CN107689664A - A kind of intelligent robot charging pile - Google Patents
A kind of intelligent robot charging pile Download PDFInfo
- Publication number
- CN107689664A CN107689664A CN201710912578.8A CN201710912578A CN107689664A CN 107689664 A CN107689664 A CN 107689664A CN 201710912578 A CN201710912578 A CN 201710912578A CN 107689664 A CN107689664 A CN 107689664A
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- circuit
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- 238000004891 communication Methods 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 239000002253 acid Substances 0.000 claims description 11
- 230000005669 field effect Effects 0.000 claims description 8
- 101000823089 Equus caballus Alpha-1-antiproteinase 1 Proteins 0.000 claims description 6
- 101000651211 Homo sapiens Transcription factor PU.1 Proteins 0.000 claims description 6
- 102100027654 Transcription factor PU.1 Human genes 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 2
- 230000008054 signal transmission Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 description 12
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000007667 floating Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- H02J7/027—
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a kind of intelligent robot charging pile, including charging power source circuit, charging control circuit, battery voltage detection circuit, communication module；Described charging power source circuit one end connects civil power, other end connection charging control circuit, and the charging control circuit includes the relay that single-chip microcomputer connects with single-chip microcomputer, and single-chip microcomputer controls the closure of charging power source circuit by the closure of control relay；The battery voltage detection circuit includes the voltage collection circuit that single-chip microcomputer connects with single-chip microcomputer, and the battery of robot whether is connected by battery voltage detection circuit detection charging pile；The battery voltage detection circuit connecting communication module, the communication module are also connected with charging control circuit.Intelligent robot charging pile of the present invention is safe, and reliability is high, and output voltage will not be short-circuit, will not get an electric shock.
Description
Technical field
The invention belongs to robot charging technique field, more particularly, to a kind of intelligent robot charging pile.
Background technology
Existing charging device just has charging voltage output after connecting civil power mostly, and output is dangerous, easily short circuit, touches
Electricity.Domestic robot is the equipment used at home, and charging pile will also be placed on family use, security requirement is increased,
To prevent that out-put supply is short-circuit, child's old man imprudence encounters charging pile contact, easily gets an electric shock.
The content of the invention
In view of this, the present invention is directed to propose a kind of intelligent robot charging pile, is exported with solving existing charging voltage
It is unstable, easily short-circuit, electric shock situation.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of intelligent robot charging pile, including charging power source circuit, charging control circuit, battery voltage detection circuit,
Communication module；
Described charging power source circuit one end connects civil power, other end connection charging control circuit, the charging control circuit
The relay connected including single-chip microcomputer with single-chip microcomputer, single-chip microcomputer control charging power source circuit by the closure of control relay
Closure；
The battery voltage detection circuit includes the voltage collection circuit that single-chip microcomputer connects with single-chip microcomputer, passes through the battery
Whether voltage detecting circuit detection charging pile connects the battery of robot；The battery voltage detection circuit connecting communication module,
The communication module is also connected with charging control circuit；The charging control circuit carries out signal biography by communication module and robot
It is defeated.
Further, the charging power source circuit includes electromagnetism anti-interference process circuit, the rectification filter that civil power passes through successively
Wave circuit, high frequency transformer；Also include control chip, the power field effect pipe of the control chip connection, the power field effect
Should pipe connection transformer；The high frequency transformer secondary output end by rectification, filtering after export cell voltage and
12V DC voltage.
Further, in addition to voltage acquisition feedback circuit, the voltage acquisition feedback circuit gather charging power source circuit
Voltage, feed back to the pressure feedback port of control chip.
Further, in addition to current acquisition feedback circuit, the current acquisition feedback circuit gather charging power source circuit
Electric current, return to the pressure feedback port of control chip.
Further, the battery is lead-acid battery.
Further, the communication module includes 433M wireless communication modules and single-chip microcomputer, the model of the single-chip microcomputer
STM32F103RCT6, the single-chip microcomputer connect 433M wireless communication modules single-chip microcomputer by SPI1 interfaces and pass through SPI1 interfaces.
