CN111211589A - Intelligent charging pile system and operation method thereof - Google Patents

Intelligent charging pile system and operation method thereof Download PDF

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Publication number
CN111211589A
CN111211589A CN201811393085.9A CN201811393085A CN111211589A CN 111211589 A CN111211589 A CN 111211589A CN 201811393085 A CN201811393085 A CN 201811393085A CN 111211589 A CN111211589 A CN 111211589A
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CN
China
Prior art keywords
controller
charging
circuit
detection information
detection device
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Pending
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CN201811393085.9A
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Chinese (zh)
Inventor
刘哲
王悦翔
尹慧昕
曹抒阳
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Zhuineng Robot Shanghai Co ltd
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Zhuineng Robot Shanghai Co ltd
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Application filed by Zhuineng Robot Shanghai Co ltd filed Critical Zhuineng Robot Shanghai Co ltd
Priority to CN201811393085.9A priority Critical patent/CN111211589A/en
Priority to PCT/CN2019/119705 priority patent/WO2020103866A1/en
Publication of CN111211589A publication Critical patent/CN111211589A/en
Pending legal-status Critical Current

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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
    • 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
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits

Abstract

The application relates to an intelligent charging pile system and an operation method thereof. In this application, before the robot need charge through filling electric pile, detect the charging circuit who fills electric pile and the battery circuit of robot earlier, connect after confirming that charging circuit and battery circuit are in normal operating condition again, provide the higher charging system of security.

Description

Intelligent charging pile system and operation method thereof
Technical Field
The invention relates to a charging protection technology, in particular to an intelligent charging pile system and an operation method thereof.
Background
At present, a small-sized high-voltage direct current charging technology applied to mobile logistics equipment such as an Automatic Guided Vehicle (AGV) is composed of a single part of charging piles. The charging pile is connected with common commercial power (220V or 380V), is in a working state for a long time, and has high voltage output at the output end. When the other end is connected with the battery, the charging pile immediately outputs the charging to the battery. However, the inventors of the present invention have found that such a charging method is dangerous to some extent, and therefore a safer charging method is demanded.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a safe and high-safety charging system.
In order to achieve the above object, the present application provides an operation method of an intelligent charging pile system, the intelligent charging pile system including a charging pile and a robot, the charging pile including a first controller, the robot including a second controller, at least one of the charging pile and the robot including a detection device, the operation method including the steps of: when the robot needs to be charged, the detection device detects a charging circuit of the charging pile and a battery circuit of the robot and sends detection information to the first controller and/or the second controller; the first controller and/or the second controller judges whether the charging circuit and the battery circuit are abnormal or not according to the detection information; if the charging circuit or the battery circuit is confirmed to be abnormal, the first controller and/or the second controller controls the robot not to be electrically connected with the charging pile, and if the charging circuit and the battery circuit are confirmed to be abnormal, the first controller and/or the second controller controls the robot to be electrically connected with the charging pile for charging.
In an embodiment, the detection device includes a first detection device and a second detection device, the detection information includes a first detection information and a second detection information, the charging pile includes the first detection device, and the robot includes the second detection device. In the step that the detection device detects the charging circuit of the charging pile and the battery circuit of the robot and sends detection information to the first controller and/or the second controller, the first detection device detects the charging circuit of the charging pile and sends first detection information to the first controller, and the second detection device detects the battery circuit of the robot and sends second detection information to the second controller; in the step that the first controller and/or the second controller judge whether the charging circuit and the battery circuit are abnormal or not according to the detection information, the first controller judges whether the charging circuit is abnormal or not according to the first detection information, and the second controller judges whether the battery circuit is abnormal or not according to the second detection information.
