CN108183527B - A kind of control device and control method suitable for robot wireless charging system - Google Patents

A kind of control device and control method suitable for robot wireless charging system Download PDF

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Publication number
CN108183527B
CN108183527B CN201810038450.8A CN201810038450A CN108183527B CN 108183527 B CN108183527 B CN 108183527B CN 201810038450 A CN201810038450 A CN 201810038450A CN 108183527 B CN108183527 B CN 108183527B
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China
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relay
control
switch
charge controller
robot
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CN201810038450.8A
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CN108183527A (en
Inventor
谭林林
张铭
黄学良
李佳承
张振兴
闻枫
潘书磊
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Southeast University
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Southeast University
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H02J7/022Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters characterised by the type of converter
    • H02J7/025Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters characterised by the type of converter using non-contact coupling, e.g. inductive, capacitive
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H02J50/12Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type

Abstract

The invention discloses a kind of control device and control method suitable for robot wireless charging system, which includes high frequency inverter, energy emitting device, energy acceptance device and energy conversion circuit;Control device includes charge controller, optoelectronic switch sensor, and optoelectronic switch sensor is mounted on four angles of energy emitting device;The output end of optoelectronic switch sensor and the input terminal of charge controller connect, and charge controller is for controlling whether high frequency inverter works;Energy emitting device, charge controller, high frequency inverter are installed in ground charging station.The present invention ideally combines wireless power transmission technology, intellectual technology, enables crusing robot long-term work in the case where unmanned intervene;It can according to need selection automatic charging or manual powered;Input cost is lower, and control method is flexible and convenient, reliability is stronger, there is very strong practicability.

