CN104821644A - Robot wireless charging method - Google Patents
Robot wireless charging method Download PDFInfo
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- CN104821644A CN104821644A CN201510271582.1A CN201510271582A CN104821644A CN 104821644 A CN104821644 A CN 104821644A CN 201510271582 A CN201510271582 A CN 201510271582A CN 104821644 A CN104821644 A CN 104821644A
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention belongs to the technical field of electrics and relates to a robot wireless charging method. The method is characterized by sending a charging track-searching signal to a low-battery robot to enable the robot to move to a transmitting end power supply, and meanwhile, awakening the transmitting end power supply to go into a working state; during charging, carrying out trickle pre-charging first, then, carrying out constant-current positive and negative pulse charging, and finally, carrying out constant-voltage charging; and when a charging current drops to a preset value, locking a driving signal, reminding that the charge is finished, and realizing wireless and automatic charging of the robot. The whole circuit of a used charging device is novel and simple in structure, high in charging efficiency and easy to control; and under the same power, the circuit is low in cost and small in size; no-voltage soft-switching technology is realized; switching loss is reduced; and system reliability is improved.
Description
Technical field:
The invention belongs to electroporation field, relate to a kind of robot wireless charging method, particularly a kind of method utilizing single switching transistor inversion to realize robot wireless charging.
Background technology:
The birth of robot facilitates the fast development of the mankind in industrial, military etc., and it not only plays the important and pivotal role in the dangerous industries such as ocean, petroleum detection and power equipment maintaining, and progressively comes into the life of people.Traditional robot battery adopts the charging modes of external wire, when robot electric quantity deficiency time, need artificial assistance to carry out charging or automatically completing charging connecting moves when unmanned participation, Chinese patent 201410856365.4 discloses a kind of robot charging method, device and system, the method, according to the dump energy detecting the described robot obtained, sends pulse signal; According to this pulse signal received, send charging instruction; Make robot find charging station to charge in time according to the charging instruction obtained, and can manage in an orderly manner needing the robot of charging; When sending using framing signal as pulse signal, by this pulse signal, robot is positioned; Chinese patent 201410718161.4 discloses a kind of robot charging method, and robot sends charge request by communication to charging device, after charging device allows to charge, obtains the position of charging device; Robot, according to the position of self-position and charging device, determine the route that will advance, and the position moving to charging device is docked with charging device, charges to robot for charging device; These method plugs to cruise location and the socket of robot automatically completing charging when unmanned participation require comparatively strict, and charging connects more difficult, and likely often malfunction; In addition charging plug is after plug repeatedly, easily cause loose contact because of mechanical wear, result in the unreliability of delivery of electrical energy, and in existing robot wireless charging method, for ensureing certain through-put power, the circuit of the Multi-Switch pipes such as normal employing half-bridge, full-bridge, had so not only increased cost but also had increased the volume of charging system, and controlled complicated.
Summary of the invention:
The object of the invention is to the shortcoming overcoming prior art existence, seek design and a kind of robot wireless charging method is provided, utilize single switching transistor inversion to realize the wireless charging of robot.
To achieve these goals, the present invention realizes charging in robot wireless charging device, and its detailed process comprises the following steps:
(1), switch on power, single-chip microcomputer on first single chip machine controlling circuit and second singlechip control circuit is carried out initialization, when robot electric quantity is not enough or receive signal that remote controller sends, judge whether work at present, if work at present does not complete, then continue work at present; If work at present completes, then send charging track-seeking signal by second singlechip control circuit, under external navigation system is assisted, robot starts to move to transmitting terminal power supply;
(2), the first radio communication circuit detects the information that the second radio communication circuit sends, if the first radio communication circuit fails to receive information, then robot does not then work near transmitting terminal power supply; If the first radio communication circuit receives information, then robot is near transmitting terminal power supply, and the first radio communication circuit receives the enabling signal that the second radio communication circuit sends, and wakes transmitting terminal power supply up and enters into operating state;
(3), after transmitting terminal power supply is started working, first carry out trickle precharge, set trickle charging time simultaneously, if the charging trickle detected does not reach set point, the switching frequency of the first switching tube is then adjusted by the first single chip machine controlling circuit, when the trickle that charges reaches set point, 1 μ s before single-chip microcomputer on the first single chip machine controlling circuit sends drive singal, judge whether the withstand voltage of the first switching tube is 0 by Sofe Switch testing circuit, if not 0, then adjusting the duty ratio of switching tube withstand voltage to it is 0, transmitting terminal starts charging to receiving terminal transferring energy, first stage charging is completed after reaching precharge time, this stage does not need electric discharge, second singlechip control circuit does not send Continuity signal to the 3rd switching tube of discharge loop, 3rd switching tube is in off state, and the drive singal of second switch pipe is contrary with the drive singal of the 3rd switching tube, second switch pipe is in conducting state always,
