CN108081980A - The recharging safety control system and control method of a kind of robot - Google Patents
The recharging safety control system and control method of a kind of robot Download PDFInfo
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- CN108081980A CN108081980A CN201711166109.2A CN201711166109A CN108081980A CN 108081980 A CN108081980 A CN 108081980A CN 201711166109 A CN201711166109 A CN 201711166109A CN 108081980 A CN108081980 A CN 108081980A
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- robot
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- recharging
- safety control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention relates to the recharging safety control systems and control method of a kind of robot; recharging safety control includes Charge Management machine, charging core control panel, Hall sensor, wireless aps, charger, charging pile and condition indicative signal lamp; present invention ensure that outdoor sports robot is under non-charged state; charging contact will not be charged, and robot is avoided to generate spark when being docked with charging pile；Before robot starts to charge up, short-circuit detecting is carried out to robot charging contact, avoids causing serious accident because of short trouble；When robot starts to charge up, the charging current of charger output is detected by charging core control panel, judge whether robot accurately docks with charging pile in time, robot is avoided to occur filling not into the abnormal conditions of electricity, the closed loop feedback signal of accurate positioning of charging is provided for robot, enhance the movement independence of robot, and improve the cruising ability of robot battery Full Charge Capacity, indirectly extend the service life of robot battery.
Description
Technical field
The present invention relates to data communication, the association areas such as automatically control, and in particular to a kind of recharging peace of robot
Full control system and control method.
Background technology
With the arriving in 4.0 epoch of global industry, the application of robot is more and more extensive, almost penetrates into all spectra.
Autokinetic movement robot takes on as the important branch in robot in fields such as national defence, industry, electric power, Entertainment Service Industries
More and more important role.However the autokinetic movement robot energy is mainly derived from battery, current battery technology is again without Faville
Hold robot 24 it is small when uninterrupted continuous work.To realize the purpose of robot entirely autonomous work for a long time, many robot systems
Commercial city is made to propose the scheme of robot autonomous charging and put into practice.It is main but in numerous recharging schemes
Energy is wanted all to concentrate on how to realize that robot is accurately positioned and dock with charging unit.For example, the robot autonomous safety that charges of cloud
Control system and method CN102437601A propose the spy using cloud computing platform collection monitoring cloud robot and charging unit
Reference ceases, and realizes the information exchange between three, is docked by cloud platform guided robot with charging unit, realizes robot
The purpose of recharging.Robot autonomous charging safety control system and method based on camera and laser aiming positioning-
CN106774298A disclose it is a kind of based on camera and laser aiming positioning robot autonomous charging safety control system and
Method mainly elaborates to add camera on robot body, shoots the light that laser emitter is sent on charging unit
Source, guided robot are accurately docked with charging pile, complete robot autonomous charging.More than two inventions realize robot with
The accurate docking of charging unit, after the completion of docking, charging unit directly starts the recharging to robot, but does not refer to
Go out after robot is docked with charging unit, the problem of whether charging unit can power on safely.Especially for outdoor sports
Robot, its realize recharging while, more need to consider the problems of charging security.
The content of the invention
It is starting point that the object of the invention, which is based on charging security problem, provides a kind of recharging security control of robot
System and control method, it is intended to improve the security of robot recharging in practical engineering application, and meet wheel type movement
The requirement of robot open air recharging.
The technical scheme is that：
The recharging safety control system of robot, including Charge Management machine, charging core control panel, hall sensing
Device, wireless aps, charger, charging pile and condition indicative signal lamp,
1) Charge Management machine is interconnected with wireless aps, realizes the information exchange between supervisor and outdoor wheeled robot；
2) outdoor wheeled robot needs to charge using wireless aps notice Charge Management machine；
3) when outdoor wheeled robot reaches charging pile position, side that the charging contact of robot bottom passes through mechanical presses
Formula is combined closely with charging pile, charging contact anode, cathode and the control terminal of robot bottom respectively with charging pile anode, negative
Pole and control terminal connect one to one；
4) robot has currently reached charge position using wireless aps notice Charge Management machine robot, please start to charge up stream
Journey；
5) Charge Management machine starts to charge up flow instruction to the transmission of charging core control panel；
6) charging core control panel starts to charge up safety inspection, that is, whether detects charging pile anode, cathode and control terminal
There are short circuit or open circuit conditions,
7) charging core control panel and passes through state instruction by charging safety state information Real-time Feedback to Charge Management machine
Signal lamp embodies current robot charging safe condition；
8) charging core control panel is detected the charging current of charger output by Hall sensor and fed back in real time
Charge Management machine；
9) Charge Management machine is judged by two parameters of robot battery voltage value of charging current value and backstage feedback
Whether robot charging is completed.