Description

A kind of control device and control method suitable for robot wireless charging system
Technical field
The invention belongs to wireless power transmission field, it is related to a kind of crusing robot wireless charging system more particularly to one Kind crusing robot intelligent charging control method.
Background technique
With the intelligent development of robot, crusing robot obtains in terms of unattended operation transformer station, route It is widely applied.Crusing robot wireless charging system can long-term work under the premise of unmanned intervene, need inspection machine People carries out automatic charging when reaching specified charge position, automatically powers off when sailing out of wireless charging position.How wireless charging is ensured Electric system can charge to crusing robot automatically, and switch to manually when equipment breaks down and is unable to automatic charging It charges to crusing robot, it has also become the hot issue of domestic and international experts and scholars' research.There is line charge for crusing robot at present The control method comparative maturity of electricity, but the control method for being suitable for crusing robot wireless charging is not mature enough.
Summary of the invention
Goal of the invention: it is of the existing technology more difficult to the control of crusing robot wireless charging in order to solve the problems, such as, The present invention provides a kind of control device suitable for robot wireless charging system.
It is a further object of the present invention to provide a kind of control methods suitable for robot wireless charging system.
Technical solution: a kind of control device suitable for robot wireless charging system, the wireless charging system include height Frequency inverter, energy emitting device, energy acceptance device and energy conversion circuit;Control device includes charge controller, light Electric switch sensor, optoelectronic switch sensor at least there are four, be separately mounted to four angles of energy emitting device;Optoelectronic switch The output end of sensor and the input terminal of charge controller connect, and charge controller is used for the output according to optoelectronic switch sensor Whether signal control high frequency inverter works;Energy emitting device, charge controller, high frequency inverter are installed in ground Charging station;Energy acceptance device is mounted on the bottom of crusing robot car body, and energy conversion circuit is mounted in car body, the energy The high-frequency alternating current that energy reception device obtains for being transformed to meet crusing robot battery charging requirement by quantitative change changing device Direct current.
Preferably, the charge controller includes nor gate, the first relay, the second relay, third relay, the 4th Relay, the 5th relay, the 6th relay, switching switch, manual start switch, manual shutdown switch, the optoelectronic switch The output end of sensor is connected to the input terminal of nor gate;The output end and ground of the coil access nor gate of first relay Between, the common end of the first relay is connected with switching switch is followed by ground, and normally opened contact connects electricity by the coil of the second relay Source;The series branch of first relay and switching switch is in parallel with manual start switch;The normally opened contact of second relay connects Power supply, common end connect the normally opened contact of third relay normally closed contact Yu the 4th relay simultaneously;The coil of third relay One end connects power supply, and the other end is connected ground connection with manual shutdown switch, the 4th relay of common end connection of third relay Coil one end;4th relay coil other end ground connection, the public termination power of the 4th relay;The coil of 5th relay is simultaneously It is associated on the 4th relay coil, the normally opened contact of the 5th relay and common end concatenate returning into high frequency inverter input terminal Lu Zhong, the energy emitting device connect the output end in high frequency inverter;The normally-closed contact of first relay is connected to third The junction of relay and manual shutdown switch.
Preferably, the power supply in charge controller is 12V power supply.
Preferably, the manual start switch and manual shutdown switch are reset switch.
It preferably, further include the 6th relay and other protections or emergency brake circuit, the coil of the 4th relay Normally-closed contact and the common end of the 6th relay are accessed between ground, the coil both ends of the 6th relay connect other protections or tight Anxious braking circuit, other described protections or emergency brake circuit include voltage protection circuit, current protecting circuit, temperature protection electricity One or more of road, emergency brake circuit.
Preferably, the model of the optoelectronic switch sensor wins light -50NK;The nor gate uses model The nor gate chip of M74HC4078.
It preferably, further include wireless communication module, the wireless communication module is for detecting optoelectronic switch sensor Target whether reach the signal of designated position and be transferred to substation's O&M control platform by wireless communication networks, and by power transformation The command signal that O&M control platform of standing issues is transferred to crusing robot.
A kind of control method using the control device for being suitable for robot wireless charging system, comprising the following steps:
(1) closure switching switch, when crusing robot reaches specified charge position, optoelectronic switch sensor detects mesh Mark, charge controller issue the signal that target reaches designated position to substation's O&M control platform by wireless communication networks, Stop sign is issued from control platform to crusing robot, crusing robot stops movement, and optoelectronic switch sensor exports low For level signal to the nor gate of charge controller, charge controller connects power circuit, passes through energy emitting device and energy Reception device charges high frequency inverter to crusing robot;
(2) after crusing robot is fully charged, substation's O&M control platform monitors the full power information of crusing robot, Charged area signal is sailed out of to robot sending, optoelectronic switch sensor issues high level signal, and charge controller controls power Down circuitry, high frequency inverter stop charging.
Preferably, switching switch is closed, charging is controlled by control manual start switch and manual shutdown switch.
The utility model has the advantages that provided by the invention a kind of suitable for crusing robot wireless charging system control device and controlling party Method ideally combines wireless power transmission technology, intellectual technology, enables crusing robot in unmanned the case where intervening Lower long-term work;It can according to need selection automatic charging or manual powered, meet various needs;In order to guarantee radio energy The efficiency and power of transmission, system use the wireless power transmission mode of magnet coupled resonant type;This method need to only be opened using photoelectricity Closing the devices such as sensor, relay can be realized the control either automatically or manually charged, and input cost is lower, and control method is flexible Conveniently, reliability is stronger, there is very strong practicability.
Detailed description of the invention
Fig. 1 is the schematic diagram of crusing robot wireless charging system battery charge controller of the invention;
Fig. 2 is the circuit diagram of charge controller in crusing robot wireless charging system battery charge controller of the invention;
Fig. 3 is the flow chart of crusing robot wireless charging system charge control method of the invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