In another embodiment, the detection device is a first detection device, the detection information includes first detection information and second detection information, and only the charging pile includes the first detection device. The steps of detecting the charging circuit of the charging pile and the battery circuit of the robot by the detection device and sending detection information to the first controller and/or the second controller comprise the following steps: the first detection device detects the charging circuit and sends first detection information to the first controller; and the second controller controls the input end of the battery circuit to be connected with the output end of the charging circuit when the charging circuit is closed, and the first detection device detects the battery circuit and sends second detection information to the first controller. In the step that the first controller and/or the second controller judge whether the charging circuit and the battery circuit are abnormal or not according to the detection information, the first controller judges whether the charging circuit is abnormal or not according to the first detection information and judges whether the battery circuit is abnormal or not according to the second detection information; and if the charging circuit and the battery circuit are determined to be not abnormal, the first controller starts the charging circuit in the step that the first controller and/or the second controller control the robot to be electrically connected with the charging pile for charging.
In another embodiment, the detection device is a second detection device, the detection information includes first detection information and second detection information, only the robot includes the second detection device, and the steps of detecting the charging circuit of the charging pile and the battery circuit of the robot by the detection device and sending the detection information to the first controller and/or the second controller include the following steps: the second detection device detects the battery circuit and sends second detection information to the second controller; and the second controller controls the input end of the battery circuit to be connected with the output end of the charging circuit when the battery circuit is closed, and the second detection device detects the charging circuit and sends the first detection information to the second controller. In the step that the first controller and/or the second controller judge whether the charging circuit and the battery circuit are abnormal or not according to the detection information, the second controller judges whether the battery circuit is abnormal or not according to the second detection information and judges whether the charging circuit is abnormal or not according to the first detection information; and if the battery circuit and the charging circuit are determined to be not abnormal, the second controller starts the battery circuit in the step that the first controller and/or the second controller control the robot to be electrically connected with the charging pile for charging.
In one embodiment, the charging circuit comprises an ac-dc converter, the charging post comprises a first switch between the output of the charging circuit and the ac-dc converter, the robot comprises a second switch at the input of the battery circuit; in the step that the first controller and/or the second controller control the robot not to be electrically connected with the charging pile, the first controller controls the first switch to be disconnected and the second controller controls the second switch to be disconnected.
In one embodiment, the charging pile further comprises a third switch between the input end of the charging circuit and the ac-dc converter; in the step that the first controller and/or the second controller control the robot not to be electrically connected with the charging pile, the first controller also controls the third switch to be disconnected.
In one embodiment, the charging post and the robot communicate through WIFI or near field communication.
In one embodiment, the charging pile comprises a first communication device, and the robot comprises a second communication device; the step of controlling the robot to be electrically connected with the charging pile for charging by the first controller and/or the second controller comprises the following steps:
when the charging circuit is closed and/or the battery circuit is closed, the second controller controls the input end of the battery circuit to be connected with the output end of the charging circuit;
the second communication device sends a square wave signal to the first communication device;
the first communication device receives the square wave signal and sends the square wave signal to the first controller; and
the first controller judges whether the square wave signal is a preset square wave signal,
and if the square wave signal is determined to be the preset square wave signal, the first controller starts the charging circuit and/or the second controller starts the battery circuit.
In an embodiment, the detection information may be one or a combination of voltage, current, temperature and smoke concentration.
In one embodiment, the detection information is a voltage; in the step of judging whether the charging circuit and the battery circuit are abnormal or not according to the detection information by the first controller and/or the second controller, the first controller and/or the second controller judges whether a first voltage of the charging circuit is within a first preset range or not and a second voltage of the battery circuit is within a second preset range or not; the first controller and/or the second controller controls the robot not to be electrically connected with the charging post if the first voltage is out of a first predetermined range or the second voltage is out of a second predetermined range, and controls the robot to be electrically connected with the charging post for charging if the first voltage is within the first predetermined range and the second voltage is within the second predetermined range.
In other embodiments, when the detection information is one of current, temperature and smoke concentration, the first controller and/or the second controller determines whether the corresponding detection information is within a preset range. In another embodiment, the detection information is a combination of a plurality of voltage, current, temperature and smoke concentration, and weights are assigned to the plurality of parameters according to actual experience for combination judgment.
In one embodiment, the first controller and/or the second controller uses the low voltage signal to determine whether the charging circuit and the battery circuit are abnormal.
