CN108521154B - Charging method, floor washing machine and charging system based on floor washing machine - Google Patents
Charging method, floor washing machine and charging system based on floor washing machine Download PDFInfo
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- CN108521154B CN108521154B CN201810428563.9A CN201810428563A CN108521154B CN 108521154 B CN108521154 B CN 108521154B CN 201810428563 A CN201810428563 A CN 201810428563A CN 108521154 B CN108521154 B CN 108521154B
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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
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
- H01M10/446—Initial charging measures
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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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a charging method, a floor washing machine and a charging system based on the floor washing machine. Wherein the method comprises the following steps: the method comprises the steps that the ground washing machine detects the electric quantity value of a built-in storage battery by collecting the voltage value of a sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery; and under the condition that the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold value, the ground washer moves to a target position for autonomous charging, wherein the target position is the position of the charging pile with the highest priority. The invention solves the technical problem that the existing floor washing machine can not effectively realize autonomous charging.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a charging method, a floor washing machine and a charging system based on the floor washing machine.
Background
Along with intelligent house more press close to our life to and the proposition of "internet+" theory, the disadvantage of current scrubber appears more outstanding, for example, current scrubber can't realize under the circumstances that scrubber is not enough, effectively carries out automatic charging, and the staff need look for the scrubber and charge for it under the circumstances that scrubber cuts off the power supply completely, and the input of manpower and materials is great.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a charging method, a floor washing machine and a charging system based on the floor washing machine, which at least solve the technical problem that the existing floor washing machine cannot effectively realize autonomous charging.
According to an aspect of an embodiment of the present invention, there is provided a floor scrubber including a housing, further including: the electric quantity detection device is arranged in the shell and is used for detecting the electric quantity value of the storage battery in the floor washing machine; and the controller is arranged in the shell, is connected with the electric quantity detection device and is used for controlling the ground washer to move to a target position for autonomous charging under the condition that the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold value, wherein the target position is the position of the charging pile with the highest priority.
Further, the above-mentioned floor scrubber further includes: the storage battery is arranged in the shell, is connected with the electric quantity detection device and is used for charging the floor washing machine; and the power protection circuit is arranged in the shell and is respectively connected with the storage battery and the electric quantity detection device.
Further, the above-mentioned electric quantity detection device includes: the sampling resistor is connected in series with the power supply protection circuit; and the voltage detection unit is connected with the sampling resistor and used for collecting the voltage value of the sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery.
Further, the above-mentioned floor scrubber further includes: the storage is arranged in the shell and is used for storing the position information of at least one charging pile in advance; the positioning device is arranged in the shell and is used for positioning the position of the floor washing machine; the controller is also connected with the memory and the positioning device respectively and is used for determining the charging pile with the highest priority according to the position of the floor washing machine and the position information.
Further, the above-mentioned floor scrubber further includes: the wireless detector is arranged inside the shell and used for detecting the space position of the charging pile with the highest priority, wherein the space position comprises at least one of the following: the azimuth angle of the charging pile with the highest priority and the setting height of the charging pile with the highest priority.
Further, the above-mentioned floor scrubber further includes: the charging plug is arranged at the bottom of the shell, is respectively connected with the storage battery and the wireless detector, and is used for automatically extending out of the floor washing machine to be connected with a charging port on the charging pile with the highest priority when the space position of the charging pile with the highest priority meets the preset space position; and the adjusting mechanism is arranged at the bottom of the shell, is respectively connected with the charging plug and the wireless detector, and is used for adjusting the position of the charging plug according to the space position of the charging pile with the highest priority.
According to another aspect of the embodiment of the present invention, there is also provided a charging system based on a floor scrubber, including any one of the above floor scrubber, and further including: at least one charging pile connected with the floor washer and used for providing electric energy for the floor washer; the input end of the at least one charging pile is connected with an alternating current power grid, the output end of the at least one charging pile is provided with a charging port, and the at least one charging pile is connected with a charging plug arranged on the floor washing machine through the charging port.
According to another aspect of the embodiment of the present invention, there is also provided a charging method, including: the method comprises the steps that the ground washing machine detects the electric quantity value of a built-in storage battery by collecting the voltage value of a sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery; and under the condition that the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold value, the ground washer moves to a target position for autonomous charging, wherein the target position is the position of the charging pile with the highest priority.
Further, before the floor scrubber moves to the target location for autonomous charging, the method further includes: the floor scrubber acquires the position information of at least one charging pile stored in a memory; the floor washing machine locates the current position; and the ground washer determines the charging pile with the highest priority according to the current position and the position information.
Further, the moving the floor scrubber to the target position for autonomous charging includes: the floor scrubber detects the spatial position of the highest priority charging pile, wherein the spatial position comprises at least one of the following: the azimuth angle of the charging pile with the highest priority and the setting height of the charging pile with the highest priority; under the condition that the space position of the charging pile with the highest priority meets the preset space position, the ground washer controls the charging plug arranged at the bottom of the shell to automatically extend out and be connected with the charging port on the charging pile with the highest priority.
