CN109245201A - A kind of automatic recharging method and system, charging pile based on charging pile - Google Patents
A kind of automatic recharging method and system, charging pile based on charging pile Download PDFInfo
- Publication number
- CN109245201A CN109245201A CN201811035863.7A CN201811035863A CN109245201A CN 109245201 A CN109245201 A CN 109245201A CN 201811035863 A CN201811035863 A CN 201811035863A CN 109245201 A CN109245201 A CN 109245201A
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- charging pile
- charging
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- robot
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000015654 memory Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 230000005055 memory storage Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- H02J7/0003—
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of automatic recharging method based on charging pile and system, charging pile, comprising the following steps: obtains charging pile status information；Charging pile status information is sent based on prefixed time interval, so that robot realizes automatic charging according to the charging pile status information.Of the invention automatic recharging method and system, charging pile based on charging pile can provide charging pile status information in real time for robot, charging pile can be used so that robot is accurately positioned, to complete automatic charging.
Description
Technical field
The present invention relates to the technical fields of robot charging, more particularly to a kind of automatic recharging method based on charging pile
And system, charging pile.
Background technique
The fuel charger of charging pile being functionally similar to inside gas station, can be fixed on ground or wall, can be according to not
Same voltage class is that the power device of various models charges.The input terminal of charging pile is directly connected to AC network, output end
It is equipped with charging plug.
In the prior art, the position of robot charging pile is fixed, can return to charging pile after the completion of robot work.But
It is that in many application scenarios, property side can be because a variety of causes be by robot charging pile shift position.It is moved if it is a small range
Dynamic, robot can also search out robot charging pile.But if being moved to remote position, the searching of robot is had exceeded
Range, that robot will be unable to complete recharging, or even need manpower intervention, thus greatly reduce the work effect of robot
Rate.
Summary of the invention
In view of the foregoing deficiencies of prior art, what the purpose of the present invention is to provide a kind of based on charging pile filling automatically
Method for electrically and system, charging pile can provide charging pile status information in real time for robot, can be used so that robot is accurately positioned
Charging pile, to complete automatic charging.
In order to achieve the above objects and other related objects, the present invention provides a kind of automatic recharging method based on charging pile,
The following steps are included: obtaining charging pile status information；Charging pile status information is sent based on prefixed time interval, so that robot
Automatic charging is realized according to the charging pile status information.
In one embodiment of the invention, the charging pile status information includes charging pile identification information, charging pile work shape
State information and charging pile location information.
In one embodiment of the invention, the charging pile work state information includes that whether charging pile is powered, charging pile is
Whether no failure and charging pile are used.
Accordingly, the present invention provides a kind of automatic charging system based on charging pile, including obtains module and sending module；
The acquisition module is for obtaining charging pile status information；
The sending module is used to send charging pile status information based on prefixed time interval, so that robot is according to
Charging pile status information realizes automatic charging.
The present invention provides a kind of charging pile, including charging module, processor, communicator and memory；
The charging module is for providing rechargeable electrical energy；
The communicator is for sending charging pile status information；
The memory is for storing computer program；
The processor is used to execute the computer program of memory storage so that the charging pile execute it is above-mentioned
Automatic recharging method based on charging pile.
In one embodiment of the invention, the charging module includes charging electrode and charging circuit；The charging circuit with
Power supply is connected with the charging electrode, for providing charging voltage for the charging electrode.
Finally, the present invention provides a kind of automatic charging system based on charging pile, including above-mentioned charging pile and robot；
The robot is used to receive the charging pile status information that the charging pile is sent, and according to the charging pile shape
State information realization automatic charging.
In one embodiment of the invention, the charging pile and the robot by 2.4G, infrared, ultrasonic wave, WiFi,
One of 4G, UWB or a variety of are communicated.
It further include server in one embodiment of the invention, when the charging pile status information is charging pile failure, institute
Robot is stated to be also used to charging pile fault message being sent to the server.
In one embodiment of the invention, the server uses local server or cloud server.
As described above, automatic recharging method and system, the charging pile of the invention based on charging pile, has below beneficial to effect
Fruit:
(1) charging pile status information can be provided for robot in real time, charging pile can be used so that robot is accurately positioned, from
And complete automatic charging；
(2) it is not necessarily to manpower intervention, intelligence degree is high, and greatly the user experience is improved；
(3) machine task efficiency is improved.