In addition, the body of the robot sets three charging contacts, respectively anode, cathode, control terminal, charging contact
Positive and negative anodes and car body battery plus-negative plate be connected by contactor is corresponding respectively, contactor control signal anode and charging contact control
End processed is connected, and contactor control signal cathode is connected with charging contact cathode.Robot is under not charged state, charging contact
The contactor control signal no-voltage connected, battery plus-negative plate are off with charging contact positive and negative anodes, remain
Robot charging contact is not charged, ensures robot security's reliability service.
The recharging method of controlling security of outdoor wheel type movement robot, it is characterised in that carry out according to the following steps：
Step 1, wireless WIFI communication networks, robot, recharging safety control system, background server three are built
It can carry out mutual information exchange；
Step 2, when robot body voltage detection module detects that battery capacity is less than set alarm threshold value, machine
Device people terminates current task and goes to charge position automatically；
Step 3, when outdoor wheeled robot reaches charging pile position, the charging contact of robot bottom passes through mechanical presses
Mode combine closely with charging pile, charging contact anode, cathode and the control terminal of robot bottom respectively with charging pile just
Pole, cathode and control terminal connect one to one；Hereafter, recharging safety control system is informed by wireless communication by robot
Supervisor, robot in place, starts to charge up；
Step 4, Charge Management machine is receiving robot in place after information, and notice charging core control panel starts to detect machine
Whether the charging contact positive and negative anodes and control terminal of people are short-circuit；
Step 5, recharging safety control system keeps control after short-circuit detecting has been carried out to robot charging contact
DC24V voltages on signal wire processed disconnect charging core control panel to the acquisition signal on charger output cathode power cord, this
When, robot charging contact positive and negative anodes are with charger positive and negative anodes still in off-state, then, recharging safety control system
Charger AC power is opened, is powered on to charger, the charging pile positive and negative anodes of recharging safety control system begin with voltage
Output, meanwhile, the connection of recharging safety control system closed DC 24V power cathodes and charger anode power cord is that is, logical
Cross the charging that the contactor that control charging contact is connected realizes robot battery positive and negative anodes and recharging safety control system
The positive and negative anodes docking of device, recharging safety control system start to charge to robot battery, while after Charge Management machine notice
Platform server, robot are in charged state；
Step 6, while recharging safety control system starts to charge up robot, charging core control panel passes through
Whether onboard Hall sensor detection output current of charger is normal, i.e., whether less than charging current value, (charging current value is to fill
Electric appliance nameplate it is nominal charge normal output current value), when charging core control panel detects that charging current is below the normal
When, then show that open circuit connection occurs in the charging pile of robot charging contact and recharging safety control system；At this point, from
Main charging safety control system cuts off charging AC power immediately, ensures that robot charging end is in a safe condition, meanwhile, it charges
Core control panel informs that charging open-circuit condition occurs in Charge Management machine in time by RS232 serial communications；Charge Management machine is being received
To after open circuit message, open fault alarm signal, while recharging safety control system shape are initiated to background server immediately
State indicator light is shown as yellow, so that worker person reaches failure judgement type at any time behind scene；After trouble shooting, staff
Fault clearance reset signal is sent to Charge Management machine by Self-resetting button；Charge Management machine is after reset signal is received, certainly
Main charging safety control system restarts step 3 to the workflow of step 6, while condition indicative signal lamp is become from yellow
Green；
Step 7, when charging core control panel detection charger charging current it is normal, then recharging safety control system after
Continuous to charge to robot, in charging process, robot detects cell voltage in real time by its voltage detection module, and leads to
It crosses wireless WIFI signal and cell voltage is sent to Charge Management machine；Reach Full Charge Capacity when Charge Management machine examination measures cell voltage
When, and (charging current value subtracts with the rise of cell voltage for the charging current value comparison detected with charging core control panel
It is small), when charging current value is less than lowest threshold (the charger actual output current value when threshold value is fully charged according to battery of setting
And depending on Hall sensor temperature drift parameter) when, recharging safety control system then cuts off charger AC power immediately, together
When inform background server, robot is in full of electricity condition.