In the embodiment of the invention, the electric quantity value of the built-in storage battery is detected by the ground washer through collecting the voltage value of the sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery; under the condition that the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold value, the floor washing machine moves to a target position for autonomous charging, wherein the target position is the position of a charging pile with the highest priority, the purpose that the floor washing machine is controlled to automatically charge under the condition that the floor washing machine is insufficient is achieved, and therefore the technical effect that workers search for the floor washing machine and charge the floor washing machine under the condition that the floor washing machine is completely powered off is achieved, and the technical problem that the existing floor washing machine cannot effectively achieve autonomous charging is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic view of a construction of a floor scrubber according to an embodiment of the present application;
FIG. 2 is a schematic view of an alternative floor scrubber according to an embodiment of the present application;
fig. 3 is a flowchart of a charging method according to an embodiment of the present application;
FIG. 4 is a flow chart of an alternative charging method according to an embodiment of the application;
FIG. 5 is a flow chart of an alternative charging method according to an embodiment of the application; and
fig. 6 is a schematic structural view of a charging device according to an embodiment of the present application.
Wherein the above figures include the following reference numerals: the battery pack comprises a housing 100, a battery 10, a power detection device 12, a controller 14, a memory 16 and a positioning device 18.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
First, in order to facilitate understanding of the embodiments of the present invention, some terms or nouns referred to in the present invention will be explained below:
cell modeling method: according to the discharging curve of the lithium battery, a data table is established, each time a voltage value is measured, and the corresponding electric quantity is searched out from the table according to the voltage value.
Coulometer (Coulomb meter): when a current flows into or out of the battery, a voltage Vsense is generated at two ends of the resistor, the current flowing through the battery can be calculated by detecting the Vsense, and the current is integrated with time to obtain the changed electric quantity.
Example 1
According to an embodiment of the present invention, there is provided a scrubber for implementing the above-mentioned charging method, and fig. 1 is a schematic structural view of a scrubber according to an embodiment of the present invention, as shown in fig. 1, where the scrubber includes a housing 100, and further includes: a power detection device 12 and a controller 14, wherein:
an electric quantity detecting device 12, which is arranged in the shell 100 and is used for detecting the electric quantity value of the storage battery in the floor washing machine; and a controller 14, disposed inside the casing 100, connected to the power detection device 12, for controlling the ground washer to move to a target position for autonomous charging when the power value of the storage battery is equal to or lower than a power threshold, wherein the target position is a position where a charging pile with the highest priority is located.
Alternatively, the storage battery may be a lithium battery, for storing electricity and charging the scrubber according to the stored electricity, the electricity detecting device 12 may include an electricity detecting circuit, a voltage detecting meter, a coulometer, etc., and the controller 14 may be, but not limited to, a control chip, or a control circuit, and may be disposed in the housing 100 in an integrated manner.
In an alternative embodiment, the present application may, but not limited to, detect the electric quantity value of the storage battery by a battery modeling method, for example, a data table may be established according to a discharge curve of the lithium battery, and each voltage value is measured, and the corresponding electric quantity is found according to the voltage table.
In another alternative embodiment, the present application may, but not limited to, detect the charge value of the above-mentioned storage battery by a coulometer, for example, by connecting a current detection resistor in series with the positive electrode or the negative electrode of the battery, and once there is a current flowing into or out of the battery, generating a voltage Vsense across the resistor, and by detecting the Vsense, calculating the current flowing through the battery, and integrating the current with time to obtain the changed charge.
In an alternative embodiment of the floor scrubber, the controller 14 may control the floor scrubber to move to a target location for autonomous charging, where the target location is a location where a highest priority charging pile is located, in a case where a charge value of the storage battery is equal to or lower than a charge threshold.
It should be noted that, because the current scrubber is in a power-off or power-off state, the charging pile with the highest priority may be the charging pile closest to the current position of the scrubber, or may also be the scrubber with a faster charging rate, the scrubber may autonomously determine the priority, or may store the data of the charging pile with the priority in the local memory, so that the controller 14 in the scrubber may control the scrubber to move to the target position for autonomous charging, thereby improving the intelligence and the charging rate of the automatic charging of the scrubber.
Through the above-mentioned alternative embodiment, reached under the condition that the floor-washing machine motor is not enough, the purpose that the automatic floor-washing machine that charges of control was carried out to realized having avoided the staff to look for the floor-washing machine and carry out the technical effect of the manpower input that charges for it under the condition that the floor-washing machine was completely cut off the power supply, and then solved the technical problem that current floor-washing machine can't effectively realize independently charging.
