CN106208261B - A kind of charging method of robot, pedestal and system - Google Patents
A kind of charging method of robot, pedestal and system Download PDFInfo
- Publication number
- CN106208261B CN106208261B CN201610798261.1A CN201610798261A CN106208261B CN 106208261 B CN106208261 B CN 106208261B CN 201610798261 A CN201610798261 A CN 201610798261A CN 106208261 B CN106208261 B CN 106208261B
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- inductor
- sensed data
- electrode plate
- robot
- preset condition
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
Abstract
A kind of charging method of robot, pedestal and system.The recharging base includes multiple electrode plate, charging circuit and processor in rectangular arrangement；Further include multiple first sensors and multiple second sensors, first sensor and second sensor is provided with immediately below each electrode plate, and first sensor and second sensor are connected with processor；First inductor is used to drive the second inductor and charging circuit work when the first sensed data meets the first preset condition for obtaining the first sensed data, processor；Multiple second sensors are for obtaining the second sensed data, processor is used for the electrode plate where determining that the second sensed data meets the second inductor of the second preset condition, electrode plate where driving charging circuit second inductor exports high level, and driving charging circuit exports low level in other electrode plates.Based on the application, robot can be charged by any two electrode plate on two contact random contact recharging bases.
Description
Technical field
This application involves robot field, especially a kind of charging method of robot, pedestal and system.
Background technique
When robot charges, need convenience, efficient recharging base as charging platform.At present for robot device's
There are two types of charging modes, and one is use dedicated charging interface, it is desirable that robot autonomous or human assistance mode is accurate
To connecting charging contact, for example current sweeping robot is commonly used recharges technology automatically, and operating process is comparatively laborious；It is another
Kind be using wireless charging by the way of, based on electromagnetic induction principle, this charging modes for robot positioning requirements relatively
It is low, but there is still a need for the predetermined positions that robot reaches above charging platform to charge, while this mode is because at present
The problem of electromagnetic conversion efficiency, leads to the waste of electric energy.
Summary of the invention
The application provides charging method, pedestal and the system of a kind of robot, and robot can be by recharging base
Any electrode plate charges, while utilization rate of electrical is high, charge efficiency is high.
According to a first aspect of the present application, the application provides a kind of charging method of robot, includes the following steps: to obtain
First sensed data of the first inductor；Determine whether first sensed data meets the first preset condition；If meeting first
Preset condition drives charging circuit and the work of the second inductor；Obtain the second sensed data of multiple second inductors；Determine
Two sensed datas meet the electrode plate where the second inductor of the second preset condition；Drive charging circuit default in satisfaction second
Electrode plate where second inductor of condition exports high level, and driving charging circuit exports low level in other electrode plates, with
It charges to robot.
Preferably, first inductor is rfid inductor, when the verification information in first sensed data is legal
When, determine that first sensed data meets the first preset condition.
Preferably, second inductor is hall sensor, when the magnetic induction that second sensed data is characterized is strong
When degree is greater than preset strength, determine that second sensed data meets the second preset condition.
According to a second aspect of the present application, the application provides a kind of recharging base of robot, comprising: multiple in rectangular
The electrode plate of arrangement, the charging circuit for being connected with the electrode plate and passing through electrode plate output voltage signal and and charging circuit
Connected processor；Further include multiple first inductors and multiple second inductors, is respectively provided with immediately below each electrode plate
There are at least one first inductor and at least one second inductor, the processor is configured to obtain the of the first inductor
One sensed data, determines whether first sensed data meets the first preset condition, if meeting the first preset condition, driving the
Two inductors and charging circuit work, obtain the second sensed data of multiple second inductors, determine that the second sensed data meets
Electrode plate where second inductor of the second preset condition, driving charging circuit is in the second induction for meeting the second preset condition
Electrode plate where device exports high level, and driving charging circuit exports low level in other electrode plates, to fill to robot
Electricity.
Preferably, first inductor is rfid inductor, when the verification information in first sensed data is legal
When, determine that first sensed data meets the first preset condition.
