CN109787320B - Charging pile, robot and charging method of robot - Google Patents
Charging pile, robot and charging method of robot Download PDFInfo
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- CN109787320B CN109787320B CN201910148109.2A CN201910148109A CN109787320B CN 109787320 B CN109787320 B CN 109787320B CN 201910148109 A CN201910148109 A CN 201910148109A CN 109787320 B CN109787320 B CN 109787320B
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Abstract
The invention discloses a charging method of a robot, which is applied to a charging pile, wherein the charging pile is provided with a contact circuit, the contact circuit is provided with a signal acquisition device and a first power switch, and the charging method of the robot comprises the following steps: acquiring a contact signal acquired by the signal acquisition device to the contact circuit in real time or at fixed time; when the signal value of the contact signal is in a preset interval, the first power switch is controlled to be closed so as to charge the robot through the contact circuit, wherein when the signal value of the contact signal is in the preset interval, the robot is judged to be connected with the charging pile contact. The invention also discloses a robot and a charging pile. The invention simplifies the charging flow of the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a charging pile, a robot and a charging method of the robot.
Background
At present, the society is moving to an aging stage, and higher technology and humanized services are needed to fill various inconveniences in life. Robots are employed to assist in service requirements of various industries. The requirements on the reliability and the safety of the product are also continuously improved, and in order to meet the higher requirements, the robot needs a new technology to support the technology at the present stage, so that the reliability and the safety of the robot are continuously improved.
Robots in the existing stage are greatly developed in China, and the reliability and safety of the operation of the robots are also more and more valued. The existing robot needs the robot to work normally in the charging process, and then after detecting that the robot is connected with the charging pile contact, the robot sends a command to inform the charging pile to start charging. However, if the battery of the robot does not have electric quantity, the robot cannot send a command to the charging pile, so that the charging pile cannot be started to charge the robot through the contact circuit, and further the charging pile needs to be started manually, so that the charging flow of the robot is complicated.
Disclosure of Invention
The invention mainly aims to provide a charging pile, a robot and a charging method of the robot, and aims to solve the problem that the robot is complex in charging flow.
In order to achieve the above object, the present invention provides a charging method for a robot, the charging method for a robot is applied to a charging pile, the charging pile is provided with a contact circuit, the contact circuit is provided with a signal acquisition device and a first power switch, and the charging method for a robot includes the following steps:
acquiring a contact signal acquired by the signal acquisition device to the contact circuit in real time or at fixed time;
when the signal value of the contact signal is in a preset interval, the first power switch is controlled to be closed so as to charge the robot through the contact circuit, wherein when the signal value of the contact signal is in the preset interval, the robot is judged to be connected with the charging pile contact.
In an embodiment, the charging pile further includes an in-place sensor for detecting whether the charging pile is connected to the contact of the robot, and before the step of acquiring the contact signal acquired by the signal acquisition device for the contact circuit, the charging pile further includes:
when a signal sent by the in-place sensor is received, controlling the signal acquisition device to operate so as to acquire a contact signal of the contact circuit, wherein the in-place sensor sends the signal to the charging pile when detecting that the distance between the robot and the charging pile is smaller than a preset distance;
and executing the step of acquiring the contact signals acquired by the signal acquisition device to the contact circuit in real time or at fixed time.
In an embodiment, after the step of controlling the contact switch to be closed, the method further includes:
acquiring current corresponding to the contact circuit in real time;
and when the difference value between the current and the preset current is smaller than the preset difference value, the first power switch is controlled to be disconnected so as to stop charging the robot.
In an embodiment, the contact signal is a voltage signal, the voltage signal being determined by a resistance, a constant current source, or a frequency source on the contact circuit.
In order to achieve the above object, the present invention further provides a charging method of a robot, the charging method of the robot is applied to the robot, the robot includes a charging circuit, a voltage signal acquisition device and a second power switch are provided on the charging circuit, the charging method of the robot includes the following steps:
acquiring voltage signals acquired by the voltage signal acquisition device to the charging circuit in real time or at regular time;
when the difference value between the signal value of the voltage signal and the first preset voltage value is smaller than the preset difference value, the second power switch is controlled to be closed so that the robot charges, wherein when the first power switch in a contact circuit of the charging pile is closed, the difference value between the signal value of the voltage signal and the preset voltage value is smaller than the preset difference value.
