CN107508359A - The automatic charging system and method for a kind of robot - Google Patents
The automatic charging system and method for a kind of robot Download PDFInfo
- Publication number
- CN107508359A CN107508359A CN201710876255.8A CN201710876255A CN107508359A CN 107508359 A CN107508359 A CN 107508359A CN 201710876255 A CN201710876255 A CN 201710876255A CN 107508359 A CN107508359 A CN 107508359A
- Authority
- CN
- China
- Prior art keywords
- charging
- circuit
- robot
- signal
- control signal
- Prior art date
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 131
- 238000003032 molecular docking Methods 0.000 claims abstract description 92
- 238000003475 lamination Methods 0.000 claims abstract description 87
- 238000007689 inspection Methods 0.000 claims abstract description 17
- 230000005611 electricity Effects 0.000 claims description 38
- 238000004891 communication Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 10
- 239000012634 fragment Substances 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 241001122767 Theaceae Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
-
- H02J7/0027—
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of automatic charging system of robot and method, method includes：When whether the first charging spring lamination that S10 robots detect in the robot docks successfully with the second charging spring lamination on charging pile, the first docking signal is produced, and forwards the first docking signal；When whether the charging pile detection charging spring lamination of electric circuit inspection second docks successfully with the first charging spring lamination described in S20, the second docking signal is produced；Charging pile described in S30 sends charging control signal according to the second docking signal received and/or the first docking signal；The charging control signal includes the first charging control signal, the second charging control signal；Charging pile described in S40 is charged to the battery of the robot according to the charging control signal or stops charging.
Description
Technical field
The present invention relates to robot field, more particularly to the automatic charging system and method for a kind of robot.
Background technology
With the development of science and technology miscellaneous robot continues to bring out, the work and life for people provide very big
Help, search and rescue robot is able to detect that the vital sign of people, and domestic robot can serve tea for people.
It is an essential link to robot charging, the charging pile currently having exists when using robot
, it is necessary to when robot is located on charging pile when being charged to robot, charge button is manually pressed by, could be charged to robot,
This method is not intelligent enough, and automaticity is not high.Robot also is also less than charge position in charging, and charging pile is just
Charge switch is opened, so easily causes electric leakage.
Therefore, it is necessary to which a kind of method that can solve the problem that above mentioned problem, allows robot to realize automation charging.
The content of the invention
Technical scheme provided by the invention is as follows：
A kind of automatic charging system of robot provided by the invention, including robot and charging pile, the robot bag
Include：First detection circuit in place, the first charging spring lamination and charging pile in the described first detection electric circuit inspection robot in place
On the second charging spring lamination when whether docking successfully, produce the first docking signal；First control circuit, the first control circuit
Electrically connect with the first detection circuit in place, for when receiving the first docking signal, and forward described first to dock signal；Institute
Stating charging pile includes：Second detection circuit in place, when the described second detection charging spring lamination of electric circuit inspection second in place fills with first
When whether electric shell fragment docks successfully, the second docking signal is produced；Second control circuit, the second control circuit and second in place
Circuit electrical connection is detected, the second control circuit is also connected with first control circuit radio communication, is received for basis
Second docking signal and/or the first docking signal, send charging control signal；The charging control signal includes the first charging and controlled
Signal processed, the second charging control signal；Charging circuit, the charging circuit electrically connects with the second control circuit, for root
According to the charging control signal received, the battery of the robot is charged or stops charging.
Preferably, the robot also includes：Counnter attack protection circuit, one end of the counnter attack protection circuit and described first
Charging spring lamination electrically connects, and the battery of the other end of the counnter attack protection circuit also with the robot electrically connect, for described in
Charging circuit stops after being charged to the battery of the robot, prevents the battery of the robot to the described first charging bullet
The reverse inflow current of piece.
Preferably, the charging pile also includes：State detection circuit, the state detection circuit and the described second control electricity
Road electrically connects, and the state detection circuit also electrically connects with the charging circuit, for detecting whether the charging circuit exports
Current Voltage, produce and send state detection signal；The second control circuit is additionally operable to according to the state-detection letter received
Number, send or abandon again to send the charging control signal again.
Preferably, when the first control circuit is additionally operable to detect that the robot battery fills with electricity, the is produced
One charging detection signal；The robot also includes the first communicating circuit, first communicating circuit and the described first control electricity
Road electrically connects, for receiving and forwarding the first charging detection signal；The charging pile also includes the second communicating circuit, described
Second communicating circuit is connected with the first communicating circuit radio communication, for receiving the first charging detection signal, and is turned
Send out described first charging detection signal to the second control circuit；The second control circuit is used for according to receiving
First charging detection signal, sends the second charging control signal；The charging circuit is used for according to the second charging control received
Signal processed, stop charging to the robot；And/or；The second control circuit is additionally operable to detect the robot electricity
Caused second charging detection signal, sends the second charging control signal when pond fills with electricity；The charging circuit is used for
According to the second charging control signal received, stop charging to the robot.
Preferably, the charging circuit includes：Sub-circuit is switched, the switch sub-circuit is electrically connected with second control circuit
Connect, for the charging control signal sent according to the second control circuit, make the switch sub-circuit be in closure state or
Off-state；Power supply sub-circuit, the power supply sub-circuit with it is described switch sub-circuit electrically connect, the power supply sub-circuit also with institute
The electrical connection of the second charging spring lamination is stated, for being charged by the switch sub-circuit, the second charging spring lamination to the robot
Or stop charging.