(4), carry out the charging of constant current positive negative pulse stuffing again, first set the time of constant current positive pulse section, if the charging current detected does not reach set point, the switching frequency of the first switching tube is then adjusted by the first single chip machine controlling circuit, when charging current reaches set point, 1 μ s before single-chip microcomputer on the first single chip machine controlling circuit sends drive singal, judge whether the first disconnected the withstand voltage of switching tube is 0 by Sofe Switch testing circuit, if not 0, then adjusting the duty ratio of the first switching tube withstand voltage to it is 0, transmitting terminal starts charging to receiving terminal transferring energy, the negative pulse discharge stage is entered into after reaching the positive pulse charging interval, positive pulse stage second switch pipe is in conducting state always, 3rd switching tube is in off state always,
(5) before, negative pulse discharge starts, first the duty ratio of now the first switching tube and switching frequency are stored into the first single chip machine controlling circuit single-chip microcomputer in, the drive singal of locking first switching tube, the setting negative pulse discharge time, 3rd switching tube conducting, second switch pipe turns off, start negative pulse discharge, the terminal voltage of batteries is detected after reaching the negative pulse discharge time, if do not reach set point, then the first single chip machine controlling circuit single-chip microcomputer read the duty ratio of the first switching tube and switching frequency that store, proceed the charging of constant current positive negative pulse stuffing; If reach set point, then complete second stage charging;
(6), finally carry out constant voltage charge, if the charging voltage detected does not reach set point, the switching frequency of the first switching tube is then adjusted by the first single chip machine controlling circuit, when charging voltage reaches set point, 1 μ s before single-chip microcomputer on the first single chip machine controlling circuit sends drive singal, judge whether the withstand voltage of the first switching tube is 0 by Sofe Switch testing circuit, if not 0, then adjusting the duty ratio of the first switching tube withstand voltage to it is 0, transmitting terminal starts charging to receiving terminal transferring energy, constant voltage charging phase second switch pipe is in conducting state always, 3rd switching tube is in off state always, when charging current drops to set point naturally, latch actuation signal, prompting charging complete, realize the wireless automatic charging to robot.
The agent structure of robot of the present invention wireless charging device comprises EMI filter circuit, first rectifier bridge, one LC filter circuit, resonance coupling network, first switching tube, diode, voltage detecting circuit, current transformer, protective circuit, standby wake up circuit, first single chip machine controlling circuit, first drive circuit, first radio communication circuit, first accessory power supply, Sofe Switch testing circuit, second rectifier bridge, 2nd LC filter circuit, battery pack BMS administrative unit, second switch pipe, second singlechip control circuit, second drive circuit, second radio communication circuit, remote controller, second accessory power supply, discharge loop and batteries, the input of EMI filter circuit is connected with outside 220V AC power, 220V alternating current becomes galvanic current accumulators group successively and charges after EMI filter circuit, the first rectifier bridge, a LC filter circuit, resonance coupling network, the second rectifier bridge, the 2nd LC filter circuit and second switch pipe, EMI filter circuit filtering electromagnetic interference, alternating current is become direct current by the first rectifier bridge, and a LC filter circuit carries out filtering to the direct current after the first rectifier bridge rectification, one LC filter circuit is made up of the first inductance and the first capacitances in series, and the value of the first electric capacity is less, and the power factor of circuit is higher, resonance coupling network is connected to form according to electrical principles by transmitting terminal building-out capacitor, transmitting terminal transmitting coil, receiving terminal receiving coil and receiving terminal building-out capacitor, resonance coupling network is electrically connected with the first switching tube, the first switching tube is made to be operated in Sofe Switch state, at next straight transferring energy of the situation of the first switching tube break-make, single-tube contravariant can be realized, voltage detecting circuit is made up of the first resistance and the second resistance, and protective circuit is electrically connected with voltage detecting circuit, current transformer and the first single chip machine controlling circuit respectively, prevents transmitting terminal overvoltage or overcurrent, standby wake up circuit is electrically connected with the first single chip machine controlling circuit, the first radio communication circuit and the first accessory power supply respectively, breaking dormancy pattern when making the single-chip microcomputer dormancy of the first single chip machine controlling circuit or wake up, first radio communication circuit is electrically connected with the first single chip machine controlling circuit and the first accessory power supply respectively, is used for receiving the various information that transmit of receiving terminal, Sofe Switch testing circuit is arranged between coupled resonance network and the first switching tube, for detecting the withstand voltage of the first switching tube, first single chip machine controlling