Whether the charging contact positive and negative anodes and control terminal of charging core control panel detection robot are short-circuit specific as follows：
Step 4.1,24V is added on the cathode power supply line and control signal wire that charging core control panel is exported in charger
Whether voltage has DC24V voltage signals by the anode power cord for gathering charger, judges the power cathode of charger output and is
No short-circuit with positive pole and control signal, i.e., whether robot charging contact anode or control terminal are short-circuit with cathode；When filling
Electric core control panel do not detected when having DC24V voltages on anode power cord, then show robot charging contact anode or
Control terminal is with cathode without short circuit, then recharging safety control system continues to execute follow-up work flow；When charging core control
Making sheet detects that anode power cord there are during DC24V voltages, then shows robot charging contact anode or control terminal and cathode
There are short-circuit conditions；At this point, core control panel informs that the short-circuit shape that charges occurs in Charge Management machine in time by RS232 serial communications
State；Charge Management machine initiates short trouble alarm signal, while recharging safety to backstage immediately after short-circuit message is received
Control system status indicator lamp is shown in red, so that worker person reaches failure judgement type at any time behind scene；In trouble shooting
Afterwards, staff sends fault clearance reset signal by Self-resetting button to Charge Management machine；Supervisor is receiving reset letter
After number, recharging safety control system restarts step 3 to the workflow of step 4.1, while condition indicative signal lamp
Green is become from red；
Step 4.2, after detection of the recharging safety control system Jing Guo step 4.1, loading is disconnected in control signal
DC24V voltages on line and charger output cathode power cord, recharging safety control system are controlling after 5s is spaced
DC24V is added on signal wire, while with the presence or absence of 24V electricity on the core control panel detection charger output cathode power cord that charges
Pressure, judges whether recharging safety control system control signal short with charger output cathode power signal line with this
Whether road, i.e. robot charging contact anode are with controlling terminal shortcircuit, when core control panel does not collect charger output cathode
There are DC24V voltages on power cord, then prove robot charging contact anode with control terminal without short circuit, recharging control safely
System processed continues to execute follow-up work flow；When core control panel detects that there are DC24V on charger output cathode power cord
Voltage then shows that robot charging contact anode short-circuit conditions occurs with control terminal；At this point, core control panel is gone here and there by RS232
Port communications inform that charging short-circuit condition occurs in Charge Management machine in time；Charge Management machine is after short-circuit message is received, immediately backward
Platform initiates short trouble alarm signal, while recharging safety control system status indicator lamp is shown in red, so as to worker
Member reaches failure judgement type at any time behind scene；After trouble shooting, staff is by Self-resetting button to Charge Management machine
Send fault clearance reset signal；After reset signal is received, recharging safety control system restarts Charge Management machine
Step 3 to step 4.2 workflow, while condition indicative signal lamp from red become green.
The Charge Management machine is the supervisor of polycaryon processor.
The artificial wheel type movement robot of the machine.
Wherein, step 4, step 5, step 6, step 7 is filled for the autonomous of outdoor wheel type movement robot proposed by the invention
The key content of electric security control device and system provides a kind of safe and reliable charging mechanism for outdoor sports robot,
Further improve the adaptability under rugged environment of robot.
The present invention possesses following advantage and utilization benefit：
1. present invention ensures that outdoor sports robot, under non-charged state, robot charging contact and charging pile are equal
Will not be charged, the security risks such as spark are generated when being docked with charging pile so as to avoid robot；
2. recharging safety control system proposed by the invention before being started to charge up to robot, charges to robot
Contact carries out short-circuit detecting, so as to avoid the serious accident caused by short trouble；
3. recharging safety control system proposed by the invention passes through charging core when being started to charge up to robot
The charging current of control panel detection charger output, can timely judge whether robot accurately docks with charging pile, so as to keep away
Mian Liao robots occur filling not into the abnormal conditions of electricity, also provide the accurate closed loop feedback signal for charging and positioning for robot,
Further enhance the movement independence of outdoor robot.