As shown in Figure 1, a kind of control device suitable for robot wireless charging system, which includes height Frequency inverter 1, energy emitting device 4, energy acceptance device 5 and energy conversion circuit 6;Control device includes charge controller 2, optoelectronic switch sensor 3;There are four optoelectronic switch sensors 2, can also design more than four, and the present embodiment uses model The optoelectronic switch sensor of rich light -50NK, is separately mounted to four angles of energy emitting device 4;Optoelectronic switch sensor 3 it is defeated Outlet is connect with the input terminal of charge controller 2, and charge controller 2 is used for the output signal control according to optoelectronic switch sensor 3 Whether high frequency inverter 1 processed works;Energy emitting device 4, charge controller 2, high frequency inverter 1 are installed in ground and fill Power station 8;Energy acceptance device 5 is mounted on the bottom of 7 car body of crusing robot, can side slightly to the front, energy conversion circuit 6 install In car body;Energy acceptance device and energy emitting device mainly include coil and compensating electric capacity;The energy conversion circuit 6 is used It is transformed to meet the direct current of 9 charging requirement of crusing robot battery, energy in the high-frequency alternating current for obtaining energy reception device 5 Change of variable circuit 6 mainly includes rectification circuit and DC transfer circuit.
As shown in Fig. 2, the charge controller 2 include nor gate, the first relay, the second relay, third relay, 4th relay, the 5th relay, the 6th relay, switching switch, manual start switch, manual shutdown switch, the photoelectricity The output end of switch sensor is connected to the input terminal of nor gate;The output end and ground of the coil access nor gate of first relay Between, the common end of the first relay is connected with switching switch is followed by ground, and normally opened contact is connected by the coil of the second relay Power supply;The series branch of first relay and switching switch is in parallel with manual start switch;The normally opened contact of second relay connects Power supply is connect, common end connects the normally opened contact of third relay normally closed contact Yu the 4th relay simultaneously;The line of third relay It encloses one end and connects power supply, the other end is connected ground connection with manual shutdown switch, the 4th relay of common end connection of third relay Coil one end;The 4th relay coil other end connects the normally-closed contact of the 6th relay, the public termination of the 4th relay Power supply;The coils from parallel connection of coils of 5th relay is on the 4th relay coil, the normally opened contact of the 5th relay and common end concatenation Enter in high frequency inverter input end loop, the energy emitting device connects the output end in high frequency inverter;6th relay Device common end grounding, there are the coil interfaces of the 6th relay can be electricity for accessing other protections or emergency brake circuit Voltage protection circuit, current protecting circuit, temperature protection circuit or emergency brake circuit;The normally-closed contact of first relay is connected to The junction of third relay and manual shutdown switch.
Power supply in charge controller is 12V power supply.Manual start switch and manual shutdown switch are reset switch.
The nor gate uses the nor gate chip of model M74HC4078.
Wireless communication module is additionally provided on control device, the wireless communication module is for detecting optoelectronic switch sensor To target whether reach the signal of designated position and be transferred to substation's O&M control platform by wireless communication networks, and will become The command signal that power station O&M control platform issues is transferred to crusing robot.
As shown in figure 3, arrow direction is the driving direction of crusing robot, using the crusing robot wireless charging system The control method of control device, comprising the following steps:
(1) closure switching switch, when crusing robot reaches specified charge position, optoelectronic switch sensor detects mesh Mark issues the letter that target reaches designated position to substation's O&M control platform by wireless communication networks from charge controller Number, then stop sign is issued from control platform to crusing robot, crusing robot stops movement, and optoelectronic switch sensor is defeated For low level signal to the nor gate of charge controller, charge controller connects power circuit out, by energy emitting device and Energy acceptance device charges high frequency inverter to crusing robot;
(2) after crusing robot is fully charged, substation's O&M control platform monitors the full power information of crusing robot, Charged area signal is sailed out of to robot sending, optoelectronic switch sensor issues high level signal, and charge controller controls power Down circuitry, high frequency inverter stop charging.
In the closure state, crusing robot reaches specifies charge position to switching switch in charging control circuit, and four The all low levels of the output of a photoelectric sensor, nor gate chip export high level, and the normally opened contact of relay 1 becomes normally closed Contact, so that the coil of relay 2 powers on, the normally opened contact of relay 2 becomes normally-closed contact, and the switch of relay 3 is closure, So+12V power supply passes through the normally closed switch of relay 2, the normally closed switch of relay 3, the coil of relay 5 and relay 6 Then normally closed switch is grounded and is formed into a loop, the coil of relay 5 powers at this time, and the normally opened contact of relay 5 becomes normally closed touching Point charges to control high frequency inverter to crusing robot.When switching switch disconnects, system is to manually control charging, by Manual start switch controls high frequency inverter circuit and charges to crusing robot, by manual shutdown switch control high-frequency inversion electricity Resource loop power-off, control method is similar with autocontrol method, and switch selects reset switch, makes relay by relay 4 Device 2 and relay 3, which are formed, to be interlocked.Furthermore charge controller also sets up protection control, including voltage protection circuit, current protection Circuit, temperature protection circuit and emergency brake circuit.
If charge controller cannot receive the signal of optoelectronic switch sensor sending, it is unable to automatic charging and survey monitor Device people is badly in need of charging again, can switch the switching in charging control circuit and be switched to off-state, since relay 4 can realize relay Manual start switch is pressed in the interlocking of device 2 and relay 3, and the normally opened contact of relay 2 becomes normally-closed contact, and relay 3 is opened It closes and keeps normally closed, the normally opened contact of relay 5 becomes normally-closed contact, and the main loop of power circuit to connect therewith at this time forms access, is System starts to charge to crusing robot, presses manual shutdown switch, the normally-closed contact of relay 3 becomes normally opened contact, relay 5 Switch maintain a normally open, the main loop of power circuit to connect therewith at this time cannot form access, and system stops charging to crusing robot, Charging and power-off of the manual control system to crusing robot can be achieved.
In order to guarantee that the efficiency and power of wireless power transmission, the crusing robot wireless charging system use magnetic coupling The coil of the wireless power transmission mode of resonant mode, energy emitting device and energy acceptance device is all made of litz wire coiling.