Present invention also offers a kind of automatic recharging method of robot, comprise the following steps：Described in the detection of S10 robots
When whether the first charging spring lamination in robot docks successfully with the second charging spring lamination on charging pile, the first docking letter is produced
Number, and forward the first docking signal；The charging pile detection charging spring lamination of electric circuit inspection second and the first charging spring lamination described in S20
When whether docking is successful, the second docking signal is produced；Charging pile described in S30 is according to the second docking signal received and/or the
One docking signal, sends charging control signal；The charging control signal includes the first charging control signal, the second charge control
Signal；Charging pile described in S40 is charged to the battery of the robot according to the charging control signal or stops charging.
Preferably, step is included after the step S40：S50 stops the battery to the robot when the charging pile
After being charged, prevent the battery of the robot to the reverse inflow current of the first charging spring lamination.
Preferably, also include after the step S40：Charging pile described in S60 detect the charging circuit of the charging pile with
Whether it is powered between second charging spring lamination, produces and send state detection signal；Charging pile described in S61 is according to the state
Detection signal, the charging control signal, and return to step S50 are sent again；Or abandon sending the charge control letter again
Number.
Preferably, include after the step S40：S70 has detected the battery of the robot when the robot
When fully charged, produce and send the first charging detection signal；Charging pile described in S71 detects according to first charging received
Signal, send the second charging control signal；Charging pile described in S72 stops to the machine according to second charging control signal
Device people is charged；And/or；When the battery that charging pile described in S74 detects the robot fills with electricity, the second charging is produced
Detection signal, send the second charging control signal；Charging pile described in S75 stops to institute according to second charging control signal
Robot is stated to be charged.
Preferably, step S40 includes：S41 is in the switch sub-circuit of charging pile and closed according to the charging control signal
Conjunction state or off-state；S42 is charged or stopped to the robot by the switch sub-circuit, the second charging spring lamination
Charging.
By the automatic charging system and method for a kind of robot provided by the invention, following at least one can be brought to have
Beneficial effect：
1st, it can identify whether robot reaches the charge position of charging pile, and charging pile is reached recognizing robot
Charge position when can just turn on charging circuit to robot charge, such user when robot does not charge, touching
The danger of electric shock is there will not be to charging pile, adds the security of charging device.
2nd, charging spring lamination can be made not charged after charging.Some current robots are after charging, the electricity of battery
It can reversely be flowed on charging spring lamination, make charging spring lamination powered, can so reduce the service life of device, also can be to robot
Work impacts, the larger robot of power if there is charging spring lamination it is powered the problem of, user can may also be caused
Injury.The counnter attack protection circuit of the present invention can be prevented after charging complete, reverse battery output, cause shell fragment powered.
3rd, it can effectively detect whether charging pile charges to robot, when state detection circuit has not detected electric current
When being flowed out from charging circuit, charging circuit can be reopened, user can also know robot whether in charging by warning light
State.
Brief description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, a kind of the automatic of robot is filled
Above-mentioned characteristic, technical characteristic, advantage and its implementation of electric system and method are further described.
Fig. 1 is a kind of electrical block diagram of the automatic charging system of robot of the present invention；
Fig. 2 is the circuit diagram of counnter attack protection circuit in the present invention；
Fig. 3 is the circuit diagram for detecting circuit in the present invention in place；
Fig. 4 is the circuit diagram of state detection circuit in the present invention；
Fig. 5 is a circuit diagram of communicating circuit in the present invention；
Fig. 6 is another circuit diagram of communicating circuit in the present invention；
Fig. 7 is the circuit diagram of charging circuit in the present invention；
Fig. 8 is a kind of a kind of schematic flow sheet of the automatic recharging method of robot of the present invention；
Fig. 9 is a kind of another schematic flow sheet of the automatic recharging method of robot of the present invention；
Figure 10 is a kind of another schematic flow sheet of the automatic recharging method of robot of the present invention；
Drawing reference numeral explanation：
1- robots, the charging spring laminations of 10- first, 11- first detect circuit, the communicating circuits of 12- first, 13- first in place
Detection is electric in place by control circuit, 14- counnter attacks protection circuit, 15- batteries, 2- charging piles, the charging spring laminations of 20- second, 21- second
Road, the communicating circuits of 22- second, the second control circuits of 23- second, 24- charging circuits, 240- switches sub-circuit, 241- power supplys
Circuit.
Embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The embodiment of the present invention.It should be evident that drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically show in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form readily appreciates, there is identical structure or function in some figures
Part, one of those is only symbolically depicted, or only marked one of those.Herein, "one" is not only represented
" only this ", the situation of " more than one " can also be represented.
According to one embodiment provided by the invention, the automatic charging system and method for a kind of robot, including robot
And charging pile；
The robot includes：
First detection circuit in place, when the first charging spring lamination in the described first detection electric circuit inspection robot in place is with filling
When whether the second charging spring lamination in electric stake docks successfully, the first docking signal is produced；The first docking signal includes first
Dock pass signal, the first docking failure signal；
First control circuit, the first control circuit electrically connects with the first detection circuit in place, for that ought receive the
During one docking signal, and forward the first docking signal；
The charging pile includes：
Second detection circuit in place, when the described second detection charging spring lamination of electric circuit inspection second and the first charging spring lamination in place
When whether docking is successful, the second docking signal is produced；The second docking signal includes the second docking pass signal, the second docking
Failure signal；
Second control circuit, the second control circuit electrically connect with the second detection circuit in place, the second control electricity
Road is also connected with first control circuit radio communication, for docking signal according to the second docking signal received and/or first,
Send charging control signal；The charging control signal includes the first charging control signal, the second charging control signal；
Charging circuit, the charging circuit electrically connect with the second control circuit, for according to the charging control received
Signal processed, the robot is charged or stops charging.
Described first detection circuit in place is identical with the described second detection circuit in place, and its circuit diagram is as shown in Fig. 2 in place
Detection circuit includes photoelectric detection switch (being not shown in fig. 2), and the output end of the photoelectric detection switch passes through resistance R108
Electrically connected with the first power supply 5V, the output end of the photoelectric detection switch is also grounded by resistance R109；The first power supply 5V
Also it is grounded by electric capacity C115, the electric capacity C115 is used to filter；The first power supply 5V is also electric with the second control circuit
Connection, the second control circuit are also grounded.
