CN109038735A - A kind of charge control method, apparatus and system - Google Patents
A kind of charge control method, apparatus and system Download PDFInfo
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- CN109038735A CN109038735A CN201810900880.6A CN201810900880A CN109038735A CN 109038735 A CN109038735 A CN 109038735A CN 201810900880 A CN201810900880 A CN 201810900880A CN 109038735 A CN109038735 A CN 109038735A
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- H02J7/0077—
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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
- 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
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
- H01M10/4257—Smart batteries, e.g. electronic circuits inside the housing of the cells or batteries
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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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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of charge control methods, apparatus and system, which comprises charging pile receives the current voltage of the battery sent with the robot for itself establishing charging connection；Rised in value according to the current voltage and preset voltage, determine the charging voltage to charge to robot, and uses the charging voltage for robot charging.Due in embodiments of the present invention, the current voltage for the battery that charging pile is sent according to robot and the increment of preset voltage, determine the charging voltage to charge to robot, and use charging voltage for robot charging, charging pile is during charging to robot, it is the charging voltage dynamically adjusted on the basis of the current voltage of robot battery to robot charging, so that during charging to robot, the sum of corresponding reference voltage and the increment of preset voltage when being full of to the charging voltage of robot charging no more than robot battery, reduce the charge loss and fever that charging pile and robot interior circuit occur.
Description
Technical field
The present invention relates to charging technique field more particularly to a kind of charge control methods, apparatus and system.
Background technique
With the rapid development of science and technology, robot has gradually come into the every aspect of people's production and living, from life
The production machine people in workshop, the transportation robot of logistic industry are produced, the sweeping robot used to family, robot is in different necks
Immeasurable effect is played in domain.Robot provides power resources by therein battery, it is generally the case that right
Robot charging is the direct current converted alternating current to by charging pile to robot charging, is then charged to robot.
For existing charge control system as shown in Figure 1, charge control system includes charging pile and robot, charging pile includes to fill
Electric installation and charging detection device；Robot include charging controller (BATTERY MANAGEMENT SYSTEM, BMS) and
Battery.As shown in Fig. 2, when robot detects the low battery of battery, robot fills charging control process according to preset
The position of electric stake, is moved at charging pile, establishes charging connection with charging pile, charging pile detects that robot is connect with itself
Afterwards, it determines that charging is ready, charges to robot, and be full of in the battery of robot, robot, which leaves, after charging complete fills
Electric stake, charging terminate.
However in the prior art, during entirely charging to robot battery, charging pile is basis and the charging
Stake corresponding robot battery corresponding reference voltage when being full of, increases preset voltage using on the basis of the reference voltage
Charging voltage after increment charges for corresponding robot, the charge loss for causing charging pile and robot interior circuit to occur
It is larger, it generates heat larger.
Summary of the invention
The present invention provides a kind of robot, charging pile, charge control method, apparatus and system, to solve the prior art
The problem that middle charge loss is big, fever is big.
In a first aspect, being applied to charging pile the invention discloses a kind of charge control method, which comprises
Receive the current voltage of the battery sent with the robot for itself establishing charging connection；
Rised in value according to the current voltage and preset voltage, determines the charging voltage to charge to the robot, and adopt
It is robot charging with the charging voltage.
Further, before the current voltage for the battery that the reception is sent with the robot for itself establishing charging connection,
The method also includes:
The charge request of the robot broadcast is received, and judges whether itself is in idle condition；
If so, sending the location information of itself to the robot.
Further, if the robot according to the positional information with itself establish charging connection, the method is also
Include:
The idle state of itself is updated to busy state.
Further, described to be rised in value according to the current voltage and preset voltage, what determination charged to the robot
Before charging voltage, the method also includes:
Receive corresponding reference voltage when the battery that the robot is sent is full of；
Judge whether the current voltage is less than the reference voltage；
If so, carrying out subsequent step.
Further, if the current voltage is not less than the reference voltage, the method also includes:
Stop being that the robot charges.
Further, the method also includes:
The busy state of itself is updated to idle state, and sends the instruction of charging complete to the robot.
Second aspect, the invention discloses a kind of charge control methods, are applied to robot, which comprises
The current voltage for obtaining cells sends the current electricity to the target charging pile for itself establishing charging connection
Pressure receives the target charging pile and is rised in value according to the current voltage and preset voltage, determining charging voltage, is itself electricity
Pond charging.
Further, before the current voltage for obtaining cells, the method also includes:
The electricity for obtaining cells, judges whether the electricity is less than the power threshold of setting；
If so, carrying out subsequent step.
Further, if the electricity be less than setting power threshold, it is described obtain cells current voltage it
Before, the method also includes:
Charge request is broadcasted to charging pile；
The location information that the charging pile being each in idle condition is sent is received, any charging being in idle condition is chosen
Stake is target charging pile, and establishes charging connection according to the location information of the target charging pile and the target charging pile.