Preferably, second inductor is hall sensor, when the magnetic induction that second sensed data is characterized is strong
When degree is greater than preset strength, determine that second sensed data meets the second preset condition.
Preferably, the side length of the electrode plate is less than the distance between two charging contacts of the robot.
According to the third aspect of the application, the application provides a kind of charging system of robot, including charging substrate and machine
Device people；The robot includes the positive charge contact and negatively charged contact that robot bottom end is arranged in, and further includes the first hair
Emitter, the upper second transmitter that positive charge contact is set and the mobile module for driving robot ambulation, described first
Transmitter is for issuing the first inductive signal, and the second transmitter is for issuing the second inductive signal；The charging substrate packet
The charging circuit for including multiple electrode plates in rectangular arrangement, being connected with the electrode plate and passing through electrode plate output voltage signal
And the processor being connected with charging circuit, it further include multiple first inductors and multiple second inductors, each electrode plate
Underface be provided at least one first inductor and at least one second inductor, and first inductor and second
Inductor is connected with the processor；The processor is configured to obtain the first sensed data of the first inductor, determines
Whether first sensed data meets the first preset condition, if meeting the first preset condition, drives charging circuit and the second sense
It answers device to work, obtains the second sensed data of multiple second inductors, determine that the second sensed data meets the second preset condition
Electrode plate where second inductor, driving charging circuit is in the electrode plate where the second inductor for meeting the second preset condition
High level is exported, driving charging circuit exports low level in other electrode plates, to charge to robot.
Preferably, first inductor is rfid inductor, and the first transmitter is IC card, when first induction
When verification information in data is legal, determine that first sensed data meets the first preset condition；Second inductor is
Hall sensor, the second transmitter is hall sensing magnet, when the magnetic induction intensity that second sensed data is characterized
When greater than preset strength, determine that second sensed data meets the second preset condition.
Preferably, the side length of the electrode plate is less than between the positive charge contact and negatively charged contact of the robot
Spacing.
Compared with the existing technology, whether the application meets the first preset condition in the first sensed data, i.e. robot is close
When recharging base, control charging circuit circuit, and robot not close to when, charging circuit does not work, to effectively prevent short
Road and electric leakage, while electric energy has been saved, utilization rate of electrical is high, and charge efficiency is high.Meanwhile the application is set on each electrode plate
It is equipped with the second inductor, when the charging contact of robot is in contact with some electrode plate, processor drives charging circuit full
The high electricity of electrode plate output that electrode plate where second inductor of the second preset condition of foot, i.e. positive charge contact are contacted
Flat, driving charging circuit exports low level in other electrode plates, to charge to robot.To not limit its charge position
It sets, can charge in any two electrode plate on recharging base.
In addition, the application simplifies charging flow, so that charging is become simple, be particularly suitable for that there is recharging function
Robot or equipment.Relative to the wireless charging technology of electromagnetic induction principle, efficiency tool is greatly improved.It can also intelligent recognition
Charging equipment effectively prevent electric leakage and short circuit phenomenon.Using RFID identification mode, the safety of charging is improved, prevents from missing
Electric shock or short circuit fill robot to carry out voltage mixed logic control by hall sensor identification contact electrode position
Electricity carries out duplicate protection.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of the charging system of the robot of an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.It is used herein to arrange
Diction "and/or" includes one or more associated wholes for listing item or any cell and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
A kind of charging system of robot, as shown in Figure 1 comprising charging substrate 1 and robot 2.Wherein, the machine
It include functional circuit inside people 2, to realize crawl, pathfinding, the multiple functions such as sweep the floor.It further includes 2 row of respective drive robot
The mobile module 21 walked, the mobile module 21 can walk with mobile robot 2 and move under the driving of 2 inner drive of robot
It is dynamic.Mobile module 21 can be idler wheel, crawler belt etc..