In one embodiment, the charging pile is provided with a contact switch on the outer side, and the contact switch is pressed to start the charging circuit; in the step of controlling the robot to be electrically connected with the charging pile for charging by the first controller and/or the second controller, the second controller controls the robot to approach the charging pile so that a part of the robot presses the contact switch to open the charging circuit.
In one embodiment, the robot is an automated guided vehicle.
In another aspect, the present application provides an intelligent charging pile system, including a charging pile and a robot, the charging pile including a first controller, the robot including a second controller, at least one of the charging pile and the robot including a detection device, wherein: the detection device is used for detecting a charging circuit of the charging pile and a battery circuit of the robot when the robot needs to be charged and sending detection information to the first controller and/or the second controller; the first controller and/or the second controller are used for judging whether the charging circuit and the battery circuit are abnormal or not according to detection information sent by the detection device, controlling the robot not to be electrically connected with the charging pile when the first controller and/or the second controller confirms that the charging circuit or the battery circuit is abnormal, and controlling the robot to be electrically connected with the charging pile to charge when the first controller and/or the second controller confirms that the charging circuit and the battery circuit are not abnormal.
In an embodiment, the detection device includes a first detection device and a second detection device, the detection information includes a first detection information and a second detection information, the charging pile includes the first detection device, and the robot includes the second detection device. The first detection device is used for detecting a charging circuit of the charging pile and sending first detection information to the first controller, and the second detection device is used for detecting a battery circuit of the robot and sending second detection information to the second controller; the first controller is used for judging whether the charging circuit is abnormal or not according to first detection information sent by the first detection device, and the second controller is used for judging whether the battery circuit is abnormal or not according to second detection information sent by the second detection device.
In an embodiment, the detection device is a first detection device, the detection information includes first detection information and second detection information, only the charging pile includes the first detection device, the first detection device is used for detecting the charging circuit and sending the first detection information to the first controller, and after the input end of the battery circuit is controlled by the second controller to be connected with the output end of the charging circuit, the battery circuit is detected and the second detection information is sent to the first controller; the second controller is used for controlling the input end of the battery circuit to be connected with the output end of the charging circuit when the charging circuit is closed after the first detection device sends the first detection information to the first controller; the first controller is used for judging whether the charging circuit is abnormal or not according to the first detection information sent by the first detection device, judging whether the battery circuit is abnormal or not according to the second detection information sent by the first detection device, and starting the charging circuit when the charging circuit and the battery circuit are confirmed to be abnormal or not.
In an embodiment, the detection device is a second detection device, the detection information includes first detection information and second detection information, only the robot includes the second detection device, the second detection device is configured to detect the battery circuit and send the second detection information to the second controller, and after the input end of the battery circuit is controlled by the second controller to be connected to the output end of the charging circuit, detect the charging circuit and send the first detection information to the second controller; the second controller is used for controlling the input end of the battery circuit to be connected with the output end of the charging circuit when the battery circuit is closed after the second detection device sends the second detection information to the second controller, judging whether the battery circuit is abnormal or not according to the second detection information sent by the second detection device, judging whether the charging circuit is abnormal or not according to the first detection information sent by the second detection device, and starting the battery circuit when the second controller confirms that the charging circuit and the battery circuit are not abnormal.
In one embodiment, the charging circuit comprises an ac-dc converter, the charging pile is provided with a first switch between the output end of the charging circuit and the ac-dc converter, and the robot is provided with a second switch at the input end of the battery circuit; the first controller is used for controlling the first switch to be switched off when the charging circuit or the battery circuit is confirmed to be abnormal, and the second controller is used for controlling the second switch to be switched off when the charging circuit or the battery circuit is confirmed to be abnormal.
In one embodiment, the charging pile further comprises a third switch between the input end of the charging circuit and the ac-dc converter; the first controller is also used for controlling the third switch to be switched off when the charging circuit or the battery circuit is confirmed to have abnormality.
In one embodiment, the charging post and the robot communicate through WIFI or near field communication.