Detailed description of the invention
Fig. 1 is shown as the structural schematic diagram of the invention based on the automatic recharging method of charging pile in an embodiment；
Fig. 2 is shown as the structural schematic diagram of the invention based on the automatic charging system of charging pile in an embodiment；
Fig. 3 is shown as the structural schematic diagram of charging pile of the invention in an embodiment；
Fig. 4 is shown as the structural schematic diagram of the invention based on the automatic charging system of charging pile in another embodiment.
Component label instructions
21 obtain module
22 sending modules
31 charging modules
311 charging electrodes
312 charging circuits
32 processors
33 communicators
34 memories
41 charging piles
42 robots
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.
It should be noted that the basic conception that only the invention is illustrated in a schematic way is illustrated provided in the present embodiment,
Then only shown in schema with it is of the invention in related component rather than component count, shape and size when according to actual implementation draw
System, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel can also
It can be increasingly complex.
Of the invention automatic recharging method and system, charging pile based on charging pile can provide charging in real time for robot
Stake status information can use charging pile so that robot is accurately positioned, robot can be made to be automatically performed without manpower intervention
Charging, improves machine task efficiency.
As shown in Figure 1, in an embodiment, the automatic recharging method of the invention based on charging pile the following steps are included:
Step S1, charging pile status information is obtained.
Specifically, the current state information of charging pile is acquired, in real time based on sensor, the signal end on charging pile to obtain
Charging pile status information.In one embodiment of the invention, the charging pile status information includes charging pile identification information, charging pile
Work state information and charging pile location information.Preferably, the charging pile work state information include charging pile whether be powered,
Whether whether failure and charging pile are used charging pile.
Step S2, charging pile status information is sent based on prefixed time interval, so that robot is according to the charging pile shape
State information realization automatic charging.
Specifically, according to prefixed time interval, if 5s is by the outside periodicity sending of charging pile status information.Work as machine
People can receive the charging pile status information.When robot needs to charge, according to the charging pile status information, search current
Available charging pile, and be moved at the position of the currently available charging pile, to realize automatic charging.
In one embodiment of the invention, pass through one of 2.4G, infrared, ultrasonic wave, WiFi, 4G, UWB or a variety of and institute
Robot is stated to be communicated.
As shown in Fig. 2, the automatic charging system of the invention based on charging pile includes obtaining module 21 in an embodiment
With sending module 22.
Module 21 is obtained for obtaining charging pile status information.
Specifically, the current state information of charging pile is acquired, in real time based on sensor, the signal end on charging pile to obtain
Charging pile status information.In one embodiment of the invention, the charging pile status information includes charging pile identification information, charging pile
Work state information and charging pile location information.Preferably, the charging pile work state information include charging pile whether be powered,
Whether whether failure and charging pile are used charging pile.
Sending module 22 is connected with module 21 is obtained, for sending charging pile status information based on prefixed time interval, with
Robot is set to realize automatic charging according to the charging pile status information.
Specifically, according to prefixed time interval, if 5s is by the outside periodicity sending of charging pile status information.Work as machine
People can receive the charging pile status information.When robot needs to charge, according to the charging pile status information, search current
Available charging pile, and be moved at the position of the currently available charging pile, to realize automatic charging.
In one embodiment of the invention, pass through one of 2.4G, infrared, ultrasonic wave, WiFi, 4G, UWB or a variety of and institute
Robot is stated to be communicated.
It should be noted that it should be understood that the modules of apparatus above division be only a kind of logic function division,
It can completely or partially be integrated on a physical entity in actual implementation, it can also be physically separate.And these modules can be with
All realized by way of processing element calls with software；It can also all realize in the form of hardware；It can also part mould
Block realizes that part of module passes through formal implementation of hardware by way of processing element calls software.For example, x module can be
The processing element individually set up also can integrate and realize in some chip of above-mentioned apparatus, in addition it is also possible to program generation
The form of code is stored in the memory of above-mentioned apparatus, is called by some processing element of above-mentioned apparatus and is executed the above x mould
The function of block.The realization of other modules is similar therewith.Furthermore these modules completely or partially can integrate together, can also be only
It is vertical to realize.Processing element described here can be a kind of integrated circuit, the processing capacity with signal.During realization,
Each step of the above method or the above modules can be by the integrated logic circuits of the hardware in processor elements or soft
The instruction of part form is completed.