In an alternative embodiment, fig. 2 is a schematic structural diagram of an alternative scrubber according to an embodiment of the present invention, as shown in fig. 2, where the scrubber further includes: the battery 10 is provided inside the casing, and is connected to the electric quantity detecting device 12 for charging the floor washing machine.
In another alternative embodiment, the floor scrubber further comprises: and the power protection circuit is arranged in the shell and is respectively connected with the storage battery and the electric quantity detection device.
The power supply protection circuit is connected with the electric quantity detection device and used for preventing current from flowing into a power supply of the ground washing machine.
In another alternative embodiment, the power detection apparatus includes: the sampling resistor is connected in series with the power supply protection circuit; and the voltage detection unit is connected with the sampling resistor and used for collecting the voltage value of the sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery.
Alternatively, the above-mentioned electric quantity detecting unit may be, but is not limited to, an electric quantity measuring chip, wherein the electric quantity measuring chip is integrated with a sampling resistor, and when different currents flow through the sampling resistor, the sampling resistor has different voltage values.
In an alternative embodiment, as also shown in fig. 2, the floor scrubber further comprises: a memory 16 and a positioning device 18, wherein:
a memory 16, disposed inside the housing 100, for storing the position information of at least one charging pile in advance; a positioning device 18, disposed inside the housing 100, for positioning the floor scrubber; the controller 14 is further connected to the memory and the positioning device, respectively, for determining the highest priority charging pile according to the position of the floor washer and the position information.
The implementation manner of determining the highest priority charging pile according to the position of the floor washer and the position information may include, but is not limited to, the following manners:
and determining a charging pile closest to the position of the floor washing machine according to the position of the floor washing machine and the position information, and setting the priority of the charging pile as the highest priority.
In an alternative embodiment, the floor scrubber further comprises: the wireless detector is arranged inside the shell and used for detecting the space position of the charging pile with the highest priority, wherein the space position comprises at least one of the following: the azimuth angle of the charging pile with the highest priority and the setting height of the charging pile with the highest priority.
Wherein the spatial location includes at least one of: the azimuth angle of the charging pile with the highest priority and the setting height of the charging pile with the highest priority.
Optionally, the wireless detector may be a sensor, for example, may include at least one of the following: ultrasonic sensors, infrared sensors, etc.
In another alternative embodiment, the wireless detector is further configured to detect a distance and a distance change rate between the highest priority charging pile and the scrubber, and precisely control a position of the charging plug according to the distance and the distance change rate, so as to enable the charging plug in the scrubber to be engaged with the charging port on the highest priority charging pile.
As an alternative embodiment, the above-mentioned floor scrubber further includes: and the charging plug is arranged at the bottom of the shell, is respectively connected with the storage battery and the wireless detector, and is used for automatically extending out of the ground washing machine to be connected with a charging port on the charging pile with the highest priority under the condition that the space position of the charging pile with the highest priority meets the preset space position.
It should be noted that, because the height of the floor scrubber is higher, the position of the charging port provided on the charging pile is relatively lower, and in order to ensure that the personal safety of the user is not damaged, the charging plug may be provided at the bottom of the housing 100, and the charging plug is connected with the storage battery and the wireless detector, respectively.
In the above optional embodiment, when the wireless detector detects that the spatial position of the highest priority charging pile meets the predetermined spatial position, the charging plug automatically extends from the floor washer to be connected with a charging port on the highest priority charging pile, where the charging plug may include a micro-control chip for implementing self-control.
Or the charging plug is connected with the controller, and when the wireless detector detects that the space position of the charging pile with the highest priority meets the preset space position, the controller controls the charging plug to automatically extend out of the floor washing machine and be connected with the charging port on the charging pile with the highest priority.
As another alternative embodiment, in order to precisely control the engagement of the charging plug with the charging port on the charging post, the floor scrubber further includes:
And the adjusting mechanism is arranged at the bottom of the shell, is respectively connected with the charging plug and the wireless detector, and is used for adjusting the position of the charging plug according to the space position of the charging pile with the highest priority.
Wherein, above-mentioned adjustment mechanism can be fine setting structure, and with above-mentioned charging plug integration setting in a semi-enclosed space that holds charging plug, can adjust above-mentioned charging plug's position, and optionally can adjust above-mentioned charging plug's position according to the spatial position of the electric pile of above-mentioned highest priority.
In the application, the electric quantity value of the storage battery in the floor washing machine is detected in real time through the electric quantity detection device in the floor washing machine, and the controller controls the floor washing machine to move to the target position under the condition that the electric quantity value is lower than the electric quantity threshold value so as to prevent the current position of the floor washing machine from being unable to be confirmed after the floor washing machine is powered off. The target position can also be the position of the charging pile, and after the floor washing machine moves to the target position, the robot is controlled to be connected with the charging pile to charge the floor washing machine.