4. recharging safety control system proposed by the invention when charging to robot, detects robot electricity in real time
Cell voltage and charger charging current, and the two is fully charged normal with battery Full Charge Capacity voltage parameter and charger respectively
Current value compares, so as to judge whether robot battery is fully charged.The system by the use of two parameter indexes as battery whether
Fully charged crucial foundation avoids void when there is battery charging and expires as (i.e. cell voltage is just charged to maximum, electric at this time
Pond is not full of), the cruising ability of robot battery Full Charge Capacity is improved, also indirectly extends the use of robot battery
Service life.
Description of the drawings
Fig. 1 is the automatic charging safety control schematic diagram of the present invention；
The automatic charging safety control that Fig. 2 is the present invention docks schematic diagram with outdoor wheeled robot；
Fig. 3 is the automatic charging safety control system structure chart of the present invention；
Fig. 4 is the automatic charging safety control system workflow of the present invention；
Fig. 5 is the automatic charging safety control system short-circuit detecting flow chart of the present invention；
Fig. 6 is that the automatic charging safety control system open circuit detection of the present invention and battery are full of overhaul flow chart.
Specific embodiment
With reference to attached drawing, the invention will be further described.
The present invention proposes a kind of the recharging safety control and system of outdoor wheel type movement robot, ties below
The drawings and specific embodiments are closed the present invention is further detailed.
As shown in Figure 1, Figure 2, Figure 3 shows, this recharging safety control includes Charge Management machine, charging core controls
Plate, Hall sensor, wireless aps, charger, charging pile and condition indicative signal lamp, it is characterised in that：
1) Charge Management machine is interconnected with wireless aps, realizes the information exchange between supervisor and outdoor wheeled robot；
2) outdoor wheeled robot needs to charge using wireless aps notice Charge Management machine；
3) when outdoor wheeled robot reaches charging pile position, side that the charging contact of robot bottom passes through mechanical presses
Formula is combined closely with charging pile, charging contact anode, cathode and the control terminal of robot bottom respectively with charging pile anode, negative
Pole and control terminal connect one to one；
4) robot has currently reached charge position using wireless aps notice Charge Management machine robot, please start to charge up stream
Journey；
5) Charge Management machine starts to charge up flow instruction to the transmission of charging core control panel；
6) charging core control panel starts to charge up safety inspection, that is, whether detects charging pile anode, cathode and control terminal
There are short circuit or open circuit conditions,
7) charging core control panel and passes through state instruction by charging safety state information Real-time Feedback to Charge Management machine
Signal lamp embodies current robot charging safe condition；
8) charging core control panel is detected the charging current of charger output by Hall sensor and fed back in real time
Charge Management machine；
9) Charge Management machine is judged by two parameters of robot battery voltage value of charging current value and backstage feedback
Whether robot charging is completed.
The Charge Management machine is the supervisor of polycaryon processor.
The recharging safety control and system of a kind of outdoor wheel type movement robot proposed by the invention, master
Flow is wanted as shown in figure 4, comprising the following steps：
Step 1：When robot detects that battery capacity is less than alarm threshold value, auto-returned charge point；
Step 2：Robot judges whether to reach charging pile position：Correspondence position is reached, then recharging is notified to control safely
System robot processed in place, starts to charge up flow；Correspondence position is not reached, then continues to execute step 2；
Step 3：Behind robot in-position, information in place, recharging peace are sent to recharging safety control system
Full control system starts to charge up flow；
Step 4：Recharging safety control system starts to carry out short-circuit detecting to robot charging contact；Short-circuit detecting is such as
Fruit has alert, then is performed again since step 3 after troubleshooting is complete；
Step 5：Charger powers on, recharging safety control system start to detect robot charging contact whether with charging
Stake open circuit；Open circuit detection then restarts step 3 if there is alert after troubleshooting is complete；
Step 6：Recharging safety control system detects robot charging voltage in real time and the output charging current that charges,
Judge whether robot battery is fully charged；
Step 7；If detection battery capacity has been filled with, recharging safety control system complete charge flow, conversely, then weighing
Newly performed since step 6.