Further, by the first insert row P103 first interface 1, the 4th interface 4 respectively with first control circuit or second
Control circuit connects, and the first insert row P103 the 3rd interface 3 is connected with photoelectric detection switch, and the 3rd interface 3 is gone back and resistance
R108 one end electrical connection, the other end of the resistance R108 electrically connect with the first power supply 5V, the other end of the resistance R108
Also it is grounded by electric capacity C115, the first interface 1 of the other end of the resistance R108 also with the first insert row P103 electrically connects；It is described
The one end of 3rd interface 3 also with resistance R109 electrically connects, and the other end ground connection of the resistance R109, the resistance R109's is another
The 4th interface 4 also with the first insert row P103 is held to electrically connect.
Specifically, the structure in charging device and level detecting apparatus can refer to patent application《A kind of charging connector and charging
Equipment》, Application No. 201710311847.5.When robot is located at charging pile, the first shell fragment and the second shell fragment successfully dock
When, when photoelectric detection switch is not received by photosignal, the photoelectric detection switch controls to first control circuit or second
Circuit, send low level 0；When first shell fragment and the second shell fragment successfully dock, when photoelectric detection switch receives photosignal, light
Electric-examination slowdown monitoring switch sends high level 1 to first control circuit or second control circuit.
It is designed with detecting circuit and control circuit in place in robot and charging pile, in order to make a distinction, by robot
Detection circuit in place and control circuit are labeled as the first detection circuit and first control circuit in place, by the detection in place of charging pile
Circuit and control circuit are labeled as the second detection circuit and second control circuit in place；
Detection circuit in place includes photoelectric detection switch, when robot returns to charging pile charging, it may appear that two kinds of situations,
The first is that robot docks successfully with charging pile, i.e., detects that robot has been positioned at charge position in place；It is another
Situation is that robot does not dock successfully with charging pile, i.e., detection in place does not detect that robot has been positioned at charge position.
In the first scenario, robot charging spring lamination contacts with charging pile charging spring lamination can trigger photoelectric detection switch,
First detection circuit in place and the second detection circuit in place can send corresponding first docking signal and the second docking signal, now
The content of first docking signal and the second docking signal is to dock pass signal, and the first docking signal is sent into the first control
Circuit processed, the second docking signal is sent to second control circuit, when first control circuit and second control circuit all receive phase
After the first docking signal and the second docking signal answered, second control circuit can be according to the first docking signal received and the
Two docking signals, send charging control signal, the charging control signal now sent is the first charging control signal, charging circuit
After receiving the first charging control signal, start to charge to robot.Except such scheme, second control circuit can also receive
During the one of which signal of one docking signal and the second docking signal, the first charging control signal is sent, charging circuit receives the
After one charging control signal, robot is charged.
In the latter case, when robot returns to charging pile charging, photoelectric detection switch, the first inspection in place are not triggered
Slowdown monitoring circuit and the second detection circuit in place can send corresponding first docking signal and the second docking signal, now the first docking letter
Number and second docking signal content be dock failure signal, and by first docking signal be sent to first control circuit, will
Second docking signal is sent to second control circuit, when first control circuit and second control circuit all receive corresponding first pair
After connecing signal and the second docking signal, second control circuit can be believed according to the first docking signal and the second docking received
Number, charging control signal is sent, the charging control signal now sent is the second charging control signal, and charging circuit receives
After two charging control signals, stop charging to robot.Except such scheme, second control circuit can also receive the first docking
During the one of which signal of signal and the second docking signal, the second charging control signal is sent, charging circuit receives the second charging
After control signal, robot is charged.
As shown in figure 1, according to another embodiment of the invention, a kind of automatic charging system of robot machine people, bag
Include：Robot and charging pile：
The robot includes：
First detection circuit in place, when the first charging spring lamination in the described first detection electric circuit inspection robot in place is with filling
When whether the second charging spring lamination in electric stake docks successfully, the first docking signal is produced；
First control circuit, the first control circuit electrically connects with the first detection circuit in place, for that ought receive the
During one docking signal, and forward the first docking signal；
The charging pile includes：
Second detection circuit in place, when the described second detection charging spring lamination of electric circuit inspection second and the first charging spring lamination in place
When whether docking is successful, the second docking signal is produced；
Second control circuit, the second control circuit electrically connect with the second detection circuit in place, the second control electricity
Road is also connected with first control circuit radio communication, for docking signal according to the second docking signal received and/or first,
Send charging control signal；The charging control signal includes the first charging control signal, the second charging control signal；
Charging circuit, the charging circuit electrically connect with the second control circuit, for according to the charging control received
Signal processed, the robot is charged or stops charging.
The robot also includes：
Counnter attack protection circuit, described counnter attack protection circuit one end are electrically connected with first charging spring lamination, and the counnter attack is protected
Battery of the protection circuit other end also with the robot electrically connects, for stopping the electricity to the robot when the charging circuit
After pond is charged, prevent the battery of the robot to the reverse inflow current of the first charging spring lamination.
The charging pile also includes：
State detection circuit, the state detection circuit electrically connect with the second control circuit, the state-detection electricity
Whether road also electrically connects with the charging circuit, be powered between the charging circuit and second charging spring lamination for detecting,
Produce and send state detection signal；The state detection signal includes "on" position detection signal, off-position detection signal
The second control circuit is additionally operable to, according to the state detection signal received, send or abandon again to send again
The charging control signal.