Robot 2 further includes positive charge contact 22 and the negative sense that rechargeable battery, and 2 bottom end of robot is arranged in
Charging contact 23, by two contacts, also charge power supply is in contact, and in the battery by electric energy storage.Robot 2 further includes
First transmitter 25, the upper second transmitter 24 that positive charge contact 22 is set.The first transmitter 25 is for issuing
First inductive signal, the second transmitter 24 is for issuing the second inductive signal.
As shown in Figure 1, the charging substrate 1 includes multiple in the electrode plate 11 of rectangular arrangement and the electrode plate 11
The processor 13 for being connected and passing through the charging circuit 12 of 11 output voltage signal of electrode plate and being connected with charging circuit 12.Its
In, which is located on level land when in use, and therefore, electrode plate 11 is that capable setting, entirety is level with the ground
In rectangular arrangement, electrode plate 11 itself can be selected rectangular, and quantity can select four, and rectangular with 2*2 is arranged
Column, certainly, quantity can also make adjustment according to actual needs.And the length of electrode plate 11 should be less than positive charge contact 22
Spacing between negatively charged contact 23, so that positive charge contact 22 and negatively charged contact 23 can contact difference respectively
Electrode plate 11, to charge.After charging circuit 12 is by the processing such as being depressured external power supply and being converted, in electrode
Charging voltage is exported on plate 11, when the charging contact of robot 2 is in contact with electrode plate 11, realizes the charging to robot.
Processor 13 controls charging circuit 12, current polarity whether to control its work and on each electrode plate 11.
Further include multiple first inductors 15 and the second inductor 14 on charging substrate 1, is all provided in each electrode plate 11
There are the first inductor 15 and the second inductor 14.First inductor 15 and the second inductor 14 with 13 phase of processor
Even, the data obtained are sent to processor 13.
When in use, robot 2 is if you need to charge, then robot 2 can open automatic locating function, looks for charging substrate 1
And it is close to charging substrate 1.Such as reach the distance of reaction of the first inductor 15, the first inductor 15 obtains first transmitter 25
First sensed data, and it is sent to processor 13, processor 13 determines whether first sensed data meets the first default item
Part drives charging circuit 12 and the work of the second inductor 14 if meeting the first preset condition.Multiple second inductors 14 receive
Second sensed data of second transmitter 24, and it is sent to processor 13, processor 13 judges, and determines the second sensed data
Meet the electrode plate 11 where the second inductor 14 of the second preset condition, driving charging circuit 12 is meeting the second preset condition
The second inductor 14 where electrode plate 11 export high level, driving charging circuit 12 exports low level in other electrode plates,
Thus to forward direction charged to negatively charged contact 23 to 22 output HIGH voltage of robot positive charge contact.
Further, the first inductor 15 is rfid inductor, and the first transmitter 25 is IC card, and IC card is close to rfid
When inductor, it is sent to it sensed data, wherein legal comprising verification information, whether rfid inductor decision verification information is closed
Method, if legal, it is determined that first sensed data meets the first preset condition.Second inductor 14 is hall sensing
Device, the second transmitter 24 are hall sensing magnet, and hall sensor detects the magnetic field strength of hall sensing magnet, and magnetic field is strong
It is closer to spend bigger explanation distance between the two, and second transmitter 24 is arranged on positive charge contact 22, when its intensity is big
When certain value, the top of electrode plate 11 where charging contact 22 is located at the hall sensor is determined, it as a result, can be by the electrode plate
11 are set as output high level, and other electrode plates 11 are exported low level.
Certainly, above-mentioned inductor and transmitter enumerate a kind of only example, do not represent limitation of the present invention.It is above-mentioned
Induction mode can also be infrared induction, ultrasonic sensing, nfc induction etc..