circuit exports one to the PWM drive singal of the first switching tube according to the information that protective circuit, Sofe Switch testing circuit, standby wake up circuit and the first radio communication circuit are sent, PWM drive singal amplifies rear drive first switching tube through the first drive circuit, makes the first switching tube work in Sofe Switch state, first switching tube is connected with diode electrically, the input of the second rectifier bridge is electrically connected with coupled resonance network, high-frequency alternating current is become the direct current needed for battery charging, the input of the 2nd LC filter circuit be made up of the second inductance and the second capacitances in series is electrically connected with the output of the second rectifier bridge, carries out filtering to the direct current after the second rectifier bridge rectification, the input of second switch pipe is electrically connected with the output of the 2nd LC filter circuit, conducting when batteries is charged, turn off during batteries negative pulse discharge, the input of the discharge loop be made up of the 3rd switching tube and discharge resistance is electrically connected with the output of second switch pipe, output is electrically connected with batteries, makes batteries carry out negative pulse discharge, remote controller sends charging signals to robot, second drive circuit and second switch pipe and the 3rd pipe that opens the light is electrically connected, second drive circuit includes interlock circuit, synchronization makes a conducting in second switch pipe or the 3rd switching tube, another turns off, and the second drive circuit is used for amplifying the drive singal of second switch pipe and the 3rd switching tube, second singlechip control circuit ceases with the second radio communication circuit, the second accessory power supply, the second drive circuit and battery pack BMS administrative unit telecommunications respectively and is connected, the information that second singlechip control circuit gives according to the charging press-key signal that sends of remote controller received and battery pack BMS administrative unit, controls the second drive circuit and the second radio communication circuit, battery pack BMS administrative unit is electrically connected with batteries and the second accessory power supply respectively, for detecting the voltage of batteries, electric current, temperature and SOC parameter, prevents output overvoltage overcurrent overheat, one is exported to the PWM drive singal of the first switching tube by the first single chip machine controlling circuit after the electric current and voltage information of detection is passed to the first radio communication circuit by the second radio communication circuit by battery pack BMS administrative unit, PWM drive singal amplifies rear drive first switching tube through the first drive circuit, batteries is made to select different charging methods when charging according to the state of storage battery, the batteries be embodied as in robot carries out wireless charging, described transmitting terminal comprises EMI filter circuit, first rectifier bridge, one LC filter circuit, resonance coupling network, voltage detecting circuit, current transformer, protective circuit, standby wake up circuit, first single chip machine controlling circuit, first drive circuit, first radio communication circuit, first accessory power supply and Sofe Switch testing circuit, receiving terminal comprises the second rectifier bridge, the 2nd LC filter circuit, battery pack BMS administrative unit, second singlechip control circuit, the second drive circuit, the second radio communication circuit, remote controller, the second accessory power supply, discharge loop and batteries.
The present invention compared with prior art, realizes turning on and off period all transmitting energies at switching tube by single switching transistor inversion, thus improves power factor and the efficiency of transmission of whole ICPT transmission system, complete the output of higher-wattage, adopt frequency conversion to add variable duty cycle and control, whole circuit structure is novel simple, charge efficiency is high, control easily, under equal-wattage, circuit cost is low, volume is little, and realize Zero-voltage soft switch technology, reduce switching loss, increase system reliability.
Accompanying drawing illustrates:
Fig. 1 is the electrical principles structural representation of robot of the present invention wireless charging device.
Fig. 2 is the charging scheme oscillogram of charging process of the present invention.
Fig. 3 is the working waveform figure of charging process of the present invention.
Fig. 4 is the workflow schematic block diagram of robot of the present invention wireless charging method.
Embodiment:
Also by reference to the accompanying drawings the present invention is described in further detail below by embodiment.
Embodiment:
The present embodiment realizes charging in robot wireless charging device, and its detailed process comprises the following steps:
(1), switch on power, single-chip microcomputer on first single chip machine controlling circuit 9 and second singlechip control circuit 17 is carried out initialization, when robot electric quantity is not enough or receive signal that remote controller 20 sends, judge whether work at present, if work at present does not complete, then continue work at present; If work at present completes, then send charging track-seeking signal by second singlechip control circuit 17, under external navigation system is assisted, robot starts to move to transmitting terminal power supply;
(2), the first radio communication circuit 11 detects the information that the second radio communication circuit 19 sends, if the first radio communication circuit 11 fails to receive information, then robot does not then work near transmitting terminal power supply; If the first radio communication circuit 11 receives information, then robot is near transmitting terminal power supply, and the first radio communication circuit 11 receives the enabling signal that the second radio communication circuit 19 sends, and wakes transmitting terminal power supply up and enters into operating state;