Further, any charging pile being in idle condition of selection is that target charging pile includes:
According to the location information of the location information of each charging pile being in idle condition and itself, determine each in sky
The charging pile of not busy state is at a distance from itself；
Choose and itself apart from the smallest charging pile being in idle condition be target charging pile.
Further, before the current voltage for obtaining cells, the method also includes:
Corresponding reference voltage when cells are full of is sent to the target charging pile, so that the target charging pile root
Judge whether to stop charging for itself according to the reference voltage.
Further, the method also includes:
The instruction for the charging complete that the target charging pile is sent is received, the charging with the target charging pile is disconnected and connects
It connects.
The third aspect, the invention discloses a kind of battery charge controllers, are applied to charging pile, and described device includes:
Receiving module, the current voltage for the battery that the robot for receiving with itself establishing charging connection is sent；
Control module, for being rised in value according to the current voltage and preset voltage, what determination charged to the robot
Charging voltage, and the charging voltage is used to charge for the robot.
Further, described device further include:
Judgment module for receiving the charge request of the robot broadcast, and judges whether itself is in idle condition；
If so, sending the location information of itself to the robot.
Further, described device further include:
Update module, if establishing charging connection with itself according to the positional information for the robot, by itself
Idle state be updated to busy state.
Further, the receiving module is also used to receive corresponding benchmark when the battery that the robot is sent is full of
Voltage；
The control module, is also used to judge whether the current voltage is less than the reference voltage, if so, carrying out root
The step of rising in value according to the current voltage and preset voltage, determining the charging voltage to charge to the robot.
Further, the control module, if being also used to the current voltage not less than the reference voltage, stop be
The robot charging.
Further, described device further include:
Update instruction module for the busy state of itself to be updated to idle state, and is filled to robot transmission
The instruction that electricity is completed.
Fourth aspect, the invention discloses a kind of battery charge controllers, are applied to robot, and described device includes:
Module is obtained, for obtaining the current voltage of cells；
Control module receives institute for sending the current voltage to the target charging pile for itself establishing charging connection
It states target charging pile to be rised in value according to the current voltage and preset voltage, determining charging voltage charges for cells.
Further, described device further include:
Judgment module judges whether the electricity is less than the power threshold of setting for obtaining the electricity of cells；Such as
Fruit judging result is yes, triggering acquisition module.
Further, described device further include:
Link block, for broadcasting charge request to charging pile；Receive what the charging pile being each in idle condition was sent
Location information, choosing any charging pile being in idle condition is target charging pile, and according to the position of the target charging pile
Information and the target charging pile establish charging connection.
Further, the link block, specifically for the location information according to the charging pile being each in idle condition
With the location information of itself, determine the charging pile being each in idle condition at a distance from itself；It chooses minimum with itself distance
The charging pile being in idle condition be target charging pile.
Further, the control module is also used to send to the target charging pile corresponding when cells are full of
Reference voltage, so that the target charging pile judges whether to stop charging for itself according to the reference voltage.
Further, described device further include:
Module is cut off, for receiving the instruction for the charging complete that the target charging pile is sent, disconnection is filled with the target
The charging connection of electric stake.
5th aspect, the invention discloses a kind of charge control systems, including at least one includes described in any of the above-described
Battery charge controller charging pile and at least one include battery charge controller as described in any one of the above embodiments robot.
The invention discloses a kind of charge control methods, apparatus and system, which comprises charging pile receives and itself
Establish the current voltage of the battery of the robot transmission of charging connection；Rised in value according to the current voltage and preset voltage, really
The fixed charging voltage to charge to the robot, and the charging voltage is used to charge for the robot.Due in the present invention
In embodiment, the current voltage and preset voltage for the battery that charging pile is sent according to robot rise in value, and robot is filled in determination
The charging voltage of electricity, and use charging voltage for robot charging, charging pile is in machine during charging to robot
The charging voltage to robot charging is dynamically adjusted on the basis of the current voltage of people's battery, so that in the mistake to charge to robot
Cheng Zhong, corresponding reference voltage and preset voltage when being full of to the charging voltage of robot charging no more than robot battery
The sum of increment reduces charge loss and fever that charging pile and robot interior circuit occur.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is existing charge control system structural schematic diagram；
Fig. 2 is existing charging control process schematic diagram；
Fig. 3 is a kind of charging control process schematic diagram provided in an embodiment of the present invention；
Fig. 4 is a kind of charging control process schematic diagram provided in an embodiment of the present invention；
Fig. 5 is a kind of charging control process schematic diagram provided in an embodiment of the present invention；
Fig. 6 is a kind of charging control process schematic diagram provided in an embodiment of the present invention；
Fig. 7 is a kind of battery charge controller structural schematic diagram provided in an embodiment of the present invention；
Fig. 8 is a kind of battery charge controller structural schematic diagram provided in an embodiment of the present invention；
Fig. 9 is a kind of charge control system schematic diagram provided in an embodiment of the present invention；
Figure 10 is a kind of charge control system configuration diagram provided in an embodiment of the present invention；
Figure 11 is the charge control of the robot and charging pile in a kind of charge control system provided in an embodiment of the present invention
Process schematic.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, make below in conjunction with the attached drawing present invention into one
Step ground detailed description, it is clear that described embodiment is only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
Embodiment 1:
Fig. 3 is a kind of charging control process schematic diagram provided in an embodiment of the present invention, which includes:
S301: the current voltage of the battery sent with the robot for itself establishing charging connection is received.