In one embodiment, the charging pile comprises a first communication device, and the robot comprises a second communication device; the second controller is used for controlling the input end of the battery circuit to be connected with the output end of the charging circuit when the charging circuit is closed and/or the battery circuit is closed after the charging circuit and the battery circuit are confirmed to be free of abnormality; the second communication device is used for sending a square wave signal to the first communication device after the input end of the battery circuit is connected with the output end of the charging circuit; the first communication device is used for receiving the square wave signal sent by the second communication device and sending the square wave signal to the first controller; the first controller is used for judging whether the square wave signal sent by the first communication device is a preset square wave signal or not, and after the square wave signal is determined to be the preset square wave signal, the first controller starts the charging circuit and/or the second controller starts the battery circuit.
In an embodiment, the detection information may be one or a combination of voltage, current, temperature and smoke concentration.
In one embodiment, the detection information is a voltage; the first controller and/or the second controller are used for judging whether a first voltage of the charging circuit is within a first preset range or not and whether a second voltage of the battery circuit is within a second preset range or not, and the first controller and/or the second controller controls the robot not to be electrically connected with the charging pile when the first voltage is confirmed to be out of the first preset range or the second voltage is confirmed to be out of the second preset range, and controls the robot to be electrically connected with the charging pile for charging when the first voltage is confirmed to be within the first preset range and the second voltage is confirmed to be within the second preset range.
In other embodiments, when the detection information is one of current, temperature and smoke concentration, the first controller and/or the second controller is used to determine whether the corresponding detection information is within a preset range. In another embodiment, the detection information is a combination of a plurality of voltage, current, temperature and smoke concentration, and weights are assigned to the plurality of parameters according to actual experience for combination judgment.
In one embodiment, the first controller and/or the second controller uses the low voltage signal to determine whether the charging circuit and the battery circuit are abnormal.
In one embodiment, the charging post is provided with a contact switch at an outer side thereof for turning on the charging circuit when pressed, and the second controller is configured to control the robot to approach the charging post when it is confirmed that there is no abnormality in the charging circuit and the battery circuit, so that a part of the robot presses the contact switch to turn on the charging circuit.
In one embodiment, the robot is an automated guided vehicle.
The beneficial effects of this application are that before the robot need charge through filling electric pile, detect the charging circuit who fills electric pile and the battery circuit of robot earlier, connect after confirming that charging circuit and battery circuit are in normal operating condition again, provide the higher charging system of security.
In addition, the charging technology has a very high-safety starting mode, such as remote control starting, square wave communication starting, voltage detection starting, touch switch starting and the like, so that the safety is high, and the requirement of large-scale management planning can be met.
In one embodiment, the charging post maintains ultra-low power consumption in milliwatts (mW) during normal standby.
It is to be understood that within the scope of the present invention, each of the above-described technical features of the present invention and each of the technical features described in detail below (e.g., embodiments) may be combined with each other to constitute a new or preferred technical solution. Not to be reiterated herein, but to the extent of space.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. Wherein:
fig. 1 is a flowchart illustrating an operation method of an intelligent charging pile system according to an example embodiment of the present application.
Fig. 2 is a flowchart illustrating an operation method of the intelligent charging pile system according to an example embodiment of the present application.
Fig. 3 is a flowchart illustrating an operation method of the intelligent charging pile system according to an example embodiment of the present application.
Fig. 4 is a flowchart illustrating an operation method of the intelligent charging pile system according to an example embodiment of the present application.
Fig. 5 is a flowchart illustrating an operation method of the intelligent charging pile system according to an example embodiment of the present application.
Fig. 6 is a schematic flow chart illustrating an electrical connection between a robot and a charging pile in an operation method of the intelligent charging pile system according to an example embodiment of the present application.
Fig. 7 is a block diagram of an intelligent charging pile system according to an example embodiment of the present application.
Fig. 8 is a block diagram of an intelligent charging pile system according to an example embodiment of the present application.
Fig. 9 is a block diagram of an intelligent charging pile system according to an example embodiment of the present application.
Fig. 10 is a block diagram of an intelligent charging pile system according to an example embodiment of the present application.
Fig. 11A is a block diagram of a charging circuit in an intelligent charging pile system according to an example embodiment of the present application.
