CN108448674A - A kind of automatic charging system and method based on mechanical arm - Google Patents
A kind of automatic charging system and method based on mechanical arm Download PDFInfo
- Publication number
- CN108448674A CN108448674A CN201810275889.2A CN201810275889A CN108448674A CN 108448674 A CN108448674 A CN 108448674A CN 201810275889 A CN201810275889 A CN 201810275889A CN 108448674 A CN108448674 A CN 108448674A
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- machine
- sea
- mechanical arm
- microprocessor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
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Abstract
The invention discloses a kind of charging system based on mechanical arm, including charging unit and setting electric power detection module, locating module and the communication module on work machine on the water；A kind of charging method based on mechanical arm of the present invention, when operation at sea machine low battery, it can be recycled on the lifting platform of charging unit automatically, then mechanical arm is risen to by microprocessor control lifting platform, it is finally docked and is charged with the charge port on operation at sea machine by microprocessor control machinery arm, the full-automation of charging may be implemented in the present invention, without human intervention.
Description
Technical field
The present invention relates to charging technique field, especially a kind of automatic charging system and method based on mechanical arm.
Background technology
Automatic charging is a kind of current relatively advanced charging modes, is generally used for the automatic charging of sweeping robot, is led to
Crossing communication transmission instruction allows sweeping robot to move to juice point, and it is small to be chiefly used in interior etc. for the device of current this automatic charging
In type equipment, the demand of people is solved, realizes the continue working and unmanned management of equipment.
But with the appearance of the various more large-scale equipment in life, in the case that equipment is more large-scale, it is more difficult to move
Dynamic, equipment still needs to manually charge, and electricity consumption of equipment is often larger, and the frequency manually to charge is higher, and usual charging equipment
Voltage is larger, and there are security risks the automatic charging structure based on mechanical arm has occurred on the market to solve problems
And applied to the automatic charging of New-energy electric vehicle, but still need to manually travel to charging designated position, carries out automatic butt and fill
Electricity, due to the problem that its workload is big and power consumption is very big, needs manually real-time currently, more and more operation at sea machines occur
It carries out the recycling to equipment and charges, substantially reduce working efficiency, and recycle extremely inconvenience, to solve the above problems, just
Can automatically operation at sea machine be recycled and carry out automatic charging by needing a set of equipment, realize really unmanned intelligence
Equipment.
Invention content
To solve the above problems, the purpose of the present invention is to provide a kind of automatic charging system based on mechanical arm and sides
Method, can automatic work machine on recycle-water, and charged by mechanical arm, realize unmanned charging.
Technical solution is used by the present invention solves the problems, such as it：
A kind of automatic charging system based on mechanical arm includes the charging unit to charge to operation at sea machine, inspection
Electric power detection module, the locating module for positioning operation at sea machine location and the setting for surveying operation at sea machine electricity exist
The communication module for being communicated with charging unit on operation at sea machine, the electric power detection module detect operation at sea
The information about power of machine is simultaneously sent to charging unit by communication module, and the charging unit prepares to carry out operation at sea machine
Charging, the locating module are connect with communication module；The charging unit includes the machinery to charge to operation at sea machine
Whether arm, the lifting platform that operation at sea machine is moved to plane residing for mechanical arm, detection operation at sea machine are moved to lifting
Pressure sensor on platform and the microprocessor communicated with communication module, when pressure sensor detects operation at sea
Microprocessor is transmitted a signal to when machine is moved on lifting platform, microprocessor control lifting platform rises to flat residing for mechanical arm
Face, and control machinery arm charges to operation at sea machine.
Further, the charging unit further includes the location identification module for detecting operation at sea machine charge port.
Further, the location identification module is camera.The image information of operation at sea machine is acquired by camera
And analyze charge port.
Further, it is provided on the mechanical arm and docks the charging charged for the charge port with operation at sea machine
End.Charging end can be docked with the charge port of operation at sea machine, then be charged.
Further, the communication module is wireless communication module.Wireless communication module can ensure that operation at sea machine exists
It, still can be with microprocessor into row data communication when distant operational.
Further, the charging unit further includes power module, and the power module is connect with microprocessor.
Further, the charging unit further includes the stepper motor for controlling lifting of lifting table.Microprocessor driven stepping electricity
Machine controls the lifting of lifting platform.