The first control circuit is additionally operable to detect the robot battery when filling with electricity, produces the first charging detection
Signal；
The robot also includes the first communicating circuit, and first communicating circuit is electrically connected with the first control circuit
Connect, for receiving and forwarding the first charging detection signal；
The charging pile also includes the second communicating circuit, second communicating circuit and the first communicating circuit channel radio
Letter connection, for receiving the first charging detection signal, and the first charging detection signal is forwarded to the described second control
Circuit；
The second control circuit is used to, according to the first charging detection signal received, send the second charge control
Signal；
The charging circuit is used to, according to the second charging control signal received, stop filling the robot
Electricity；
And/or；
The second control circuit is additionally operable to detect when the robot battery fills with electricity and caused second charging
Detection signal, send the second charging control signal；
The charging circuit is used to, according to the second charging control signal received, stop filling the robot
Electricity.
The charging circuit includes：
Sub-circuit is switched, the switch sub-circuit electrically connects with second control circuit, for according to the described second control electricity
The charging control signal that road is sent, the switch sub-circuit is set to be in closure state or closure state；First charging control signal
For conducting voltage；Second charging control signal is blanking voltage；
Power supply sub-circuit, the power supply sub-circuit with it is described switch sub-circuit electrically connect, the power supply sub-circuit also with institute
The electrical connection of the second charging spring lamination is stated, for being charged by the switch sub-circuit, the second charging spring lamination to the robot
Or stop charging.
As shown in figure 3, the counnter attack protection circuit includes one way conducting device, the anode and machine of the one way conducting device
The first charging spring lamination electrical connection of device people；The anode of the one way conducting device is also grounded by resistance R262；It is described unidirectionally to lead
Negative electrode of the anode of logical device also with voltage-regulator diode D206 electrically connects, and the plus earth of the voltage-regulator diode D206, is used for
Stablize the voltage of the first charging spring lamination；The anode of the one way conducting device also passes through resistance R264 and LED 204
Anode electrical connection, the minus earth of the LED 204；When the first charging spring lamination has current direction battery, hair
Optical diode LED204 lights, and prompts user robot to charge；The anode of the one way conducting device also with resistance R264
One end electrical connection, the other end of the resistance R264 is grounded by resistance R266, and the other end of the resistance R264 is also with two
Pole pipe D211 negative electrode electrical connection, the plus earth of the diode D211, the other end of the resistance R264 also pass through resistance
R280 electrically connects with first control circuit；The negative electrode of the one way conducting device electrically connects with robot battery, described unidirectionally to lead
Logical device has electric current one-way conduction function, and after charging complete, battery current can not reversely flow into robot charging spring lamination, from
And reach the uncharged purpose of charging spring lamination.The model MBR2045MFS of the one way conducting device.
For the state detection circuit as shown in figure 4, detecting device including Current Voltage, the Current Voltage detects device
Working power end V+ electrically connects with the first power supply 5V, and the working power end V+ of the Current Voltage detection device also passes through electric capacity
C106 is grounded；The earth terminal ground connection of the Current Voltage detection device；The load hot end of the Current Voltage detection device
VIN+ electrically connects with charging circuit (charger P203, charger P204), the load low potential of the Current Voltage detection device
End VIN- is electrically connected by a resistance R212 with charging circuit (charger P203, charger P204)；The Current Voltage inspection
The output end OUT for surveying device electrically connects with second control circuit, can export the current and voltage signals proportional to loading, and second
Whether control circuit is received after the signal of Current Voltage detection device output with regard to charging pile can be judged to robot
Charging, the output end OUT of the Current Voltage detection device are also grounded by resistance R105, the Current Voltage detection device
Output end OUT is also grounded by electric capacity C109.
First communicating circuit is identical with the circuit diagram of second communicating circuit, its circuit diagram as shown in Figure 5, Figure 6,
Communicating circuit is electrically connected by a second insert row P102 with first control circuit or second control circuit, second insert row
P102 first interface 1 is electrically connected by resistance R106 with second source 3V, and the first interface 1 of the second insert row P102 is also logical
Cross electric capacity C114 ground connection；The second interface 2 of the second insert row P102 is electrically connected by resistance R107 with second source 3V, described
Second insert row P102 second interface 2 is also grounded by protection device D105, and the protection device is PESD5V0U1BL；It is described
Second insert row P102 the 3rd interface 3 is grounded；The 4th interface 4 of the second insert row P102 is indicated by resistance R115 and first
Lamp (the first indicator lamp is not shown) electrically connects, and the 5th interface 5 of the second insert row P102 passes through resistance R114 and the
Two indicator lamps (the second indicator lamp is not shown) electrically connect；When there is signal to send, indicator lamp can send prompting, and described
Two insert row P102 the 5th interface 5 is grounded by the first protection device D106, and the 4th interface 4 of the second insert row P102 passes through
Second protection device D107 is grounded, and first, second protection device is PESD5V0U1BL；The of the second insert row P102
Six interfaces 6 meet second source 3V.