In an embodiment, after the step of controlling the second power switch to be closed, the method further includes:
acquiring the electric quantity of a power supply in the robot in real time or at regular time;
when the electric quantity is larger than or equal to the first preset electric quantity, the second power switch is controlled to be disconnected, and the robot is controlled to be disconnected from the contact of the charging pile.
In an embodiment, the charging circuit is provided with a diode connected in parallel with the power switch, and after the step of controlling the second power switch to be closed, the method further includes:
and when the signal value of the current voltage signal is smaller than a second preset voltage, controlling the second power switch to be disconnected.
In an embodiment, the charging circuit is provided with a diode connected in parallel with the power switch, and before the step of acquiring the voltage signal acquired by the voltage signal acquisition device on the charging circuit in real time or at a fixed time, the method further includes:
when the power supply electric quantity of the robot is smaller than a second preset electric quantity, the power supply charges through the diode;
and when the electric quantity of the power supply is larger than a second preset electric quantity, controlling the voltage signal acquisition device to start, and executing the step of acquiring the voltage signal acquired by the voltage signal acquisition device to the charging circuit in real time or at fixed time.
In order to achieve the above object, the present invention also provides a charging stake including a processor, a memory, and a charging program of a robot stored on the memory and executable on the processor, the charging program of the robot implementing the respective steps of the charging method of the robot as described above when being executed by the processor.
In order to achieve the above object, the present invention also provides a robot including a processor, a memory, and a charging program of the robot stored on the memory and executable on the processor, which when executed by the processor, implements the respective steps of the charging method of the robot as described above.
According to the charging pile, the robot and the charging method of the robot, provided by the invention, the charging pile is provided with the contact circuit, the contact circuit is provided with the signal acquisition device and the power switch, the charging pile acquires the contact signal acquired by the signal acquisition device to the contact circuit in real time or at fixed time, when the signal value of the contact signal is in a preset interval, the robot is indicated to be connected with the contact of the charging pile, and at the moment, the power switch is controlled to be closed so as to charge the robot through the contact circuit; because the charging pile can automatically judge whether the robot is in place and charges the robot according to the signal value of the contact signal, the robot does not need to send a charging command, and the charging pile does not need to be manually controlled to start charging the robot, so that the charging flow of the robot is simplified.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of a charging pile and a robot according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a first embodiment of a charging method of the robot according to the present invention;
FIG. 3 is a schematic view of the structure of the charging pile according to the present invention;
fig. 4 is a flow chart of a second embodiment of the charging method of the robot of the present invention;
fig. 5 is a schematic flow chart of a third embodiment of a charging method of the robot according to the present invention;
fig. 6 is a flowchart of a fourth embodiment of a charging method of the robot according to the present invention;
fig. 7 is a schematic structural view of the robot of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The main solutions of the embodiments of the present invention are: acquiring a contact signal acquired by the signal acquisition device to the contact circuit in real time or at fixed time; when the signal value of the contact signal is in a preset interval, the first power switch is controlled to be closed so as to charge the robot through the contact circuit, wherein when the signal value of the contact signal is in the preset interval, the robot is judged to be connected with the charging pile contact.
Because the charging pile can automatically judge whether the robot is in place or not and charge the robot according to the signal value of the contact signal, the robot does not need to send a charging command, the charging pile does not need to be manually controlled to start charging the robot, and the charging flow of the robot is simplified.
As an implementation, the charging pile and the robot may be as shown in fig. 1.
The embodiment of the invention relates to a charging pile and a robot, and it can be understood that the hardware structure of the charging pile and the robot can be represented by the hardware structure diagram shown in fig. 1, the charging pile and the robot comprise: a processor 101, such as a CPU, a memory 102, and a communication bus 103. Wherein the communication bus 103 is used to enable connected communication among the components.