A kind of automatic recharging method based on mechanical arm, includes the following steps：
A, when electric power detection module detects operation at sea machine low battery, locating module positions operation at sea machine position
It sets and location information is sent to by microprocessor by communication module, while charging unit location information is sent to by microprocessor
Operation at sea machine；
B, operation at sea machine is recycled on lifting platform automatically, is risen when pressure sensor detects that operation at sea machine reaches
When dropping on platform, detection information is sent to microprocessor, microprocessor controls lifting platform and rises；
C, when plane where operation at sea machine rises to mechanical arm, location identification module detects operation at sea machine
Charge port, and charge port information is transferred to microprocessor；
D, microprocessor control machinery arm is docked and is charged with the charge port of operation at sea machine.
E, the information about power of electric power detection module detection operation at sea machine, when detecting charging complete, electric power detection
The detection information of module is sent to microprocessor by communication module, and work waterborne is left in the charging end of microprocessor control machinery arm
Industry machine simultaneously controls lifting platform decline.
Further, electric power detection module detects operation at sea machine low battery in the step A, wherein to work waterborne
Industry machine set electricity lower limit threshold values, when electric power detection module detects that the electricity of operation at sea machine is below or equal to threshold values
When as low battery.
Further, in the step E electric power detection module detection operation at sea machine information about power, to operation at sea machine
Device sets electricity upper limit threshold values, is to have charged when electric power detection module detects that the electricity of operation at sea machine is equal to threshold values
At.
The beneficial effects of the invention are as follows：A kind of automatic charging system based on mechanical arm that the present invention uses, when work waterborne
It when industry machine electricity is relatively low, can be recovered on lifting platform automatically, then microprocessor control lifting platform rises, and control machine
Tool arm is docked with operation at sea machine and is charged, and after charging complete, microprocessor controls lifting platform and declines, to work waterborne
Industry machine may return on the water surface and work on, and realize the automation of charging process；
A kind of automatic recharging method based on mechanical arm of the present invention, when operation at sea machine low battery, by logical
Letter module and locating module make operation at sea machine be recycled on lifting platform, when pressure sensor detects operation at sea machine
When device reaches lifting platform, microprocessor control lifting platform rises to the plane residing for mechanical arm, then passes through location identification module
The charge port for identifying operation at sea machine is docked finally by the charge port of microprocessor control machinery arm and operation at sea machine
And charge, realize the full-automation of charging.
Description of the drawings
The invention will be further described with example below in conjunction with the accompanying drawings.
Fig. 1 is a kind of functional block diagram of the automatic charging system based on mechanical arm of the present invention；
Fig. 2 is a kind of flow chart of the automatic recharging method based on mechanical arm of the present invention.
Specific implementation mode
Referring to Fig.1, a kind of automatic charging system based on mechanical arm of the invention, including charging unit 1 and setting exist
Electric power detection module 2, locating module 3 on operation at sea machine and communication module 4, since operation at sea machine needs on the water
Different location work, so communication module 4 on operation at sea machine is wireless communication module, can send wireless messages to
On charging unit 1；When electric power detection module 2 detects the not enough power supply of operation at sea machine, water is positioned by locating module 3
The position of upper work machine, and communicated with charging unit 1 by communication module 4, then operation at sea machine can be automatic
It is recovered on charging unit 1 and charges.
Charging unit 1 includes lifting platform 12, pressure sensor 13, location identification module 15, mechanical arm 11 and micro- place
Device 14 is managed, operation at sea machine can be recovered on lifting platform 12, and pressure sensor 13 is provided on lifting platform 12, for detecting
Whether operation at sea machine stops onto lifting platform 12, when pressure sensor 13 detects that operation at sea machine has pulled up lifting
After on platform 12, it send information to microprocessor 14, microprocessor 14, which can control lifting platform 12 and be lifted off the water surface, reaches mechanical arm
Plane residing for 11, then location identification module 15 can identify the charge port of operation at sea machine, and the information of identification is transmitted
To microprocessor 14, the control machinery arm 11 after the information for receiving charge port of microprocessor 14 is docked and is filled with charge port
Electricity.
In charging process, electric power detection module 2 persistently detects the electricity of operation at sea machine, when detecting that electricity is full of
Afterwards, charge completion information is sent to microprocessor 14 by communication module 4,14 control machinery arm 11 of microprocessor leaves work waterborne
The charge port of industry machine, and control lifting platform 12 and drop at the water surface, operation at sea machine can proceed with work.
The automation of charging may be implemented in the charging system of the present invention, is not necessarily to the movement of manual control operation at sea machine,
It is docked with operation at sea machine without manual control mechanical arm 11, and suitable for the charging of a variety of operation at sea machines.
Specifically, location identification module 15 is camera, and the image information of operation at sea machine is acquired simultaneously by camera
Charge port is analyzed, is advantageous in that as location identification module 15 using camera, for different operation at sea machines,
The specific location of charge port may have certain deviation, so camera can acquire the location information of charge port, you can
It is charged for different operation at sea machines with realizing.
