CN110266073A - Robot charge control system, robot charging equipment and robot - Google Patents
Robot charge control system, robot charging equipment and robot Download PDFInfo
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- CN110266073A CN110266073A CN201910569551.2A CN201910569551A CN110266073A CN 110266073 A CN110266073 A CN 110266073A CN 201910569551 A CN201910569551 A CN 201910569551A CN 110266073 A CN110266073 A CN 110266073A
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- 238000004891 communication Methods 0.000 claims abstract description 98
- 238000003032 molecular docking Methods 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 29
- 239000003550 marker Substances 0.000 claims description 8
- 230000005622 photoelectricity Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000005693 optoelectronics Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
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- H02J7/0077—
-
- H02J7/0088—
Abstract
The embodiment of the invention discloses robot charge control system, robot charging equipment and robots, including robot charging equipment and an at least robot, the first multiple and different wireless communication modules is arranged in robot charging equipment, and each robot includes respective second wireless communication module；Robot charging equipment is used for when detecting robot charging complete, stops sending docking signal to the robot of charging complete, and is successively chosen one first wireless communication module and sent enabling signal to the robot of charging complete；If the signal in place that the robot of charging complete is sent is not detected in preset time when reaching, stop choosing next first wireless communication module transmission enabling signal；Robot is used to receive enabling signal by the second wireless communication module and when docking signal is not detected, and stops sending signal in place and leaves robot charging equipment.The invention enables robot charge control system function is more perfect, charge efficiency is higher.
Description
Technical field
The present invention relates to charge control technical field more particularly to a kind of robot charge control systems, robot charging
Equipment and robot.
Background technique
Mobile robot in automation equipment often uses cell powers, due to battery in use one
Directly charge in robot in power consumption or artificial replacement battery or directly.In robot charging, need charging cabinet
Output end is contacted with cell input terminal, and the behavior can also can be completed, if robot is numerous by artificially completing by automation equipment
More, robot type kind is also more, and charging docking mode there is a situation where inconsistent.Therefore, in the conventional technology, to machine
It is necessary to install additional docking device when device people charges, but also there is major part to rely solely on the machine that allows in charged side at the same time
Device people stop signal whether disappear judge charging whether complete so that robot starting, so as to cause machine in traditional technology
The charging cabinet charging cost of device people is high, and poor compatibility and the incomplete problem of charge function.
Summary of the invention
It is an object of the invention to be directed to the deficiency of traditional technology, a kind of robot charge control system, robot are provided
Charging equipment and robot.
In one embodiment, the present invention provides a kind of robot charge control systems, including robot charging equipment
And the first multiple and different wireless communication modules is arranged in an at least robot, robot charging equipment, each robot includes each
From the second wireless communication module；
Robot charging equipment is used for when detecting robot charging complete, stops sending to the robot of charging complete
Signal is docked, and successively chooses one first wireless communication module and sends enabling signal to the robot of charging complete；If when default
Between reach when be not detected charging complete robot send signal in place, then stop choosing next first wireless communication module
Send enabling signal；
Robot is used to receive enabling signal by the second wireless communication module and when docking signal is not detected, and stops
It only sends signal in place and leaves robot charging equipment.
Robot charging equipment further includes that at least one is used to send docking letter to robot in one of the embodiments,
Number so that robot carry out stop charging charge position；
Robot charging equipment is also used to charge when preset time reaches if being not detected by corresponding charge position
At robot send signal in place when, determine that the robot of charging complete starts successfully, and will send when starting successfully
The device identification of corresponding first wireless communication module of enabling signal and the station location marker associated storage of corresponding charge position, so that
After passing through the charge position next time to robot charging complete, preferential corresponding first channel radio of device identification for choosing associated storage
It interrogates module and sends enabling signal to the robot of charging complete.
In implementing at wherein one, robot charging equipment further includes upper limit switch and corresponding with upper limit switch
Charging push rod for charging to robot；
Before docking signal stops sending, comprising:
When having detected robot charging complete, control charging push rod bounces back robot charging equipment to predeterminated position；
And when detecting charging pusher retracted to predeterminated position by upper limit switch, determines and charge pusher retracted in place.