The memory 102 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. As shown in fig. 1, a charging program of the robot may be included in a memory 102 as a computer-readable storage medium; and the processor 101 may be configured to call a charging program of the robot stored in the memory 102 and perform the following operations:
acquiring a contact signal acquired by the signal acquisition device to the contact circuit in real time or at fixed time;
when the signal value of the contact signal is in a preset interval, the first power switch is controlled to be closed so as to charge the robot through the contact circuit, wherein when the signal value of the contact signal is in the preset interval, the robot is judged to be connected with the charging pile contact.
In an embodiment, the processor 101 may be configured to call a program of the robot stored in the memory 102 and perform the following operations:
when a signal sent by the in-place sensor is received, controlling the signal acquisition device to operate so as to acquire a contact signal of the contact circuit, wherein the in-place sensor sends the signal to the charging pile when detecting that the distance between the robot and the charging pile is smaller than a preset distance;
and executing the step of acquiring the contact signals acquired by the signal acquisition device to the contact circuit in real time or at fixed time.
In an embodiment, the processor 101 may be configured to call a program of the robot stored in the memory 102 and perform the following operations:
acquiring current corresponding to the contact circuit in real time;
and when the difference value between the current and the preset current is smaller than the preset difference value, the first power switch is controlled to be disconnected so as to stop charging the robot.
In an embodiment, the processor 101 may be configured to call a program of the robot stored in the memory 102 and perform the following operations:
the contact signal is a voltage signal determined by a resistance, constant current source or frequency source on the contact circuit. In an embodiment, the processor 101 may be configured to call a program of the robot stored in the memory 102 and perform the following operations:
acquiring voltage signals acquired by the voltage signal acquisition device to the charging circuit in real time or at regular time;
when the difference value between the signal value of the voltage signal and the first preset voltage value is smaller than the preset difference value, the second power switch is controlled to be closed so that the robot charges, wherein when the first power switch in a contact circuit of the charging pile is closed, the difference value between the signal value of the voltage signal and the preset voltage value is smaller than the preset difference value.
In an embodiment, the processor 101 may be configured to call a program of the robot stored in the memory 102 and perform the following operations:
acquiring the electric quantity of a power supply in the robot in real time or at regular time;
when the electric quantity is larger than or equal to the first preset electric quantity, the second power switch is controlled to be disconnected, and the robot is controlled to be disconnected from the contact of the charging pile.
In an embodiment, the processor 101 may be configured to call a program of the robot stored in the memory 102 and perform the following operations:
and when the signal value of the current voltage signal is smaller than a second preset voltage, controlling the second power switch to be disconnected.
In an embodiment, the processor 101 may be configured to call a program of the robot stored in the memory 102 and perform the following operations:
when the power supply electric quantity of the robot is smaller than a second preset electric quantity, the power supply charges through the diode;
and when the electric quantity of the power supply is larger than a second preset electric quantity, controlling the voltage signal acquisition device to start, and executing the step of acquiring the voltage signal acquired by the voltage signal acquisition device to the charging circuit in real time or at fixed time.
According to the scheme, the contact circuit is arranged on the charging pile, the signal acquisition device and the power switch are arranged on the contact circuit, the charging pile acquires the contact signal acquired by the signal acquisition device to the contact circuit in real time or at fixed time, when the signal value of the contact signal is in a preset interval, the robot is indicated to be connected with the contact of the charging pile, and at the moment, the power switch is controlled to be closed so as to charge the robot through the contact circuit; because the charging pile can automatically judge whether the robot is in place and charges the robot according to the signal value of the contact signal, the robot does not need to send a charging command, and the charging pile does not need to be manually controlled to start charging the robot, so that the charging flow of the robot is simplified.
Based on the hardware framework of the charging pile, the embodiment of the charging method of the robot is provided.