(3), after transmitting terminal power supply is started working, first carry out trickle precharge, set trickle charging time simultaneously, if the charging trickle detected does not reach set point, the switching frequency of the first switching tube Q1 is then adjusted by the first single chip machine controlling circuit 9, when the trickle that charges reaches set point, 1 μ s before single-chip microcomputer on the first single chip machine controlling circuit 9 sends drive singal, judge whether the withstand voltage of the first switching tube Q1 is 0 by Sofe Switch testing circuit 13, if not 0, then the duty ratio of adjustment switching tube Q1 is withstand voltage to it is 0, transmitting terminal starts charging to receiving terminal transferring energy, first stage charging is completed after reaching precharge time, because this stage does not need electric discharge, second singlechip control circuit 17 does not send Continuity signal to the 3rd switching tube Q3 of discharge loop 22, therefore the 3rd switching tube Q3 is in off state, and the drive singal of second switch pipe Q2 is contrary with the drive singal of the 3rd switching tube Q3, therefore second switch pipe Q2 is in conducting state always,
(4), carry out the charging of constant current positive negative pulse stuffing again, first set the time of constant current positive pulse section, if the charging current detected does not reach set point, the switching frequency of the first switching tube Q1 is then adjusted by the first single chip machine controlling circuit 9, when charging current reaches set point, 1 μ s before single-chip microcomputer on the first single chip machine controlling circuit 9 sends drive singal, judge whether the first disconnected the withstand voltage of switching tube Q1 is 0 by Sofe Switch testing circuit 13, if not 0, then adjusting the duty ratio of the first switching tube Q1 withstand voltage to it is 0, transmitting terminal starts charging to receiving terminal transferring energy, the negative pulse discharge stage is entered into after reaching the positive pulse charging interval, the positive pulse stage, second switch pipe Q2 was in conducting state always, 3rd switching tube is in off state always,
(5), before negative pulse discharge starts, first the duty ratio of now the first switching tube Q1 and switching frequency are stored into the first single chip machine controlling circuit 9 single-chip microcomputer in, the drive singal of locking first switching tube Q1, the setting negative pulse discharge time, 3rd switching tube Q3 conducting, second switch pipe Q2 turns off, start negative pulse discharge, the terminal voltage of batteries 23 is detected after reaching the negative pulse discharge time, if do not reach set point, then the first single chip machine controlling circuit 9 single-chip microcomputer read the duty ratio of the first switching tube Q1 and switching frequency that store, proceed the charging of constant current positive negative pulse stuffing, if reach set point, then complete second stage charging,
(6), finally carry out constant voltage charge, if the charging voltage detected does not reach set point, the switching frequency of the first switching tube Q1 is then adjusted by the first single chip machine controlling circuit 9, when charging voltage reaches set point, 1 μ s before single-chip microcomputer on the first single chip machine controlling circuit 9 sends drive singal, judge whether the withstand voltage of the first switching tube Q1 is 0 by Sofe Switch testing circuit 13, if not 0, then adjusting the duty ratio of the first switching tube Q1 withstand voltage to it is 0, transmitting terminal starts charging to receiving terminal transferring energy, constant voltage charging phase second switch pipe Q2 is in conducting state always, 3rd switching tube Q3 is in off state always, when charging current drops to set point naturally, latch actuation signal, prompting charging complete, realize the wireless automatic charging to robot.
Described in the present embodiment, the agent structure of robot wireless charging device comprises EMI filter circuit 1, first rectifier bridge 2, one LC filter circuit 3, resonance coupling network 4, first switching tube Q1, diode D1, voltage detecting circuit 5, current transformer 6, protective circuit 7, standby wake up circuit 8, first single chip machine controlling circuit 9, first drive circuit 10, first radio communication circuit 11, first accessory power supply 12, Sofe Switch testing circuit 13, second rectifier bridge 14, 2nd LC filter circuit 15, battery pack BMS administrative unit 16, second switch pipe Q2, second singlechip control circuit 17, second drive circuit 18, second radio communication circuit 19, remote controller 20, second accessory power supply 21, discharge loop 22 and batteries 23, the input of EMI filter circuit 1 is connected with outside 220V AC power, 220V alternating current becomes galvanic current accumulators group 23 successively and charges after EMI filter circuit 1, first rectifier bridge 2, a LC filter circuit 3, resonance coupling network 4, second rectifier bridge 14, the 2nd LC filter circuit 15 and second switch pipe Q2, EMI filter circuit 1 filtering electromagnetic interference, alternating current is become direct current by the first rectifier bridge 2, and a LC filter circuit 3 carries out filtering to the direct current after the first rectifier bridge 2 rectification, one LC filter circuit 3 is composed in series by the first inductance L 1 and the first electric capacity C1, and the value of the first electric capacity C1 is less, and the power factor of circuit is higher, resonance coupling network 4 is connected to form according to electrical principles by transmitting terminal building-out capacitor Cp, transmitting terminal transmitting coil Lp, receiving terminal receiving coil Ls and receiving terminal building-out capacitor Cs, resonance coupling network 4 is electrically connected with the first switching tube Q1, the first switching tube Q1 is made to be operated in Sofe Switch state, at next straight transferring energy of situation of the first switching