Robot includes start button in one of the embodiments,；
Robot is also used to detect that start button is pressed during the charging process, if still receive docking signal, protect
It holds and rests in robot charging equipment to charge.
In one of the embodiments, the first wireless communication module include radio-frequency module, WIFI module, bluetooth module and
At least two in Infrared Transmission module；
Second wireless communication module includes appointing in radio-frequency module, WIFI module, bluetooth module and Infrared Transmission module
A kind of or any number of combination.
On the other hand, the present invention also provides a kind of robot charging equipments, are applied to robot charge control system, machine
Device people's charging equipment is provided with the first multiple and different wireless communication modules；
Robot charging equipment is used for when detecting robot charging complete, stops sending to the robot of charging complete
Signal is docked, and successively chooses one first wireless communication module and sends enabling signal so that robot to the robot of charging complete
Stop sending signal in place and leaves robot charging equipment；If the robot of charging complete is not detected in preset time when reaching
The signal in place sent then stops choosing next first wireless communication module transmission enabling signal.
It in one of the embodiments, further include that at least one is used to send docking signal to robot so that robot stops
Charge position by stop charging；
Robot charging equipment is also used to charge when preset time reaches if being not detected by corresponding charge position
At robot send signal in place when, determine that the robot of charging complete starts successfully, and will send when starting successfully
The device identification of corresponding first wireless communication module of enabling signal and the station location marker associated storage of corresponding charge position, so that
After passing through the charge position next time to robot charging complete, preferential corresponding first channel radio of device identification for choosing associated storage
It interrogates module and sends enabling signal to the robot of charging complete.
It in one of the embodiments, further include the first photoemitter and the first light in corresponding charge position
Electric receiver；Second photelectric receiver of the first photoemitter and robot matches, the first photelectric receiver and robot
The second photoemitter match；
First photoemitter is for sending docking signal to the second photelectric receiver；First photelectric receiver is for receiving
The signal in place that second photoemitter is sent.
On the other hand, the embodiment of the invention also provides a kind of robot, robot includes the second wireless communication module；
Robot be used for by the second wireless communication module receive robot charging equipment send enabling signal and
When the docking signal of robot charging equipment transmission is not detected, stops sending signal in place to robot charging equipment and leave
Robot charging equipment.
On the other hand, inventive embodiments of the present invention additionally provide a kind of charging method of robot charging equipment, are applied to
The first multiple and different wireless communication modules is arranged in robot charging equipment, robot charging equipment；
Method includes:
When detecting robot charging complete, stop sending docking signal to the robot of charging complete, and successively select
Take a wireless communication module to the robot of charging complete send enabling signal so that robot stop send in place signal and from
It operates machine people's charging equipment；If the signal in place that the robot of charging complete is sent is not detected in preset time when reaching, stop
It only chooses next first wireless communication module and sends enabling signal.
Robot charge control system, robot charging equipment and robot of the invention, wherein robot charging control
System processed includes robot charging equipment and an at least robot, when robot charging equipment has detected that robot has charged
Cheng Shi sends enabling signal to the robot of corresponding charging complete by the first wireless communication module successively chosen, simultaneously
Stop sending docking signal, so that robot starts and leaves after receiving the enabling signal.This prevents robots
Error starting robot when certain factors cause to stop the docking signal of robot charging equipment transmission in charging process, causes to set
The generation of the failure problems such as standby short circuit, while a variety of different types of robots can be compatible with.Various embodiments of the present invention realize
The higher robot charging equipment of compatibility, while robot can be connect by the second wireless communication module at the end of charging
The enabling signal starting that corresponding first wireless communication module is sent is received, the stability and safety of robot charging are improved
Property, so that robot charge control system function is more perfect, charge efficiency is higher.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, letter will be made to attached drawing needed in the embodiment below
It singly introduces, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as to the present invention
The restriction of protection scope.In various figures, part is similarly comprised using similar number.