According to the embodiment of the application, the ground washing machine can be controlled to return to the home under the condition of insufficient ground washing machine power, and the charging jack of the upper charging pile is automatically charged by moving to the position of the charging pile, so that the manpower input for searching the ground washing machine and charging the ground washing machine is avoided under the condition that the ground washing machine is completely powered off by a worker.
In the application, as an alternative scheme, after the electric quantity metering chip obtains the current electric quantity of the floor washing machine, the positioning device of the floor washing machine detects the current position of the floor washing machine and obtains the position information of all charging piles in the target area where the floor washing machine is located.
In the above alternative embodiment, the processor determines the furthest distance from the charging post furthest from the floor washer in the space where the floor washer is located, and determines the amount of power required to be consumed to move to the charging post furthest from the floor washer, and takes the amount of power as the power threshold. If the current electric quantity of the floor washing machine is smaller than the electric quantity threshold value, the processor determines the charging pile with the highest priority from the charging piles in the space where the floor washing machine is located, and executes a planning route from the current position of the floor washing machine to the charging pile with the highest priority according to the electronic fence information fed back by the electric fence. The planned route is a route with the least electricity consumption of the floor washing machine from the current position of the floor washing machine to the charging pile with the highest priority.
After the floor washing machine moves to the range where the charging pile with the highest priority is located, the positioning device of the floor washing machine performs information interaction with the radar of the charging pile with the highest priority to obtain the specific position where the charging pile with the highest priority is located, and then a processor connected with the positioning device controls the floor washing machine to move to the specific position where the charging pile with the highest priority is located.
The charging unit of the floor washer in the embodiment of the application can adopt a side-mounted automatic charging mode, when the floor washer reaches the position of the charging pile with the highest priority, the charging connector of the floor washer can be adjusted according to the adjusting mechanism, so that the charging plug of the floor washer corresponds to the charging port on the charging pile with the highest priority, the electric connection of the floor washer and the charging pile with the highest priority is further ensured, and after the floor washer and the charging pile with the highest priority are successfully connected, the charging pile starts to charge the floor washer.
In an alternative embodiment, the floor scrubber further comprises: the battery charger is arranged in the shell and is used for supplying power to the floor washing machine; and the storage battery is arranged inside the shell, is connected with the storage battery charger and is used for storing electric energy.
Optionally, the battery charger may be a full-automatic battery charger, the power supply time of the battery charger for the floor washer may be 6-8 hours, and the battery capacity of the battery used for storing electric energy may be 24V/115Ah volts/ampere.
As an optional embodiment, the above-mentioned floor scrubber further includes: the brush disc is arranged at the lower part of the floor washing machine and is used for cleaning the floor of the target area; the water absorbing device is arranged at the lower part of the floor washing machine and is used for absorbing water on the floor of the target area.
It should be noted that, in order to improve the automatic cleaning capability of the washing machine, the brush (for example, a disc type or a roller type brush) needs to be equipped with 3 brushes as one set, i.e., the number of main brushes may be set to three, wherein the working width of the brush in the present application may be, but is not limited to, 66 cm.
The water absorbing device can be a water absorbing disc or a water absorbing scraper, and is used for sucking sewage on the ground into a sewage box to be taken off site under the action of a water absorbing motor and a scraping belt water collecting device, wherein the water absorbing width of the water absorbing device in the application can be, but is not limited to, 79 cm.
It should be noted that the specific structure of the floor scrubber shown in fig. 1 to 2 in the present application is merely illustrative, and the floor scrubber in the present application may have more or less structure than the floor scrubber shown in fig. 1 to 2 in specific applications.
It should be noted that any of the following alternative or preferred charging methods may be implemented or realized in the floor scrubber provided in this embodiment.
According to another aspect of the embodiments of the present application, there is further provided a charging system embodiment based on a floor scrubber, including any one of the above floor scrubber, further including: at least one charging pile connected with the floor washer and used for providing electric energy for the floor washer; the input end of the at least one charging pile is connected with an alternating current power grid, the output end of the at least one charging pile is provided with a charging port, and the at least one charging pile is connected with a charging plug arranged on the floor washing machine through the charging port.
In the embodiment of the invention, the electric quantity value of the built-in storage battery is detected by the ground washer through collecting the voltage value of the sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery; under the condition that the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold value, the floor washing machine moves to a target position for autonomous charging, wherein the target position is the position of a charging pile with the highest priority, the purpose that the floor washing machine is controlled to automatically charge under the condition that the floor washing machine is insufficient is achieved, and therefore the technical effect that workers search for the floor washing machine and charge the floor washing machine under the condition that the floor washing machine is completely powered off is achieved, and the technical problem that the existing floor washing machine cannot effectively achieve autonomous charging is solved.
It should be noted that any of the following alternative or preferred charging methods may be implemented or realized in the washer-based charging system provided in this embodiment.
Example 2
According to an embodiment of the present invention, there is provided an embodiment of a charging method, it being noted that the steps shown in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.