Claims (8)

1. a kind of control device suitable for robot wireless charging system, which is characterized in that the wireless charging system includes height Frequency inverter, energy emitting device, energy acceptance device and energy conversion circuit;Control device includes charge controller, light Electric switch sensor, optoelectronic switch sensor at least there are four, be separately mounted to four angles of energy emitting device;Optoelectronic switch The output end of sensor and the input terminal of charge controller connect, and charge controller is used for the output according to optoelectronic switch sensor Whether signal control high frequency inverter works;Energy emitting device, charge controller, high frequency inverter are installed in ground Charging station;Energy acceptance device is mounted on the bottom of crusing robot car body, and energy conversion circuit is mounted in car body, the energy The high-frequency alternating current that energy reception device obtains for being transformed to meet crusing robot battery charging requirement by change of variable circuit Direct current;
The charge controller includes nor gate, the first relay, the second relay, third relay, the 4th relay, the 5th Relay, the 6th relay, switching switch, manual start switch, manual shutdown switch, the output of the optoelectronic switch sensor End is connected to the input terminal of nor gate;Between the output end and ground of the coil access nor gate of first relay, the first relay Common end connect with switching switch and is followed by ground, normally opened contact passes through the coil of the second relay connection power supply;First relay It is in parallel with manual start switch with the series branch of switching switch;The normally opened contact of second relay connects power supply, and common end is same When connect third relay normally closed contact and the 4th relay normally opened contact;Coil one end of third relay connects power supply, The other end is connected ground connection with manual shutdown switch, and the common end of third relay connects coil one end of the 4th relay;4th Relay coil other end ground connection, the public termination power of the 4th relay;The coils from parallel connection of coils of 5th relay is in the 4th relay On device coil, the normally opened contact of the 5th relay and common end are concatenated in the circuit of high frequency inverter input terminal, the energy Amount emitter connects the output end in high frequency inverter;The normally-closed contact of first relay be connected to third relay and manually The junction of shutdown switch.
2. the control device according to claim 1 suitable for robot wireless charging system, which is characterized in that charging control Power supply in device processed is 12V power supply.
3. the control device according to claim 1 suitable for robot wireless charging system, which is characterized in that the hand Dynamic start switch with manual shutdown switch is reset switch.
4. the control device according to claim 1 suitable for robot wireless charging system, which is characterized in that further include 6th relay and other protections or emergency brake circuit, access the 6th relay between the coil and ground of the 4th relay Normally-closed contact and common end, the coil both ends of the 6th relay connect other protection or emergency brake circuit, it is described other guarantor Shield or emergency brake circuit include voltage protection circuit, current protecting circuit, temperature protection circuit, one in emergency brake circuit Kind is several.
5. the control device according to claim 1 suitable for robot wireless charging system, which is characterized in that the light The model of electric switch sensor wins light -50NK;The nor gate uses the nor gate chip of model M74HC4078.
6. the control device according to claim 1 suitable for robot wireless charging system, which is characterized in that further include Wireless communication module, the wireless communication module are used to the target that optoelectronic switch sensor detects whether reaching designated position The signal life that is transferred to substation's O&M control platform by wireless communication networks, and substation's O&M control platform is issued Signal is enabled to be transferred to crusing robot.
7. a kind of control method of the control device suitable for robot wireless charging system using claim 6, feature It is, comprising the following steps:
(1) closure switching switch, when crusing robot reaches specified charge position, optoelectronic switch sensor detects target, Charge controller issues the signal that target reaches designated position to substation's O&M control platform by wireless communication networks, by pipe It controls platform and issues stop sign to crusing robot, crusing robot stops movement, and optoelectronic switch sensor exports low level For signal to the nor gate of charge controller, charge controller connects power circuit, passes through energy emitting device and energy acceptance Device charges high frequency inverter to crusing robot;
(2) after crusing robot is fully charged, substation's O&M control platform monitors the full power information of crusing robot, to machine Device human hair, which goes out, sails out of charged area signal, and optoelectronic switch sensor issues high level signal, and charge controller controls power circuit Power-off, high frequency inverter stop charging.
8. the control method of the control device according to claim 7 suitable for robot wireless charging system, feature It is, closes switching switch, charging is controlled by control manual start switch and manual shutdown switch.
CN201810038450.8A 2018-01-15 2018-01-15 A kind of control device and control method suitable for robot wireless charging system Active CN108183527B (en)

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CN109079796A (en) * 2018-09-20 2018-12-25 广东工业大学 A kind of intelligent robot and intelligent robot system
CN110266073A (en) * 2019-06-27 2019-09-20 广东嘉腾机器人自动化有限公司 Robot charge control system, robot charging equipment and robot
CN112202250B (en) * 2020-12-07 2021-03-16 深圳赫兹创新技术有限公司 Wireless charging control method and device and wireless charging system

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