Fig. 1 shows the structural schematic diagram of the robot charge control system of the embodiment of the present invention；
Fig. 2 shows the structural schematic diagrams of the robot charging equipment of the embodiment of the present invention；
Fig. 3 shows the structural schematic diagram of the robot of the embodiment of the present invention；
Fig. 4 is shown by the charging flow schematic diagram of the robot charging system of inventive embodiments.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
The component of embodiments of the present invention, which are generally described and illustrated herein in the accompanying drawings can be come with a variety of different configurations
Arrangement and design.Therefore, requirement is not intended to limit to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
The scope of the present invention of protection, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, this field skill
Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Hereinafter, term " includes ", " having " and its cognate that can be used in various embodiments of the present invention are only
It is intended to mean that special characteristic, number, step, operation, the combination of element, component or aforementioned item, and is understood not to first
Exclude the combined presence or increase by one of one or more other features, number, step, operation, element, component or aforementioned item
A or more feature, number, step, operation, element, component or aforementioned item combination a possibility that.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply
Relative importance.
Unless otherwise defined, otherwise all terms (including technical terms and scientific terms) used herein have and this
The identical meaning of the various normally understood meanings of embodiment one skilled in the art of invention.The term (such as exists
The term limited in the dictionary generally used) it is to be interpreted as that there is contain identical with situational meaning in the related technical field
Justice and Utopian meaning or meaning too formal will be interpreted as having, unless in various embodiments of the present invention
It is clearly defined.
Embodiment 1
Referring to Fig. 1, in one embodiment, the embodiment of the invention provides a kind of robot charge control systems, including
Robot charging equipment 110 and at least a robot 120, it is wireless that multiple and different first are arranged in robot charging equipment 110
Communication module 110a, each robot 120 include respective second wireless communication module 120a；
Robot charging equipment 110 is used for when detecting 120 charging complete of robot, stops the machine to charging complete
People 120 sends docking signal, and successively chooses one first wireless communication module 110a and open to the transmission of the robot 120 of charging complete
Dynamic signal stops under selection if the signal in place that the robot 120 of charging complete is sent is not detected in preset time when reaching
One first wireless communication module 110a sends enabling signal；
Robot 120 is used to receive enabling signal by the second wireless communication module 120a and docking letter is being not detected
Number when, stop sending and signal and leave robot charging equipment 110 in place.
At least one in the first multiple and different wireless communication module 110a and the second nothing in corresponding robot 120
Line communication module 120a matches, for example same type of wireless communication module, i.e., 110a pairs of block of one first channel radio modeling every
Answer a kind of Starting mode.Docking signal is for being sent to robot 120, so that robot 120 stops after receiving the docking signal
The charging interface for leaning against robot charging equipment 110 charges.Signal is to receive docking signal in robot 120 to stop in place
The signal sent after leaning on to robot charging equipment 110 indicates that confirmation is stopped in place.Further, it docks signal and believes in place
Being spaced the period number in 120 charging process of robot sends.Robot charging equipment 110 is filled by detection robot 120
Piezoelectric voltage confirm robot 120 whether charging complete, and stop to the robot 120 of charging complete send docking signal, indicate
Robot charging equipment 110 has stopped externally transmitting electric power.
Specifically, the Starting mode of each robot 120 is different, each robot 120 can only receive second wireless with it
The enabling signal that the first wireless communication module 110a that communication module 120a matches is sent.Therefore, when robot charging equipment
110 when detecting 120 charging complete of robot, stops sending docking signal to the robot 120 of charging complete, and successively choose
One first wireless communication module 110a sends enabling signal to the robot 120 of charging complete, until when preset time reaches, not
Detect the signal in place that the robot 120 of charging complete is sent, then it represents that the robot 120 of charging complete has received a certain
The enabling signal that first wireless communication module 110a is sent then stops choosing next first wireless communication module 110a and sending starting
Signal.At this point, stopping sending signal in place after the robot 120 of charging complete receives the enabling signal and charging to robot
Equipment 110 and start leave.
Specifically, robot 120 receives corresponding first wireless communication module by the second wireless communication module 120a
The enabling signal that 110a is sent, which just will start, leaves robot charging equipment 110.Therefore, when robot 120 during the charging process,
If the docking signal that robot charging equipment 110 is sent is blocked because of certain factors, at this point, robot charging equipment 110 is not
Issue enabling signal, robot 120 will not error starting, still keep resting at 110 charging interface of robot charging equipment.
