CN106981890A - A kind of charging method and system of rail mounted robot - Google Patents
A kind of charging method and system of rail mounted robot Download PDFInfo
- Publication number
- CN106981890A CN106981890A CN201610029390.4A CN201610029390A CN106981890A CN 106981890 A CN106981890 A CN 106981890A CN 201610029390 A CN201610029390 A CN 201610029390A CN 106981890 A CN106981890 A CN 106981890A
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- China
- Prior art keywords
- rail mounted
- charging
- mounted robot
- charging pile
- triggered
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention provides the charging method and system of rail mounted robot, and methods described includes：Judge rail mounted robot whether reach charging station charging pile position or rail mounted robot on metal approach switch whether be triggered；If it is not, then continuing to move to charging pile position until arrival charging pile position or metal approach switch are triggered；If so, then braking；Charging current is detected whether；If without charging current, rail mounted robot is mobile until having detected charging current in the preset range of charging pile position.The technical scheme that the present invention is provided can eliminate the error of odometer itself or because the metal approach switch that environmental factor is caused is reported by mistake, fails to report or failed, ensure the accurate positioning of charging pile position, charging contacts during charging in rail mounted robot are aligned with charging pile, are also ensured that and are charged successfully in metal approach switching damage.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of charging method and system of rail mounted robot.
Background technology
In current engineering, unattended automatic inspection equipment under complex environment, for example, electric power tunnel is patrolled automatically
Inspection robot and mining tunnel automatic crusing robot etc. have begun to extensive use.It is this kind of unattended automatic
Inspection device using the work of battery power supply mode, its run a segment distance or be required to after a period of time into
Row charging could continue a journey.
Above-mentioned unattended automatic inspection equipment typically has independent odometer, infrared or laser ranging sensing
The functional units such as device, existing charging method is also to judge these nobody by these independent functional units
Whether automatic inspection equipment on duty reaches whether charge point needs charging, if desired charges, then equipment is entered
Row charging operations.However, under complex environment, due to the complication of track, for example, climb and fall, bend
With diversity and its caused interference of branch road etc. and environment, the biography of unattended automatic inspection equipment is added
There is also certain error for sensor itself so that the existing failure charged to unattended automatic inspection equipment is several
Rate is higher.
The content of the invention
It is an object of the invention to provide a kind of charging method and system of rail mounted robot, to improve multiple
The probability successfully charged to rail mounted robot under heterocycle border.
First aspect present invention provides a kind of charging method of rail mounted robot, and methods described includes：
Judge whether rail mounted robot is reached in charging pile position or the rail mounted robot of charging station
Metal approach switch whether be triggered；
If the rail mounted robot does not reach charging pile position or metal approach switch is not triggered,
Then continue to move to charging pile position until arrival charging pile position or metal approach switch are triggered；
If the rail mounted robot has reached charging pile position or metal approach switch is triggered,
Brake；
Charging current is detected whether；
If without charging current, the rail mounted robot is moved in the preset range of the charging pile position
Until having detected charging current.
Second aspect of the present invention provides a kind of charging system of rail mounted robot, and the system includes：
Judge module, for judging whether rail mounted robot reaches the charging pile position or described of charging station
Whether the metal approach switch in rail mounted robot is triggered；
Electric module, fills if the judged result for the judge module is not reached for the rail mounted robot
Electric stake position or metal approach switch are not triggered, then continue to move to charging pile position, until institute
State rail mounted robot arrival charging pile position or metal approach switch is triggered；
Electric power detection module, if having reached charging pile position or the metal for the rail mounted robot
Proximity switch is triggered, then has detected whether charging current；
If the electric module is additionally operable to, the rail mounted robot reaches charging pile position or the metal connects
Nearly switch is triggered, then brakes, otherwise mobile until the electricity in the preset range of the charging pile position
Detection module has detected charging current.
It was found from the invention described above technical scheme, the present invention is filled by judging whether rail mounted robot reaches
Whether the metal approach switch on the charging pile position in power station or rail mounted robot is triggered to as track
The basis that can formula robot be electrically charged, due to having used the positioning to rail mounted robot and metal approach
Switch the two methodses that whether are triggered to come, eliminate the error of odometer itself or caused due to environmental factor
Metal approach switch is reported by mistake, fails to report or fail, it is ensured that the accurate positioning of charging pile position, rail mounted machine during charging
Charging contacts on device people are aligned with charging pile, are also ensured that and are charged successfully in metal approach switching damage.
Brief description of the drawings
Fig. 1 is the implementation process signal of the charging method for the rail mounted robot that the embodiment of the present invention one is provided
Figure；
Fig. 2 is the structural representation of the charging system for the rail mounted robot that the embodiment of the present invention two is provided；
Fig. 3 is the structural representation of the charging system for the rail mounted robot that the embodiment of the present invention three is provided；
Fig. 4 is the structural representation of the charging system for the rail mounted robot that the embodiment of the present invention four is provided；
Fig. 5 is the charging station schematic diagram that the embodiment of the present invention five is provided.