In embodiments of the present invention, robot can independently establish charging connection with charging pile, such as: robot can root
It according to the location information of charging pile, is moved at charging pile, by the charging output contact of itself charging input contact and charging pile
It is contacted, establishes the charging connection with charging pile.Preferably, in order to guarantee the utilization rate to charging pile resource, robot can
With the electricity of cells lower than setting power threshold when, such as battery electricity be lower than 10%, 15%, 20% when, then
Charging connection is established with charging pile.After robot and charging pile establish charging connection, the current voltage of cells is sent to
With the charging pile for itself establishing charging connection.
Preferably, in embodiments of the present invention, robot can establish such as bluetooth, Wireless Fidelity with charging pile
The connection of the wireless communications such as (WIreless-Fidelity, WIFI), 2.4GHz RF radio frequency, and according to the period of setting, such as 1 second, 3
Second, 5 seconds etc. send the current voltage of cells to charging pile.
S302: rising in value according to the current voltage and preset voltage, determines the charging voltage to charge to the robot,
And the charging voltage is used to charge for the robot.
Specifically, charging pile receive with itself establish charging connection robot send battery current voltage after,
On the basis of the current voltage of the battery received, increase the increment of preset voltage, as the charging voltage to charge to robot,
And use the charging voltage for robot charging, wherein the preset voltage increment can be 0.3V, 0.4V, 0.6V etc..
In embodiments of the present invention, with the progress that charging pile pair charges with the robot for itself establishing charging connection, machine
The current voltage of device people's battery constantly rises, and the charging voltage that charging pile uses is also on the basis of the current voltage of robot battery
It is upper constantly dynamically to increase preset voltage increment, it ensure that and robot charging is continued uninterruptedly, to ensure that and charge to robot
Reliability.
Due in embodiments of the present invention, the current voltage and preset voltage of the battery that charging pile is sent according to robot
Increment determines the charging voltage to charge to robot, and uses charging voltage for robot charging, and charging pile is filled to robot
In the process of electricity, it is the charging voltage dynamically adjusted on the basis of the current voltage of robot battery to robot charging, makes
It obtains during charging to robot, it is corresponding when being full of to the charging voltage of robot charging no more than robot battery
The sum of reference voltage and the increment of preset voltage reduce charge loss and hair that charging pile and robot interior circuit occur
Heat.
In addition, using charge control method provided in this embodiment, it is not necessary that charging pile is matched one by one with robot in advance,
Charging pile can dynamically be adjusted according to the current voltage of the battery sent with the robot for itself establishing charging connection to machine
The charging voltage of people's charging, can be realized and charged by the robot of same charging pile difference charging voltage demand, into one
Step improves the versatility and applicability of charging pile.
Embodiment 2:
In order to improve the utilization rate of charge efficiency and charging pile resource, on the basis of the above embodiments, of the invention real
It applies in example, before the current voltage for the battery that the reception is sent with the robot for itself establishing charging connection, the method is also
Include:
The charge request of the robot broadcast is received, and judges whether itself is in idle condition；
If so, sending the location information of itself to the robot.
If the robot establishes charging connection with itself according to the positional information, the method also includes:
The idle state of itself is updated to busy state.
In embodiments of the present invention, the status information of itself is preserved in charging pile, wherein if it is machine that charging pile, which is in,
The state of device people charging is then busy state, is idle state if the state that charging pile is not in as robot charging.Tool
Body, robot, can also be by way of broadcast after the electricity for detecting cells is lower than setting power threshold, Xiang Chong
Electric stake broadcasts charge request and judges whether itself is in idle condition after charging pile receives the charge request of robot broadcast,
It can be the robot charging of broadcast charge request, to this if it is, illustrating itself to be not in the state for robot charging
Robot sends the location information of itself；If it is not, then illustrating that itself is in the state for robot charging, it is not possible to for broadcast
The robot of charge request charges, and does not send the location information of itself to the robot.
After robot receives the location information of charging pile, it can be moved to according to the location information of charging pile by navigation
At the charging pile, charging connection is established with the charging pile.Wherein, if there is multiple charging piles being in idle condition to machine
When human hair send location information, robot can arbitrarily select a charging pile to establish in multiple charging piles being in idle condition
Charging is in succession；Preferably, robot can be selected in multiple charging piles being in idle condition one it is nearest apart from itself
Charging pile establishes charging connection.After charging pile detects that robot establishes charging connection with itself, more by the idle state of itself
It is newly busy state.In embodiments of the present invention, the communication between charging pile and robot is not necessarily to control platform intervention, using elder generation
Charging connection is established, the principle first to charge improves charge efficiency.