Referring to fig. 2, fig. 2 is an embodiment of a charging method of a robot according to the present invention, the charging method of the robot includes the steps of:
step S10, acquiring a contact signal acquired by the signal acquisition device to the contact circuit in real time or at fixed time;
in this embodiment, the executing body is a charging pile, referring to fig. 3, fig. 3 is a schematic structural diagram of the charging pile, a contact+ and a contact- (+ are provided on the surface of the charging pile, and represent the positive electrode and represent the negative electrode), the contact+ is connected with the positive electrode of the power supply, the contact-is connected with the negative electrode of the power supply, a first power switch is provided on the connection line of the contact+ and the power supply (the first power switch may also be provided on the connection line of the contact-and the power supply), a contact signal generating device connected in parallel with the first power switch is further provided on the connection line of the contact+ and the power supply+, it is understood that the contact circuit is formed by the connection line of the contact+, the contact+ and the power supply, and a signal collecting device is further provided on the contact circuit, one end of the signal collecting device is connected with the connection line of the contact+ and the power supply, and the other end is connected with the connection line of the contact-and the power supply, so that the signal collecting device collects the contact signal provided by the contact signal generating device.
The contact signal generating device (the contact signal generating device has internal resistance) can be a resistor with a constant resistance value, a frequency generator or a constant current source, the contact signal collected by the signal collecting device is a voltage signal, and the voltage signal is determined by the contact signal generating device. Specifically, the contact signal generating device provides an impedance value for the contact circuit, and when the charging pile is not connected with the contact of the robot, the voltage value is a fixed value, namely the signal value of the contact signal is a first preset value; when the charging pile is connected with the robot contact, the contact circuit is communicated with the charging circuit of the robot, so that a new load resistor is introduced into the contact circuit, and then the signal value of the contact signal is changed, namely, the signal value of the contact signal is changed into a second preset value up and down at the moment, and a range of up and down floating of the second preset value is used as a preset interval. The second preset value may be determined by a power supply, a contact signal generating device and a new load resistor, specifically, if the power supply voltage of the signal power supply is U, if the contact signal generating device is a resistor or a frequency source, the internal resistance of the contact signal generating device is R, and the new load resistor is R, then the second preset value u0=u×r/(r+r), if the contact signal generating device is a constant current source, the current provided by the constant current source is i, then the second preset value u0=r×i.
In addition, the charging pile further comprises a controller, the controller is connected with the first power switch and the signal acquisition device, and can control the first power switch to be closed and opened and can receive contact signals transmitted by the signal acquisition device.
After the charging pile is electrified, the signal acquisition device is started, so that the signal acquisition device acquires the contact signal of the contact circuit in real time or at fixed time, and further acquires the contact signal sent by the signal acquisition device in real time or at fixed time. It should be noted that, after the charging pile is powered on, the first power switch is in an off state.
And step S20, when the signal value of the contact signal is in a preset interval, controlling the first power switch to be closed so as to charge the robot through the contact circuit, wherein when the signal value of the contact signal is in the preset interval, the robot is judged to be connected with the charging pile contact.
Be provided with the contact on the robot, the robot is connected with the contact of charging stake through self contact to realize charging of robot. When the robot is not connected with the charging pile contact, the contact circuit does not form a closed circuit, at the moment, the contact signal collected by the signal collecting device is a stable signal, namely, the signal value of the contact signal is certain, and when the robot is connected with the charging pile contact, the contact circuit and the charging circuit of the robot form a closed circuit, at the moment, the contact circuit introduces a new load resistor, so that the signal value of the contact signal can fluctuate, and therefore, when the charging pile determines that the change of the signal value of the contact signal is a second preset value, the robot can be judged to be connected with the charging pile contact; in practical situations, when the robot is connected with the charging pile, the signal value of the contact signal may be slightly larger than the second preset value or slightly smaller than the second preset value, so that the second preset value is set in an up-down floating range, a preset interval is obtained, and if the signal value of the contact signal is in the preset interval, the charging pile can open the first power switch to charge the robot.
It should be noted that, the contact of the charging pile is intentionally touched by a child or unintentionally touched by an adult through a metal substance to form a closed loop, so in the invention, the electric shock signal is preferably generated as a resistance value, and the current value of the closed loop formed unconsciously is smaller because the first power switch is set to be in an open state, thereby playing a role in preventing electric shock of the charging pile, and simultaneously avoiding the condition that the charging pile is damaged due to short circuit of the contact circuit.