Embodiment
In order that the purpose of the present invention, technical scheme and beneficial effect are more clearly understood, below in conjunction with accompanying drawing
And embodiment, the present invention will be described in further detail.It should be appreciated that specific implementation described herein
Example is not intended to limit the present invention only to explain the present invention.
The embodiment of the present invention provides a kind of charging method of rail mounted robot, and methods described includes：Judge rail
Dao Shi robots whether reach charging station charging pile position or the rail mounted robot on metal approach
Whether switch is triggered；If the rail mounted robot does not reach charging pile position or the metal approach is opened
Guan Wei is triggered, then continues to move to charging pile position until reaching charging pile position or the metal approach
Switch is triggered；If the rail mounted robot has reached charging pile position or metal approach switch quilt
Triggering, then brake；Charging current is detected whether；If without charging current, the rail mounted robot
It is mobile until having detected charging current in the preset range of the charging pile position.The embodiment of the present invention is also carried
For the charging system of corresponding rail mounted robot.It is described in detail individually below.
Accompanying drawing 1 is referred to, is the realization of the charging method for the rail mounted robot that the embodiment of the present invention one is provided
Schematic flow sheet, mainly includes the following steps that S101 to step S106：
S101, judges whether rail mounted robot reaches the charging pile position of charging station or the rail mounted machine
Whether the metal approach switch on device people is triggered.
In embodiments of the present invention, have in rail mounted robot on charging contacts and metal approach switch, track
Charging station, its charging pile both sides is respectively mounted with metal approach head, and its position is fixed, i.e., metal approach head with
The distance between charging pile is fixed.Because the distance of metal approach switch and charging contacts connects equal to metal
The distance of nearly head and charging pile, therefore, under normal circumstances, when metal approach switch is contacted with metal approach head
When, charging contacts can successfully be charged with charging pile with good contact.Therefore, can be by judging rail mounted machine
Device people whether reach charging station charging pile position or the rail mounted robot on metal approach switch be
It is no to be triggered to determine that rail mounted robot be electrically charged.
In embodiments of the present invention, the both sides of charging pile are respectively mounted with a RF tag (Radio Frequency
IDentifier, RFID), and rail mounted robot itself is RFID with a RF tag reader
Reader.Specifically, judge that the charging pile position whether rail mounted robot reaches charging station can be passed through
RF tag reader reads RF tag, if RF tag reader reads the RF tag, school
The position of quasi- rail mounted robot, and determine whether rail mounted robot reaches according to the position after the calibration
The charging pile position of charging station.The position of rail mounted robot can be calibrated by the odometer of rail mounted robot
Put, to eliminate the error that caused by environmental factor or odometer itself is brought., can root after calibrating position
The numerical value reflected according to odometer determines whether rail mounted robot reaches the charging pile position of charging station.
Because in programming, metal approach switch is triggered and can produce an interruption, therefore, judges rail
Whether whether the metal approach switch in Dao Shi robots is triggered, can inquire about to receive to send interrupt signal,
If receiving and the corresponding interrupt signal of metal approach switch, it is determined that the metal approach in rail mounted robot is opened
Pass is triggered.
S102, rail mounted robot continues to move to charging pile position until reaching charging pile position or metal
Proximity switch is triggered.
For step S101, if the result judged is that rail mounted robot does not reach charging pile position or metal
Proximity switch is not triggered, then flow reaches step S102, i.e. rail mounted robot and continued to charging pile position
It is mobile, until arrival charging pile position or metal approach switch are triggered.
S103, brake.
For step S101, if the result judged is that rail mounted robot has reached charging pile position or metal
Proximity switch is triggered, then shows that rail mounted robot can charge, and flow turns to step S103, that is, brakes.
S104, has detected whether charging current.
Specifically can be by the electric quantity detection apparatus of rail mounted robot, such as voltameter or galvanometer are detected
Whether charging current is had.If having detected charging current, show the charging contacts of rail mounted robot with filling
The charging pile in power station is fully aligned, and can successfully be charged, and rail mounted robot stops movement, i.e. flow and turns to step
Rapid S106.
S105, rail mounted robot is mobile in the preset range of charging pile position until having detected charging electricity
Stream.
When can't detect charging current, the motor of rail mounted robot can make rail mounted robot in charging pile
Moved in the preset range of position, for example, being moved in the preset range of charging pile position or so, until track
The electric quantity detection apparatus of formula robot has detected charging current.