The robot charge control system of the embodiment of the present invention, the starting of robot 120 leave robot charging equipment 110 not
Dependent on docking signal, and receive what corresponding first wireless communication module 110a was sent by the second wireless communication module 120a
Enabling signal, and robot charging equipment 110 is only detecting 120 charging complete of robot, and stops to charging complete
When robot 120 sends docking signal, i.e., when robot charging equipment 110 stops externally transmitting electric power, just pass through corresponding the
One wireless communication module 110a sends the enabling signal.This prevents the error startings during the charging process of robot 120, cause
It is mobile when contacting charging with robot charging equipment 110, cause the generation of the failures such as short circuit or interference.
The robot charge control system of the embodiment of the present invention, robot charge control system include robot charging equipment
110 and at least one robot 120, when robot charging equipment 110 has detected 120 charging complete of robot, by according to
Secondary the first wireless communication module 110a chosen sends enabling signal to the robot 120 of corresponding charging complete, is simultaneously stopped
Docking signal is sent, so that robot 120 starts and leaves after receiving the enabling signal.This prevents robots
Error starting robot when certain factors cause to stop the docking signal of the transmission of robot charging equipment 110 in 120 charging processes
120, the generation of the failure problems such as equipment short circuit is caused, while a variety of different types of robots can be compatible with.The present invention is implemented
Example realizes the higher robot charging equipment 110 of compatibility, while robot 120 can pass through second at the end of charging
Wireless communication module 120a receives the enabling signal starting that corresponding first wireless communication module 110a is sent, when reducing charging
Additional wiring process, reduces charging cost, the stability and safety of the charging of robot 120 is improved, so that machine
People's charge control system function is more perfect, and charge efficiency is higher.
As a preferred embodiment, robot charging equipment 110 further includes charging equipment CPU 110c, charging equipment
CPU 110c connects at least one first wireless communication module 110a, and robot 120 further includes robot C PU 120c, robot
CPU 120c the second wireless communication module of connection 120a.When charging equipment CPU 110c detects 120 charging complete of robot, hold
The above-mentioned program that enabling signal is sent to the robot 120 of charging complete of row.
In a specific embodiment, robot charging equipment further includes that at least one is used to send docking to robot
Signal is so that robot stop the charge position of charging；
Robot charging equipment is also used to charge when preset time reaches if being not detected by corresponding charge position
At robot send signal in place when, determine that the robot of charging complete starts successfully, and will send when starting successfully
The device identification of corresponding first wireless communication module of enabling signal and the station location marker associated storage of corresponding charge position, so that
After passing through the charge position next time to robot charging complete, preferential corresponding first channel radio of device identification for choosing associated storage
It interrogates module and sends enabling signal to the robot of charging complete.
Wherein, every one first wireless communication module of robot charging equipment corresponds to a kind of Starting mode, can be to every 1
Corresponding device identification is arranged in one wireless communication module, to indicate the Starting mode of the first wireless communication module.Robot fills
Electric equipment includes at least one charge position, and by the corresponding one docking signal of transmitting of each charge position, so that robot receives
The charge position is rested in after the docking signal to charge.If robot charging equipment detects that robot charges by charge position
After the completion, it then indicates to start successfully when sending signal in place by the robot that charging complete is not detected in corresponding charge position.
Robot charging equipment can be by the equipment mark of corresponding first wireless communication module of the enabling signal sent when starting successfully as a result,
Know the station location marker associated storage of the charge position where when charging with the successful robot of starting.
The robot charge control system of the embodiment of the present invention, starts the machine of successfully charging complete by corresponding charge position
After device people, by the station location marker of charge position device identification associated storage corresponding with the enabling signal sent when starting successfully.
Then when next charge position docking robot and after charging complete, can preferentially execute the corresponding Starting mode of the device identification with
Start the robot of charging complete, so as to give priority in arranging for this when more same type of robot needs to charge
Charge position charges, and saves and chooses the used time that the first wireless communication module sends enabling signal, improves charge efficiency.
Participate in Fig. 2, in a specific embodiment, robot charging equipment further include upper limit switch 210 and with
The corresponding charging push rod 220 for charging to robot of upper limit switch 210；
Before docking signal stops sending, comprising:
When having detected robot charging complete, control charging push rod 220 returns robot charging equipment to predeterminated position
Contracting；And when detecting that charging push rod 220 is retracted into predeterminated position by upper limit switch 210, determine that charging push rod 220 contracts
Return to position.
