target position command of described robot according to the position of described electric automobile;
Described robot is connected with described charge mode sending module and described control command output module respectively, described robot is used for the charge mode determining described electric automobile according to described charge mode instruction, and according to described charge mode to described charging electric vehicle; Described charge management module also comprises the charging payment module be connected with communication module, and described charging payment module is according to the charging of described charging electric vehicle parameter and receive paying;
Described robot is also for arranging according to described charge target instruction the charge parameter charged to described electric automobile;
Described robot is used for electric automobile according to described charge target position command Automatic-searching, and is connected with the charging inlet of described electric automobile.
2. the charging system based on robot according to claim 1, it is characterized in that, described power supply comprises exporting and meets the described electric current of electric automobile needs and the AC power of voltage and storage battery, when the load in circuit is excessive or in peak of power consumption, stop using described AC power, then described robot is by described storage battery, powers to described electric automobile; In time being in low power consumption, then described robot is charged to described storage battery by described AC power.
3. the charging system based on robot according to claim 2, it is characterized in that, described storage battery is solar storage battery, and described solar storage battery, when described AC power is stopped power supply, is stored by solar power generation and powered to described electric automobile by robot.
4. the charging system based on robot according to claim 1, is characterized in that, described robot is connected by cable with power supply.
5. the charging system based on robot according to claim 1, is characterized in that, described charge management module also for controlling described robot after completing the charging to described electric automobile, turns back to initial position.
6. the charging system based on robot according to claim 1, it is characterized in that, described robot is after completing the charging to described electric automobile, described robot the time of staying reach threshold value and described charge management module does not export return instruction time, described robot auto-returned initial position.
7. the charging system based on robot according to claim 1, is characterized in that, described robot and the power interface of described electric automobile adopt the mode of cold plug to be connected.
CN201210572712.1A 2012-12-25 2012-12-25 Based on the charging system of robot Active CN103078364B (en)

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CN110234306A (en) * 2017-04-26 2019-09-13 深圳市元征科技股份有限公司 The control method and device of wheelchair
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