It was found from the charging method of the rail mounted robot of the above-mentioned example of accompanying drawing 1, by judging rail mounted machine
People whether reach charging station charging pile position or rail mounted robot on metal approach switch whether touched
The basis that can be electrically charged as rail mounted robot is sent, due to having used the positioning to rail mounted robot
And the two methodses whether metal approach switch is triggered come, the error of odometer itself is eliminated or due to ring
The metal approach switch that border factor is caused is reported by mistake, fails to report or fail, it is ensured that the accurate positioning of charging pile position, fills
Charging contacts in electricity Shi rail mounteds robot are aligned with charging pile, also can be true in metal approach switching damage
Guarantor charges successfully.
Accompanying drawing 2 is referred to, is the structure of the charging system for the rail mounted robot that the embodiment of the present invention two is provided
Schematic diagram.For convenience of description, accompanying drawing 2 illustrate only the part related to the embodiment of the present invention.Accompanying drawing 2
The charging system of the rail mounted robot of example mainly includes judge module 201, electric module 202 and electricity
Detection module 203, wherein：
Judge module 201, for judge rail mounted robot whether reach charging station charging pile position or
Whether the metal approach switch in the rail mounted robot is triggered；
Electric module 202, fills if the judged result for judge module 201 is not reached for rail mounted robot
Electric stake position or metal approach switch are not triggered, then continue to move to charging pile position, until rail mounted
Robot reaches charging pile position or metal approach switch is triggered；
Electric power detection module 203, if having reached charging pile position or metal approach for rail mounted robot
Switch is triggered, then has detected whether charging current；
Electric module 202, if being additionally operable to rail mounted robot reaches charging pile position or metal approach switch
It is triggered, then brakes, it is otherwise mobile until the electric power detection mould in the preset range of the charging pile position
Block has detected charging current.
The judge module 201 of the example of accompanying drawing 2 can include RF tag reader 301 and odometer 302,
As shown in Figure 3 the embodiment of the present invention three provide rail mounted robot charging system, wherein：
RF tag reader 301, for reading RF tag；
Odometer 302, if reading RF tag for RF tag reader 301, calibrates rail mounted
The position of robot, and determine whether rail mounted robot reaches the charging of charging station according to the position after calibration
Stake position.
The judge module 201 of the example of accompanying drawing 2 can include interrupt processing unit 401, as shown in Figure 4 originally
The charging system for the rail mounted robot that inventive embodiments four are provided.If interrupt processing unit 401 is used to receive
With the corresponding interrupt signal of metal approach switch, it is determined that the metal approach switch in rail mounted robot is touched
Hair.
In the charging system of above-mentioned accompanying drawing 2 to the rail mounted robot of any example of accompanying drawing 4, charging pile two
Side equidistant position is mounted with RF tag, the distance of charging pile and metal approach head be equal to metal approach switch with
The distance of charging contacts, metal approach head is located near charging pile, and its both sides equidistant position respectively installs a gold
Category is located in rail mounted robot close to head, charging contacts.As shown in Figure 5, it is the embodiment of the present invention five
The charging station schematic diagram of offer, charging pile 501, metal approach first 502, RF tag 504 and RF tag
505 are installed on track 506, and the both sides equidistant position of charging pile 501 is mounted with RF tag 504 and penetrated
Frequency marking label 505, metal approach head is located near charging pile 501, and a gold is installed in the side of charging pile 501
The distance of category close first 502, charging pile 501 and metal approach first 502 is equal to the gold in rail mounted robot
Belong to the distance of proximity switch and the charging contacts in rail mounted robot.
It should be noted that the content such as information exchange, implementation procedure between each module/unit of said apparatus,
Due to being based on same design with the inventive method embodiment, its technique effect brought is implemented with the inventive method
Example is identical, and particular content can be found in the narration in the inventive method embodiment, and here is omitted.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment
It can be by program to instruct the hardware of correlation to complete, the program can be stored in one and computer-readable deposit
In storage media, storage medium can include：Read-only storage (ROM, Read Only Memory), with
Machine access memory (RAM, Random Access Memory), disk or CD etc..
The charging method and system of the rail mounted robot provided above the embodiment of the present invention have been carried out in detail
Introduce, specific case used herein is set forth to the principle and embodiment of the present invention, and the above is real
The explanation for applying example is only intended to the method and its core concept for helping to understand the present invention；Simultaneously for this area
Those skilled in the art, according to the present invention thought, have change in specific embodiments and applications
Become part, in summary, this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of charging method of rail mounted robot, it is characterised in that methods described includes：
Judge whether rail mounted robot is reached in charging pile position or the rail mounted robot of charging station
Metal approach switch whether be triggered；
If the rail mounted robot does not reach charging pile position or metal approach switch is not triggered,
Then continue to move to charging pile position until arrival charging pile position or metal approach switch are triggered；
If the rail mounted robot has reached charging pile position or metal approach switch is triggered,
Brake；
Charging current is detected whether；
If without charging current, the rail mounted robot is moved in the preset range of the charging pile position
Until having detected charging current.