Specifically, charging end 111 is provided on mechanical arm 11, charging end 111 can be with the charge port of operation at sea machine
It is docked, is then charged.
Specifically, charging unit 1 further includes power module 16, and power module 16 is connect with microprocessor 14, is microprocessor
Device 14 is powered.
Specifically, charging unit 1 further includes the stepper motor 17 for controlling lifting platform 12 and lifting, when pressure sensor 13 detects
When reaching on lifting platform 12 to operation at sea machine, microprocessor (14) Driving Stepping Motor 17 makes lifting platform 12 rise, and works as electricity
When amount detection module 2 detects that operation at sea machine electricity is full of, detection information is transferred to by microprocessor by communication module 4
(14), microprocessor (14) makes lifting platform 12 decline according to detection information Driving Stepping Motor 17.
Specifically, charging unit 1 of the invention is also provided with an electric rotating machine, and electric rotating machine is arranged under lifting platform 12
Side, can control the rotation of lifting platform 12.
With reference to Fig. 2, a kind of automatic recharging method based on mechanical arm of the invention includes the following steps：
A, when electric power detection module 2 detects operation at sea machine low battery, locating module 3 positions operation at sea machine
Location information is simultaneously sent to microprocessor 14 by position by communication module 4, while microprocessor 14 is by the position of charging unit 1
It is sent to operation at sea machine；
B, operation at sea machine is recycled to automatically on lifting platform 12, when pressure sensor 13 detects that operation at sea machine arrives
When on up to lifting platform 12, detection information is sent to microprocessor 14, microprocessor 14 controls lifting platform 12 and rises；
C, when operation at sea machine rises to the plane at 11 place of mechanical arm, location identification module 15 detects operation at sea
The charge port of machine, and charge port information is transferred to microprocessor 14；
D, 14 control machinery arm 11 of microprocessor is docked and is charged with the charge port of operation at sea machine.
E, electric power detection module 2 detects the information about power of operation at sea machine, when detecting charging complete, electric power detection
The detection information of module 2 is sent to microprocessor 14, the charging end of 14 control machinery arm 11 of microprocessor by communication module 4
111 leave operation at sea machine and control the decline of lifting platform 12.
Specifically, electric power detection module 2 detects operation at sea machine low battery in step A, wherein to operation at sea
Machine set electricity lower limit threshold values, when electric power detection module 2 detects that the electricity of operation at sea machine is below or equal to threshold values
When as low battery.
Specifically, in step E electric power detection module 2 detect operation at sea machine information about power, to operation at sea machine
Electricity upper limit threshold values is set, is to have charged when electric power detection module 2 detects that the electricity of operation at sea machine is equal to threshold values
At.
Specifically, in step C, if operation at sea machine not pair does not cause location identification module 15 not examined due to direction
When measuring charge port, electric rotating machine of the control of microprocessor 14 positioned at 12 bottom of lifting platform rotates a certain angle, then position
Identification module 15 is again identified operation at sea machine, if still not recognizing charge port, then rotates a certain angle, directly
Until recognizing charge port, specifically, the angle of rotation can be determined according to the volume of operation at sea machine.
The above, only presently preferred embodiments of the present invention, the invention is not limited in the above embodiments, as long as
It reaches the technique effect of the present invention with identical means, should all belong to the scope of protection of the present invention.
Claims (10)
1. a kind of automatic charging system based on mechanical arm, it is characterised in that：Include being filled to what operation at sea machine charged
Electric installation (1), detect operation at sea machine electricity electric power detection module (2), for positioning determining for operation at sea machine location
Position module (3) and the communication module (4) for being communicated with charging unit (1) being arranged on work machine on the water, institute
It states the information about power of electric power detection module (2) detection operation at sea machine and charging unit is sent to by communication module (4)
(1), the charging unit (1) prepares to charge to operation at sea machine, and the locating module (3) connects with communication module (4)
It connects；The charging unit (1) includes the mechanical arm (11) to charge to operation at sea machine, is moved to operation at sea machine
Whether lifting platform (12), the detection operation at sea machine of plane residing for mechanical arm (11) are moved to the biography of the pressure on lifting platform (12)
Sensor (13) and the microprocessor (14) communicated with communication module (4), when pressure sensor (13) detects work waterborne
Industry machine transmits a signal to microprocessor (14) when being moved on lifting platform (12), microprocessor (14) controls on lifting platform (12)
The plane residing for mechanical arm (11) is risen to, and control machinery arm (11) charges to operation at sea machine.
