CN109787320A - The charging method of charging pile, robot and robot - Google Patents
The charging method of charging pile, robot and robot Download PDFInfo
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- CN109787320A CN109787320A CN201910148109.2A CN201910148109A CN109787320A CN 109787320 A CN109787320 A CN 109787320A CN 201910148109 A CN201910148109 A CN 201910148109A CN 109787320 A CN109787320 A CN 109787320A
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Abstract
The invention discloses a kind of charging methods of robot, the charging method of the robot is applied to charging pile, the charging pile is equipped with contact circuit, the contact circuit is equipped with signal pickup assembly and the first power switch, and the charging method of the robot is the following steps are included: the contact signal that signal pickup assembly described in real-time or timing acquisition acquires the contact circuit；When the signal value of the contact signal is in pre-set interval, control the first power switch closure, to be charged by the contact circuit to the robot, wherein, when the signal value of the contact signal is in pre-set interval, determine that the robot is connected with the charging pile contact.Invention additionally discloses a kind of robot and charging piles.This invention simplifies the charging flows of robot.
Description
Technical field
The present invention relates to robotic technology field more particularly to the charging methods of a kind of charging pile, robot and robot.
Background technique
Present society was just marched toward in the stage of aging, needed the service of higher science and technology and hommization to fill up raw
Various inconvenience in work.To this using robot come the demand for services of power-assisted various industries.Product reliability and safety are wanted
Also continuous raising is asked, in order to meet higher requirement, robot needs new technology to support technology at this stage, thus not
The disconnected reliability and safety for improving robot.
It is had been greatly developed in the robot in existing stage in China, reliability of operation and safety are also more next
More it is valued by people.Existing robot needs robot to work normally during charging, then detects machine
In people's connection behind charging pile contact, robot says the word again notifies charging pile to start to charge.But if robot battery itself
There is no electricity, robot sends without normal direction charging pile and orders, so that charging pile can not start to pass through the contact circuit to institute
It states robot to charge, and then needs to manually boot charging pile, cause robot charging flow cumbersome.
Summary of the invention
The main purpose of the present invention is to provide the charging methods of a kind of charging pile, robot and robot, it is intended to solve
The cumbersome problem of robot charging flow.
To achieve the above object, the charging method of a kind of robot provided by the invention, the charging method of the robot
Applied to charging pile, the charging pile is equipped with contact circuit, and the contact circuit is equipped with signal pickup assembly and the first electricity
Source switch, the charging method of the robot the following steps are included:
The contact signal that signal pickup assembly described in real-time or timing acquisition acquires the contact circuit；
When the signal value of the contact signal is in pre-set interval, the first power switch closure is controlled, with logical
It crosses the contact circuit to charge to the robot, wherein be in pre-set interval in the signal value of the contact signal
When, determine that the robot is connected with the charging pile contact.
In one embodiment, the charging pile further include for detect the charging pile and the robot whether contact phase
Sensors in place even, described the step of obtaining the contact signal that the signal pickup assembly acquires the contact circuit it
Before, further includes:
When receiving the signal that the sensors in place is sent, the signal pickup assembly operation is controlled, to described
The acquisition of contact circuit progress contact signal, wherein the sensors in place detect the robot and the charging pile it
Between distance when being less than pre-determined distance, Xiang Suoshu charging pile sends the signal；
Execute it is described in real time or signal pickup assembly described in timing acquisition contact signal that the contact circuit is acquired
Step.
In one embodiment, after the step of control contact switch is closed, further includes:
The corresponding electric current of the contact circuit is obtained in real time；
When difference between the electric current and predetermined current is less than preset difference value, it is disconnected to control first power switch
It opens, to stop charging to the robot.
In one embodiment, the contact signal is voltage signal, and the voltage signal is by the electricity on the contact circuit
Resistance, constant-current source or frequency source determine.