2. the method as described in claim 1, it is characterised in that described to judge whether rail mounted robot arrives
Up to the charging pile position of charging station, including：
RF tag reader reads RF tag；
If reading the RF tag, the position of calibration rail mounted robot, and according to the calibration after
Position determine whether rail mounted robot reaches the charging pile position of charging station.
3. the method as described in claim 1, it is characterised in that the gold in the judgement rail mounted robot
Whether category proximity switch is triggered, including：
If receiving and the corresponding interrupt signal of metal approach switch, it is determined that in the rail mounted robot
Metal approach switch be triggered.
4. the method as described in claims 1 to 3 any one, it is characterised in that the charging pile both sides
Equidistant position is mounted with RF tag.
5. the method as described in claims 1 to 3 any one, it is characterised in that the charging pile and gold
The distance belonged to close to head is equal to the distance of metal approach switch and charging contacts, the metal approach head position
Near the charging pile, the charging contacts are located in the rail mounted robot.
6. a kind of charging system of rail mounted robot, it is characterised in that the system includes：
Judge module, for judging whether rail mounted robot reaches the charging pile position or described of charging station
Whether the metal approach switch in rail mounted robot is triggered；
Electric module, fills if the judged result for the judge module is not reached for the rail mounted robot
Electric stake position or metal approach switch are not triggered, then continue to move to charging pile position, until institute
State rail mounted robot arrival charging pile position or metal approach switch is triggered；
Electric power detection module, if having reached charging pile position or the metal for the rail mounted robot
Proximity switch is triggered, then has detected whether charging current；
If the electric module is additionally operable to, the rail mounted robot reaches charging pile position or the metal connects
Nearly switch is triggered, then brakes, otherwise mobile until the electricity in the preset range of the charging pile position
Detection module has detected charging current.
7. system as claimed in claim 6, it is characterised in that the judge module includes：
RF tag reader, for reading RF tag；
Odometer, if reading the RF tag for the RF tag reader, calibrates rail mounted
The position of robot, and determine whether rail mounted robot reaches charging station according to the position after the calibration
Charging pile position.
8. system as claimed in claim 6, it is characterised in that the judge module includes：
Interrupt processing unit, if for receiving and the corresponding interrupt signal of metal approach switch, it is determined that
Metal approach switch in the rail mounted robot is triggered.
9. the system as described in claim 6 to 8 any one, it is characterised in that the charging pile both sides
Equidistant position is mounted with RF tag.
10. the system as described in claim 6 to 8 any one, it is characterised in that the charging pile and gold
The distance belonged to close to head is equal to the distance of metal approach switch and charging contacts, the metal approach head position
Near the charging pile, the charging contacts are located in the rail mounted robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610029390.4A CN106981890A (en) | 2016-01-15 | 2016-01-15 | A kind of charging method and system of rail mounted robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610029390.4A CN106981890A (en) | 2016-01-15 | 2016-01-15 | A kind of charging method and system of rail mounted robot |
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| Publication Number | Publication Date |
|---|---|
| CN106981890A true CN106981890A (en) | 2017-07-25 |
Family
ID=59340650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610029390.4A Pending CN106981890A (en) | 2016-01-15 | 2016-01-15 | A kind of charging method and system of rail mounted robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106981890A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107465277A (en) * | 2017-09-30 | 2017-12-12 | 深圳市锐曼智能装备有限公司 | Magnetic resonance type automatic charging machine people and its charging method |
| CN109995117A (en) * | 2019-04-24 | 2019-07-09 | 北京极智嘉科技有限公司 | Charging system and method based on robot |
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| US20140172223A1 (en) * | 2012-12-18 | 2014-06-19 | Christopher John Murphy | Method of material handling with automatic guided vehicles |
| CN105119352A (en) * | 2015-10-08 | 2015-12-02 | 华北电力大学（保定） | Automatic charging apparatus for tracking robot |
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| CN102217918A (en) * | 2010-04-14 | 2011-10-19 | 泰怡凯电器(苏州)有限公司 | Robot system and method for butt joint of robot and charging seat of robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107465277A (en) * | 2017-09-30 | 2017-12-12 | 深圳市锐曼智能装备有限公司 | Magnetic resonance type automatic charging machine people and its charging method |
| CN107465277B (en) * | 2017-09-30 | 2024-02-09 | 深圳市锐曼智能装备有限公司 | Magnetic resonance type automatic charging robot and charging method thereof |
| CN109995117A (en) * | 2019-04-24 | 2019-07-09 | 北京极智嘉科技有限公司 | Charging system and method based on robot |
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Application publication date: 20170725 |