Fig. 11B is a block diagram of a battery circuit in an intelligent charging pile system according to an example embodiment of the present application.
Fig. 12 is a block diagram of a charging circuit in an intelligent charging pile system according to another example embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, there is certain danger in the charging mode of filling electric pile and carrier, for example fill electric pile and wait that charging equipment connects long-term circular telegram and exposes, when output line or battery charging wire are by unexpected short circuit, can lead to filling electric pile or battery heavy current output in the twinkling of an eye, and the damage fills electric pile or battery, probably causes serious accidents such as conflagration when serious. Meanwhile, when a person carelessly touches the exposed interface, the person may be shocked to cause injury to the human body. In view of the above, the present application provides a charging system with higher safety.
Fig. 1 illustrates an operation method of an intelligent charging pile system according to an example embodiment. The intelligent charging pile system comprises a charging pile and a robot, wherein the charging pile comprises a first controller, the robot comprises a second controller, and at least one of the charging pile and the robot comprises a detection device. As shown in fig. 1, the operation method includes the following steps:
in step 101, when the robot needs to be charged, the detection device detects a charging circuit of the charging pile and a battery circuit of the robot and sends detection information to the first controller and/or the second controller. In one embodiment, the robot directly sends a charging request to the charging pile when charging is needed. In another embodiment, the robot sends a charging request to the dispatching system when charging is needed, and the dispatching system informs the charging pile. In other embodiments, the robot may inform the charging post when charging is required in any known manner. The detection means may detect the charging circuit and the battery circuit in any known manner. In one embodiment, the detection device may send the detection information to the monitoring system for determination.
Then, step 102 is entered, and the first controller and/or the second controller determines whether the charging circuit and the battery circuit are abnormal or not according to the detection information. In one embodiment, the detection information may be one or a combination of voltage, current, temperature, and smoke concentration. When there is an abnormality in the charging circuit or the battery circuit, the detection information deviates from a preset range. In other embodiments, other parameters may be used for detection as long as it is possible to determine whether or not there is an abnormality in the charging circuit and the battery circuit.
If the charging circuit or the battery circuit is determined to be abnormal, the step 103 is entered; if it is confirmed that there is no abnormality in both the charging circuit and the battery circuit, step 104 is entered.
In step 103, the first controller and/or the second controller controls the robot not to be electrically connected with the charging pile. For example, at least one of the battery circuit of the robot and the charging circuit of the charging post may be maintained in an off or dormant state, and/or the robot may be directly tuned away from the charging post, and so on.
In step 104, the first controller and/or the second controller controls the robot to be electrically connected with the charging pile for charging.
In one embodiment, the robot is an Automated Guided Vehicle (AGV). In another embodiment, the robot may be any robot that needs to be charged by using a charging pile.
In this embodiment, before the robot needs to charge through charging pile, detect charging circuit to charging pile and the battery circuit of robot earlier, connect the electricity after confirming that charging circuit and battery circuit are in normal operating condition again, provide the higher charging system of security.
In various embodiments, detection devices may be provided in the charging pile and the robot as needed.
In an embodiment, the detection device includes a first detection device and a second detection device, and the detection information includes first detection information and second detection information, wherein the charging pile includes the first detection device, and the robot includes the second detection device. That is, detection devices are provided on both sides of the charging pile and the robot, the first detection information is detection information on the charging circuit, and the second detection information is detection information on the battery circuit.
In the embodiment where both sides of the charging pile and the robot include the detection devices, in step 101, the first detection device detects the charging circuit of the charging pile and transmits first detection information to the first controller, and the second detection device detects the battery circuit of the robot and transmits second detection information to the second controller. The first detection device and the second detection device respectively detect a charging circuit of the charging pile and a battery circuit of the robot, and respectively send first detection information and second detection information to the first controller and the second controller. In step 102, the first controller determines whether the charging circuit is abnormal according to the first detection information, and the second controller determines whether the battery circuit is abnormal according to the second detection information. Charging pile and robot both sides all set up detection device, can detect charging circuit and battery circuit simultaneously under contactless condition.