For example, the above module can be arranged to implement one or more integrated circuits of above method, such as:
One or more specific integrated circuits (Application Specific Integrated Circuit, abbreviation ASIC), or,
One or more microprocessors (Digital Singnal Processor, abbreviation DSP), or, one or more scene can compile
Journey gate array (Field Programmable Gate Array, abbreviation FPGA) etc..For another example, when some above module passes through place
When managing the form realization of element scheduler program code, which can be general processor, such as central processing unit
(Central Processing Unit, abbreviation CPU) or it is other can be with the processor of caller code.For another example, these modules
It can integrate together, realized in the form of system on chip (system-on-a-chip, abbreviation SOC).
As shown in figure 3, charging pile of the invention includes charging module 31, processor 32, communicator 33 in an embodiment
And memory 34.
The charging module 31 is for providing rechargeable electrical energy.
The communicator 33 is for sending charging pile status information.
The memory 34 is for storing computer program.
The memory 34, which includes: that ROM, RAM, magnetic disk, USB flash disk, storage card or CD etc. are various, can store program generation
The medium of code.
The processor 32 is connected with the communicator 33 and the memory 34, stores for executing the memory 34
Computer program so that the charging pile executes the above-mentioned automatic recharging method based on charging pile.
Preferably, the processor 32 can be general processor, including central processing unit (Central Processing
Unit, abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor
(Digital Signal Processor, abbreviation DSP), specific integrated circuit (Application Specific
Integrated Circuit, abbreviation ASIC), field programmable gate array (Field Programmable Gate Array,
Abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.
In one embodiment of the invention, the charging module 31 includes charging electrode 311 and charging circuit 312.It is described to fill
Circuit 312 is connected with power supply and the charging electrode 311, for being converted to the 311 offer machine of charging electrode by voltage
Charging voltage needed for device people.The charging electrode 311 is connected with the charging electrode of robot, to fill for the robot
Electricity.
As shown in figure 4, the automatic charging system of the invention based on charging pile includes above-mentioned charging in an embodiment
Stake 41 and robot 42.
The robot 42 is communicated to connect with the charging pile 41, the charging pile sent for receiving the charging pile 41
Status information, and automatic charging is realized according to the charging pile status information.Specifically, the robot 42 receives described fill
Electric stake status information, judge whether corresponding charging pile is powered, it is whether faulty, whether be used.If the charging pile is logical
Electricity and is in idle condition fault-free, then the robot is moved to the charging pile according to the location information of the charging pile
It charges at place.Preferably, the automatic charging system of the invention based on charging pile further includes server；If the charging pile is logical
Electricity and break down, then charging pile fault message is sent to the server by the robot, with notify in time administrator into
The breakdown maintenance of row charging pile；If the charging pile is powered, fault-free but in running order, the robot is continually looked for
Next charging pile；If the charging pile is not powered on, the charging pile is ignored by the robot, continually looks for next charging
Stake, until finding available charging pile.
In one embodiment of the invention, the charging pile and the robot by 2.4G, infrared, ultrasonic wave, WiFi,
One of 4G, UWB or a variety of are communicated.Preferably, it is communicated using ultrasonic wave.Specifically, the ultrasound on charging pile
The sound wave that wave module is sent includes the information such as map reference where charging pile ID, working condition, charging pile, by letter to be transmitted
Breath is sent the ultrasonic wave by obtaining the ultrasonic wave for having information with carrier wave fusion.The robot receives
Signal resolution is carried out after the ultrasonic wave, the information such as map reference where obtaining the charging pile ID, working condition, charging pile,
It charges to search available charging pile.
In one embodiment of the invention, the server uses local server or cloud server.
In conclusion the automatic recharging method and system of the invention based on charging pile, charging pile can be machine in real time
People provides charging pile status information, charging pile can be used so that robot is accurately positioned, to complete automatic charging；Without being manually situated between
Enter, intelligence degree is high, and greatly the user experience is improved；Improve machine task efficiency.So effective gram of the present invention
It has taken various shortcoming in the prior art and has had high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. a kind of automatic recharging method based on charging pile, it is characterised in that: the following steps are included:
Obtain charging pile status information；
Charging pile status information is sent based on prefixed time interval, so that robot realizes certainly according to the charging pile status information
Dynamic charging.