Fig. 3 is a flowchart of a charging method according to an embodiment of the present invention, as shown in fig. 3, the method including the steps of:
step S302, the ground washer detects the electric quantity value of the built-in storage battery by collecting the voltage value of the sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery.
Optionally, the storage battery may be a lithium battery, and is configured to store electric power, and charge the mobile garbage can according to the stored electric power, and in step S302, an electric power detection device disposed inside a casing of the mobile garbage can may be used to detect an electric power value of the built-in storage battery. The power detection device may include, but is not limited to: an electric quantity detection circuit, a voltage detector, a coulometer and other detection devices.
In an alternative embodiment, the power detection apparatus includes: the sampling resistor is connected in series with a power supply protection circuit in the ground washer; and the voltage detection unit is connected with the sampling resistor and used for collecting the voltage value of the sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery.
Alternatively, the above-mentioned electric quantity detecting unit may be, but is not limited to, an electric quantity measuring chip, wherein the electric quantity measuring chip is integrated with a sampling resistor, and when different currents flow through the sampling resistor, the sampling resistor has different voltage values.
The power supply protection circuit is connected with the electric quantity detection device and used for preventing current from flowing into a power supply of the ground washing machine.
In an alternative embodiment, the present application may, but not limited to, detect the electric quantity value of the storage battery by a battery modeling method, for example, a data table may be established according to a discharge curve of the lithium battery, and each voltage value is measured, and the corresponding electric quantity is found according to the voltage table.
In another alternative embodiment, the present application may, but not limited to, detect the charge value of the above-mentioned storage battery by a coulometer, for example, by connecting a current detection resistor in series with the positive electrode or the negative electrode of the battery, and once there is a current flowing into or out of the battery, generating a voltage Vsense across the resistor, and by detecting the Vsense, calculating the current flowing through the battery, and integrating the current with time to obtain the changed charge.
And step S304, when the electric quantity value of the storage battery is equal to or lower than the electric quantity threshold value, the ground washer moves to a target position for autonomous charging, wherein the target position is the position of the charging pile with the highest priority.
In an optional embodiment of the mobile garbage can, when the electric quantity value of the storage battery is equal to or lower than the electric quantity threshold, the mobile garbage can may adopt a controller disposed inside the casing to control the mobile garbage can to move to a target position for autonomous charging, where the target position is a position where the charging pile with the highest priority is located.
Alternatively, the controller may be, but not limited to, a control chip, or a control circuit, and may be disposed in the housing in an integrated manner.
It should be noted that, because the current mobile garbage can is in a power-off or power-off state, the charging pile with the highest priority can be the charging pile closest to the current position of the mobile garbage can, or can also be the mobile garbage can with a faster charging rate, the mobile garbage can autonomously determine the priority level, and the data of the charging pile with the priority level can also be stored in the local memory, so that the controller 14 in the mobile garbage can control the mobile garbage can to move to the target position for autonomous charging, thereby improving the intelligence and the charging rate of the automatic charging of the mobile garbage can.
In an alternative embodiment, fig. 4 is a flowchart of an alternative charging method according to an embodiment of the present invention, where before the floor scrubber moves to the target location for autonomous charging, as shown in fig. 4, the method further includes:
in step S402, the scrubber acquires the position information of at least one charging pile stored in the memory.
In the step S402, the position information of at least one charging pile may be stored in advance using a memory provided in the casing.
Step S404, the floor washing machine locates the current position.
In the step S404, a positioning device disposed inside the housing may be used to position the movable trash can.
Step S406, the floor washer determines the highest priority charging pile according to the current position and the position information.
Based on the above-mentioned alternative embodiment, the above-mentioned memory and the positioning device may be respectively connected with a controller in the above-mentioned mobile garbage can, so that the above-mentioned controller may obtain the position information of at least one charging pile from the memory, and obtain the position where the mobile garbage can is located from the positioning device.
In an alternative embodiment, the controller is further connected to the memory and the positioning device, respectively, and is configured to determine the highest priority charging pile according to the position of the mobile garbage can and the position information.
The implementation manner of determining the charging pile with the highest priority according to the position of the mobile garbage can and the position information may include, but is not limited to, the following manners:
And determining a charging pile closest to the position of the mobile garbage can according to the position of the mobile garbage can and the position information, and setting the priority of the charging pile as the highest priority.
In an alternative embodiment, fig. 5 is a flowchart of an alternative charging method according to an embodiment of the present invention, where, as shown in fig. 5, the above-mentioned floor scrubber moves to a target location to perform autonomous charging, including:
step S502, the scrubber detects a spatial position of the highest priority charging pile, where the spatial position includes at least one of: the azimuth angle of the charging pile with the highest priority and the setting height of the charging pile with the highest priority.
In the step S502, a wireless detector provided in the casing of the mobile trash can may be used to detect the spatial position of the highest priority charging pile.
Optionally, the wireless detector may be a sensor, for example, may include at least one of the following: ultrasonic sensors, infrared sensors, etc.