Embodiment 3:
It overcharges and is damaged to the battery of robot in order to prevent, in the above embodiments, in embodiments of the present invention,
It is described to be rised in value according to the current voltage and preset voltage, it is described before determining the charging voltage to charge to the robot
Method further include:
Receive corresponding reference voltage when the battery that the robot is sent is full of；
Judge whether the current voltage is less than the reference voltage；
If so, carrying out subsequent step.
Preferably, if the current voltage is not less than the reference voltage, the method also includes:
Stop being that the robot charges.
Specifically, robot sends itself electricity before the current voltage for sending cells to charging pile, to charging pile
Corresponding reference voltage when pond is full of；Charging pile receives corresponding reference voltage when the battery that machine human hair is sent is full of, and is connecing
After the current voltage for receiving the battery of robot transmission, judge corresponding when whether the current voltage of battery is full of not less than battery
Reference voltage, if it is, explanation rises in value to robot charging unfinished according to the current voltage of battery and preset voltage,
It determines the charging voltage to charge to robot, and uses the charging voltage for robot charging；If it is not, then explanation is to robot
Charging complete stops as robot charging.
Preferably, in embodiments of the present invention, the type and robot electricity of robot can also be preserved in charging pile
The corresponding relationship of corresponding reference voltage when pond is full of, charging pile after establishing charging connection with robot, can also obtain with
The information for itself establishing the type of the robot of charging connection is determined to establish with itself and be filled according to the information of the type got
Corresponding reference voltage when the robot battery of electrical connection is full of.
In addition, in order to guarantee the utilization efficiency to charging pile resource, charging pile stops after being robot charging, by itself
Busy state is updated to idle state, and the instruction of charging complete is sent to robot, and robot receives the finger of charging complete
After order, the charging connection with charging pile is disconnected, discharges charging pile resource, enables charging pile for the charging of other robots.
Fig. 4 is a kind of charging control process schematic diagram provided in an embodiment of the present invention, which includes:
S401: the charge request of the robot broadcast is received, and judges whether itself is in idle condition；If so,
S402 is carried out, if it is not, then terminating.
S402: the location information of itself is sent to the robot.
S403: if the robot establishes charging connection with itself according to the positional information, by the idle shape of itself
State is updated to busy state, and receives corresponding reference voltage when the battery that the robot is sent is full of.
S404: receiving the current voltage of the battery sent with the robot for itself establishing charging connection, judges described current
Whether voltage is less than the reference voltage；If so, S405 is carried out, if not, carrying out S406.
S405: rising in value according to the current voltage and preset voltage, determines the charging voltage to charge to the robot,
And the charging voltage is used to charge for the robot.
S406: stop as robot charging.
S407: the busy state of itself is updated to idle state, and sends the instruction of charging complete to the robot.
Embodiment 4:
Fig. 5 is a kind of charging control process schematic diagram provided in an embodiment of the present invention, which includes:
S501: the current voltage of cells is obtained.
S502: the current voltage is sent to the target charging pile for itself establishing charging connection, receives the target and fills
Electric stake is rised in value according to the current voltage and preset voltage, determining charging voltage, is charged for cells.
Before the current voltage for obtaining cells, the method also includes:
The electricity for obtaining cells, judges whether the electricity is less than the power threshold of setting；
If so, carrying out subsequent step.
In embodiments of the present invention, robot independently can establish charging connection with target charging pile, such as: robot can
To be moved at target charging pile according to the location information of target charging pile, the charging input contact of itself and target are charged
The charging output contact of stake is contacted, and the charging connection with target charging pile is established.Preferably, in order to guarantee to charge to target
The utilization rate of stake resource, robot can be in power threshold of the electricity of cells lower than setting, and the electricity such as battery is low
Charging connection is established whens 10%, 15%, 20% etc., then with target charging pile.Robot and target charging pile are established charging and are connected
After connecing, the current voltage of the battery of itself is obtained, the current voltage of cells is sent to and establishes charging connection with itself
Target charging pile.
Preferably, in embodiments of the present invention, robot can establish such as bluetooth, Wireless Fidelity with target charging pile
The connection of the wireless communications such as (WIreless-Fidelity, WIFI), 2.4GHz RF radio frequency, and according to the period of setting, such as 1 second, 3
Second, 5 seconds etc. send the current voltage of cells to target charging pile.
After target charging pile receives the current voltage of the battery sent with the robot for itself establishing charging connection, connecing
On the basis of the current voltage of the battery received, increases preset voltage increment, as the charging voltage to charge to robot, and adopt
It is robot charging with the charging voltage, wherein the preset voltage increment can be 0.3V, 0.4V, 0.6V etc..
In embodiments of the present invention, with target charging pile pair with itself establish charging connection robot charge into
Row, the current voltage of robot battery constantly rise, and the charging voltage that target charging pile uses is also in the current of robot battery
Constantly dynamically increase the increment of preset voltage on the basis of voltage, ensure that and robot charging is continued uninterrupted, ensure that pair
The reliability of robot charging.