2. a kind of automatic charging system based on mechanical arm according to claim 1, it is characterised in that：The charging unit
(1) further include for detecting the location identification module of operation at sea machine charge port (15).
3. a kind of automatic charging system based on mechanical arm according to claim 2, it is characterised in that：The position identification
Module (15) is camera.
4. a kind of automatic charging system based on mechanical arm according to claim 2, it is characterised in that：The mechanical arm
(11) it is provided on and docks the charging end (111) charged for the charge port with operation at sea machine.
5. a kind of automatic charging system based on mechanical arm according to claim 1, it is characterised in that：The communication module
(4) it is wireless communication module.
6. a kind of automatic charging system based on mechanical arm according to claim 1, it is characterised in that：The charging unit
(1) further include power module (16), the power module (16) connect with microprocessor (14).
7. a kind of automatic charging system based on mechanical arm according to claim 1, it is characterised in that：The charging unit
(1) further include the stepper motor (17) for controlling lifting platform (12) and lifting.
8. a kind of method using any automatic charging systems based on mechanical arm of claim 1-7, it is characterised in that：Packet
Include following steps：
A, when electric power detection module (2) detects operation at sea machine low battery, locating module (3) positions operation at sea machine
Location information is simultaneously sent to microprocessor (14) by position by communication module (4), while microprocessor (14) is by charging unit
(1) location information is sent to operation at sea machine；
B, operation at sea machine is recycled to automatically on lifting platform (12), when pressure sensor (13) detects that operation at sea machine arrives
When on up to lifting platform (12), detection information is sent to microprocessor (14), microprocessor (14) controls lifting platform (12) and rises；
C, when plane where operation at sea machine rises to mechanical arm (11), location identification module (15) detects operation at sea
The charge port of machine, and charge port information is transferred to microprocessor (14)；
D, microprocessor (14) control machinery arm (11) is docked and is charged with the charge port of operation at sea machine.
E, the information about power of electric power detection module (2) detection operation at sea machine, when detecting charging complete, electric power detection mould
The detection information of block (2) is sent to microprocessor (14) by communication module (4), microprocessor (14) control machinery arm (11)
It leaves operation at sea machine and controls lifting platform (12) decline in charging end (111).
9. a kind of automatic recharging method based on mechanical arm according to claim 8, it is characterised in that：In the step A
Electric power detection module (2) detects operation at sea machine low battery, wherein to operation at sea machine set electricity lower limit threshold values,
The as low battery when electric power detection module (2) detects that the electricity of operation at sea machine is below or equal to threshold values.
10. a kind of automatic recharging method based on mechanical arm according to claim 8, it is characterised in that：In the step E
The information about power of electric power detection module (2) detection operation at sea machine works as electricity to operation at sea machine set electricity upper limit threshold values
Amount detection module (2) detects as charging complete when the electricity of operation at sea machine is equal to threshold values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810275889.2A CN108448674A (en) | 2018-03-30 | 2018-03-30 | A kind of automatic charging system and method based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810275889.2A CN108448674A (en) | 2018-03-30 | 2018-03-30 | A kind of automatic charging system and method based on mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108448674A true CN108448674A (en) | 2018-08-24 |
Family
ID=63198350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810275889.2A Pending CN108448674A (en) | 2018-03-30 | 2018-03-30 | A kind of automatic charging system and method based on mechanical arm |
Country Status (1)
| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117245651A (en) * | 2023-09-12 | 2023-12-19 | 北京小米机器人技术有限公司 | Mechanical arm plug control method, device, equipment and storage medium |
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| CN206185887U (en) * | 2016-11-25 | 2017-05-24 | 长沙学院 | Automatically, dock charging system based on arm |
| CN107069845A (en) * | 2017-02-06 | 2017-08-18 | 仓智（上海）智能科技有限公司 | A kind of Non-contact robot automatic recharging method |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20130320919A1 (en) * | 2008-02-14 | 2013-12-05 | Fernando Emilio Adames | Portable battery charger |
| CN102983460A (en) * | 2012-09-29 | 2013-03-20 | 顾晓烨 | Intelligent plug device of artificial intelligence charging system |
| CN103978961A (en) * | 2014-04-24 | 2014-08-13 | 国家电网公司 | Electric vehicle chassis battery charging and replacing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117245651A (en) * | 2023-09-12 | 2023-12-19 | 北京小米机器人技术有限公司 | Mechanical arm plug control method, device, equipment and storage medium |
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180824 |
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| RJ01 | Rejection of invention patent application after publication |