The charging circuit is as shown in fig. 7, comprises switch sub-circuit and power supply sub-circuit, the power supply sub-circuit include filling
Electrical equipment；The switch sub-circuit includes a controllable conduction device, controllable conduction device can by PMOS, NMOS tube, or
Other can be formed with the device of control circuit conducting state, in the present embodiment by taking PMOS as an example, but be not limited to that PMOS can only be used
Pipe；
The grid of controllable conduction device (PMOS) electrically connects with resistance R149 one end, resistance the R149 other end and electricity
R142 one end electrical connection is hindered, the resistance R142 other end electrically connects with photoelectrical coupler PC817B the 4th interface 4, the light
Electric coupler PC817B first interface 1 is electrically connected by electric R135 with second control circuit, the photoelectrical coupler PC817B
Second interface 2 electrically connected by electric R139 with second control circuit, the second interface 2 of the photoelectrical coupler PC817B,
Three interfaces 3 are grounded respectively, and described photoelectrical coupler is used to isolate the superior and the subordinate's circuit, reduces the interference between circuit, rises simultaneously
To the effect of protection circuit；
The source electrode of the controllable conduction device (PMOS) is electrically connected by resistance R212 and the charger P203 on charging pile
Connect, the one end of the source electrode of the controllable conduction device (PMOS) also with resistance R151 electrically connects, and the resistance R151's is another
End electrically connects with resistance R148 one end, and the other end of the resistance 148 electrically connects with the other end of resistance 149, the resistance
Negative electrode of 151 other end also with voltage-regulator diode D122 electrically connects, the other end and resistance of the voltage-regulator diode D122
R149 other end electrical connection, the both ends of the resistance R151 are also and to meet electric capacity a C145, the resistance R148 also in parallel
One voltage-regulator diode D122, for the voltage of stabilizing circuit, the source electrode of the controllable conduction device (PMOS) also with voltage stabilizing
Diode D123 negative electrode electrical connection, the anode of the voltage-regulator diode D123 are electrically connected with the resistance R149 other end, are used for
The voltage of stable grid and source electrode；
The drain electrode of the controllable conduction device (PMOS) also passes sequentially through electric capacity C148 and resistance R150 and the resistance
R149 other end electrical connection, the drain electrode of the controllable conduction device (PMOS) are also electric with the second charging spring lamination on charging pile
Connection, one end to drain also with resistance R211 of the controllable conduction device (PMOS) electrically connect, and the resistance R211's is another
One end is grounded by resistance R213, and the other end of the resistance R211 is also grounded by electric capacity C216, and the resistance R211's is another
One end is also grounded by protection device PESD5V0U1BL, and the other end of the resistance R211 also electrically connects with control circuit.Charging
Device P205 cathode output end is also electrically connected by resistance R159 with charger P205 cathode output end, the charger P205
Cathode output end also pass through parallel with one another electric capacity C1, C2, C3 ground connection.
Specifically, in the present embodiment, when robot returns to charging pile charging, robot charging spring lamination fills with charging pile
The contact of electric shell fragment can trigger photoelectric detection switch, and the first detection circuit in place and the second detection circuit in place can send corresponding the
One docking signal and the second docking signal, and first control circuit and second control circuit are sent respectively to, when the first control electricity
After road and second control circuit all receive corresponding first docking signal and the second docking signal, or one of control electricity
Road receives corresponding docking signal, it is possible to controls charging circuit to be charged to robot.
In charging process, state detection circuit can be to detecting whether that charger of the electricity out of charging pile flows to charging pile
The first charging spring lamination, can be defeated when detecting that charger of the electricity out of charging pile flows to the first charging spring lamination of charging pile
Go out the current and voltage signals proportional to the Current Voltage detected, and be sent to control circuit, control circuit is by receiving
After signal, then continue to control charging circuit to charge to robot；Filled when detecting without charger flow direction of the electricity out of charging pile
During the first charging spring lamination of electric stake, detection circuit does not have output current voltage signal then can be again to control circuit, control circuit
Conducting charging circuit is attempted, is charged to robot.
In charging process, whether robot control circuit and charging pile control circuit can monitor battery fully charged,
When robot control circuit detects that battery fills with electricity, the first charging detection signal can be produced, it is then logical by first
News circuit is sent to charging pile, when the second communicating circuit in charging pile receives the first charging detection signal, can be transmitted to charging
Second control circuit in stake, charging circuit is then controlled by second control circuit, stop charging to robot；Except above-mentioned
Outside scheme, whether the battery that the second control circuit in charging pile can also directly detect robot is full of, when detecting
Through full of when, can also control charging circuit stop to robot charge.Except the above situation, in the situation that battery is not full of also
Under, first control circuit can also send the first charging detection signal, and the content in this signal is not full of as, then passes through
First communicating circuit is sent to charging pile, when the second communicating circuit in charging pile receives the first charging detection signal, can forward
To the second control circuit in charging pile, then charging circuit is controlled to continue to charge to robot by second control circuit；Remove
Outside such scheme, whether the battery that the second control circuit in charging pile can also directly detect robot is full of, work as inspection
When measuring underfill, charging circuit can be also controlled to continue to charge to robot.
When end is charged, before terminating due to charging, the voltage on the first charging spring lamination of robot is higher than battery
Voltage, so current direction or the first charging spring lamination flow to battery, but when stopping charging, the voltage of battery will be high
In the first charging spring lamination, therefore electric current will reversely flow into the first charging spring lamination, in battery and the first charging spring lamination in this programme
Centre sets a counnter attack protection circuit, can prevent electric current from reversely flowing into the first charging spring lamination, realize that the first charging spring lamination exists
Charge uncharged purpose after electricity.
According to one embodiment of present invention, as shown in fig. 7, a kind of automatic recharging method of robot, including step：
S10 robots detect the first charging spring lamination in the robot and whether the second charging spring lamination on charging pile is right
When being connected into work(, the first docking signal is produced, and forwards the first docking signal；
When whether the charging pile detection charging spring lamination of electric circuit inspection second docks successfully with the first charging spring lamination described in S20, production
Raw second docking signal；
Charging pile described in S30 sends charge control letter according to the second docking signal received and/or the first docking signal
Number；The charging control signal includes the first charging control signal, the second charging control signal；
Charging pile described in S40 is charged to the battery of the robot according to the charging control signal or stops filling
Electricity.
Specifically, robot meeting auto-returned charging pile charging when detecting that self electric quantity is too low in the present embodiment,
There is photoelectric detection switch on robot and charging pile, when robot reaches the charge position of charging pile, robot can be touched
, can be to machine when photoelectric detection switch detects that robot has arrived at charge position with the photoelectric detection switch on charging pile
People and charging pile, which are sent, has checked robot signal in place, when robot and charging pile have been detected simultaneously by robot
When charge position, charging pile will control charger to charge robot；Except such scheme, in robot and
When one of charging pile detects that robot has arrived at charge position, can also charging pile be controlled to fill robot
Electricity.