To achieve the above object, the present invention also provides a kind of charging method of robot, the charging methods of the robot
Applied to robot, the robot includes charging circuit, and the charging circuit is equipped with voltage signal acquisition device and the
Two power switches, the charging method of the robot the following steps are included:
The voltage signal that voltage signal acquisition device described in real-time or timing acquisition acquires the charging circuit；
When difference between the signal value and the first preset voltage value of the voltage signal is less than preset difference value, institute is controlled
It states second source to close the switch, so that the robot charges, wherein the first power supply is opened in the contact circuit of charging pile
When closing conjunction, the difference between the signal value and preset voltage value of the voltage signal is less than preset difference value.
In one embodiment, after the step of control second source closes the switch, further includes:
The electricity of power supply in robot described in real-time or timing acquisition；
When the electricity is greater than or equal to the first default electricity, controls the second source switch and disconnect, and control institute
Robot disconnection is stated to connect with the contact of the charging pile.
In one embodiment, the charging circuit is equipped with the diode in parallel with the power switch, described in the control
After the step of second source closes the switch, further includes:
When the signal value of current voltage signal is less than the second predeterminated voltage, controls the second source switch and disconnect.
In one embodiment, the charging circuit is equipped with the diode in parallel with the power switch, described in real time or fixed
When the step of obtaining the voltage signal that the voltage signal acquisition device acquires the charging circuit before, further includes:
When the electric quantity of power supply of the robot is less than the second default electricity, the power supply is filled by the diode
Electricity；
When the electricity of the power supply is greater than the second default electricity, the voltage signal acquisition device starting is controlled, and hold
The step of voltage signal that voltage signal acquisition device described in the row real-time or timing acquisition acquires the charging circuit.
To achieve the above object, the present invention also provides a kind of charging pile, the charging pile includes processor, memory and deposits
Store up the charging procedure for the robot that can be run on the memory and on the processor, the charging procedure of the robot
Each step of the charging method of robot as described above is realized when being executed by the processor.
To achieve the above object, the present invention also provides a kind of robot, the robot includes processor, memory and deposits
Store up the charging procedure for the robot that can be run on the memory and on the processor, the charging procedure of the robot
Each step of the charging method of robot as described above is realized when being executed by the processor.
The charging method of charging pile provided by the invention, robot and robot, charging pile are equipped with contact circuit, contact
Circuit is equipped with signal pickup assembly and power switch, and charging pile is in real time or timing acquisition signal pickup assembly is to contact circuit
The contact signal of acquisition then shows robot and charging pile contact when the signal value of contact signal is in pre-set interval
Connection, at this point, control power switch closure, to be charged by contact circuit to robot；Because charging pile can be according to touching
The size of the signal value of point signal, whether in place and to robot charge, without machine human hair if judging automatically robot
Charge command is sent, and is charged without the starting of manual control charging pile to robot, the charging flow of robot is simplified.
Detailed description of the invention
Fig. 1 be the present embodiments relate to charging pile and robot hardware structural diagram；
Fig. 2 is the flow diagram of the first embodiment of the charging method of robot of the present invention；
Fig. 3 is the structural schematic diagram of charging pile of the present invention；
Fig. 4 is the flow diagram of the second embodiment of the charging method of robot of the present invention；
Fig. 5 is the flow diagram of the 3rd embodiment of the charging method of robot of the present invention；
Fig. 6 is the flow diagram of the fourth embodiment of the charging method of robot of the present invention；
Fig. 7 is the structural schematic diagram of robot of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The primary solutions of the embodiment of the present invention are: in real time or signal pickup assembly described in timing acquisition is to the contact
The contact signal of circuit acquisition；When the signal value of the contact signal is in pre-set interval, controls first power supply and open
It closes and closes, to be charged by the contact circuit to the robot, wherein be in the signal value of the contact signal
When in pre-set interval, determine that the robot is connected with the charging pile contact.
Since whether charging pile can judge automatically robot in place and to machine according to the size of the signal value of contact signal
Device people charges, and sends charge command without robot, and charge to robot without the starting of manual control charging pile, letter
The charging flow of Hua Liao robot.