The corresponding upper limit switch 210 of each charging push rod 220, and correspond to and charge to a robot.When corresponding charging
When push rod 220 is retracted in place, then robot charging equipment stops externally charging by the push rod 220 that charges, subsequent robot charging
Equipment stops sending docking signal to the robot of charging complete.
The robot charge control system of the embodiment of the present invention, if certain factors cause robot to receive during the charging process
Docking signal is blocked, but the push rod 220 that charges does not retract completion, is docked in the practical still transmission of signal, then robot charges
The enabling signal of equipment side will not occur, and therefore, robot not will start.The embodiment of the present invention can prevent during the charging process
Robot relies on single Rule of judgment error starting and leaves robot charging equipment, causes to set caused by when contact charging is mobile
The generation of the accidents such as standby damage.The embodiment of the present invention improves the safety and stability of robot charging.
In a specific embodiment, robot includes start button；
Robot is also used to detect that start button is pressed during the charging process, if still receive docking signal, protect
It holds and rests in robot charging equipment to charge.
The robot charge control system of the embodiment of the present invention, even if during the charging process, artificial robot of pressing
Start button, because the docking signal of robot charging equipment still remains, robot not will start still, and keep stopping
Robot charging equipment is leaned against to charge.The embodiment of the present invention substantially increases the safety of robot charging.
In a specific embodiment, the first wireless communication module include radio-frequency module, WIFI module, bluetooth module with
And at least two in Infrared Transmission module；
Second wireless communication module includes appointing in radio-frequency module, WIFI module, bluetooth module and Infrared Transmission module
A kind of or any number of combination.
The robot charge control system of the embodiment of the present invention, elected the first wireless communication module got and second is wirelessly
When communication module matches, then robot can receive the enabling signal that the first matched wireless communication module is sent.
The embodiment of the present invention can be compatible with a plurality of types of robots, it can be achieved that the second wireless communication module by robot is received
The enabling signal that corresponding first wireless communication module of robot charging equipment is sent, eliminates the additional wires of docking charging,
Convenient for operation, failure caused by robot error starting is reduced, while improving the stability and safety of robot charging.
Embodiment 2
Referring to fig. 2, in one embodiment, the embodiment of the invention provides a kind of robot charging equipments, are applied to machine
Device people's charge control system, robot charging equipment are provided with the first multiple and different wireless communication modules 260；
Robot charging equipment is used for when detecting robot charging complete, stops sending to the robot of charging complete
Signal is docked, and successively chooses one first wireless communication module 260 and sends enabling signal so that machine to the robot of charging complete
Device people stops sending signal in place and leaves robot charging equipment；If the machine of charging complete is not detected in preset time when reaching
The signal in place that device human hair is sent then stops choosing the next transmission of first wireless communication module 260 enabling signal.
It should be noted that the robot charging equipment of the embodiment of the present invention can refer to above-mentioned robot charge control system
In each embodiment to robot charging equipment limit, details are not described herein.
The robot charging equipment of the embodiment of the present invention, compatible a variety of different types of robots, thus in robot
Enabling signal is sent by the first wireless communication module 260 when charging complete, so that robot starting is left.This prevents
Error starting when the docking signal that certain factors cause blocking robot charging equipment to send in robot charging process, causes equipment
The generation of the failure problems such as short circuit.The embodiment of the present invention realizes the higher robot charging equipment of compatibility, reduces charging
When additional wiring process, reduce charging cost, convenient for operation, improve the stability and safety to charge to robot,
So that robot charging equipment function is more completed and complete.
It in a specific embodiment, further include that at least one is used to send docking signal to robot so that robot
Stop the charge position for carrying out stopping charging；
Robot charging equipment is also used to charge when preset time reaches if being not detected by corresponding charge position
At robot send signal in place when, determine that the robot of charging complete starts successfully, and will send when starting successfully
The device identification of corresponding first wireless communication module of enabling signal and the station location marker associated storage of corresponding charge position, so that
After passing through the charge position next time to robot charging complete, preferential corresponding first channel radio of device identification for choosing associated storage
It interrogates module and sends enabling signal to the robot of charging complete.