In the technical scheme provided by the embodiment, a contact circuit is arranged on a charging pile, a signal acquisition device and a power switch are arranged on the contact circuit, the charging pile acquires a contact signal acquired by the signal acquisition device to the contact circuit in real time or at fixed time, when the signal value of the contact signal is in a preset interval, the robot is indicated to be connected with a contact of the charging pile, and at the moment, the power switch is controlled to be closed so as to charge the robot through the contact circuit; because the charging pile can automatically judge whether the robot is in place and charges the robot according to the signal value of the contact signal, the robot does not need to send a charging command, and the charging pile does not need to be manually controlled to start charging the robot, so that the charging flow of the robot is simplified.
Referring to fig. 4, fig. 4 is a second embodiment of the charging method of the robot according to the present invention, based on the first embodiment, before the step S10, further including:
step S30, when a signal sent by the in-place sensor is received, controlling the signal acquisition device to operate so as to acquire a contact signal of the contact circuit, wherein when the in-place sensor detects that the distance between the robot and the charging pile is smaller than a preset distance, the signal is sent to the charging pile;
and step S40, executing the step of acquiring the contact signals acquired by the signal acquisition device to the contact circuit in real time or at fixed time.
In this embodiment, the charging pile is further provided with an in-place sensor, where the in-place sensor includes, but is not limited to, an infrared sensor, an ultrasonic ranging sensor, a touch switch and a hall switch, and the controller is in signal connection with the in-place sensor, and when the in-place sensor detects that the distance between the robot and the charging pile is smaller than a preset distance, a signal is sent to the controller of the charging pile, the signal characterizes that the robot approaches the charging pile, and the robot has a charging intention. When the in-place sensor is a touch switch or a hall switch, the preset distance is zero, and when the in-place sensor is an infrared, ultrasonic or other distance measuring sensor, the preset distance can be greater than or equal to zero, and it can be understood that the preset distance is set according to the type of the in-place sensor.
In this embodiment, in order to reduce the energy consumption of the charging pile, the signal acquisition device is not in an operating state after the charging pile is powered on. When the charging pile receives the signal transmitted by the in-place sensor, the charging pile judges that the robot is connected with the charging pile contact or judges that the robot has a charging intention, at this time, the charging pile control signal acquisition device operates to acquire the contact signal of the contact circuit, and further judges whether the robot needs to be charged or not according to the contact signal, namely, step S10 and step S20 are executed.
In the technical scheme that this embodiment provided, fill electric pile and be equipped with the sensor that targets in place, when the sensor that targets in place detects that the robot is less than the distance of predetermineeing with filling between the electric pile, to fill electric pile transmission signal for fill electric pile start signal acquisition device and carry out the collection of contact signal to the contact circuit, thereby saved the energy consumption of filling electric pile.
Referring to fig. 5, fig. 5 is a third embodiment of the charging method of the robot according to the present invention, and after the step S20, further includes:
step S50, current corresponding to the contact circuit is obtained in real time;
and step S60, when the difference value between the current and the preset current is smaller than the preset difference value, the first power switch is controlled to be disconnected so as to stop charging the robot.
The charging pile supports two charging modes of constant-current charging and constant-voltage charging, and when the voltage of the battery is low, the battery is charged with the maximum charging current of the charger in a constant-current manner; when the battery voltage is high, the robot can be charged at a constant voltage at the maximum charging voltage of the robot, and at this time, only the current value of the contact circuit needs to be detected. When the robot is fully charged, the current value on the contact circuit is about 10% of the rated charging current, so that 10% of the rated charging current can be set as the preset current, and when the charging pile detects that the current value is about 10% of the rated current, namely, the difference value between the detected current value and the preset current value is smaller than the preset difference value, the first power switch is controlled to be turned off, so that the robot is stopped from being charged, and the supersaturation of the power supply of the robot is prevented.