As a kind of implementation, charging pile and robot can be as shown in Figure 1.
What is involved is charging pile and robots for the embodiment of the present invention, it is to be understood that hardware knot shown in FIG. 1
Composition can characterize the hardware configuration of charging pile, can also characterize the hardware configuration of robot, and charging pile and robot include: place
Manage device 101, such as CPU, memory 102, communication bus 103.Wherein, communication bus 103 is for realizing between these components
Connection communication.
Memory 102 can be high speed RAM memory, be also possible to stable memory (non-
), such as magnetic disk storage volatilememory.As shown in Figure 1, the memory as a kind of computer readable storage medium
It may include the charging procedure of robot in 102；And processor 101 can be used for calling the robot stored in memory 102
Charging procedure, and execute following operation:
The contact signal that signal pickup assembly described in real-time or timing acquisition acquires the contact circuit；
When the signal value of the contact signal is in pre-set interval, the first power switch closure is controlled, with logical
It crosses the contact circuit to charge to the robot, wherein be in pre-set interval in the signal value of the contact signal
When, determine that the robot is connected with the charging pile contact.
In one embodiment, processor 101 can be used for calling the program of the robot stored in memory 102, and hold
The following operation of row:
When receiving the signal that the sensors in place is sent, the signal pickup assembly operation is controlled, to described
The acquisition of contact circuit progress contact signal, wherein the sensors in place detect the robot and the charging pile it
Between distance when being less than pre-determined distance, Xiang Suoshu charging pile sends the signal；
Execute it is described in real time or signal pickup assembly described in timing acquisition contact signal that the contact circuit is acquired
Step.
In one embodiment, processor 101 can be used for calling the program of the robot stored in memory 102, and hold
The following operation of row:
The corresponding electric current of the contact circuit is obtained in real time；
When difference between the electric current and predetermined current is less than preset difference value, it is disconnected to control first power switch
It opens, to stop charging to the robot.
In one embodiment, processor 101 can be used for calling the program of the robot stored in memory 102, and hold
The following operation of row:
The contact signal be voltage signal, the voltage signal by the contact circuit resistance, constant-current source or
Frequency source determines.In one embodiment, processor 101 can be used for calling the program of the robot stored in memory 102, and
Execute following operation:
The voltage signal that voltage signal acquisition device described in real-time or timing acquisition acquires the charging circuit；
When difference between the signal value and the first preset voltage value of the voltage signal is less than preset difference value, institute is controlled
It states second source to close the switch, so that the robot charges, wherein the first power supply is opened in the contact circuit of charging pile
When closing conjunction, the difference between the signal value and preset voltage value of the voltage signal is less than preset difference value.
In one embodiment, processor 101 can be used for calling the program of the robot stored in memory 102, and hold
The following operation of row:
The electricity of power supply in robot described in real-time or timing acquisition；
When the electricity is greater than or equal to the first default electricity, controls the second source switch and disconnect, and control institute
Robot disconnection is stated to connect with the contact of the charging pile.
In one embodiment, processor 101 can be used for calling the program of the robot stored in memory 102, and hold
The following operation of row:
When the signal value of current voltage signal is less than the second predeterminated voltage, controls the second source switch and disconnect.
In one embodiment, processor 101 can be used for calling the program of the robot stored in memory 102, and hold
The following operation of row:
When the electric quantity of power supply of the robot is less than the second default electricity, the power supply is filled by the diode
Electricity；
When the electricity of the power supply is greater than the second default electricity, the voltage signal acquisition device starting is controlled, and hold
The step of voltage signal that voltage signal acquisition device described in the row real-time or timing acquisition acquires the charging circuit.
For the present embodiment according to above scheme, charging pile is equipped with contact circuit, and contact circuit is equipped with signal pickup assembly
And power switch, charging pile in real time or timing acquisition signal pickup assembly contact signal that contact circuit acquire, when touching
When the signal value of point signal is in pre-set interval, then show that robot is connect with charging pile contact, at this point, control power switch
Closure, to be charged by contact circuit to robot；Because charging pile can be according to the size of the signal value of contact signal, certainly
It is dynamic to judge whether robot charges in place and to robot, charge command is sent without robot, and without artificial control
Charging pile starting processed charges to robot, simplifies the charging flow of robot.