Relative to prior art, intelligent robot charging pile of the present invention has the advantage that：
Intelligent robot charging pile of the present invention is safe, and reliability is high, and output voltage will not be short-circuit, will not touch
Electricity.
Brief description of the drawings
The accompanying drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the block diagram of intelligent robot charging pile in the embodiment of the present invention；
Fig. 2 is the charging power source circuit of the robot charging pile in the embodiment of the present invention with output voltage defencive function
Figure；
Fig. 3 is the charging control circuit of the robot charging pile in the embodiment of the present invention with output voltage defencive function
Figure；
Fig. 4 is the voltage acquisition feedback of the robot charging pile in the embodiment of the present invention with output voltage defencive function
Circuit diagram；
Fig. 5 is the current acquisition feedback of the robot charging pile in the embodiment of the present invention with output voltage defencive function
Circuit diagram；
Fig. 6 is the battery voltage detection of the robot charging pile in the embodiment of the present invention with output voltage defencive function
Circuit diagram；
Fig. 7 is the communication module circuit of the robot charging pile in the embodiment of the present invention with output voltage defencive function
Figure.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that instruction or hint phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature for defining " first ", " second " etc. can
To express or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in figure 1, a kind of intelligent robot charging pile, including charging power source circuit, charging control circuit, cell voltage
Detect circuit, communication module, voltage acquisition feedback circuit, current acquisition feedback circuit；
Described charging power source circuit one end connects civil power, other end connection charging control circuit, the charging control circuit
The relay connected including single-chip microcomputer with single-chip microcomputer, single-chip microcomputer control charging power source circuit by the closure of control relay
Closure；
The battery voltage detection circuit includes the voltage collection circuit that single-chip microcomputer connects with single-chip microcomputer, passes through the battery
Whether voltage detecting circuit detection charging pile connects the battery of robot；The battery is lead-acid battery.The cell voltage inspection
Slowdown monitoring circuit connecting communication module, the communication module are also connected with charging control circuit.When robot charging terminal touches charging
The charging holder of stake, battery voltage detection circuit have detected cell voltage, sent a message to by 433M wireless communication lines
Robot, after robot receives information, while robot also detects that charging terminal has been touched on the charging holder of charging pile,
Robot sends charging instruction, after charging pile receives charging instruction by 433M wireless communication lines, is sent out to charging control circuit
The number of delivering letters, the relay of charging control circuit are opened, and charging pile charges to the lead-acid battery of domestic robot, and pass through battery electricity
Pressure detection circuit detects lead-acid battery charging voltage in real time, until lead-acid battery is fully charged.
Charging power source circuit includes electromagnetism anti-interference process circuit, current rectifying and wave filtering circuit, the high frequency that civil power passes through successively and become
Depressor；Also include control chip, the power field effect pipe of the control chip connection, the power field effect pipe connects transformer
Primary coil；The high frequency transformer secondary output end after rectification, filtering by exporting cell voltage and 12V DC voltage.
As shown in Figures 2 to 7, L1, N1, PE1 end connection civil power in charging power source circuit, feedback voltage end connection voltage
The feedback voltage end of feedback circuit is gathered, the feedback voltage end of the current acquisition feedback circuit also connects charging power source circuit
Feedback voltage end, the battery charging voltage end of the cell voltage output end connection charging control circuit in charging power source circuit, fills
The battery positive of electric control circuit connects robot battery with battery negative terminal；Voltage acquisition feedback circuit and current acquisition feedback electricity
The battery charging voltage end in battery charging voltage end connection charging control circuit in road.