In addition, the robot is provided with a charging circuit, a second power switch and a diode connected in parallel with the second power switch are arranged on the charging circuit, when the electric quantity of the robot is low, the robot is precharged through the diode connected in parallel, when the electric quantity of the robot is precharged to a set electric quantity, the robot charging control device works and closes the second power switch, the robot detects charging current in real time, if the difference between the charging current and 10% of rated charging current is smaller than a preset difference value, the second power switch is forcibly opened, the battery is possibly fully charged, and therefore, the voltage of the charging pile is rated charging voltage, the battery is fully charged, and the charging pile can continuously charge the robot only through the diode; if the charging voltage and the battery voltage are very small, the fact that the contact between the robot and the charging pile is not good is indicated, the robot can restart the self-recharging charging so that the robot is in contact with the contact of the charging pile again, or the user is informed to process, and the contact between the robot and the contact of the charging pile is good. In the technical scheme provided by the embodiment, after the charging pile charges the robot, the current of the contact circuit is obtained, if the difference value between the current and the preset current is smaller than the preset difference value, the first power switch is controlled to be disconnected, so that the charging of the robot is stopped, the charging pile automatically stops charging the fully charged robot, the energy consumption of the charging pile is saved, and the intelligent degree of the charging pile is high.
Based on the hardware architecture of the robot, an embodiment of the charging method of the robot is provided.
Referring to fig. 6, fig. 6 is a fourth embodiment of a charging method of a robot according to the present invention, the charging method of the robot including the steps of:
step S100, acquiring voltage signals acquired by the voltage signal acquisition device to the charging circuit in real time or at fixed time;
and step 200, when the difference between the signal value of the voltage signal and the preset voltage value is smaller than the preset difference, controlling the second power switch to be closed so as to charge the robot, wherein when the first power switch in the contact circuit of the charging pile is closed, the difference between the signal value of the voltage signal and the preset voltage value is smaller than the preset difference.
In this embodiment, the execution body is a robot, referring to fig. 7, fig. 7 is a charging schematic diagram when the robot is connected to the charging pile contact; the robot comprises a contact point and a contact point-, wherein the contact point is connected with the positive electrode of a power supply of the robot, the contact point is connected with the negative electrode of the power supply, a second power switch and a diode connected with the second power switch in parallel are arranged on a connecting circuit of the contact point and the power supply (the second power switch and the diode can also be arranged on a connecting circuit of the contact point and the power supply), and the diode allows the charging pile to charge the power supply, but does not allow the power supply to return to the charging pile (reverse charging); it will be appreciated that the contact+, contact-, power supply, contact + power + connection, contact-power-connection, second power switch and diode form the charging circuit of the robot.
The charging circuit is also provided with a voltage signal acquisition device, one end of the voltage signal acquisition device is connected with a contact + and power + connecting line, and the other end of the voltage signal acquisition device is connected with the contact-and power-connecting line so as to acquire the voltage signal of the charging circuit. The robot is also provided with a controller (not labeled), and the controller is connected with the second power switch and the voltage signal acquisition device in a signal way.
The voltage signal acquisition device of the robot acquires a voltage signal on a charging circuit in real time, the voltage of the voltage signal is used as a reference voltage for charging the robot, when the difference between the signal value of the voltage signal and a preset voltage is smaller than a preset difference value, the robot is indicated to be in normal contact connection with the charging pile, the preset voltage is the voltage of the charging circuit of the robot in a normal charging state (the charging pile and the robot are in a normal charging state by representing the normal contact connection of the robot), it can be understood that the charging pile already closes a first power switch to charge the robot (the process of the charging pile automatically closing the first power switch is detailed in the first to third embodiments, and detailed description is omitted here), and at the moment, the robot can correspondingly control a second power switch to be closed, so that a power supply charges.
It should be noted that, when the robot is charged, one is that the electric quantity of the power supply of the robot is smaller than the preset electric quantity (the second preset electric quantity), and the other is that the electric quantity of the power supply is larger than or equal to the second preset electric quantity, if the electric quantity of the power supply is smaller than the second preset electric quantity, each component in the robot cannot be started, that is, the voltage signal and the controller in the robot are not in an operation state; if the electric quantity of the power supply is larger than or equal to the second preset electric quantity, the robot can start the controller and the voltage signal acquisition device.