Since in embodiments of the present invention, robot obtains the current voltage of cells, the company of charging is established to itself
The target charging pile connect sends the current voltage, and receives target charging pile and increased according to the current voltage and preset voltage
Value, determining charging voltage charge for cells, so that charging pile during charging to robot, is in robot
The charging voltage to robot charging is dynamically adjusted on the basis of the current voltage of battery, during charging to robot,
Corresponding reference voltage and preset voltage rise in value when being full of to the charging voltage of robot charging no more than robot battery
The sum of, reduce the charge loss and fever that charging pile and robot interior circuit occur.
In addition, using charge control method provided in this embodiment, it is not necessary that charging pile is matched one by one with robot in advance,
Charging pile can dynamically be adjusted according to the current voltage of the battery sent with the robot for itself establishing charging connection to machine
The charging voltage of people's charging, can be realized and charged by the robot of same charging pile difference charging voltage demand, into one
Step improves the versatility and applicability of charging pile.
Embodiment 5:
In order to improve the utilization rate of charge efficiency and charging pile resource, on the basis of the above embodiments, of the invention real
Apply in example, if the electricity be less than setting power threshold, it is described obtain cells current voltage before, the method
Further include:
Charge request is broadcasted to charging pile；
The location information that the charging pile being each in idle condition is sent is received, any charging being in idle condition is chosen
Stake is target charging pile, and establishes charging connection according to the location information of the target charging pile and the target charging pile.
In embodiments of the present invention, the status information of itself is preserved in charging pile, wherein if it is machine that charging pile, which is in,
The state of device people charging is then busy state, is idle state if the state that charging pile is not in as robot charging.Tool
Body, robot, can also be by way of broadcast after the electricity for detecting cells is lower than setting power threshold, Xiang Chong
Charge request is broadcasted in electric stake, after the charging pile being in idle condition receives the charge request of robot broadcast, to machine human hair
The location information of itself is given, it is target charging pile that robot, which chooses any charging pile being in idle condition, and according to the charging
The location information of stake is moved at the charging pile by navigation, establishes charging connection with the charging pile.
Preferably, any charging pile being in idle condition of selection is that target charging pile includes:
According to the location information of the location information of each charging pile being in idle condition and itself, determine each in sky
The charging pile of not busy state is at a distance from itself；
Choose and itself apart from the smallest charging pile being in idle condition be target charging pile.
Specifically, robot can be according to the location information for the charging pile being each in idle condition in order to improve efficiency
With the location information of itself, determine the charging pile being each in idle condition at a distance from itself；It chooses minimum with itself distance
The charging pile being in idle condition be target charging pile, and establish charging connection with the target charging pile.
Embodiment 6:
It overcharges and is damaged to the battery of robot in order to prevent, in the above embodiments, in embodiments of the present invention,
Before the current voltage for obtaining cells, the method also includes:
Corresponding reference voltage when cells are full of is sent to the target charging pile, so that the target charging pile root
Judge whether to stop charging for itself according to the reference voltage.
Specifically, robot is sent out before the current voltage for sending cells to target charging pile to target charging pile
Corresponding reference voltage when cells being sent to be full of；Target charging pile receives corresponding benchmark when the battery that machine human hair is sent is full of
Voltage, and after receiving the current voltage of battery of robot transmission, judge whether the current voltage of battery is not less than battery
Full of when corresponding reference voltage, if it is, explanation is to robot charging unfinished, according to the current voltage of battery and default
Voltage increment, determine the charging voltage that charge to robot, and the charging voltage is used to charge for robot；If it is not, then
Illustrate to stop as robot charging robot charging complete.
Preferably, in order to guarantee the utilization efficiency to target charging pile resource, the method also includes:
The instruction for the charging complete that the target charging pile is sent is received, the charging with the target charging pile is disconnected and connects
It connects.
Specifically, target charging pile stops being that after robot charges, the instruction of charging complete, robot are sent to robot
After the instruction for receiving the charging complete of target charging pile transmission, the charging connection with target charging pile is disconnected, discharges charging pile
Resource enables target charging pile for the charging of other robots.
Fig. 6 is a kind of charging process schematic diagram provided in an embodiment of the present invention, which includes:
S601: obtaining the electricity of cells, judges whether the electricity is less than the power threshold of setting；If so, into
Row S602, if it is not, then terminating.
S602: charge request is broadcasted to charging pile；Receive the location information that the charging pile being each in idle condition is sent.
S603: it according to the location information of the location information of each charging pile being in idle condition and itself, determines each
The charging pile being in idle condition is at a distance from itself；Choose and itself apart from the smallest charging pile being in idle condition be mesh
Charging pile is marked, and charging connection is established according to the location information of the target charging pile and the target charging pile.
S604: corresponding reference voltage when cells are full of is sent to the target charging pile.
S605: obtaining the current voltage of cells, described in sending with the target charging pile for itself establishing charging connection
Current voltage receives the target charging pile and is rised in value according to the current voltage and preset voltage, and determining charging voltage is
Cells charging.