Fig. 2 to 5 illustrate an operation method of the intelligent charging pile system including a detection device on only one side according to an exemplary embodiment of the present application. Fig. 2-3 illustrate a method of operating an intelligent charging pile system in which only the charging pile includes the first detection device. Fig. 4-5 illustrate a method of operating an intelligent charging pile system in which only the robot includes the second detection device. In the operation method of the intelligent charging pile systems, the detection device is only required to be arranged on one side of the charging pile and the robot, so that the intelligent charging pile system can be used when the detection device on one side breaks down.
As shown in fig. 2, in the embodiment in which only the charging pile includes the first detection means, the detection information includes first detection information and second detection information, which are detection information on the charging circuit and the battery circuit, respectively. The operating method may comprise the steps of:
in step 201, the first detection device detects the charging circuit and sends first detection information to the first controller.
Thereafter, step 202 is entered, and the second controller controls the input terminal of the battery circuit to be connected to the output terminal of the charging circuit when the charging circuit is turned off (i.e. the charging circuit has no electrical output, e.g. the charging circuit is in a sleep state), and the first detection means detects the battery circuit and sends the second detection information to the first controller. In this case, the first detection means may be provided in the vicinity of the output of the charging circuit, and detect the battery circuit when the input of the battery circuit is connected to the output of the charging circuit. In one embodiment, the first detecting device may be disposed at an output terminal of the charging circuit, detect the output terminal of the charging circuit, and then connect the charging circuit to the battery circuit in the off state, so that the first detecting device detects the input terminal of the battery circuit. In another embodiment, the first detection device may be disposed at other positions of the charging circuit, as long as the battery circuit can be detected after approaching the charging pile. Step 201 and step 202 correspond to step 101 described above.
Thereafter, step 203 (corresponding to step 102) is entered, and the first controller determines whether there is an abnormality in the charging circuit based on the first detection information and determines whether there is an abnormality in the battery circuit based on the second detection information. If the charging circuit or the battery circuit is determined to be abnormal, the step 204 is entered; if it is determined that there is no abnormality in both the charging circuit and the battery circuit, the process proceeds to step 205.
In step 204, similar to step 103, the first controller and/or the second controller controls the robot not to be electrically connected to the charging post, e.g., the first controller continues to keep the charging circuit in a closed state, and/or the second controller controls the robot to move away from the charging post to disconnect the input of the battery circuit from the output of the charging circuit, and so on.
In step 205, the first controller turns on the charging circuit to electrically connect the robot and the charging pile. Turning on the charging circuit means stopping the off state or the sleep state of the charging pile.
In one embodiment, the first detecting means in the charging post may be plural, and respectively detect different parameters of the charging circuit or different positions of the circuit, such as an upstream circuit and a downstream circuit of the charging circuit. In one embodiment, the first detection means is located upstream of the charging circuit and detects an ac condition from the external network. In another embodiment, the first detection means is located downstream of the charging circuit and detects a dc condition for charging the robot. In other embodiments, the first detection device may be located at other positions, such as in the middle of the charging circuit, to detect the charging circuit. By providing a plurality of first detection means, detection can be performed more comprehensively.
As shown in fig. 3, in another embodiment in which only the charging pile includes the first detection device, the detection information includes first detection information and second detection information. The operating method may comprise the steps of:
in step 301, the first detection device detects the charging circuit and sends first detection information to the first controller.
Then, step 302 is entered, and the first controller determines whether there is an abnormality in the charging circuit according to the first detection information. If the charging circuit is determined to be abnormal, go to step 305; if it is determined that there is no abnormality in the charging circuit, the process proceeds to step 303.
In step 303, the second controller controls the input terminal of the battery circuit to be connected to the output terminal of the charging circuit when the charging circuit is turned off, and the first detection device detects the battery circuit and transmits the second detection information to the first controller.
Thereafter, step 304 is performed, and the first controller determines whether there is an abnormality in the battery circuit according to the second detection information. If the battery circuit is confirmed to be abnormal, go to step 305; if it is determined that there is no abnormality in the battery circuit, the process proceeds to step 306.