tube Q1 break-make, single-tube contravariant can be realized, voltage detecting circuit 5 is made up of the first resistance R1 and the second resistance R2, and protective circuit 7 is electrically connected with voltage detecting circuit 5, current transformer 6 and the first single chip machine controlling circuit 9 respectively, prevents transmitting terminal overvoltage or overcurrent, standby wake up circuit 8 is electrically connected with the first single chip machine controlling circuit 9, first radio communication circuit 11 and the first accessory power supply 12 respectively, breaking dormancy pattern when making the single-chip microcomputer dormancy of the first single chip machine controlling circuit 9 or wake up, first radio communication circuit 11 is electrically connected with the first single chip machine controlling circuit 9 and the first accessory power supply 11 respectively, is used for receiving the various information that transmit of receiving terminal, Sofe Switch testing circuit 13 is arranged between coupled resonance network 4 and the first switching tube Q1, for detecting the withstand voltage of the first switching tube Q1, first single chip machine controlling circuit 9 exports one to the PWM drive singal of the first switching tube Q1 according to the information that protective circuit 7, Sofe Switch testing circuit 13, standby wake up circuit 8 and the first radio communication circuit 11 are sent, PWM drive singal amplifies rear drive first switching tube Q1 through the first drive circuit 10, makes the first switching tube Q1 work in Sofe Switch state, first switching tube Q1 is electrically connected with diode D1, the input of the second rectifier bridge 14 is electrically connected with coupled resonance network 4, high-frequency alternating current is become batteries 23 and to charge required direct current, the input of the 2nd LC filter circuit 15 be composed in series by the second inductance L 2 and the second electric capacity C2 is electrically connected with the output of the second rectifier bridge 14, carries out filtering to the direct current after the second rectifier bridge 14 rectification, the input of second switch pipe Q2 is electrically connected with the output of the 2nd LC filter circuit 15, conducting when batteries 23 is charged, turn off during batteries 23 negative pulse discharge, the input of the discharge loop 22 be made up of the 3rd switching tube Q3 and discharge resistance R3 is electrically connected with the output of second switch pipe Q2, output is electrically connected with batteries 23, makes batteries 23 carry out negative pulse discharge, remote controller 20 sends charging signals to robot, second drive circuit 18 and second switch pipe Q2 and the 3rd pipe Q3 that opens the light is electrically connected, include interlock circuit, synchronization makes a conducting in second switch pipe Q2 or the 3rd switching tube Q3, another turns off, and the second drive circuit 18 is used for amplifying the drive singal of second switch pipe Q2 and the 3rd switching tube Q3, second singlechip control circuit 17 ceases with the second radio communication circuit 19, second accessory power supply 21, second drive circuit 18 and battery pack BMS administrative unit 16 telecommunications respectively and is connected, the information that second singlechip control circuit 17 gives according to the charging press-key signal that sends of remote controller 20 received and battery pack BMS administrative unit 16, controls the second drive circuit 18 and the second radio communication circuit 19, battery pack BMS administrative unit 16 is electrically connected with batteries 23 and the second accessory power supply 21 respectively, for detecting the voltage of batteries 23, electric current, temperature and SOC parameter, prevents output overvoltage overcurrent overheat, one is exported to the PWM drive singal of the first switching tube Q1 by the first single chip machine controlling circuit 9 after the electric current and voltage information of detection is passed to the first radio communication circuit 11 by the second radio communication circuit 19 by battery pack BMS administrative unit 16, PWM drive singal amplifies rear drive first switching tube Q1 through the first drive circuit 10, batteries 23 is made to select different charging methods when charging according to the state of storage battery, the batteries 23 be embodied as in robot carries out wireless charging, described transmitting terminal circuit comprises EMI filter circuit 1, first rectifier bridge 2, one LC filter circuit 3, resonance coupling network 4, voltage detecting circuit 5, current transformer 6, protective circuit 7, standby wake up circuit 8, first single chip machine controlling circuit 9, first drive circuit 10, first radio communication circuit 11, first accessory power supply 12 and Sofe Switch testing circuit 13, receiving terminal circuit comprises the second rectifier bridge 14, the 2nd LC filter circuit 15, battery pack BMS administrative unit 16, second singlechip control circuit 17, second drive circuit 18, second radio communication circuit 19, remote controller 20, second accessory power supply 21, discharge loop 22 and batteries 23.
Whole charging process described in the present embodiment as shown in Figure 2, be divided into three phases, first stage is trickle precharge, second stage is the charging of constant current positive negative pulse stuffing, phase III is constant voltage charge, trickle precharge, for activating batteries 23, makes batteries 23 enter into charged state, prevents the batteries 23 of big current to electric energy deficiency from carrying out impact failure; Constant current positive negative pulse stuffing charging constant current charge during positive pulse, discharged by discharge circuit during negative pulse, positive negative pulse stuffing alternately, and the positive pulse time is much larger than the negative pulse time, the polarization phenomena of charging process can be eliminated, reduce gassing rate, improve the speed of charging, and contribute to the useful life increasing batteries 23; Phase III adopts constant voltage charge, is full of by batteries 23 dump energy.