Based on the hardware architecture of above-mentioned charging pile, the embodiment of the charging method of robot of the present invention is proposed.
It is an embodiment of the charging method of robot of the present invention, the charging method packet of the robot referring to Fig. 2, Fig. 2
Include following steps:
Step S10, in real time or signal pickup assembly contact signal that the contact circuit is acquired described in timing acquisition；
In the present embodiment, executing subject is charging pile, is the structural schematic diagram of charging pile, charging pile referring to Fig. 3, Fig. 3
Surface is equipped with contact+and contact-(+expression anode ,-expression cathode), contact+connection power supply anode, contact-connection
The cathode of power supply, contact+with power supply+connection line on be provided with the first power switch (the first power switch
May be provided in the connection line of contact-and power supply -), contact+with power supply+connection line on be additionally provided with and the
The contact signal generating device of one power switch parallel connection, it is to be understood that contact+, contact-, contact+with power supply+
The connection line of connection line, contact-and power supply cathode constitutes contact circuit, is additionally provided with signal acquisition on contact circuit
Device, one end connecting terminal of signal pickup assembly+with power supply+connection line, other end connecting terminal-and power supply electricity
The connection line in source-, so that the contact signal that signal pickup assembly collect contacts signal generation apparatus provides.
It should be noted that contact signal generating device (contact signal generating device has internal resistance) can be constant for resistance value
Resistance, frequency generator or constant-current source, and the contact signal of signal pickup assembly acquisition is voltage signal, voltage signal is by touching
Signal generation apparatus is put to determine.Specifically, contact signal generating device provides an impedance value for contact circuit, when charging
When stake connect with robot contact, voltage value is that the signal value of a fixed value namely contact signal is the first preset value；And
When charging pile is connect with robot contact, the charging circuit of contact circuit communicating machine people, to be introduced for contact circuit
One new load resistance, so that the signal value of contact signal changes, namely the signal value of contact signal has at this time
The variation of first preset value is the second preset value or more, and the range to be floated up and down by the second preset value is as pre-set interval.Second is pre-
If value can be determined by power supply, contact signal generating device and new load resistance, specifically, the power supply electricity of signal power source
Pressure is U, if contact signal generating device is resistance or frequency source, the internal resistance of contact signal generating device is r, new load
Resistance is R, then, the second preset value U0=U*R/ (R+r), if contact signal generating device is constant-current source, constant-current source is provided
Electric current be i, then, the second preset value U0=R*i.
In addition, charging pile further includes controller, controller connects the first power switch and signal pickup assembly, controller
The closure and disconnection of controllable first power switch, and can receive the contact signal of signal pickup assembly transmission.
Charging pile after the power-up, will start signal pickup assembly so that signal pickup assembly in real time or timing acquiring contact
The contact signal of circuit, and then the contact signal that real-time or timing acquisition signal pickup assembly is sent.It should be noted that charging
After the power-up, the first power switch is in an off state for stake.
Step S20 controls first power switch and closes when the signal value of the contact signal is in pre-set interval
It closes, to be charged by the contact circuit to the robot, wherein be in default in the signal value of the contact signal
When in section, determine that the robot is connected with the charging pile contact.
Contact is provided in robot, robot is connected by itself contact and the contact of charging pile, to realize machine
The charging of people.When robot is not connect with charging pile contact, contact circuit does not constitute closed circuit, at this point, signal acquisition
The contact signal of device acquisition is that the signal value of a stable signal namely contact signal is certain, and is working as robot and filling
When electric stake contact connects, the charging circuit of contact circuit and robot constitutes a closed circuit, at this point, contact circuit introduces one
A new load resistance, so that the signal value of contact signal can fluctuate, therefore, charging pile is determining contact signal
When being changing into the second preset value of signal value then can determine that robot is connect with charging pile contact；And in actual conditions, robot
When connecting with charging pile, the signal value of contact signal may be or slightly smaller than the second preset value slightly larger than the second preset value, therefore
Second preset value float up and down the setting of range, pre-set interval is obtained, if the signal value of contact signal is in default
When section, charging pile can just open the first power switch to charge to robot.