As shown in Fig. 2 the TR1 in charging power source circuit is thermistor, when preventing electric on one, EC1 charging currents are big, draw
Play short circuit and burn insurance.Z1 is piezo-resistance, and C22, C25 are Y capacitance, and L3 is that common mode inductance plays Anti-Jamming.Civil power is by electricity
After magnetic reactance interference, by DB1 bridge rectifiers, EC1 electric capacity is changed into 310V DC voltages after considering ripple.U6 7 pin are powered by R18,
There is provided and start voltage.U6 produces 100KHz pwm pulse bandwidth modulation signals driving power FET conducting and cut after starting
Only, when D10 is turned on, to high frequency transformer T1 primary charging coil, transformer secondary wire figure is backward voltage during charging,
D3, D6, D7 are cut-off state.When D10 ends, transformer secondary coil induces voltage, D3, D6, and D7 is turned on, C26,
After C30C34 filtering, 28.8V DC charging voltages, 12V DC voltage, 16V DC voltages are obtained.16V DC voltages supply electricity
Source controls IC, U6.D5, R15, C23 are transformer spike absorption circuit, protection power field effect pipe D10.
As shown in figure 3, charging control circuit is after charging pile receives charging instruction, single-chip microcomputer STM32F103RCT6 I/O
High level, triode Q2 conductings are exported, relay RLY1 is powered, and relay normally open contact closure, 28.8V DC voltages are to plumbic acid
Battery charges.
Also include voltage acquisition feedback circuit, the voltage acquisition feedback circuit gathers charging voltage, feeds back to control core
The pressure feedback port of piece.
As shown in figure 4, voltage acquisition feedback circuit, when battery charges, detects charging current by R44 and is converted into electricity
Pressure, passes to U7 5 pin, U7 models LM358, and voltage on the basis of 6 pin, 5 pin voltages are more than 6 pin reference voltages, and the output of 7 pin is high electric
Flat, D13, LED is sent out a warning, and represents that battery is charging, while triode Q3 is turned on, and U8 fans start to rotate, and are radiated to charging pile.
When battery soon full of when, electric current declines, and U7 5 pin level decline, during less than 6 pin, 7 pin output low level, stopping fan rotation,
The level of U7 2 pin is less than the level of 3 pin, 1 pin output high level, and D13 gives a green light, and represents that battery has been filled with electricity, into floating charge
State.Lead-acid battery floating charge voltage can be adjusted to 27V by finely tuning R54 potentiometers.U10 is that model TL431 is steady
Pressure pipe, 2 pin voltages are battery charging voltage, and electric resistance partial pressure provides.Made comparisons with internal 2.5V reference voltages, when battery charging electricity
When being pressed with change, 1, the 3 pin electric currents for flowing through U10 also change, and pass through the power supply of U9 opto-coupled feedbacks to charging power source circuit
Chip U6 2 pin.Make pulse width signal change in duty cycle, driving power FET D10 conductings and the time change ended,
So as to stable cell charging voltage, lead-acid battery constant-voltage charge is given.
Also include current acquisition feedback circuit, the current acquisition feedback circuit gathers charging current, returns to control core
The pressure feedback port of piece.
As shown in figure 5, when lead-acid battery charges, when battery charge is more than 2A, charge current sample resistance R44 electricity
Pressure is more than 0.2V.Amplifier LM358, U11 2 pin are more than 0.2V, and 3 pin are that the 2.5V reference voltages that U12 is provided pass through R51, R56 electricity
It is 0.2V voltages after resistance partial pressure.2 pin voltages are more than 3 pin voltages.1 pin exports low level.Battery charging voltage has by optocoupler U9
Electric current is by feeding back to the power supply control chip U6 of charging power source circuit 2 pin.Reduce pulse width signal dutycycle, drive
Dynamic power field effect pipe D10 ON times diminish, and so as to which stable cell charging current is no more than 2A, are filled to lead-acid battery constant current
Electricity.
As shown in fig. 6, cell voltage R10 partial pressures, is connected to single-chip microcomputer by resistance R8 in battery voltage detection circuit
STM32F103RCT6 AD sampling pin, can detect cell voltage.
As shown in fig. 7, the communication module includes 433M wireless communication modules and single-chip microcomputer, the model of the single-chip microcomputer
STM32F103RCT6, the single-chip microcomputer connect 433M wireless communication modules single-chip microcomputer by SPI1 interfaces and pass through SPI1 interfaces.