The present embodiment utilizes single switching transistor inversion to realize inductively coupled power transfer, not only make switching tube realize no-voltage to open and zero voltage turn-off, and make whole device turn on and off period at switching tube all can transmitting energy, a switch periods has seven working stages, as shown in Figure 3:
(1) stage 1 (t
0~ t
1): at this one-phase, drive singal Ug becomes high level from low level, due to inductive current i
pbe negative, the diode D1 conducting be connected with the first switching tube Q1;
(2) stage 2 (t
1~ t
2): inductive current i
pby negative change just, the first switching tube Q1 conducting, inductive current i
pflow through the first switching tube Q1, due to transmitting terminal building-out capacitor C
pvoltage U
cpequal input voltage, the current i of the first switching tube Q1
q1approximately linear increases;
(3) stage 3 (t
2~ t
3): drive singal U
gbecome low level from high level, the first switching tube Q1 turns off, inductive current i
pby transmitting terminal building-out capacitor C
pafterflow, due to transmitting terminal building-out capacitor C
pvoltage U
cpslow decline, the withstand voltage U of the first switching tube Q1
q1slow rising, therefore, the first switching tube Q1 is zero voltage turn-off, from t
2moment rises, and transmitting terminal building-out capacitor Cp and transmitting terminal transmitting coil Lp enters resonance condition;
(4) stage 4 (t
3~ t
4): to t
3moment, transmitting terminal building-out capacitor C
ptension discharge to 0, inductive current i
pto transmitting terminal building-out capacitor C
preverse charging, to t
4moment, transmitting terminal building-out capacitor C
pvoltage U
cpresonance to maximum, the now withstand voltage U of the first switching tube Q1
q1reach maximum;
(5) stage 5 (t
4~ t
5): to t
4moment, inductive current i
pbreak-in, electric capacity C
pstart electric discharge, the withstand voltage reduction of the first switching tube Q1; To t
5moment, electric capacity C
pvoltage U
cpdischarge into 0, inductive current i
pbe still negative;
(6) stage 6 (t
5~ t
6): t
5after moment, transmitting terminal transmitting coil Lp gives transmitting terminal building-out capacitor C again
pcharging, transmitting terminal building-out capacitor C
pvoltage rise; To t
6moment, transmitting terminal building-out capacitor C
pvoltage U
cprise to input voltage, and clamper is to this value, now the first switching tube Q1 U of resistance to pressure drop
q1be 0, due to inductive current i
pbe still negative, diode D1 conducting;
(7) stage 7 (t
6~ t
7): t
6moment diode D1 conducting, this stage is Dead Time, to t
7moment, drive singal U
gagain arrive, due to inductive current i
pbe still negative, and diode D1 conducting, the no-voltage therefore realizing the first switching tube Q1 is open-minded, completes a switch periods.
Claims (2)
1. a robot wireless charging method, it is characterized in that realizing charging in robot wireless charging device, its detailed process comprises the following steps:
(1), switch on power, single-chip microcomputer on first single chip machine controlling circuit and second singlechip control circuit is carried out initialization, when robot electric quantity is not enough or receive signal that remote controller sends, judge whether work at present, if work at present does not complete, then continue work at present; If work at present completes, then send charging track-seeking signal by second singlechip control circuit, under external navigation system is assisted, robot starts to move to transmitting terminal power supply;
(2), the first radio communication circuit detects the information that the second radio communication circuit sends, if the first radio communication circuit fails to receive information, then robot does not then work near transmitting terminal power supply; If the first radio communication circuit receives information, then robot is near transmitting terminal power supply, and the first radio communication circuit receives the enabling signal that the second radio communication circuit sends, and wakes transmitting terminal power supply up and enters into operating state;
(3), after transmitting terminal power supply is started working, first carry out trickle precharge, set trickle charging time simultaneously, if the charging trickle detected does not reach set point, the switching frequency of the first switching tube is then adjusted by the first single chip machine controlling circuit, when the trickle that charges reaches set point, 1 μ s before single-chip microcomputer on the first single chip machine controlling circuit sends drive singal, judge whether the withstand voltage of the first switching tube is 0 by Sofe Switch testing circuit, if not 0, then adjusting the duty ratio of switching tube withstand voltage to it is 0, transmitting terminal starts charging to receiving terminal transferring energy, first stage charging is completed after reaching precharge time, this stage does not need electric discharge, second singlechip control circuit does not send Continuity signal to the 3rd switching tube of discharge loop, 3rd switching tube is in off state, and the drive singal of second switch pipe is contrary with the drive singal of the 3rd switching tube, second switch pipe is in conducting state always,