According to another embodiment of the invention, as shown in figure 8, a kind of automatic recharging method of robot, including step：
S10 robots detect the first charging spring lamination in the robot and whether the second charging spring lamination on charging pile is right
When being connected into work(, the first docking signal is produced, and forwards the first docking signal；
When whether the charging pile detection charging spring lamination of electric circuit inspection second docks successfully with the first charging spring lamination described in S20, production
Raw second docking signal；
Charging pile described in S30 sends charge control letter according to the second docking signal received and/or the first docking signal
Number；The charging control signal includes the first charging control signal, the second charging control signal；
Charging pile described in S40 is charged to the battery of the robot according to the charging control signal or stops filling
Electricity；
S50 prevents the battery of the robot after charging pile stops charging to the battery of the robot
To the reverse inflow current of the first charging spring lamination；
S70 is produced when the robot detects that the battery of the robot fills with electricity and is sent the first charging
Detection signal；
Charging pile described in S71 sends the second charging control signal according to the first charging detection signal received；
Charging pile described in S72 stops charging to the robot according to second charging control signal；
And/or；
When the battery that charging pile described in S74 detects the robot fills with electricity, the second charging detection signal, hair are produced
Go out the second charging control signal；
Charging pile described in S75 stops charging to the robot according to second charging control signal.
Specifically, in the present embodiment, the process whether a detection robot battery fills with is added, works as machine
After people detects that its cells fill with, a signal for stopping charging being sent, charging pile receives the stopping charging
After signal, the switch of meeting charge closing stake, stop charging to robot；Except such scheme, charging pile also can be detected directly
Whether the battery of robot fills with, and when detecting that robot fills with electricity, closes the charging pile switch, stopping pair
Robot charges.In the present embodiment, the step of also add a counnter attack, after the charging pile closing switch circuit, machine
Device people prevents robot battery electric current from reversely flowing into shell fragment, reaches after stopping charging, the uncharged purpose of charging spring lamination, this
Step can be realized by setting the device of one or more one-way conductions between robot shell fragment and battery.
According to still a further embodiment, as shown in figure 9, a kind of automatic recharging method of robot, including step：
S10 robots detect the first charging spring lamination in the robot and whether the second charging spring lamination on charging pile is right
When being connected into work(, the first docking signal is produced, and forwards the first docking signal；
When whether the charging pile detection charging spring lamination of electric circuit inspection second docks successfully with the first charging spring lamination described in S20, production
Raw second docking signal；
Charging pile described in S30 sends charge control letter according to the second docking signal received and/or the first docking signal
Number；The charging control signal includes the first charging control signal, the second charging control signal；
S41 makes the switch sub-circuit of charging pile be in closure state or off-state according to the charging control signal；
S42 is charged to the robot by the switch sub-circuit, the second charging spring lamination or stops charging；
S50 prevents the battery of the robot after charging pile stops charging to the battery of the robot
To the reverse inflow current of the first charging spring lamination；
Whether charging pile described in S60 detects is powered between the charging circuit of the charging pile and second charging spring lamination,
Produce and send state detection signal；
Charging pile described in S61 sends the charging control signal, and return to step again according to the state detection signal
S50；Or abandon sending the charging control signal again；
S70 is produced when the robot detects that the battery of the robot fills with electricity and is sent the first charging
Detection signal；
Charging pile described in S71 sends the second charging control signal according to the first charging detection signal received；
Charging pile described in S72 stops charging to the robot according to second charging control signal；
And/or；
When the battery that charging pile described in S74 detects the robot fills with electricity, the second charging detection signal, hair are produced
Go out the second charging control signal；
Charging pile described in S75 stops charging to the robot according to second charging control signal；
Specifically, the present embodiment also has the step of detection charged state, charged sometimes to robot
During, the situation that stops suddenly of charging can be run into, even when starting to charge up, just without electric current to robot battery,
Under this situation, it is necessary to a process of a detection charged state is set, has electricity to be flowed to from charging pile detecting not
During robot, then charge switch is reopened, robot is charged.In the present embodiment, charge switch in charging circuit can be with
By PMOS, NMOS tube and other can be formed with the device of control circuit conducting state, the present embodiment works as needs by taking PMOS as an example
When opening switch, to one high voltage of grid of PMOS, when a threshold voltage is reached, then communication channel can be formed, makes circuit
Turn on, the charger in charging pile is charged by the circuit having been turned on to robot again.
It should be noted that above-described embodiment can independent assortment as needed.Described above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, do not departing from the premise of the principle of the invention
Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of automatic charging system of robot, it is characterised in that including robot and charging pile：
The robot includes：
First detection circuit in place, the first charging spring lamination and charging pile in the described first detection electric circuit inspection robot in place
On the second charging spring lamination when whether docking successfully, produce the first docking signal；
First control circuit, the first control circuit are electrically connected with the first detection circuit in place, and first pair is received for working as
When connecing signal, and forward the first docking signal；
The charging pile includes：
Second detection circuit in place, when the described second detection charging spring lamination of electric circuit inspection second and the first charging spring lamination in place whether
When docking successfully, the second docking signal is produced；
Second control circuit, the second control circuit electrically connect with the second detection circuit in place, and the second control circuit is also
It is connected with first control circuit radio communication, for according to the second docking signal received and/or the first docking signal, sending
Charging control signal；The charging control signal includes the first charging control signal, the second charging control signal；
Charging circuit, the charging circuit electrically connect with the second control circuit, for according to the charge control letter received
Number, the battery of the robot is charged or stops charging.