The application also provides a kind of recharging base of robot, including multiple electrode plates 11 in rectangular arrangement and institute
Electrode plate 11 is stated to be connected and by the charging circuit 12 of 11 output voltage signal of electrode plate and the place being connected with charging circuit 12
Manage device 13.Wherein, the charging basic 1 is located on level land when in use, and therefore, electrode plate 11 is that capable set is level with the ground
It sets, and the length of electrode plate 11 should be less than the spacing between positive charge contact 22 and negatively charged contact 23, so that positive
Charging contact 22 and negatively charged contact 23 can contact different electrode plates 11 respectively, to charge.Charging circuit 12 is logical
It crosses after the processing such as external power supply being depressured and being converted, exports charging voltage on electrode plate 11, when the charging of robot 2 is touched
When point is in contact with electrode plate 11, the charging to robot is realized.Processor 13 controls charging circuit 12, to control it
Current polarity whether work and on each electrode plate 11.
It further include multiple first inductors 15 and multiple second inductors 14 on charging substrate 1, each electrode plate 11
Underface is provided at least one the first inductor 15 and at least one second inductor 14.First inductor 15 and
Two inductors 14 are connected with the processor 13, and the data obtained are sent to processor 13.
The processor 13 is configured to obtain the first sensed data of the first inductor 15, determines the first induction number
According to whether the first preset condition is met, if meeting the first preset condition, drives the second inductor 14 and charging circuit 12 to work, obtain
The second sensed data for taking multiple second inductors 14 determines that the second sensed data meets the second inductor of the second preset condition
Electrode plate 11 where 14, electrode plate 11 of the driving charging circuit 12 where meeting the second inductor 14 of the second preset condition
High level is exported, driving charging circuit 12 exports low level in other electrode plates 11, to charge to robot.
Preferably, first inductor 15 is rfid inductor, when the verification information in first sensed data is closed
When method, determine that first sensed data meets the first preset condition.
Preferably, second inductor 14 is hall sensor, when the magnetic induction that second sensed data is characterized
When intensity is greater than preset strength, determine that second sensed data meets the second preset condition.
The application also provides a kind of charging method of robot comprising following steps:
Obtain the first sensed data of the first inductor；Determine whether first sensed data meets the first default item
Part；If meeting the first preset condition, charging circuit and the work of the second inductor are driven；Obtain the second sense of multiple second inductors
Answer data；Determine that the second sensed data meets the electrode plate where the second inductor of the second preset condition；Drive charging circuit
High level is exported in the electrode plate where the second inductor for meeting the second preset condition, drives charging circuit in other electrode plates
Low level is exported, to charge to robot.
Preferably, first inductor is rfid inductor, when the verification information in first sensed data is legal
When, determine that first sensed data meets the first preset condition.
Preferably, second inductor is hall sensor, when the magnetic induction that second sensed data is characterized is strong
When degree is greater than preset strength, determine that second sensed data meets the second preset condition.
The charging method of above-mentioned robot and the embodiment of recharging base part can refer to the charging system portion of robot
The embodiment divided, this will not be repeated here.
Those skilled in the art of the present technique have been appreciated that in the present invention the various operations crossed by discussion, method, in process
Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, each with having been crossed by discussion in the present invention
Kind of operation, method, other steps, measures, and schemes in process may also be alternated, changed, rearranged, decomposed, combined or deleted.
Further, in the prior art to have and the step in various operations, method disclosed in the present invention, process, measure, scheme
It may also be alternated, changed, rearranged, decomposed, combined or deleted.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of charging method of robot, which comprises the steps of:
Obtain the first sensed data of the first inductor；
Determine whether first sensed data meets the first preset condition；
If meeting the first preset condition, charging circuit and the work of the second inductor are driven；
Obtain the second sensed data of multiple second inductors；
Determine that the second sensed data meets the electrode plate where the second inductor of the second preset condition；
Charging circuit is driven to export high level, driving charging in the electrode plate where the second inductor for meeting the second preset condition
Circuit exports low level in other electrode plates, to charge to robot；
First inductor is that rf i d inductor determines institute when the verification information in first sensed data is legal
It states the first sensed data and meets the first preset condition；
Second inductor is hall sensor, is preset by force when the magnetic induction intensity that second sensed data is characterized is greater than
When spending, determine that second sensed data meets the second preset condition.