It should be noted that children are intentionally or adult unintentionally by the contact of metallics touching charging pile, can constitute
Closed circuit, therefore, preferred electric shock signal occurs as resistance value in the present invention, and because the first power switch is set as disconnecting shape
State to play the role of charging pile protection against electric shock, while also avoiding so that the current value of the closed circuit of unconscious composition is smaller
The case where contact circuit short circuit causes charging pile to damage.
In technical solution provided in this embodiment, charging pile is equipped with contact circuit, and contact circuit is adopted equipped with signal
Acquisition means and power switch, charging pile in real time or timing acquisition signal pickup assembly contact signal that contact circuit is acquired,
When the signal value of contact signal is in pre-set interval, then show that robot is connect with charging pile contact, at this point, control electricity
Source switch closure, to be charged by contact circuit to robot；Because charging pile can be according to the signal value of contact signal
Size, judges automatically whether robot charges in place and to robot, sends charge command without robot, and be not necessarily to
The starting of manual control charging pile charges to robot, simplifies the charging flow of robot.
It is the second embodiment of the charging method of robot of the present invention referring to Fig. 4, Fig. 4, is based on first embodiment, the step
Before rapid S10, further includes:
Step S30 controls the signal pickup assembly operation when receiving the signal that the sensors in place is sent,
With to the contact circuit carry out contact signal acquisition, wherein the sensors in place detect the robot with it is described
When the distance between charging pile is less than pre-determined distance, Xiang Suoshu charging pile sends the signal；
Step S40 executes the touching that signal pickup assembly described in the real-time or timing acquisition acquires the contact circuit
The step of point signal.
In the present embodiment, charging pile is additionally provided with sensors in place, sensors in place include but is not limited to infrared sensor,
Ultrasonic distance-measuring sensor, touching switch and Hall switch, controller are connect with sensors in place signal, ought sensed in place
When device detects that the distance between robot and charging pile are less than pre-determined distance, then signal is sent to the controller of charging pile, it should
Characterization robot is close to charging pile, and there is the intention of charging in robot.Need to illustrate when, if sensors in place be touching
When switch or Hall switch, pre-determined distance zero, and be the distance measuring sensors such as infrared, ultrasonic wave when sensors in place, that
Pre-determined distance can be greater than or equal to zero, it is to be understood that pre-determined distance is configured according to the type of sensors in place.
In the present embodiment, in order to reduce the energy consumption of charging pile, signal pickup assembly is not place after charging pile powers on
In operating status.When receiving the signal of sensors in place transmission when charging pile, charging pile determines robot and charging pile
Contact connection, or determine that there is the intention of charging in robot, at this point, charging pile control signal pickup assembly operation, to acquire touching
The contact signal of dot circuit, and then judge whether robot needs to charge according to contact signal, namely execute step S10 and step
Rapid S20.
In technical solution provided in this embodiment, charging pile is equipped with sensors in place, detects machine in sensors in place
When the distance between device people and charging pile are less than pre-determined distance, signal is sent to charging pile, so that charging pile enabling signal acquires
Device carries out the acquisition of contact signal to contact circuit, to save the energy consumption of charging pile.
It is the 3rd embodiment of the charging method of robot of the present invention referring to Fig. 5, Fig. 5, is based on first or second embodiments,
After the step S20, further includes:
Step S50 obtains the corresponding electric current of the contact circuit in real time；
Step S60 controls first power switch when the difference of the electric current and predetermined current is less than preset difference value
It disconnects, to stop charging to the robot.