(4), carry out the charging of constant current positive negative pulse stuffing again, first set the time of constant current positive pulse section, if the charging current detected does not reach set point, the switching frequency of the first switching tube is then adjusted by the first single chip machine controlling circuit, when charging current reaches set point, 1 μ s before single-chip microcomputer on the first single chip machine controlling circuit sends drive singal, judge whether the first disconnected the withstand voltage of switching tube is 0 by Sofe Switch testing circuit, if not 0, then adjusting the duty ratio of the first switching tube withstand voltage to it is 0, transmitting terminal starts charging to receiving terminal transferring energy, the negative pulse discharge stage is entered into after reaching the positive pulse charging interval, positive pulse stage second switch pipe is in conducting state always, 3rd switching tube is in off state always,
(5) before, negative pulse discharge starts, first the duty ratio of now the first switching tube and switching frequency are stored into the first single chip machine controlling circuit single-chip microcomputer in, the drive singal of locking first switching tube, the setting negative pulse discharge time, 3rd switching tube conducting, second switch pipe turns off, start negative pulse discharge, the terminal voltage of batteries is detected after reaching the negative pulse discharge time, if do not reach set point, then the first single chip machine controlling circuit single-chip microcomputer read the duty ratio of the first switching tube and switching frequency that store, proceed the charging of constant current positive negative pulse stuffing; If reach set point, then complete second stage charging;
(6), finally carry out constant voltage charge, if the charging voltage detected does not reach set point, the switching frequency of the first switching tube is then adjusted by the first single chip machine controlling circuit, when charging voltage reaches set point, 1 μ s before single-chip microcomputer on the first single chip machine controlling circuit sends drive singal, judge whether the withstand voltage of the first switching tube is 0 by Sofe Switch testing circuit, if not 0, then adjusting the duty ratio of the first switching tube withstand voltage to it is 0, transmitting terminal starts charging to receiving terminal transferring energy, constant voltage charging phase second switch pipe is in conducting state always, 3rd switching tube is in off state always, when charging current drops to set point, latch actuation signal, prompting charging complete, realize the wireless automatic charging to robot.
2. robot wireless charging method according to right 1, it is characterized in that the agent structure of described robot wireless charging device comprises EMI filter circuit, first rectifier bridge, one LC filter circuit, resonance coupling network, first switching tube, diode, voltage detecting circuit, current transformer, protective circuit, standby wake up circuit, first single chip machine controlling circuit, first drive circuit, first radio communication circuit, first accessory power supply, Sofe Switch testing circuit, second rectifier bridge, 2nd LC filter circuit, battery pack BMS administrative unit, second switch pipe, second singlechip control circuit, second drive circuit, second radio communication circuit, remote controller, second accessory power supply, discharge loop and batteries, the input of EMI filter circuit is connected with outside 220V AC power, 220V alternating current becomes galvanic current accumulators group successively and charges after EMI filter circuit, the first rectifier bridge, a LC filter circuit, resonance coupling network, the second rectifier bridge, the 2nd LC filter circuit and second switch pipe, EMI filter circuit filtering electromagnetic interference, alternating current is become direct current by the first rectifier bridge, and a LC filter circuit carries out filtering to the direct current after the first rectifier bridge rectification, one LC filter circuit is made up of the first inductance and the first capacitances in series, resonance coupling network is connected to form according to electrical principles by transmitting terminal building-out capacitor, transmitting terminal transmitting coil, receiving terminal receiving coil and receiving terminal building-out capacitor, resonance coupling network is electrically connected with the first switching tube, the first switching tube is made to be operated in Sofe Switch state, at next straight transferring energy of the situation of the first switching tube break-make, single-tube contravariant can be realized, voltage detecting circuit is made up of the first resistance and the second resistance, and protective circuit is electrically connected with voltage detecting circuit, current transformer and the first single chip machine controlling circuit respectively, prevents transmitting terminal overvoltage or overcurrent, standby wake up circuit is electrically connected with the first single chip machine controlling circuit, the first radio communication circuit and the first accessory power supply respectively, breaking dormancy pattern when making the single-chip microcomputer dormancy of the first single chip machine controlling circuit or wake up, first radio communication circuit is electrically connected with the first single chip machine controlling circuit and the first accessory power supply respectively, is used for receiving the various information that transmit of receiving terminal, Sofe Switch testing circuit is arranged between coupled resonance network and the first switching tube, for detecting the withstand voltage of the first switching tube, first single chip machine controlling circuit exports one to the PWM drive singal of the first switching tube according to the information that protective circuit, Sofe Switch testing circuit, standby wake up circuit and the first radio communication circuit are sent, PWM drive singal amplifies rear drive first switching tube through the first drive circuit, makes the first switching tube