2. a kind of automatic charging system of robot as claimed in claim 1, it is characterised in that the robot also includes：
Counnter attack protection circuit, one end of the counnter attack protection circuit electrically connect with first charging spring lamination, the counnter attack protection
Battery of the other end of circuit also with the robot electrically connects, for stopping the electricity to the robot when the charging circuit
After pond is charged, prevent the battery of the robot to the reverse inflow current of the first charging spring lamination.
3. a kind of automatic charging system of robot as claimed in claim 1, it is characterised in that the charging pile also includes：
State detection circuit, the state detection circuit electrically connect with the second control circuit, and the state detection circuit is also
Electrically connected with the charging circuit, for detect the charging circuit whether output current voltage, produce and send state-detection
Signal；
The second control circuit is additionally operable to according to the state detection signal that receives, sends or abandon again to send again described
Charging control signal.
A kind of 4. automatic charging system of robot as claimed in claim 1, it is characterised in that：
When the first control circuit is additionally operable to detect that the robot battery fills with electricity, the first charging detection letter is produced
Number；
The robot also includes the first communicating circuit, and first communicating circuit electrically connects with the first control circuit, uses
In receive and forward it is described first charging detection signal；
The charging pile also includes the second communicating circuit, and second communicating circuit connects with the first communicating circuit radio communication
Connect, for receiving the first charging detection signal, and forward the first charging detection signal to the second control circuit；
The second control circuit is used to, according to the first charging detection signal received, send the second charge control letter
Number；
The charging circuit is used to, according to the second charging control signal received, stop charging to the robot；
And/or；
The second control circuit is additionally operable to detect when the robot battery fills with electricity and caused second charging detection
Signal, send the second charging control signal；
The charging circuit is used to, according to the second charging control signal received, stop charging to the robot.
5. a kind of automatic charging system of robot as any one of claim 1-4, the charging circuit include：
Sub-circuit is switched, the switch sub-circuit electrically connects with second control circuit, for being sent out according to the second control circuit
The charging control signal gone out, the switch sub-circuit is set to be in closure state or off-state；
Power supply sub-circuit, the power supply sub-circuit electrically connect with the switch sub-circuit, and the power supply sub-circuit is also with described the
Two charging spring laminations electrically connect, for being charged or being stopped to the robot by the switch sub-circuit, the second charging spring lamination
Only charge.
6. a kind of automatic recharging method of robot, it is characterised in that comprise the following steps：
Whether the first charging spring lamination that S10 robots are detected in the robot is butted into the second charging spring lamination on charging pile
During work(, the first docking signal is produced, and forwards the first docking signal；
Whether the charging pile detection charging spring lamination of electric circuit inspection second described in S20 with the first charging spring lamination when docking successfully, generation the
Two docking signals；
Charging pile described in S30 sends charging control signal according to the second docking signal received and/or the first docking signal；
The charging control signal includes the first charging control signal, the second charging control signal；
Charging pile described in S40 is charged to the battery of the robot according to the charging control signal or stops charging.
7. a kind of automatic recharging method of robot as claimed in claim 6, it is characterised in that wrapped after the step S40
Include step：
S50 prevents the battery of the robot to institute after the charging pile stops charging to the battery of the robot
State the reverse inflow current of the first charging spring lamination.
8. a kind of automatic recharging method of robot as claimed in claim 6, it is characterised in that after the step S40 also
Including：
Whether charging pile described in S60 detects is powered between the charging circuit of the charging pile and second charging spring lamination, produces
And send state detection signal；
Charging pile described in S61 sends the charging control signal, and return to step S50 again according to the state detection signal；
Or abandon sending the charging control signal again.
9. a kind of automatic recharging method of robot as claimed in claim 6, it is characterised in that wrapped after the step S40
Include：
S70 is produced when the robot detects that the battery of the robot fills with electricity and is sent the first charging detection
Signal；
Charging pile described in S71 sends the second charging control signal according to the first charging detection signal received；
Charging pile described in S72 stops charging to the robot according to second charging control signal；
And/or；
When the battery that charging pile described in S74 detects the robot fills with electricity, the second charging detection signal is produced, sends the
Two charging control signals；
Charging pile described in S75 stops charging to the robot according to second charging control signal.