Charging pile supports two kinds of charge modes of constant-current charge and its constant-voltage charge, when cell voltage is lower first with charger
Maximum charging current constant-current charge；When cell voltage is higher, robot can be carried out with the maximum charging voltage of robot
Constant-voltage charge, at this point, only needing to detect that the current value of contact circuit.In the electric current when robot is fully charged, on contact circuit
Value is 10% or so of specified charging current, therefore, predetermined current can be set as by the 10% of specified charging current, in charging pile
When detecting that current value is 10% or so of rated current, namely detection current value and pre-set current value difference be less than it is default poor
When value, then the disconnection of the first power switch is controlled, and then stop charging to robot, prevents robot power supply supersaturated.
In addition, robot is equipped with charging circuit, setting second source is switched and is switched with second source on charging circuit
Diode in parallel is pre-charged by parallel diode to robot, when robot electric quantity is low when the electricity for being pre-charged to setting
When amount, the work of robot battery charge controller, and second source is closed the switch, and robot real-time detection charging current, if
It is the difference between charging current and specified charging current 10% less than preset difference value, illustrates that battery may be fully charged, then force
Second source switch is disconnected, such as charging pile voltage is specified charging voltage at this time, illustrates that the full electricity of battery, charging pile can only pass through
Diode continues to charge to robot；Such as charging voltage and cell voltage all very littles, illustrate the touching of robot at this time and charging pile
Point contact is not good, and robot, which can restart independently to recharge, is charged such that contacting again for robot and charging pile contact,
Alternatively, notifying user to handle, so that robot contacts well with the contact of charging pile.In technical side provided in this embodiment
In case, after charging pile charges to robot, the electric current of contact circuit is obtained, if the difference of electric current and predetermined current is small
In preset difference value, then the disconnection of the first power switch is controlled, to stop charging to robot, so that charging pile is automatically to fully charged
Robot stop charging, save the energy consumption of charging pile, the intelligence degree of charging pile is high.
Based on the hardware architecture of above-mentioned robot, the embodiment of the charging method of robot of the present invention is proposed.
It is the fourth embodiment of the charging method of robot of the present invention, the charging method of the robot referring to Fig. 6, Fig. 6
The step of include:
Step S100, in real time or voltage signal acquisition device described in timing acquisition believes the voltage that the charging circuit acquires
Number；
Step S200, when the difference between the signal value and preset voltage value of the voltage signal is less than preset difference value,
It controls the second source to close the switch, so that the robot charges, wherein first in the contact circuit of charging pile
When power switch is closed, the difference between the signal value and preset voltage value of the voltage signal is less than preset difference value.
In the present embodiment, executing subject is robot, and referring to Fig. 7, Fig. 7 is when robot is connect with charging pile contact
Charge schematic diagram；Robot includes contact+and contact-, the anode of contact+connection robot power supply, contact-connection electricity
The cathode in source, contact+with power supply+connection circuit be equipped with second source switch and two poles with second source switch in parallel
Pipe (second source switch and diode may also be arranged in the connection line of contact-and power supply -), diode allows charging pile
It charges to power supply, without allowing power supply to return electric (reverse charging) to charging pile；It is understood that contact+, contact-, electricity
Source, contact+with power supply+connection line, the connection line of contact-and power supply-, second source switch with diode constitute machine
The charging circuit of people.
Charging circuit there are also voltage signal acquisition device, one end connecting terminal of voltage signal acquisition device+with power supply+
Connection line, the connection line of other end connecting terminal-and power supply-, to acquire the voltage signal of charging circuit.Robot is also set
Have controller (not indicating), controller is switched with second source and voltage signal acquisition device signal is connect.
The voltage signal acquisition device of robot can acquire the voltage signal on charging circuit, the electricity of the voltage signal in real time
The reference voltage for pressing the charging as robot, the difference between the signal value and predeterminated voltage when voltage signal are less than default
Difference then shows that robot is in normal contact with charging pile and connect, and predeterminated voltage is that robot is in normal charging condition
The voltage of charging circuit under (charging pile connect characterization robot with robot for normal contact and is in normal charging condition),
It is understood that charging pile has been closed the first power switch, to robot charging, (charging pile is voluntarily closed the first power switch
Process be detailed in first to 3rd embodiment, this is no longer going to repeat them), at this point, robot can corresponding control second source
It closes the switch, so that power supply charges.