Recharging safety control system short-circuit detecting flow proposed by the invention is as shown in figure 5, comprise the following steps：
Step 1：After robot charging contact is docked with charging pile, recharging safety control system proceeds by short-circuit inspection
It surveys；
Step 2：Recharging safety control system adds on charger output cathode power cord and control signal wire
DC24V voltages；
Step 3：Recharging safety control system is gathered by core control panel on charger output negative pole power cord
It is no to have 24V voltage signals, if so, then show robot charging contact anode or control terminal and the short circuit of charging contact cathode, from
Main charging safety control system resets and platform server sends short-circuit alarming information backward immediately, simultaneity factor status indicator lamp by
Green becomes red；After the complete short trouble of artificial treatment, event is sent to recharging safety control system by reset key
Hinder clear signal, recharging safety control system is performed since step 2 again, and simultaneity factor status indicator lamp is become by red
For green；
Step 4：Core control panel does not detect 24V voltage signals on charger output negative pole power cord, then shows
Robot charging contact anode or control terminal and charging contact cathode are without short-circuit state, the cut-out of recharging safety control system
The DC24V voltages being added on charger output cathode power cord and control signal wire, and DC24V is added on control signal wire
Voltage；
Step 5：Whether there are 24V voltages on recharging safety control system detection charger output cathode power cord, such as
Fruit has, then shows robot charging contact anode and control terminal shortcircuit.Recharging safety control system resets and immediately backward
Platform server sends short-circuit alarming information, and simultaneity factor status indicator lamp becomes red from green；In the complete short circuit event of artificial treatment
After barrier, fault clearance signal, recharging safety control system are sent to recharging safety control system by reset key
Again performed since step 2, simultaneity factor status indicator lamp becomes green from red；
Step 6：Recharging safety control system does not detect 24V voltages on charger output cathode power cord,
Then show that robot charging contact anode, control terminal and cathode are all gone well, no short-circuit state can power on charger.
Recharging safety control system open circuit detection proposed by the invention and battery are full of detection as shown in fig. 6, wrapping
Include following steps：
Step 1：Recharging safety control system after the power is turned on, starts to gather charging output current value to charger；
Step 2：When output current of charger value is less than normal charging current value, (value is nominal normal of charger nameplate
Charging output current value) when, then show that robot charging contact is opened a way with charging pile, the two is not docked normally:, recharging
Safety control system cuts off light source of charger and platform server sends open circuit warning message, simultaneity factor state instruction backward immediately
Lamp becomes yellow from green；After the complete short trouble of artificial treatment, sent out by reset key to recharging safety control system
Fault clearance signal is sent, recharging safety control system restarts charging flow, and simultaneity factor status indicator lamp is by yellow
Become green；
Step 3：When recharging safety control system detection output current of charger value it is normal, then start for robot electricity
It charges in pond；
Step 4：Recharging safety control system detects battery charging voltage and charging in real time in charging process
Device output current when charging voltage reaches Full Charge Capacity, then detects whether charger charging current is less than minimum charge threshold, such as
Fruit charger charging current has been less than minimum charge threshold, then shows that robot battery has been filled with；Recharging security control system
System cuts off light source of charger and platform server sends charging completion signal backward immediately；
Step 5：When recharging safety control system detects that battery charging voltage is not reaching to Full Charge Capacity value or electricity
Cell voltage has reached Full Charge Capacity value but charging current is still above minimum charge threshold, and recharging safety control system then continues
Perform step 4.
Claims (4)
1. the recharging safety control system of robot, including Charge Management machine, charging core control panel, Hall sensor,
Wireless aps, charger, charging pile and condition indicative signal lamp, it is characterised in that：
1) Charge Management machine is interconnected with wireless aps, realizes the information exchange between supervisor and outdoor wheeled robot；
2) outdoor wheeled robot needs to charge using wireless aps notice Charge Management machine；
3) when outdoor wheeled robot reaches charging pile position, the charging contact of robot bottom by way of mechanical presses with
Charging pile is combined closely, charging contact anode, cathode and the control terminal of robot bottom respectively with charging pile anode, cathode with
And control terminal connects one to one；
4) robot has currently reached charge position using wireless aps notice Charge Management machine robot, please start to charge up flow；
5) Charge Management machine starts to charge up flow instruction to the transmission of charging core control panel；
6) charging core control panel starts to charge up safety inspection, that is, detects whether charging pile anode, cathode and control terminal occur
Short circuit or open circuit conditions,
7) charging core control panel and passes through condition indicative signal by charging safety state information Real-time Feedback to Charge Management machine
Lamp body shows current robot charging safe condition；
8) charging core control panel is detected the charging current of charger output by Hall sensor and feeds back to charging in real time
Supervisor；
9) Charge Management machine judges machine by two parameters of robot battery voltage value of charging current value and backstage feedback
Whether people charges and completes.