2. a kind of recharging base of robot characterized by comprising
Multiple electrode plates in rectangular arrangement, the charging electricity for being connected with the electrode plate and passing through electrode plate output voltage signal
Road and the processor being connected with charging circuit；
Further include multiple first inductors and multiple second inductors, is provided at least one immediately below each electrode plate
First inductor and at least one second inductor, the processor are configured to obtain the first induction number of the first inductor
According to, determine whether first sensed data meets the first preset condition, if meeting the first preset condition, the second inductor of driving
It works with charging circuit, obtains the second sensed data of multiple second inductors, it is default to determine that the second sensed data meets second
Electrode plate where second inductor of condition, driving charging circuit is where the second inductor for meeting the second preset condition
Electrode plate exports high level, and driving charging circuit exports low level in other electrode plates, to charge to robot；Described
One inductor is rf i d inductor, when the verification information in first sensed data is legal, determines first induction
Data meet the first preset condition；Second inductor is hall sensor, when the magnetic that second sensed data is characterized
When induction is greater than preset strength, determine that second sensed data meets the second preset condition.
3. recharging base according to claim 2, it is characterised in that:
The side length of the electrode plate is less than the distance between two charging contacts of the robot.
4. a kind of charging system of robot, it is characterised in that:
Including charging substrate and robot；
The robot includes the positive charge contact and negatively charged contact that robot bottom end is arranged in, and further includes the first transmitting
Device, the upper second transmitter that positive charge contact is set and the mobile module for driving robot ambulation, first hair
Emitter is for issuing the first inductive signal, and the second transmitter is for issuing the second inductive signal；
The charging substrate includes multiple is connected in the electrode plate of rectangular arrangement, with the electrode plate and by electrode plate output
The charging circuit of voltage signal and the processor being connected with charging circuit further include multiple first inductors and multiple second senses
Device is answered, at least one first inductor and at least one second inductor, and institute are provided with immediately below each electrode plate
It states the first inductor and the second inductor is connected with the processor；
The processor is configured to obtain the first sensed data of the first inductor, determines whether first sensed data is full
The first preset condition of foot drives charging circuit and the work of the second inductor if meeting the first preset condition, obtains multiple second senses
The second sensed data for answering device determines that the second sensed data meets the electrode plate where the second inductor of the second preset condition,
It drives charging circuit to export high level in the electrode plate where the second inductor for meeting the second preset condition, drives charging circuit
Low level is exported in other electrode plates, to charge to robot；
First inductor is rf i d inductor, and the first transmitter is I C card, when in first sensed data
When verification information is legal, determine that first sensed data meets the first preset condition；Second inductor is hall sensing
Device, the second transmitter are hall sensing magnet, are preset when the magnetic induction intensity that second sensed data is characterized is greater than
When intensity, determine that second sensed data meets the second preset condition.
5. system according to claim 4, it is characterised in that:
The side length of the electrode plate is less than the spacing between the positive charge contact and negatively charged contact of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610798261.1A CN106208261B (en) | 2016-08-31 | 2016-08-31 | A kind of charging method of robot, pedestal and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798261.1A CN106208261B (en) | 2016-08-31 | 2016-08-31 | A kind of charging method of robot, pedestal and system |
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| CN106208261A CN106208261A (en) | 2016-12-07 |
| CN106208261B true CN106208261B (en) | 2019-05-03 |
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| CN201610798261.1A Active CN106208261B (en) | 2016-08-31 | 2016-08-31 | A kind of charging method of robot, pedestal and system |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109428400B (en) * | 2017-08-23 | 2021-01-05 | 苏州宝时得电动工具有限公司 | Contact type wireless charging method and device |
| CN110758128A (en) * | 2019-11-04 | 2020-02-07 | 中国北方车辆研究所 | Vehicle-mounted unmanned vehicle charging system |
| CN114942625A (en) * | 2021-02-09 | 2022-08-26 | 北京小米移动软件有限公司 | Robot charging control method and device and robot |
| CN113257046B (en) * | 2021-04-07 | 2023-05-09 | 顺德职业技术学院 | Power supply base for teaching equipment |
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