The 6 of 433M wireless communication modules, 7,8,9,10 pin connect the 22 of single-chip microcomputer, 23,21,20,24 pin.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (6)
- A kind of 1. intelligent robot charging pile, it is characterised in that：Including charging power source circuit, charging control circuit, cell voltage Detect circuit, communication module；Described charging power source circuit one end connects civil power, other end connection charging control circuit, and the charging control circuit includes The relay that single-chip microcomputer connects with single-chip microcomputer, single-chip microcomputer control closing for charging power source circuit by the closure of control relay Close；The battery voltage detection circuit includes the voltage collection circuit that single-chip microcomputer connects with single-chip microcomputer, passes through the cell voltage Whether detection electric circuit inspection charging pile connects the battery of robot；The battery voltage detection circuit connecting communication module, it is described Communication module is also connected with charging control circuit；The charging control circuit carries out signal transmission by communication module and robot.
- 2. intelligent robot charging pile according to claim 1, is characterised by：The charging power source circuit include civil power according to Electromagnetism anti-interference process circuit, current rectifying and wave filtering circuit, the high frequency transformer of secondary process；Also include control chip, the control core The power field effect pipe of piece connection, the power field effect pipe connect transformer；The high frequency transformer secondary is defeated Go out end by exporting cell voltage and 12V DC voltage after rectification, filtering.
- 3. intelligent robot charging pile according to claim 1, it is characterised in that：Also include voltage acquisition feedback circuit, The voltage of the voltage acquisition feedback circuit collection charging power source circuit, feed back to the pressure feedback port of control chip.
- 4. intelligent robot charging pile according to claim 1, it is characterised in that：Also include current acquisition feedback circuit, The electric current of the current acquisition feedback circuit collection charging power source circuit, return to the pressure feedback port of control chip.
- 5. intelligent robot charging pile according to claim 1, it is characterised in that：The battery is lead-acid battery.
- 6. intelligent robot charging pile according to claim 1, it is characterised in that：It is wireless that the communication module includes 433M Communication module and single-chip microcomputer, the model STM32F103RCT6 of the single-chip microcomputer, the single-chip microcomputer are connected by SPI1 interfaces 433M wireless communication modules single-chip microcomputer passes through SPI1 interfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710912578.8A CN107689664A (en) | 2017-09-29 | 2017-09-29 | A kind of intelligent robot charging pile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710912578.8A CN107689664A (en) | 2017-09-29 | 2017-09-29 | A kind of intelligent robot charging pile |
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| CN107689664A true CN107689664A (en) | 2018-02-13 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108306400A (en) * | 2018-03-22 | 2018-07-20 | 广州云阳电子科技有限公司 | A kind of detectable Cross prevention battery pack connects and starts the intelligent charger and its implementation of charging automatically |
| EP3616976A1 (en) * | 2018-08-27 | 2020-03-04 | BSH Hausgeräte GmbH | Charging station for a consumer, arrangement comprising the consumer and the charging station and method |
| CN111030255A (en) * | 2019-12-31 | 2020-04-17 | 深圳市银星智能科技股份有限公司 | Docking station, self-propelled robot and cleaning system |
| CN113612502A (en) * | 2021-06-22 | 2021-11-05 | 苏州大学 | Automatic charging electrode carrier communication circuit of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108306400A (en) * | 2018-03-22 | 2018-07-20 | 广州云阳电子科技有限公司 | A kind of detectable Cross prevention battery pack connects and starts the intelligent charger and its implementation of charging automatically |
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| CN113612502A (en) * | 2021-06-22 | 2021-11-05 | 苏州大学 | Automatic charging electrode carrier communication circuit of robot |
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Effective date of registration: 20191211 Address after: 300000 Tianjin city Xiqing District Yangliuqing town Liu Yilu No. 20 A District Applicant after: More than network technology (Tianjin) Co., Ltd. Address before: Yangliuqing town Liu Kou 300380 Tianjin District of Xiqing City Road and Jin Jing highway junction on the west side of Jingcheng Road Applicant before: Ke Ke Bert robot (Tianjin) Co., Ltd. |
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