2. the recharging safety control system of robot according to claim 1, it is characterised in that：The charging valve
Reason machine is the supervisor of polycaryon processor.
3. the recharging method of controlling security of outdoor wheel type movement robot, it is characterised in that carry out according to the following steps：
Step 1, wireless WIFI communication networks are built, robot, recharging safety control system, background server three can be into
Row mutual information exchanges；
Step 2, when robot body voltage detection module detects that battery capacity is less than set alarm threshold value, robot
Automatically terminating current task goes to charge position；
Step 3, when outdoor wheeled robot reaches charging pile position, side that the charging contact of robot bottom passes through mechanical presses
Formula is combined closely with charging pile, charging contact anode, cathode and the control terminal of robot bottom respectively with charging pile anode, negative
Pole and control terminal connect one to one；Hereafter, filling for recharging safety control system is informed by wireless communication by robot
Electric supervisor, robot in place, start to charge up；
Step 4, Charge Management machine is receiving robot in place after information, and notice charging core control panel starts to detect robot
Whether charging contact positive and negative anodes and control terminal are short-circuit；
Step 5, recharging safety control system keeps control letter after short-circuit detecting has been carried out to robot charging contact
DC24V voltages on number line disconnect charging core control panel to the acquisition signal on charger output cathode power cord, at this point,
Robot charging contact positive and negative anodes are with charger positive and negative anodes still in off-state, and then, recharging safety control system is beaten
Charger AC power is opened, is powered on to charger, it is defeated that the charging pile positive and negative anodes of recharging safety control system begin with voltage
Go out, meanwhile, the connection of recharging safety control system closed DC 24V power cathodes and charger anode power cord passes through
The contactor that control charging contact is connected realizes the charger of robot battery positive and negative anodes and recharging safety control system
Positive and negative anodes docking, recharging safety control system start to robot battery charge, while Charge Management machine notice backstage
Server, robot are in charged state；
Step 6, while recharging safety control system starts to charge up robot, charging core control panel passes through onboard
Whether whether Hall sensor detection output current of charger is normal, i.e., less than charging current value, when charging core control panel is examined
When measuring charging current and being below the normal, then show the charging pile of robot charging contact and recharging safety control system
There is open circuit connection；At this point, recharging safety control system cuts off charging AC power immediately, ensure that robot charges
Hold it is in a safe condition, meanwhile, charging core control panel informs that Charge Management machine charges in time by RS232 serial communications
Open-circuit condition；Charge Management machine initiates open fault alarm signal, simultaneously to background server immediately after open circuit message is received
Recharging safety control system status indicator lamp is shown as yellow, so that worker person reaches failure judgement class at any time behind scene
Type；After trouble shooting, staff sends fault clearance reset signal by Self-resetting button to Charge Management machine；Charging valve
Reason machine is after reset signal is received, and recharging safety control system restarts step 3 to the workflow of step 6, simultaneously
Condition indicative signal lamp becomes green from yellow；
Step 7, when charging core control panel detection charger charging current is normal, then recharging safety control system continues pair
Robot charges, and in charging process, robot detects cell voltage in real time by its voltage detection module, and passes through nothing
Cell voltage is sent to Charge Management machine by line WIFI signal；When Charge Management machine examination, which measures cell voltage, reaches Full Charge Capacity,
And the charging current value detected with charging core control panel compares, when charging current value is less than the lowest threshold of setting, from
Main charging safety control system then cuts off charger AC power immediately, while informs background server, and robot, which is in, to be full of
Electricity condition.