Therefore, when the electric quantity of the power supply is smaller than the second preset electric quantity, the charging pile charges the power supply through the diode, so that the electric quantity of the power supply is gradually increased, and when the electric quantity of the power supply is increased to the second preset electric quantity or more, the acquisition device and the controller can be started at the moment, and because the diode contains a diode voltage drop, if the power supply is charged by the diode all the time, the energy consumption of the charging pile is necessarily caused; therefore, after the controller and the signal acquisition device are started, the voltage signal acquired by the voltage signal acquisition device to the charging circuit is acquired in real time or at fixed time, and when the difference between the signal value of the voltage signal and the preset voltage is smaller than the preset difference, the robot is in normal contact connection with the charging pile, and at the moment, the second power switch is controlled to be closed, so that the energy consumption of the charging pile is reduced.
In addition, in the process of robot charging, the robot can acquire the electric quantity of the power supply in real time or at regular time, if the electric quantity is larger than the first preset electric quantity (the first preset electric quantity can be any proper value, such as 99%), the power supply of the robot is full, at the moment, the robot controls the second power switch to be disconnected, and simultaneously controls the robot to move, so that the contact connection of the robot and the charging pile is disconnected.
In addition, when the charging pile is abnormal, for example, the power supply of the charging pile is low, if the second power switch is not turned off, the condition that the power supply of the robot supplies current to the power supply, that is, the condition that the robot is reversely charged, may occur; when the power supply of the charging pile is abnormal, the voltage of the voltage signal acquired by the voltage signal acquisition device in the robot is smaller than a second preset voltage; in this regard, if the robot detects that the voltage of the current voltage signal is less than the second preset voltage, the robot controls the second power switch to be turned off, and as the second power switch is connected in parallel with the diode, the diode only allows the charging pile to charge the power supply of the robot, thereby avoiding the situation of reverse charging of the robot.
In addition, the robot can also detect the current value of the charging circuit, and if the current value is smaller or the robot is not in a charging state, the second power switch is immediately disconnected at the moment, so that the robot is prevented from reversely charging the charging pile through the second power switch.
In the technical scheme provided by the embodiment, the robot is provided with a charging circuit, a voltage signal acquisition device and a second power switch are arranged on the charging circuit, the robot acquires a voltage signal acquired by the voltage signal acquisition device in real time or at fixed time, and when the difference value between the voltage of the voltage signal and the preset voltage is smaller than the preset difference value, the second power switch is controlled to be turned off, so that the robot charges; because the robot can judge whether the robot is connected with the charging post contact according to the voltage signal by oneself, and need not to send the instruction of charging to the charging post and can charge, simplified the flow of charging of robot.
The invention also provides a charging pile, which comprises a processor, a memory and a charging program of a robot stored on the memory and capable of running on the processor, wherein the charging program of the robot realizes the steps of the charging method of the robot according to the embodiment when being executed by the processor.
The present invention also provides a robot including a processor, a memory, and a charging program of the robot stored on the memory and executable on the processor, which when executed by the processor, implements the respective steps of the charging method of the robot as described in the above embodiments.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a computer readable storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. The charging method of the robot is characterized in that the charging method of the robot is applied to a charging pile, the charging pile is provided with a contact circuit, the contact circuit is provided with a signal acquisition device, a contact signal generation device and a first power switch, the charging pile further comprises an in-place sensor for detecting whether the charging pile is connected with the robot or not, and the charging method of the robot comprises the following steps:
when a signal sent by the in-place sensor is received, controlling the signal acquisition device to operate so as to acquire a contact signal of the contact circuit, wherein the in-place sensor sends the signal to the charging pile when detecting that the distance between the robot and the charging pile is smaller than a preset distance;
the method comprises the steps of acquiring contact signals acquired by the signal acquisition device for the contact circuit in real time or at fixed time, wherein the contact signals are determined by the contact signal generation device, the contact signals are voltage signals, the contact signal generation device is a resistor, a constant current source or a frequency source on the contact circuit, and the contact signal generation device provides an impedance value for the contact circuit;
when the signal value of the contact signal is in a preset interval, the first power switch is controlled to be closed so as to charge the robot through the contact circuit, wherein when the charging pile is not connected with the contact of the robot, the signal value of the contact signal is a first preset value, the first preset value is a fixed value, when the charging pile is connected with the contact of the robot, the contact circuit is communicated with the charging circuit of the robot, so that a new load resistor is introduced into the contact circuit, the signal value of the contact signal is changed from the first preset value to a second preset value, a range in which the second preset value floats up and down is used as the preset interval, the second preset value is determined by a preset power supply, the contact signal generating device and the new load resistor, and when the signal value of the contact signal is in the preset interval, the robot is judged to be connected with the contact of the charging pile.