S606: receiving the instruction for the charging complete that the target charging pile is sent, and disconnection is filled with the target charging pile
Electrical connection.
Embodiment 7:
Fig. 7 is a kind of battery charge controller structural schematic diagram provided in an embodiment of the present invention, is applied to charging pile, the device
Include:
Receiving module 71, the current voltage for the battery that the robot for receiving with itself establishing charging connection is sent；
Control module 72 is determined and is charged to the robot for being rised in value according to the current voltage and preset voltage
Charging voltage, and the charging voltage is used to charge for the robot.
Described device further include:
Judgment module 73 for receiving the charge request of the robot broadcast, and judges whether itself is in idle shape
State；If so, sending the location information of itself to the robot.
Described device further include:
Update module 74 will be certainly if establishing charging connection with itself according to the positional information for the robot
The idle state of body is updated to busy state.
Described device further include:
The receiving module 71 is also used to receive corresponding reference voltage when the battery that the robot is sent is full of；
The control module 72, is also used to judge whether the current voltage is less than the reference voltage, if so, carrying out
The step of being rised in value according to the current voltage and preset voltage, determining the charging voltage to charge to the robot.
The control module 72 stops if being also used to the current voltage not less than the reference voltage as the machine
Device people charging.
Described device further include:
Update instruction module 75 for the busy state of itself to be updated to idle state, and is sent to the robot
The instruction of charging complete.
Embodiment 8:
Fig. 8 is a kind of battery charge controller structural schematic diagram provided in an embodiment of the present invention, is applied to charging pile, the device
Include:
Module 81 is obtained, for obtaining the current voltage of cells；
Control module 82 receives for sending the current voltage to the target charging pile for itself establishing charging connection
The target charging pile rises in value according to the current voltage and preset voltage, determining charging voltage, charges for cells.
Described device further include:
Judgment module 83 judges whether the electricity is less than the power threshold of setting for obtaining the electricity of cells；
If it is judged that being yes, triggering acquisition module.
Described device further include:
Link block 84, for broadcasting charge request to charging pile；The charging pile being each in idle condition is received to send
Location information, choosing any charging pile being in idle condition is target charging pile, and according to the position of the target charging pile
Confidence breath establishes charging connection with the target charging pile.
The link block 84, specifically for according to the location information of charging pile being each in idle condition and itself
Location information determines the charging pile being each in idle condition at a distance from itself；Choose and itself apart from it is the smallest in sky
The charging pile of not busy state is target charging pile.
The control module 82 is also used to send corresponding benchmark electricity when cells are full of to the target charging pile
Pressure, so that the target charging pile judges whether to stop charging for itself according to the reference voltage.
Described device further include:
Module 85 is cut off, for receiving the instruction for the charging complete that the target charging pile is sent, is disconnected and the target
The charging connection of charging pile.
Embodiment 9:
Fig. 9 is a kind of charge control system schematic diagram provided in an embodiment of the present invention, and the system comprises at least one packets
Containing the charging pile 91 of battery charge controller as shown in Figure 7 and at least one robot comprising battery charge controller as described in Figure 8
92。
Figure 10 is a kind of charge control system configuration diagram provided in an embodiment of the present invention, and charge control system includes filling
Electric stake and robot, charging pile include charging unit, charging detection device and battery charge controller 1 as shown in Figure 7；Robot
Include charging controller (BMS), battery and battery charge controller 2 as shown in Figure 8.Robot in charge control system with
The charging control process of charging pile, as shown in figure 11:
Step1: robot battery charge controller 2 detects the low battery of battery, i.e., the electricity of battery is lower than setting
Power threshold；
Step2: robot battery charge controller 2 sends charge request to charging pile by way of broadcast, and charging pile fills
After controller for electric consumption 2 receives the charge request of robot broadcast, judges whether itself is in idle condition, be in idle condition
Charging pile itself location information is sent to robot by battery charge controller 1, charging pile in a busy state is not right
The charge request of robot broadcast is responded；
Step3: robot battery charge controller 2 according to whether receive charging pile transmission location information, judge whether
There are the charging pile of idle state, if not, the step of returning to step2, if it is, according to it is each be in idle condition fill
The location information of the location information of electric stake and itself determines the charging pile being each in idle condition at a distance from itself；It chooses
With itself apart from the smallest charging pile being in idle condition as target charging pile, preferable robot battery charge controller 2
Locking request can also be sent apart from the smallest target charging pile to apart from itself, target charging pile battery charge controller 1 receives
To after locking request, the idle state of itself is updated to busy state, the charging pile resource of itself is locked, not to other machines
The charge request that human hair is sent is responded, so that other robot can not obtain the charging pile resource of itself.