The robot charging equipment of the embodiment of the present invention, starts the robot of successfully charging complete by corresponding charge position
Afterwards, by the station location marker of charge position device identification associated storage corresponding with the enabling signal sent when starting successfully.Then when
The next charge position docks robot and after charging complete, can execute the corresponding Starting mode of the device identification preferentially to start
The robot of charging complete, so as to give priority in arranging for the charging when more same type of robot needs to charge
Position is charged, and is saved and is chosen the used time that the first wireless communication module sends enabling signal, and charge efficiency is improved.
Referring to figs. 2 and 3, in a specific embodiment, the first photoelectricity hair including being set in corresponding charge position
Emitter 230 and the first photelectric receiver 240；330 phase of the second photelectric receiver of first photoemitter 230 and robot
Match, the second photoemitter 320 of the first photelectric receiver 240 and robot matches；
First photoemitter 230 is used to send docking signal to the second photelectric receiver 330；First photelectric receiver
240 for receiving the signal in place of the second photoemitter 320 transmission.
The robot charging equipment of the embodiment of the present invention, is equipped at least a pair of of optoelectronic transceivers, and with robot built-in
Optoelectronic transceivers match.First photoemitter 230 is used to send docking signal to the photelectric receiver of robot built-in, the
One photelectric receiver 240 is used to receive the signal in place that the photoemitter of robot built-in is sent.Structure of the embodiment of the present invention
Consummating function is complete, using more general photoemitter and photelectric receiver as transmitting docking signal, receives signal in place
Device, consequently facilitating the maintenance to robot charging equipment.
Embodiment 3
Referring to Fig. 3, in one embodiment, the embodiment of the invention also provides a kind of robot, robot includes second
Wireless communication module 310；
Robot be used for by the second wireless communication module 310 receive robot charging equipment transmission enabling signal and
Be not detected robot charging equipment transmission docking signal when, stop to robot charging equipment send in place signal and from
It operates machine people's charging equipment.
It should be noted that the robot of the present embodiment can refer to each embodiment pair in above-mentioned robot charge control system
The restriction of robot, details are not described herein.
The robot of the embodiment of the present invention leaves robot charging equipment independent of docking signal in starting, and passes through
Second wireless communication module 310 receives the enabling signal starting that corresponding first wireless communication module of robot charging equipment is sent
It leaves.This prevents leading to be blocked docking signal due to error starting because certain, equipment fault is caused, while improving machine
Stability and safety of the device people in charging.
In one embodiment, the present invention also provides a kind of charging methods of robot charging equipment, are applied to machine
Multiple unacceptable first wireless communication modules are arranged in people's charging equipment, robot charging equipment；
Method includes:
When detecting robot charging complete, stop sending docking signal to the robot of charging complete, and successively select
Take a wireless communication module to the robot of charging complete send enabling signal so that robot stop send in place signal and from
It operates machine people's charging equipment；If the signal in place that the robot of charging complete is sent is not detected in preset time when reaching, stop
It only chooses next first wireless communication module and sends enabling signal.
It should be noted that the charging method of robot charging equipment of the invention can refer to above-mentioned robot charge control
Restriction of each embodiment to robot charging equipment in system, details are not described herein.
The charging method of the robot charging equipment of the embodiment of the present invention, compatible a variety of different types of robots, from
And enabling signal is sent by the first wireless communication module in robot charging complete, so that robot starting is left.As a result,
Error starting when can prevent certain factors in robot charging process from leading to the docking signal for stopping robot charging equipment to send, makes
The generation of the failure problems such as forming apparatus short circuit.The embodiment of the present invention realizes the higher robot charging equipment of compatibility, reduces
Additional wiring process, reduces charging cost when charging, convenient for operation, improves the stability and peace to charge to robot
Quan Xing, so that robot charging equipment function is more completed and complete.
Referring to fig. 2, Fig. 3 and Fig. 4 is charged as robot with a robot charging equipment as a preferred embodiment
Example is illustrated.As described in Figure 2, robot charging equipment includes charging equipment CPU 270, and charging equipment CPU 270 connects respectively
Connect limit switch 210, lower position switch 250, the first photoemitter 230, the first photelectric receiver 240, charging push rod 220
And at least one first wireless communication module 260, wherein execute program and handled by charging equipment CPU 270.As shown in figure 3,
Robot includes robot C PU 340, and also built-in one second photoemitter 320 is used for the first light to robot charging equipment
Electric receiver 240 sends signal in place, and one second photelectric receiver 330 is used to receive the first photoelectricity hair of robot charging equipment
Emitter 230 sends docking signal.Robot C PU 340 is separately connected the second photoemitter 320, the second photelectric receiver 330
And second wireless communication module 310, wherein execute program and handled by robot C PU 340.