It should be noted that there are two kinds of situations in robot in charging, one is the electricity of the power supply of robot to be less than in advance
If electricity (the second default electricity), another kind is that the electricity of power supply is greater than or equal to the second default electricity, if the electricity of power supply is small
In the second default electricity, robot all parts can not start namely robot in voltage signal and controller do not locate
In operating status；If the electricity of power supply is greater than or equal to the second default electricity, robot can start controller and voltage letter
Number acquisition device.
Therefore, when the electricity of power supply is less than the second default electricity, charging pile passes through diode to power source charges, so that
The electricity of power supply is gradually increased, the electricity when power supply increase to the second default electricity and its more than when, at this point, acquisition device with
And controller can star, and since diode contains tube voltage drop, if being charged with diode pair power supply always, will necessarily make
At the loss of the charging pile energy；Therefore after starting controller and signal pickup assembly, then real-time or timing acquisition voltage signal
The voltage signal that acquisition device acquires charging circuit, and the difference between the signal value and predeterminated voltage when voltage signal is small
In preset difference value, then illustrate that robot is in normal contact with charging pile and connect, controls second source at this time and close the switch, from
And reduce the energy consumption of charging pile.
In addition, real-time or timing acquisition power supply electricity is understood by robot, if electricity during robot charging
Greater than the first default electricity (the first default electricity can be any appropriate numerical value, for example, 99%) when, then show the electricity of robot
Source has been filled with, at this point, robot control second source switch disconnects, and robot movement is controlled simultaneously, to disconnect robot
It is connect with the contact of charging pile.
In addition, when charging pile occurs abnormal, for example the power supply electricity of charging pile is low, if second source switch is not
It closes, it is likely that will appear the case where power supply of robot provides electric current to power supply namely robot will appear reversely
The case where charging；And voltage signal acquisition device in robot when the power supply exception of charging pile, can made to acquire
The voltage of voltage signal is less than the second predeterminated voltage；In this regard, if robot is less than in the voltage for detecting current voltage signal
When the second predeterminated voltage, robot controls second source switch and disconnects, due to second source switch and diodes in parallel, and two poles
Pipe only allows charging pile to charge to robot power supply, the case where reverse charging occurs so as to avoid robot.
In addition, robot also can detect the current value of charging circuit, if current value is smaller or robot is not in and fills
When electricity condition, at this point, disconnecting second source switch immediately, robot is avoided reversely to fill to charging pile by second source switch
Electricity.
In technical solution provided in this embodiment, robot is equipped with charging circuit, and charging circuit is equipped with voltage signal
Acquisition device and second source switch, robot in real time or timing acquisition voltage signal acquisition device acquisition voltage signal,
And the difference between the voltage and predeterminated voltage of voltage signal be less than preset difference value when, control second source switch close, make
Robot is obtained to charge；Because robot voluntarily can judge whether robot connect with charging column contact according to voltage signal,
And can charge without sending charging instruction to charging pile, simplify the charging flow of robot.
The present invention also provides a kind of charging pile, the charging pile includes processor, memory and is stored in the memory
The charging procedure of robot that is upper and can running on the processor, the charging procedure of the robot are held by the processor
Each step of the charging method of robot described in embodiment as above is realized when row.
The present invention also provides a kind of robot, the robot includes processor, memory and is stored in the memory
The charging procedure of robot that is upper and can running on the processor, the charging procedure of the robot are held by the processor
Each step of the charging method of robot described in embodiment as above is realized when row.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In computer readable storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can
To be mobile phone, computer, server, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of charging method of robot, which is characterized in that the charging method of the robot is applied to charging pile, described to fill
Electric stake is equipped with contact circuit, and the contact circuit is equipped with signal pickup assembly and the first power switch, the robot
Charging method the following steps are included:
The contact signal that signal pickup assembly described in real-time or timing acquisition acquires the contact circuit；
When the signal value of the contact signal is in pre-set interval, the first power switch closure is controlled, to pass through
It states contact circuit to charge to the robot, wherein when the signal value of the contact signal is in pre-set interval, sentence
The fixed robot is connected with the charging pile contact.