Step4: robot is arranged guidance path, is moved at target charging pile according to the location information of target charging pile,
It is contacted with target charging pile, establishes charging connection；
Step5: the charging detection device of charging pile detects with robot there are after charging connection, battery charge controller 1
By wirelessly sending the ready information of charging pile to robot；
Step6: robot battery charge controller 2 receives the ready information of charging pile, fixed self-position, and reads
The current voltage V for the battery for taking charging controller to detect, by being wirelessly sent to charging pile；
Step7: after charging pile battery charge controller 1 obtains the current voltage V of battery, judge that the current pressure V of the electricity of battery is
No reference voltage Vmax corresponding when being full of not less than battery, if V < Vmax, it is defeated that charging unit is arranged in battery charge controller 1
The current voltage V of battery charges plus the charging voltage of preset voltage increment Δ V to robot battery out.
Step8: robot battery charge controller 2 detects battery current voltage V in real time, and by being wirelessly sent to charging
Stake recycles Step7 step, until battery is full of, i.e. V >=Vmax.
Step9: after battery is full of, the charging voltage output of 1 charge closing device of battery charge controller in charging pile, and to
The instruction of robot transmission charging complete.
Step10: after robot battery charge controller 2 receives charging complete instruction, robot charging controller is notified
Charging complete, terminates charging, and robot leaves charging pile；
Step11: charging pile release charging resource, and idle state is set as by battery charge controller 1.
In embodiments of the present invention, battery charge controller 1 is that the charge control with wireless communication function fills in charging pile
Set, control charging unit gone by communication bus such as CAN, RS485 or RS232 etc. or IO, charging unit be voltage it is adjustable and
The DC power supply charger module of controllable output, charging detection device can be reflected by the level change on charging contact
Whether the charge port of robot is complete with the charging electric shock contact of charging pile.
It is the battery charge controller with wireless communication function that robot, which fills middle battery charge controller 2, passes through communication bus
Such as CAN, RS485 or RS232 or IO go to control and detect charging controller, and charging controller feeds back to charging unit 2
The data such as current voltage, the current electric quantity of battery simultaneously charge the battery.
Charging pile can also obtain the charged state of robot by wireless communication in embodiments of the present invention, as over-voltage,
It overcurrent and the charging measure of the adjustment to robot such as overcharges, and uses charge protection measure.
The invention discloses a kind of charge control methods, apparatus and system, which comprises charging pile receives and itself
Establish the current voltage of the battery of the robot transmission of charging connection；Rised in value according to the current voltage and preset voltage, really
The fixed charging voltage to charge to the robot, and the charging voltage is used to charge for the robot.Due in the present invention
In embodiment, the current voltage and preset voltage for the battery that charging pile is sent according to robot rise in value, and robot is filled in determination
The charging voltage of electricity, and use charging voltage for robot charging, charging pile is in machine during charging to robot
The charging voltage to robot charging is dynamically adjusted on the basis of the current voltage of people's battery, so that in the mistake to charge to robot
Cheng Zhong, corresponding reference voltage and preset voltage when being full of to the charging voltage of robot charging no more than robot battery
The sum of increment reduces charge loss and fever that charging pile and robot interior circuit occur.
For systems/devices embodiment, since it is substantially similar to the method embodiment, so the comparison of description is simple
Single, the relevent part can refer to the partial explaination of embodiments of method.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (25)
1. a kind of charge control method, which is characterized in that be applied to charging pile, which comprises
Receive the current voltage of the battery sent with the robot for itself establishing charging connection；
Rised in value according to the current voltage and preset voltage, determines the charging voltage to charge to the robot, and use institute
Charging voltage is stated as robot charging.
2. the method as described in claim 1, which is characterized in that the reception is sent with the robot for itself establishing charging connection
Battery current voltage before, the method also includes:
The charge request of the robot broadcast is received, and judges whether itself is in idle condition；
If so, sending the location information of itself to the robot.
3. method according to claim 2, which is characterized in that if the robot is built with itself according to the positional information
Vertical charging connection, the method also includes:
The idle state of itself is updated to busy state.
4. the method as described in claim 1, which is characterized in that it is described to be rised in value according to the current voltage and preset voltage,
Before determining the charging voltage to charge to the robot, the method also includes:
Receive corresponding reference voltage when the battery that the robot is sent is full of；
Judge whether the current voltage is less than the reference voltage；
If so, carrying out subsequent step.
5. method as claimed in claim 4, which is characterized in that if the current voltage is not less than the reference voltage, institute
State method further include:
Stop being that the robot charges.
6. method as claimed in claim 5, which is characterized in that the method also includes:
The busy state of itself is updated to idle state, and sends the instruction of charging complete to the robot.
7. a kind of charge control method, which is characterized in that be applied to robot, which comprises
The current voltage for obtaining cells sends the current voltage to the target charging pile for itself establishing charging connection,
Receive the target charging pile to be rised in value according to the current voltage and preset voltage, determining charging voltage, is cells
Charging.
8. the method for claim 7, which is characterized in that before the current voltage for obtaining cells, the side
Method further include:
The electricity for obtaining cells, judges whether the electricity is less than the power threshold of setting；
If so, carrying out subsequent step.