Step S2: robot charging equipment is powered, and the first photoemitter 230 in corresponding charge position sends docking letter
Number.
Step S4: the robot for needing to charge rests in the charging for emitting the docking signal after receiving the docking signal
Position, and signal gives robot charging equipment in place by the second photoemitter 320 of itself feedback one.
Step S6: the charging push rod 220 in corresponding charge position stretches out, and robot charging equipment passes through lower position switch 250
After detecting that charging push rod 220 stretches out in place, start to charge to robot.
Step S8: after robot charging equipment detects robot charging complete, control charging push rod 220 is retracted, and leads to
Cross upper limit switch 210 detect charging push rod 220 be retracted into predeterminated position after, determine retract in place, and stop send docking
Signal.
Step S10: successively choosing one first wireless communication module 260 to the robot of charging complete and send enabling signal,
Until the signal in place that charging complete is not detected in preset time robot when reaching is sent then stops.
Step S12: after robot is not detected docking signal and receives enabling signal, stop sending signal in place and open
It is dynamic to leave robot charging equipment.
Step S14: robot charging equipment is sent out after robot starting is left by the first photoemitter 230 again
Docking signal is penetrated, to charge to next robot.
Robot charge control system, robot device and the robot of the embodiment of the present invention, wherein robot charging
Control system includes robot charging equipment and an at least robot, when robot charging equipment has detected robot charging
When completion, enabling signal is sent to the robot of corresponding charging complete by the first wireless communication module successively chosen, together
When stop send docking signal so that robot starts and leaves after receiving the enabling signal.This prevents machines
Error starting robot when certain factors cause to stop the docking signal of robot charging equipment transmission in people's charging process, is caused
The generation of the failure problems such as equipment short circuit, while a variety of different types of robots can be compatible with.The embodiment of the present invention realizes
The higher robot charging equipment of compatibility, while robot can be connect by the second wireless communication module at the end of charging
The enabling signal starting that corresponding first wireless communication module is sent is received, the stability and safety of robot charging are improved
Property, so that robot charge control system function is more perfect, charge efficiency is higher.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and structure in attached drawing
Figure shows the system frame in the cards of the device of multiple embodiments according to the present invention, method and computer program product
Structure, function and operation.In this regard, each box in flowchart or block diagram can represent a module, section or code
A part, a part of the module, section or code includes one or more for implementing the specified logical function
Executable instruction.It should also be noted that function marked in the box can also be to be different from the implementation as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that in structure chart and/or flow chart
The combination of each box and the box in structure chart and/or flow chart, can function or movement as defined in executing it is dedicated
Hardware based system realize, or can realize using a combination of dedicated hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention can integrate one independence of formation together
Part, be also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be intelligence
Can mobile phone, personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic or disk etc. be various to can store program code
Medium.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.
Claims (10)
1. a kind of robot charge control system, which is characterized in that including robot charging equipment and an at least robot, institute
It states robot charging equipment and the first multiple and different wireless communication modules is set, each robot includes respective second wireless
Communication module；
The robot charging equipment is used for when detecting robot charging complete, stops sending to the robot of charging complete
Signal is docked, and successively chooses one first wireless communication module and sends enabling signal to the robot of charging complete；If when default
Between reach when be not detected the charging complete robot send signal in place, then stop choosing next first wireless telecommunications
Module sends the enabling signal；
The robot is used to receive the enabling signal by second wireless communication module and described in be not detected
When docking signal, stops sending the signal in place and leave the robot charging equipment.