2. the automatic recharging method according to claim 1 based on charging pile, it is characterised in that: the charging pile state letter
Breath includes charging pile identification information, charging pile work state information and charging pile location information.
3. the automatic recharging method according to claim 2 based on charging pile, it is characterised in that: the charging pile work shape
State information includes that whether charging pile is powered, whether failure and charging pile are used charging pile.
4. a kind of automatic charging system based on charging pile, it is characterised in that: including obtaining module and sending module；
The acquisition module is for obtaining charging pile status information；
The sending module is used to send charging pile status information based on prefixed time interval, so that robot is according to the charging
Stake status information realizes automatic charging.
5. a kind of charging pile, it is characterised in that: including charging module, processor, communicator and memory；
The charging module is for providing rechargeable electrical energy；
The communicator is for sending charging pile status information；
The memory is for storing computer program；
The processor is used to execute the computer program of the memory storage, so that the charging pile perform claim requires 1
To the automatic recharging method based on charging pile any in 3.
6. charging pile according to claim 5, it is characterised in that: the charging module includes charging electrode and charging electricity
Road；The charging circuit is connected with power supply and the charging electrode, for providing charging voltage for the charging electrode.
7. a kind of automatic charging system based on charging pile, it is characterised in that: including charging pile described in claim 5 or 6 and
Robot；
The robot believes for receiving the charging pile status information that the charging pile is sent, and according to the charging pile state
Breath realizes automatic charging.
8. the automatic charging system according to claim 7 based on charging pile, it is characterised in that: the charging pile with it is described
Robot is communicated by one of 2.4G, infrared, ultrasonic wave, WiFi, 4G, UWB or a variety of.
9. the automatic charging system according to claim 7 based on charging pile, it is characterised in that: it further include server, when
When the charging pile status information is charging pile failure, the robot is also used to charging pile fault message being sent to the clothes
Business device.
10. the automatic charging system according to claim 9 based on charging pile, it is characterised in that: the server uses
Local server or cloud server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811035863.7A CN109245201A (en) | 2018-09-06 | 2018-09-06 | A kind of automatic recharging method and system, charging pile based on charging pile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811035863.7A CN109245201A (en) | 2018-09-06 | 2018-09-06 | A kind of automatic recharging method and system, charging pile based on charging pile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109245201A true CN109245201A (en) | 2019-01-18 |
Family
ID=65060772
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811035863.7A Pending CN109245201A (en) | 2018-09-06 | 2018-09-06 | A kind of automatic recharging method and system, charging pile based on charging pile |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110082620A (en) * | 2019-05-05 | 2019-08-02 | 北京云迹科技有限公司 | A kind of charging pile working state detecting method and device |
| CN110112802A (en) * | 2019-04-30 | 2019-08-09 | 北京云迹科技有限公司 | Robot charging management method and device |
| CN112994176A (en) * | 2021-04-12 | 2021-06-18 | 北京云迹科技有限公司 | Robot charging method, system, electronic device and storage medium |
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| CN106264342A (en) * | 2016-08-23 | 2017-01-04 | 北京小米移动软件有限公司 | Clean robot and control method thereof |
| EP3257731A1 (en) * | 2016-06-17 | 2017-12-20 | Zhejiang Right Digital Technology Co., Ltd. | Vehicle-mounted terminal, charging pile, electric bicycle, and rental system and method thereof |
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2018
- 2018-09-06 CN CN201811035863.7A patent/CN109245201A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3257731A1 (en) * | 2016-06-17 | 2017-12-20 | Zhejiang Right Digital Technology Co., Ltd. | Vehicle-mounted terminal, charging pile, electric bicycle, and rental system and method thereof |
| CN106264342A (en) * | 2016-08-23 | 2017-01-04 | 北京小米移动软件有限公司 | Clean robot and control method thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110112802A (en) * | 2019-04-30 | 2019-08-09 | 北京云迹科技有限公司 | Robot charging management method and device |
| CN110082620A (en) * | 2019-05-05 | 2019-08-02 | 北京云迹科技有限公司 | A kind of charging pile working state detecting method and device |
| CN110082620B (en) * | 2019-05-05 | 2021-09-24 | 北京云迹科技有限公司 | Charging pile working state detection method and device |
| CN112994176A (en) * | 2021-04-12 | 2021-06-18 | 北京云迹科技有限公司 | Robot charging method, system, electronic device and storage medium |
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