In another alternative embodiment, the wireless detector is further configured to detect a distance and a distance change rate between the highest priority charging pile and the mobile garbage can, and precisely control a position of the charging plug according to the distance and the distance change rate, so as to enable the charging plug in the mobile garbage can to be engaged with the charging port on the highest priority charging pile.
Step S504, when the space position of the highest priority charging pile meets the preset space position, the floor cleaning machine controls the charging plug arranged at the bottom of the shell to automatically extend out to be connected with the charging port on the highest priority charging pile.
It should be noted that, because the height of the movable garbage can is higher, the position of the charging port arranged on the charging pile is relatively lower, and in order to ensure that the personal safety of the user is not damaged, the charging plug can be arranged at the bottom of the shell, and the charging plug is respectively connected with the storage battery and the wireless detector.
In the above optional embodiment, when the wireless detector detects that the spatial position of the highest priority charging pile meets the predetermined spatial position, the charging plug automatically extends from the mobile garbage can to be connected with a charging port on the highest priority charging pile, where the charging plug may include a micro-control chip for implementing self-control.
Or the charging plug is connected with the controller, and the controller controls the charging plug to automatically extend out of the movable garbage can to be connected with the charging port on the charging pile with the highest priority when the wireless detector detects that the space position of the charging pile with the highest priority meets the preset space position.
In an alternative embodiment, after the floor scrubber moves to the target location for autonomous charging, the method further includes:
in step S602, the scrubber detects whether the current state of the battery is in a charged state.
In step S602, it may be, but not limited to, detected by an electric quantity detection device, whether the current state of the storage battery is in a charged state, for example, if after a predetermined period of time, the electric quantity value of the storage battery is higher than the electric quantity value before the predetermined period of time, it is determined whether the current state of the storage battery is in a charged state.
Step S604, when the current state is not in the charging state, the floor scrubber adjusts the position of the charging plug according to the spatial position until the charging plug is engaged with the charging port;
step S606, when the current state is in the charging state, the ground washer continues the charging state until the charging is completed; after the floor washing machine is charged, the charging plug automatically retracts into the shell, and the floor washing machine re-plans a moving path and moves along the moving path.
In the step S604 to the step S606, if the current state is not in the charging state, the trash can is moved to adjust the position of the charging plug according to the spatial position until the charging plug is engaged with the charging port; and under the condition that the current state is in the charging state, the movable garbage can continues the charging state until the charging is completed.
After the movable garbage can is charged, the charging plug automatically retracts into the shell, and the movable garbage can reschedules a moving path and moves along the moving path.
According to the charging method provided by the application, the electric quantity value of the storage battery in the mobile garbage can is detected in real time according to the electric quantity detection device in the mobile garbage can, and the controller controls the mobile garbage can to move to the target position under the condition that the electric quantity value is lower than the electric quantity threshold value, so that the current position of the mobile garbage can cannot be confirmed after the mobile garbage can is powered off. The target position can also be the position of the charging pile, and after the movable garbage can moves to the target position, the robot is controlled to be connected with the charging pile, so that the movable garbage can is charged.
According to the embodiment of the application, the mobile garbage can is controlled to return to the home under the condition of insufficient electric quantity of the mobile garbage can, and the charging jack of the charging pile is automatically charged by moving to the position where the charging pile is located, so that the manpower input for searching the mobile garbage can and charging the mobile garbage can is avoided under the condition that the mobile garbage can is completely powered off by a worker.
In addition, it should be still noted that, the optional or preferred implementation manner of this embodiment may be referred to the related description in embodiment 1, and will not be repeated here.
Example 3
According to an embodiment of the present application, there is further provided an embodiment of an apparatus for implementing the above charging method, and fig. 6 is a schematic structural diagram of a charging apparatus according to an embodiment of the present application, as shown in fig. 6, where the charging apparatus includes: a detection module 60, a movement module 62, wherein,
the detection module 60 is configured to detect an electrical quantity value of a built-in storage battery by collecting a voltage value of a sampling resistor, where the voltage value of the sampling resistor represents the electrical quantity value of the storage battery; and the moving module 62 is configured to move the floor scrubber to a target position for autonomous charging when the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold, where the target position is a position where the charging pile with the highest priority is located.
It should be noted that each of the above modules may be implemented by software or hardware, for example, in the latter case, it may be implemented by: the above modules may be located in the same processor; alternatively, the various modules described above may be located in different processors in any combination.
Here, it should be noted that the detection module 60 and the movement module 62 correspond to steps S302 to S304 in embodiment 2, and the modules are the same as the examples and the application scenarios implemented by the corresponding steps, but are not limited to those disclosed in embodiment 2. It should be noted that the above modules may be run in a computer terminal as part of the apparatus.
It should be noted that, the optional or preferred implementation manner of this embodiment may be referred to the related description in embodiment 1, and will not be repeated here.