work in Sofe Switch state, first switching tube is connected with diode electrically, the input of the second rectifier bridge is electrically connected with coupled resonance network, alternating current is become the direct current needed for battery charging, the input of the 2nd LC filter circuit be made up of the second inductance and the second capacitances in series is electrically connected with the output of the second rectifier bridge, carries out filtering to the direct current after the second rectifier bridge rectification, the input of second switch pipe is electrically connected with the output of the 2nd LC filter circuit, conducting when batteries is charged, turn off during batteries negative pulse discharge, the input of the discharge loop be made up of the 3rd switching tube and discharge resistance is electrically connected with the output of second switch pipe, output is electrically connected with batteries, makes batteries carry out negative pulse discharge, remote controller sends charging signals to robot, second drive circuit and second switch pipe and the 3rd pipe that opens the light is electrically connected, second drive circuit includes interlock circuit, synchronization makes a conducting in second switch pipe or the 3rd switching tube, another turns off, and the second drive circuit is used for amplifying the drive singal of second switch pipe and the 3rd switching tube, second singlechip control circuit ceases with the second radio communication circuit, the second accessory power supply, the second drive circuit and battery pack BMS administrative unit telecommunications respectively and is connected, the information that second singlechip control circuit gives according to the charging press-key signal that sends of remote controller received and battery pack BMS administrative unit, controls the second drive circuit and the second radio communication circuit, battery pack BMS administrative unit is electrically connected with batteries and the second accessory power supply respectively, for detecting the voltage of batteries, electric current, temperature and SOC parameter, prevents output overvoltage overcurrent overheat, one is exported to the PWM drive singal of the first switching tube by the first single chip machine controlling circuit after the electric current and voltage information of detection is passed to the first radio communication circuit by the second radio communication circuit by battery pack BMS administrative unit, PWM drive singal amplifies rear drive first switching tube through the first drive circuit, batteries is made to select different charging methods when charging according to the state of storage battery, the batteries be embodied as in robot carries out wireless charging, described transmitting terminal comprises EMI filter circuit, first rectifier bridge, one LC filter circuit, resonance coupling network, voltage detecting circuit, current transformer, protective circuit, standby wake up circuit, first single chip machine controlling circuit, first drive circuit, first radio communication circuit, first accessory power supply and Sofe Switch testing circuit, receiving terminal comprises the second rectifier bridge, the 2nd LC filter circuit, battery pack BMS administrative unit, second singlechip control circuit, the second drive circuit, the second radio communication circuit, remote controller, the second accessory power supply, discharge loop and batteries.
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| CN105759682A (en) * | 2016-02-03 | 2016-07-13 | 深圳市有方科技股份有限公司 | Wireless wakeup system and method, controller and controlled device |
| CN106451635A (en) * | 2016-11-02 | 2017-02-22 | 深圳乐行天下科技有限公司 | Intelligent recharging method and apparatus |
| CN106935920A (en) * | 2015-12-30 | 2017-07-07 | 深圳市朗驰欣创科技股份有限公司 | Self-recovery method and self recoverable system that a kind of robot charges |
| WO2017143761A1 (en) * | 2016-02-23 | 2017-08-31 | 宁德新能源科技有限公司 | Method for recharging rechargeable battery |
| CN107134927A (en) * | 2017-05-31 | 2017-09-05 | 青岛大学 | A kind of inductively coupled power transfer device with drop-down auxiliary switch |
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| CN105406546A (en) * | 2015-12-18 | 2016-03-16 | 潘子恒 | Charging system, and charging device and charging method therefor |
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| CN106935920B (en) * | 2015-12-30 | 2019-11-22 | 深圳市朗驰欣创科技股份有限公司 | A kind of self-recovery method and self recoverable system of robot charging |
| CN105759682A (en) * | 2016-02-03 | 2016-07-13 | 深圳市有方科技股份有限公司 | Wireless wakeup system and method, controller and controlled device |
| WO2017143761A1 (en) * | 2016-02-23 | 2017-08-31 | 宁德新能源科技有限公司 | Method for recharging rechargeable battery |
| CN106451635A (en) * | 2016-11-02 | 2017-02-22 | 深圳乐行天下科技有限公司 | Intelligent recharging method and apparatus |
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| CN110192322A (en) * | 2017-04-07 | 2019-08-30 | Oppo广东移动通信有限公司 | Charging equipment, wireless charging device, wireless charging method and system |
| CN107134927A (en) * | 2017-05-31 | 2017-09-05 | 青岛大学 | A kind of inductively coupled power transfer device with drop-down auxiliary switch |
| CN108919728A (en) * | 2018-08-23 | 2018-11-30 | 深圳和而泰智能控制股份有限公司 | A kind of control circuit |
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| CN110994745A (en) * | 2019-12-27 | 2020-04-10 | 江苏艾伦摩尔微电子科技有限公司 | Pulse method wireless charging circuit |
| CN113824189A (en) * | 2021-10-18 | 2021-12-21 | 国网黑龙江省电力有限公司电力科学研究院 | Multi-section charging system of lithium ion battery |
| CN113824189B (en) * | 2021-10-18 | 2024-03-19 | 国网黑龙江省电力有限公司电力科学研究院 | Multi-section charging system of lithium ion battery |
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