4. the recharging method of controlling security of open air wheel type movement robot according to claim 3, it is characterised in that：
Whether the charging contact positive and negative anodes and control terminal of charging core control panel detection robot are short-circuit specific as follows：
Step 4.1,24V electricity is added on the cathode power supply line and control signal wire that charging core control panel is exported in charger
Pressure, whether have DC24V voltage signals by the anode power cord for gathering charger, judge charger output power cathode whether
Short-circuit with positive pole and control signal, i.e., whether robot charging contact anode or control terminal are short-circuit with cathode；Work as charging
Core control panel is not detected when having DC24V voltages on anode power cord, then shows robot charging contact anode or control
End processed is with cathode without short circuit, then recharging safety control system continues to execute follow-up work flow；When charging core controls
Plate detects anode power cord, and there are during DC24V voltages, then show that robot charging contact anode or control terminal go out with cathode
Existing short-circuit conditions；At this point, core control panel informs that the short-circuit shape that charges occurs in Charge Management machine in time by RS232 serial communications
State；Charge Management machine initiates short trouble alarm signal, while recharging safety to backstage immediately after short-circuit message is received
Control system status indicator lamp is shown in red, so that worker person reaches failure judgement type at any time behind scene；In trouble shooting
Afterwards, staff sends fault clearance reset signal by Self-resetting button to Charge Management machine；Charge Management machine is receiving again
After the signal of position, recharging safety control system restarts step 3 to the workflow of step 4.1, while state instruction is believed
Signal lamp becomes green from red；
Step 4.2, after detection of the recharging safety control system Jing Guo step 4.1, disconnect loading control signal wire with
And the DC24V voltages on charger output cathode power cord, recharging safety control system is after 5s is spaced, in control signal
DC24V is added on line, while whether there is 24V voltages on the core control panel detection charger output cathode power cord that charges, with
This judges whether recharging safety control system control signal short-circuit with charger output cathode power signal line, i.e. machine
Whether device people's charging contact anode is with controlling terminal shortcircuit, when core control panel is not collected on charger output cathode power cord
There are DC24V voltages, then prove robot charging contact anode and control terminal without short circuit, recharging safety control system after
It is continuous to perform follow-up work flow；When core control panel is detected on charger output cathode power cord there are DC24V voltages, then table
There are short-circuit conditions with control terminal in bright robot charging contact anode；At this point, core control panel is timely by RS232 serial communications
Inform that charging short-circuit condition occurs in Charge Management machine；Charge Management machine initiates short circuit to backstage immediately after short-circuit message is received
Failure alarm signal, while recharging safety control system status indicator lamp is shown in red, so that worker person reaches scene
Failure judgement type at any time afterwards；After trouble shooting, staff is clear to Charge Management machine transmission failure by Self-resetting button
Except reset signal；For Charge Management machine after reset signal is received, recharging safety control system restarts step 3 to step
4.2 workflow, while condition indicative signal lamp becomes green from red.
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| CN201711166109.2A CN108081980A (en) | 2017-11-21 | 2017-11-21 | The recharging safety control system and control method of a kind of robot |
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| CN109177810A (en) * | 2018-09-28 | 2019-01-11 | 上汽通用五菱汽车股份有限公司 | Charge control method, device and the storage medium of electric car |
| CN109291812A (en) * | 2018-09-28 | 2019-02-01 | 上汽通用五菱汽车股份有限公司 | Electric car automatic recharging method, device and storage medium |
| CN109347168A (en) * | 2018-11-09 | 2019-02-15 | 苏州穿山甲机器人股份有限公司 | Electrode safety device |
| CN111817372A (en) * | 2020-06-29 | 2020-10-23 | 深圳优地科技有限公司 | Robot charging method, system, robot and storage medium |
| CN113890141A (en) * | 2021-09-27 | 2022-01-04 | 华特数字科技有限公司 | Battery state judgment method, system and chip of intelligent flow measurement robot |
| US11897350B2 (en) | 2020-07-02 | 2024-02-13 | Crown Equipment Corporation | Materials handling vehicle charging system comprising a floor-mounted charging plate |
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| CN113890141A (en) * | 2021-09-27 | 2022-01-04 | 华特数字科技有限公司 | Battery state judgment method, system and chip of intelligent flow measurement robot |
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