2. the charging method of robot as described in claim 1, which is characterized in that the charging pile further includes for detecting
State charging pile and the robot whether the sensors in place that contact is connected, it is described to obtain the signal pickup assembly to the touching
Before the step of contact signal of dot circuit acquisition, further includes:
When receiving the signal that the sensors in place is sent, the signal pickup assembly operation is controlled, to the contact
The acquisition of circuit progress contact signal, wherein the sensors in place detects between the robot and the charging pile
When distance is less than pre-determined distance, Xiang Suoshu charging pile sends the signal；
The step of executing the contact signal that signal pickup assembly described in the real-time or timing acquisition acquires the contact circuit.
3. the charging method of robot as described in claim 1, which is characterized in that the control contact switch closure
After step, further includes:
The corresponding electric current of the contact circuit is obtained in real time；
When difference between the electric current and predetermined current is less than preset difference value, controls first power switch and disconnect, with
Stop charging to the robot.
4. the charging method of robot as described in any one of claims 1-3, which is characterized in that the contact signal is voltage
Signal, the voltage signal are determined by resistance, constant-current source or the frequency source on the contact circuit.
5. a kind of charging method of robot, which is characterized in that the charging method of the robot is applied to robot, the machine
Device people includes charging circuit, and the charging circuit is equipped with voltage signal acquisition device and second source switchs, the machine
The charging method of people the following steps are included:
The voltage signal that voltage signal acquisition device described in real-time or timing acquisition acquires the charging circuit；
When difference between the signal value and the first preset voltage value of the voltage signal is less than preset difference value, described the is controlled
Two power switches closure, so that the robot charges, wherein the first power switch closes in the contact circuit of charging pile
When conjunction, the difference between the signal value and preset voltage value of the voltage signal is less than preset difference value.
6. the charging method of robot as claimed in claim 5, which is characterized in that the control second source switch closes
After the step of conjunction, further includes:
The electricity of power supply in robot described in real-time or timing acquisition；
When the electricity is greater than or equal to the first default electricity, controls the second source switch and disconnect, and control the machine
Device people disconnects and connecting with the contact of the charging pile.
7. the charging method of robot as claimed in claim 5, which is characterized in that the charging circuit is equipped with and the power supply
After the step of diode of switch in parallel, the control second source closes the switch, further includes:
When the signal value of current voltage signal is less than the second predeterminated voltage, controls the second source switch and disconnect.
8. as the described in any item robots of claim 5-7 charging method, which is characterized in that the charging circuit be equipped with
The diode of the power switch parallel connection, it is described in real time or timing acquisition described in voltage signal acquisition device to the charging circuit
Before the step of voltage signal of acquisition, further includes:
When the electric quantity of power supply of the robot is less than the second default electricity, the power supply is charged by the diode；
When the electricity of the power supply is greater than the second default electricity, the voltage signal acquisition device starting is controlled, and execute institute
The step of stating the voltage signal that voltage signal acquisition device described in real-time or timing acquisition acquires the charging circuit.
9. a kind of charging pile, which is characterized in that the charging pile includes processor, memory and is stored on the memory simultaneously
The charging procedure for the robot that can be run on the processor, when the charging procedure of the robot is executed by the processor
Realize each step of the charging method of robot according to any one of claims 1-4.
10. a kind of robot, which is characterized in that the robot includes processor, memory and is stored on the memory
And the charging procedure for the robot that can be run on the processor, the charging procedure of the robot are executed by the processor
Each step of the Shi Shixian such as charging method of the described in any item robots of claim 5-8.
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| CN109787320B (en) | 2023-06-02 |
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