9. method according to claim 8, which is characterized in that described to obtain if the electricity is less than the power threshold of setting
Before taking the current voltage of cells, the method also includes:
Charge request is broadcasted to charging pile；
The location information that the charging pile being each in idle condition is sent is received, choosing any charging pile being in idle condition is
Target charging pile, and charging connection is established according to the location information of the target charging pile and the target charging pile.
10. method as claimed in claim 9, which is characterized in that described to choose any charging pile being in idle condition as mesh
Marking charging pile includes:
According to the location information of the location information of each charging pile being in idle condition and itself, determine each in idle shape
The charging pile of state is at a distance from itself；
Choose and itself apart from the smallest charging pile being in idle condition be target charging pile.
11. the method for claim 7, which is characterized in that before the current voltage for obtaining cells, the side
Method further include:
Corresponding reference voltage when cells are full of is sent to the target charging pile, so that the target charging pile is according to institute
Reference voltage is stated to judge whether to stop charging for itself.
12. the method for claim 7, which is characterized in that the method also includes:
The instruction for the charging complete that the target charging pile is sent is received, the charging connection with the target charging pile is disconnected.
13. a kind of battery charge controller, which is characterized in that be applied to charging pile, described device includes:
Receiving module, the current voltage for the battery that the robot for receiving with itself establishing charging connection is sent；
Control module determines the charging charged to the robot for rising in value according to the current voltage and preset voltage
Voltage, and the charging voltage is used to charge for the robot.
14. device as claimed in claim 13, which is characterized in that described device further include:
Judgment module for receiving the charge request of the robot broadcast, and judges whether itself is in idle condition；If
It is that the location information of itself is sent to the robot.
15. device as claimed in claim 14, which is characterized in that described device further include:
Update module, if establishing charging connection with itself according to the positional information for the robot, by the sky of itself
Not busy state is updated to busy state.
16. device as claimed in claim 13, which is characterized in that the receiving module is also used to receive the machine human hair
The battery sent corresponding reference voltage when being full of；
The control module, is also used to judge whether the current voltage is less than the reference voltage, if so, carrying out according to institute
The step of stating current voltage and preset voltage to rise in value, determining the charging voltage to charge to the robot.
17. device as claimed in claim 16, which is characterized in that the control module, if being also used to the current voltage
Not less than the reference voltage, stop as robot charging.
18. device as claimed in claim 17, which is characterized in that described device further include:
Update instruction module for the busy state of itself to be updated to idle state, and has charged to robot transmission
At instruction.
19. a kind of battery charge controller, which is characterized in that be applied to robot, described device includes:
Module is obtained, for obtaining the current voltage of cells；
Control module receives the mesh for sending the current voltage to the target charging pile for itself establishing charging connection
It marks charging pile to be rised in value according to the current voltage and preset voltage, determining charging voltage charges for cells.
20. device as claimed in claim 19, which is characterized in that described device further include:
Judgment module judges whether the electricity is less than the power threshold of setting for obtaining the electricity of cells；If sentenced
Disconnected result is yes, triggering acquisition module.
21. device as claimed in claim 20, which is characterized in that described device further include:
Link block, for broadcasting charge request to charging pile；Receive the position that the charging pile being each in idle condition is sent
Information, choosing any charging pile being in idle condition is target charging pile, and according to the location information of the target charging pile
Charging connection is established with the target charging pile.
22. device as claimed in claim 21, which is characterized in that the link block is specifically used for according to each in sky
The location information of the location information of the charging pile of not busy state and itself, determine the charging pile that is each in idle condition and itself
Distance；Choose and itself apart from the smallest charging pile being in idle condition be target charging pile.
23. device as claimed in claim 19, which is characterized in that the control module is also used to the target charging pile
Corresponding reference voltage when cells are full of is sent, so that the target charging pile judges whether to stop according to the reference voltage
Only charge for itself.
24. device as claimed in claim 19, which is characterized in that described device further include:
Module is cut off, for receiving the instruction for the charging complete that the target charging pile is sent, is disconnected and the target charging pile
Charging connection.
25. a kind of charge control system, which is characterized in that including at least one comprising as described in claim any one of 13-18
Battery charge controller charging pile and at least one include such as the described in any item battery charge controllers of claim 19-24
Robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810900880.6A CN109038735A (en) | 2018-08-09 | 2018-08-09 | A kind of charge control method, apparatus and system |
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| CN201810900880.6A CN109038735A (en) | 2018-08-09 | 2018-08-09 | A kind of charge control method, apparatus and system |
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| WO2021003937A1 (en) * | 2019-07-11 | 2021-01-14 | 苏州宝时得电动工具有限公司 | Cleaning robot system, and control method and apparatus therefor |
| CN112636410A (en) * | 2020-12-10 | 2021-04-09 | 广州高新兴机器人有限公司 | Charging method, mobile robot and charging pile |
| CN113098101A (en) * | 2021-04-12 | 2021-07-09 | 重庆文理学院 | Multi-pile charging method and system |
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