2. robot charge control system according to claim 1, which is characterized in that the robot charging equipment also wraps
At least one is included for sending the docking signal to the robot so that the robot stop the charge position of charging；
The robot charging equipment is also used to fill when the preset time reaches if being not detected by corresponding charge position
When the signal in place that the robot that electricity is completed is sent, determine that the robot of charging complete starts successfully, and will be described
The device identification of corresponding first wireless communication module of the enabling signal sent when starting successfully and the position of corresponding charge position
Associated storage is identified, so that preferential the described of selection associated storage sets after passing through the charge position next time to robot charging complete
It is standby to identify corresponding first wireless communication module to the robot of charging complete transmission enabling signal.
3. robot charge control system according to claim 1, which is characterized in that the robot charging equipment also wraps
Include upper limit switch and the charging push rod for charging to the robot corresponding with the upper limit switch；
Before the docking signal stops sending, comprising:
The robot charging equipment controls the charging push rod and returns to predeterminated position when having detected robot charging complete
Contracting；And when detecting the charging pusher retracted to the predeterminated position by the upper limit switch, determine that charging pushes away
Bar retracts in place.
4. robot charge control system according to claim 1, which is characterized in that the robot includes that starting is pressed
Key；
The robot is also used to detect that the start button is pressed during the charging process, if still receiving the docking letter
Number when, holding rest in the robot charging equipment to charge.
5. robot charge control system according to claim 1, which is characterized in that
First wireless communication module include in radio-frequency module, WIFI module, bluetooth module and Infrared Transmission module extremely
It is two kinds few；
Second wireless communication module includes appointing in radio-frequency module, WIFI module, bluetooth module and Infrared Transmission module
A kind of or any number of combination.
6. a kind of robot charging equipment, which is characterized in that be applied to robot charge control system, the robot charging is set
It is standby to be provided with the first multiple and different wireless communication modules；
The robot charging equipment is used for when detecting robot charging complete, stops sending to the robot of charging complete
Signal is docked, and successively chooses one first wireless communication module and sends enabling signal so that institute to the robot of charging complete
Robot is stated to stop sending signal in place and leave the robot charging equipment；If preset time is not detected described when reaching
The signal in place that the robot of charging complete is sent then stops choosing next first wireless communication module transmission starting
Signal.
7. robot charging equipment according to claim 6, which is characterized in that further include that at least one is used for the machine
Device human hair send the docking signal so that the robot stops the charge position for carrying out stopping charging；
Robot charging equipment is also used to when preset time reaches, if charging complete is not detected by corresponding charge position
When the signal in place that robot is sent, determine that the robot of charging complete starts successfully, and the starting that will be sent when starting successfully
The device identification of corresponding first wireless communication module of signal and the station location marker associated storage of corresponding charge position, so that next
By the charge position to robot charging complete after, the preferential corresponding first wireless telecommunications mould of device identification for choosing associated storage
Block sends enabling signal to the robot of charging complete.
8. robot charging equipment according to claim 7, which is characterized in that further include being set to the corresponding charge position
On the first photoemitter and the first photelectric receiver；Second photoelectricity of first photoemitter and the robot
Receiver matches, and the second photoemitter of first photelectric receiver and the robot matches；
First photoemitter is for sending the docking signal to second photelectric receiver；First photoelectricity connects
It receives device and is used to receive the signal in place that second photoemitter is sent.
9. a kind of robot, which is characterized in that the robot includes the second wireless communication module；
The robot is used to receive the enabling signal of robot charging equipment transmission by second wireless communication module
And when the docking signal that the robot charging equipment is sent is not detected, stop being sent to the robot charging equipment
Position signal simultaneously leaves the robot charging equipment.
10. a kind of charging method of robot charging equipment, which is characterized in that be applied to robot charging equipment, the machine
The first multiple and different wireless communication modules is arranged in people's charging equipment；
The described method includes:
When detecting robot charging complete, stop sending docking signal to the robot of charging complete, and successively choose one
Wireless communication module sends enabling signal so that the robot stops sending signal in place to the robot of charging complete
And leave the robot charging equipment；If the institute that the robot of the charging complete is sent is not detected in preset time when reaching
Signal in place is stated, then stops choosing next first wireless communication module transmission enabling signal.
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| CN201910569551.2A CN110266073A (en) | 2019-06-27 | 2019-06-27 | Robot charge control system, robot charging equipment and robot |
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| CN201910569551.2A CN110266073A (en) | 2019-06-27 | 2019-06-27 | Robot charge control system, robot charging equipment and robot |
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