2. The method of charging a robot of claim 1, further comprising, after the step of controlling the first power switch to be closed:
acquiring current corresponding to the contact circuit in real time;
and when the difference value between the current and the preset current is smaller than the preset difference value, the first power switch is controlled to be disconnected so as to stop charging the robot.
3. The charging method of the robot is characterized in that the charging method of the robot is applied to the robot, the robot comprises a charging circuit, a voltage signal acquisition device and a second power switch are arranged on the charging circuit, a diode connected with the second power switch in parallel is arranged on the charging circuit, and the charging method of the robot comprises the following steps of:
when the power supply electric quantity of the robot is smaller than a second preset electric quantity, the power supply charges through the diode;
when the electric quantity of the power supply is larger than a second preset electric quantity, the voltage signal acquisition device is controlled to start, and voltage signals acquired by the voltage signal acquisition device on the charging circuit are acquired in real time or at fixed time, wherein the voltage signals are contact signals determined by the contact signal generation device of the charging pile, the contact signal generation device is a resistor, a constant current source or a frequency source on the contact circuit of the charging pile, and the contact signal generation device provides an impedance value for the contact circuit;
when the difference between the signal value of the voltage signal and the preset voltage value is smaller than the preset difference, the second power switch is controlled to be closed so that the robot charges, wherein when the signal value of the contact signal is in a preset interval, the first power switch in a contact circuit of the charging pile is closed, the difference between the signal value of the voltage signal and the preset voltage value is smaller than the preset difference, when the charging pile is not connected with a contact of the robot, the signal value of the contact signal is a first preset value, the first preset value is a fixed value, when the charging pile is connected with the contact of the robot, the contact circuit is communicated with the charging circuit of the robot, so that the contact circuit introduces a new load resistor, the signal value of the contact signal is changed from the first preset value to the second preset value, a range of the second preset value, which is up and down floating, is used as the preset interval, and the second preset value is determined by a preset power supply, the contact signal generating device and the new load resistor.
4. The method of charging a robot of claim 3, further comprising, after the step of controlling the second power switch to be closed:
acquiring the electric quantity of a power supply in the robot in real time or at regular time;
when the electric quantity is larger than or equal to the first preset electric quantity, the second power switch is controlled to be disconnected, and the robot is controlled to be disconnected from the contact of the charging pile.
5. The method of charging a robot of claim 3, further comprising, after the step of controlling the second power switch to be closed:
and when the signal value of the current voltage signal is smaller than a second preset voltage, controlling the second power switch to be disconnected.
6. A charging stake comprising a processor, a memory, and a charging program of a robot stored on the memory and executable on the processor, the charging program of the robot, when executed by the processor, effecting the steps of the charging method of the robot as claimed in claim 1 or 2.
7. A robot comprising a processor, a memory and a charging program of the robot stored on the memory and executable on the processor, the charging program of the robot, when executed by the processor, implementing the respective steps of the charging method of the robot according to any one of claims 3 to 5.
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| CN110783995A (en) * | 2019-11-21 | 2020-02-11 | 广州织点智能科技有限公司 | Controllable overlapping charging system, method, device, equipment and storage medium |
| CN113328492B (en) * | 2021-06-01 | 2023-08-08 | 青岛特来电新能源科技有限公司 | Charging control device |
| CN113783035B (en) * | 2021-11-11 | 2022-04-08 | 汇智机器人科技(深圳)有限公司 | Charging butt joint device and charging butt joint method |
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