The charging device may further include a processor and a memory, where the detection module 60, the movement module 62, etc. are stored as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, the kernel fetches corresponding program units from the memory, and one or more of the kernels can be arranged. The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the application also provides a storage medium. Optionally, in this embodiment, the storage medium includes a stored program, where the device in which the storage medium is located is controlled to execute any one of the charging methods when the program runs.
Alternatively, in this embodiment, the storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the mobile terminals in the mobile terminal group, and the storage medium includes a stored program.
Optionally, the program controls the device in which the storage medium is located to perform the following functions when running: the method comprises the steps that the ground washing machine detects the electric quantity value of a built-in storage battery by collecting the voltage value of a sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery; and under the condition that the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold value, the ground washer moves to a target position for autonomous charging, wherein the target position is the position of the charging pile with the highest priority.
Optionally, the program controls the device in which the storage medium is located to perform the following functions when running: the floor scrubber acquires the position information of at least one charging pile stored in a memory; the floor washing machine locates the current position; and the ground washer determines the charging pile with the highest priority according to the current position and the position information.
Optionally, the program controls the device in which the storage medium is located to perform the following functions when running: the floor scrubber detects the spatial position of the highest priority charging pile, wherein the spatial position comprises at least one of the following: the azimuth angle of the charging pile with the highest priority and the setting height of the charging pile with the highest priority; under the condition that the space position of the charging pile with the highest priority meets the preset space position, the ground washer controls the charging plug arranged at the bottom of the shell to automatically extend out and be connected with the charging port on the charging pile with the highest priority.
Optionally, the program controls the device in which the storage medium is located to perform the following functions when running: the floor washing machine detects whether the current state of the storage battery is in a charging state; when the current state is not in the charging state, the floor washer adjusts the position of the charging plug according to the space position until the charging plug is connected with the charging port; under the condition that the current state is in the charging state, the ground washer continues the charging state until the charging is completed; after the floor washing machine is charged, the charging plug automatically retracts into the shell, and the floor washing machine re-plans a moving path and moves along the moving path.
The embodiment of the application also provides a processor. Optionally, in this embodiment, the processor is configured to execute a program, where any one of the charging methods is executed when the program is executed.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the program: the method comprises the steps that the ground washing machine detects the electric quantity value of a built-in storage battery by collecting the voltage value of a sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery; and under the condition that the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold value, the ground washer moves to a target position for autonomous charging, wherein the target position is the position of the charging pile with the highest priority.
Optionally, when the processor executes the program, the processor may further acquire location information of at least one charging pile stored in the memory; the floor washing machine locates the current position; and the ground washer determines the charging pile with the highest priority according to the current position and the position information.
Optionally, when the processor executes the program, the processor may further detect a spatial position of the highest priority charging pile, where the spatial position includes at least one of: the azimuth angle of the charging pile with the highest priority and the setting height of the charging pile with the highest priority; under the condition that the space position of the charging pile with the highest priority meets the preset space position, the ground washer controls the charging plug arranged at the bottom of the shell to automatically extend out and be connected with the charging port on the charging pile with the highest priority.
Optionally, when the processor executes the program, it may also detect whether the current state of the storage battery is in a charging state; when the current state is not in the charging state, the floor washer adjusts the position of the charging plug according to the space position until the charging plug is connected with the charging port; under the condition that the current state is in the charging state, the ground washer continues the charging state until the charging is completed; after the floor washing machine is charged, the charging plug automatically retracts into the shell, and the floor washing machine re-plans a moving path and moves along the moving path.
The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of: detecting the electric quantity value of a built-in storage battery by collecting the voltage value of a sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery; and under the condition that the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold value, moving to a target position for autonomous charging, wherein the target position is the position of the charging pile with the highest priority.
Optionally, when the computer program product executes the program, the position information of at least one charging pile stored in the memory may also be obtained; the floor washing machine locates the current position; and the ground washer determines the charging pile with the highest priority according to the current position and the position information.
Optionally, when the computer program product executes the program, the spatial position of the charging pile with the highest priority may be detected, where the spatial position includes at least one of the following: the azimuth angle of the charging pile with the highest priority and the setting height of the charging pile with the highest priority; under the condition that the space position of the charging pile with the highest priority meets the preset space position, the ground washer controls the charging plug arranged at the bottom of the shell to automatically extend out and be connected with the charging port on the charging pile with the highest priority.