A kind of 10. automatic recharging method of robot as any one of claim 6-9, it is characterised in that step S40
Including：
S41 makes the switch sub-circuit of charging pile be in closure state or off-state according to the charging control signal；
S42 is charged to the robot by the switch sub-circuit, the second charging spring lamination or stops charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710876255.8A CN107508359A (en) | 2017-09-25 | 2017-09-25 | The automatic charging system and method for a kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710876255.8A CN107508359A (en) | 2017-09-25 | 2017-09-25 | The automatic charging system and method for a kind of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107508359A true CN107508359A (en) | 2017-12-22 |
Family
ID=60698933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710876255.8A Pending CN107508359A (en) | 2017-09-25 | 2017-09-25 | The automatic charging system and method for a kind of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107508359A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108215922A (en) * | 2018-02-06 | 2018-06-29 | 上海艾逻思智能设备有限公司 | AGV charging systems |
| CN109390729A (en) * | 2018-12-18 | 2019-02-26 | 上海木木聚枞机器人科技有限公司 | A kind of robot charging system and method |
| CN109921489A (en) * | 2019-03-27 | 2019-06-21 | 广州高新兴机器人有限公司 | A kind of contact low-voltage direct automatic charging system and method |
| CN109993794A (en) * | 2019-03-29 | 2019-07-09 | 北京猎户星空科技有限公司 | A kind of robot method for relocating, device, control equipment and storage medium |
| CN110601320A (en) * | 2019-10-28 | 2019-12-20 | 杭州艾米机器人有限公司 | Robot shuts down and fills electric pile structure |
| CN111371134A (en) * | 2018-12-26 | 2020-07-03 | 北京奇虎科技有限公司 | Butt joint identification circuit, charging seat and charging system |
| WO2022089587A1 (en) * | 2020-10-29 | 2022-05-05 | 深圳市普渡科技有限公司 | Power supply protection assembly, charging pile, and charging system for preventing short circuiting |
| WO2022105658A1 (en) * | 2020-11-20 | 2022-05-27 | 深圳市杉川机器人有限公司 | Automatic working system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11299092A (en) * | 1998-04-07 | 1999-10-29 | Sony Corp | Power supply adapter |
| US20010002786A1 (en) * | 1999-12-01 | 2001-06-07 | Kazuki Najima | Battery charging device |
| CN103036261A (en) * | 2011-10-08 | 2013-04-10 | 科沃斯机器人科技(苏州)有限公司 | Charging device and charging method |
| WO2015113462A1 (en) * | 2014-01-28 | 2015-08-06 | 广东欧珀移动通信有限公司 | Power adapter, terminal, and method for processing impedance anomalies in charging circuit |
| CN106786938A (en) * | 2016-12-30 | 2017-05-31 | 亿嘉和科技股份有限公司 | A kind of crusing robot localization method and automatic recharging method |
| CN207184113U (en) * | 2017-09-25 | 2018-04-03 | 上海木爷机器人技术有限公司 | A kind of automatic charging system of robot |
-
2017
- 2017-09-25 CN CN201710876255.8A patent/CN107508359A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11299092A (en) * | 1998-04-07 | 1999-10-29 | Sony Corp | Power supply adapter |
| US20010002786A1 (en) * | 1999-12-01 | 2001-06-07 | Kazuki Najima | Battery charging device |
| CN103036261A (en) * | 2011-10-08 | 2013-04-10 | 科沃斯机器人科技(苏州)有限公司 | Charging device and charging method |
| WO2015113462A1 (en) * | 2014-01-28 | 2015-08-06 | 广东欧珀移动通信有限公司 | Power adapter, terminal, and method for processing impedance anomalies in charging circuit |
| CN106786938A (en) * | 2016-12-30 | 2017-05-31 | 亿嘉和科技股份有限公司 | A kind of crusing robot localization method and automatic recharging method |
| CN207184113U (en) * | 2017-09-25 | 2018-04-03 | 上海木爷机器人技术有限公司 | A kind of automatic charging system of robot |
Non-Patent Citations (1)
| Title |
|---|
| 晓帆, 河南科学技术出版社 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108215922A (en) * | 2018-02-06 | 2018-06-29 | 上海艾逻思智能设备有限公司 | AGV charging systems |
| CN109390729A (en) * | 2018-12-18 | 2019-02-26 | 上海木木聚枞机器人科技有限公司 | A kind of robot charging system and method |
| CN111371134A (en) * | 2018-12-26 | 2020-07-03 | 北京奇虎科技有限公司 | Butt joint identification circuit, charging seat and charging system |
| CN109921489A (en) * | 2019-03-27 | 2019-06-21 | 广州高新兴机器人有限公司 | A kind of contact low-voltage direct automatic charging system and method |
| CN109993794A (en) * | 2019-03-29 | 2019-07-09 | 北京猎户星空科技有限公司 | A kind of robot method for relocating, device, control equipment and storage medium |
| CN110601320A (en) * | 2019-10-28 | 2019-12-20 | 杭州艾米机器人有限公司 | Robot shuts down and fills electric pile structure |
| WO2022089587A1 (en) * | 2020-10-29 | 2022-05-05 | 深圳市普渡科技有限公司 | Power supply protection assembly, charging pile, and charging system for preventing short circuiting |
| WO2022105658A1 (en) * | 2020-11-20 | 2022-05-27 | 深圳市杉川机器人有限公司 | Automatic working system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107508359A (en) | The automatic charging system and method for a kind of robot | |
| CN104037735B (en) | The rechargable power supplies protective device and method of electronic cigarette | |
| CN105048607B (en) | A kind of new multi output lithium battery source device and its control method | |
| CN106571665A (en) | Wireless charging reception device, electric automobile and wireless charging system | |
| CN207184113U (en) | A kind of automatic charging system of robot | |
| CN107768195A (en) | Pre-charge circuit built in D.C. contactor and its control method | |
| CN206195337U (en) | Battery package protection control circuit | |
| CN205959879U (en) | Built -in charging circuit in advance of direct current contactor | |
| CN207504601U (en) | Lithium battery multiple protective circuit | |
| CN205753342U (en) | Earth leakage protective device | |
| CN207475184U (en) | A kind of battery protecting circuit | |
| CN103630842B (en) | Set of cells fills electricity detecting system | |
| CN209590194U (en) | A kind of automatic charging equipment Plug contact condition checkout gear | |
| CN217545591U (en) | Double-end reverse connection protection device of solar charge-discharge controller | |
| CN105048579A (en) | Method for solving problem of mutual charging and discharging of different battery packs | |
| CN105006849A (en) | Intelligent switching-off control system of battery charger | |
| CN103248099A (en) | Intelligent charging control circuit | |
| CN104065110B (en) | Charging base, charging system and the charging method of electronic equipment | |
| CN106685004A (en) | Charge battery reverse connection protection circuit and reverse connection protection device | |
| CN203289085U (en) | Battery charge protection circuit, and charger using battery charge protection circuit | |
| CN206302178U (en) | A kind of onboard charger | |
| CN105610210A (en) | Safe charging circuit and method | |
| CN205693354U (en) | A kind of DC charging motor output reverse connection prevention protection circuit | |
| CN105811491A (en) | Intelligent turn-off control system for electronic circuit | |
| CN104752783A (en) | Terminal battery activation method, device and terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171222 |