Optionally, when the computer program product executes the program, it may also detect whether the current state of the storage battery is in a charging state; when the current state is not in the charging state, the floor washer adjusts the position of the charging plug according to the space position until the charging plug is connected with the charging port; under the condition that the current state is in the charging state, the ground washer continues the charging state until the charging is completed; after the floor washing machine is charged, the charging plug automatically retracts into the shell, and the floor washing machine re-plans a moving path and moves along the moving path.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processor, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (5)
1. The utility model provides a floor scrubber which characterized in that includes the casing, still includes:
the electric quantity detection device is arranged inside the shell and is used for detecting the electric quantity value of the storage battery in the floor washing machine;
the controller is arranged in the shell, connected with the electric quantity detection device and used for controlling the ground washer to move to a target position for autonomous charging under the condition that the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold value, wherein the target position is the position of a charging pile with the highest priority;
the controller is further configured to determine a furthest distance from a charging pile located furthest from the floor washer in a space where the floor washer is located, determine an electric quantity required to be consumed by the charging pile located furthest from the floor washer when the electric quantity is moved, and determine a charging pile with a highest priority from the charging piles located in the space where the floor washer is located if the current electric quantity of the floor washer is smaller than the electric quantity threshold;
The floor scrubber further comprises: the storage battery is arranged in the shell, connected with the electric quantity detection device and used for charging the floor washing machine; the power supply protection circuit is arranged inside the shell and is respectively connected with the storage battery and the electric quantity detection device;
the electric quantity detection device includes: the sampling resistor is connected with the power supply protection circuit in series; the voltage detection unit is connected with the sampling resistor and used for collecting the voltage value of the sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery;
the floor scrubber further comprises: the storage is arranged in the shell and used for storing the position information of at least one charging pile in advance; the positioning device is arranged in the shell and used for positioning the position of the floor washing machine; the controller is also respectively connected with the memory and the positioning device and is used for determining the charging pile with the highest priority according to the position of the floor washer and the position information, wherein the charging pile with the highest priority is the charging pile closest to the position of the floor washer;
the floor scrubber further comprises: the wireless detector is arranged inside the shell and is used for detecting the space position of the charging pile with the highest priority, wherein the space position comprises at least one of the following: the azimuth angle of the charging pile with the highest priority and the setting height of the charging pile with the highest priority.
2. The floor washer of claim 1, further comprising:
the charging plug is arranged at the bottom of the shell, is respectively connected with the storage battery and the wireless detector, and is used for automatically extending out of the floor cleaning machine to be connected with a charging port on the charging pile with the highest priority under the condition that the space position of the charging pile with the highest priority meets the preset space position;
the adjusting mechanism is arranged at the bottom of the shell, is respectively connected with the charging plug and the wireless detector, and is used for adjusting the position of the charging plug according to the space position of the charging pile with the highest priority.
3. A floor washer-based charging system comprising the floor washer of any one of claims 1-2, further comprising:
the charging pile is connected with the floor washer and is used for providing electric energy for the floor washer;
the input end of the at least one charging pile is connected with an alternating current power grid, the output end of the at least one charging pile is provided with a charging port, and the at least one charging pile is connected with a charging plug arranged on the ground washer through the charging port.
4. A charging method applied to a floor scrubber, comprising:
the method comprises the steps that the ground washing machine detects the electric quantity value of a built-in storage battery by collecting the voltage value of a sampling resistor, wherein the voltage value of the sampling resistor represents the electric quantity value of the storage battery;
under the condition that the electric quantity value of the storage battery is equal to or lower than an electric quantity threshold value, the ground washer moves to a target position for autonomous charging, wherein the target position is the position of a charging pile with the highest priority;
before the floor scrubber moves to a target location for autonomous charging, the method further comprises: the ground washer acquires the position information of at least one charging pile stored in a memory; the floor washing machine locates the current position; the ground washer determines the charging pile with the highest priority according to the current position and the position information, wherein the charging pile with the highest priority is the charging pile closest to the position of the ground washer;
determining the highest priority charging pile comprises: determining the furthest distance from a charging pile furthest from the floor washer in a space where the floor washer is located, determining the electric quantity required to be consumed by the charging pile furthest from the floor washer, taking the electric quantity as the electric quantity threshold, and determining the charging pile with the highest priority from the charging piles in the space where the floor washer is located if the current electric quantity of the floor washer is smaller than the electric quantity threshold;
The ground washing machine moving to a target position for autonomous charging comprises: the floor scrubber detects a spatial position of the highest priority charging pile, wherein the spatial position comprises at least one of: the azimuth angle of the charging pile with the highest priority and the setting height of the charging pile with the highest priority.
5. The charging method of claim 4, wherein the floor scrubber moves to a target location for autonomous charging, further comprising:
under the condition that the space position of the charging pile with the highest priority meets the preset space position, the ground washer controls the charging plug arranged at the bottom of the shell to automatically extend out and be connected with the charging port on the charging pile with the highest priority.
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| CN201810428563.9A CN108521154B (en) | 2018-05-07 | 2018-05-07 | Charging method, floor washing machine and charging system based on floor washing machine |
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| CN113519253B (en) * | 2021-07-02 | 2023-03-17 | 宁波瑞霖机械科技有限公司 | Mower route regression method and system, storage medium and mower |
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