In step 305, similar to step 103, the first controller and/or the second controller controls the robot not to be electrically connected to the charging post, e.g., the first controller continues to maintain the charging circuit in a closed state, and/or the second controller controls the robot to move away from the charging post to disconnect the input of the battery circuit from the output of the charging circuit.
In step 306, the first controller turns on the charging circuit to electrically connect the robot and the charging post.
The robot detection method has the advantages that the charging circuit is detected and abnormal judgment is carried out firstly, and the robot is detected only when the charging circuit is not abnormal, so that the time is saved.
As shown in fig. 4, in the embodiment in which only the robot includes the second detection device, the detection information includes first detection information and second detection information, which are detection information on the charging circuit and the battery circuit, respectively. The operating method may comprise the steps of:
in step 401, the second detection device detects the battery circuit and sends second detection information to the second controller.
Thereafter, step 402 is entered, in which the second controller controls the input terminal of the battery circuit to be connected to the output terminal of the charging circuit when the battery circuit is turned off (i.e. the battery circuit does not receive an electrical input, e.g. the battery circuit is in a sleep state), and the second detection means detects the charging circuit and sends the first detection information to the second controller. Similarly to the above, the second detection means may be arranged near the input of the battery circuit, which detects when the input of the battery circuit is connected to the output of the charging circuit. In one embodiment, the second detecting means may be arranged at an input of the battery circuit, detect the input of the battery circuit, and then connect the battery circuit to the charging circuit in the off state, and then detect the output of the charging circuit. In another embodiment, the second detection device may be disposed at other positions of the battery circuit, as long as the charging circuit can be detected after the battery circuit approaches the charging pile. Steps 401 and 402 correspond to step 101 described above.
Thereafter, the process proceeds to step 403 (corresponding to step 102 described above), where the second controller determines whether there is an abnormality in the battery circuit based on the second detection information, and determines whether there is an abnormality in the charging circuit based on the first detection information.
If the battery circuit or the charging circuit is determined to be abnormal, go to step 404; if it is determined that there is no abnormality in both the charging circuit and the battery circuit, the process proceeds to step 405.
In step 404, similar to step 103, the first controller and/or the second controller controls the robot not to be electrically connected to the charging post, e.g., the first controller controls the charging circuit to be in a closed state, and/or the second controller continues to keep the battery circuit in a closed state, and/or the second controller controls the robot to move away from the charging post to disconnect the input of the battery circuit from the output of the charging circuit, and so on.
In step 405, the second controller turns on the battery circuit to electrically connect the robot and the charging pile.
In one embodiment, the second detection means in the robot may be plural, respectively detecting different parameters of the battery circuit or different positions of the circuit, e.g. upstream or downstream of the battery circuit. By providing a plurality of second detection means, detection can be performed more comprehensively.
As shown in fig. 5, in another embodiment in which only the robot includes the second detection device, the detection information includes first detection information and second detection information. The operating method may comprise the steps of:
in step 501, the second detection device detects the battery circuit and sends second detection information to the second controller.
Thereafter, step 502 is performed, and the second controller determines whether there is an abnormality in the battery circuit according to the second detection information. If the battery circuit is confirmed to be abnormal, the step 505 is entered; if it is confirmed that there is no abnormality in the battery circuit, the flow proceeds to step 503.
In step 503, the second controller controls the input terminal of the battery circuit to be connected to the output terminal of the charging circuit when the battery circuit is turned off, and the second detection device detects the charging circuit and transmits the first detection information to the second controller.
Then, the process proceeds to step 504, and the second controller determines whether there is an abnormality in the charging circuit according to the first detection information. If the charging circuit is determined to be abnormal, go to step 505; if it is determined that there is no abnormality in the charging circuit, the process proceeds to step 506.
In step 505, similar to step 103, the first controller and/or the second controller controls the robot not to be electrically connected to the charging post, e.g., the second controller continues to maintain the battery circuit in a closed state, and/or the second controller controls the robot to move away from the charging post to disconnect the input of the battery circuit from the output of the charging circuit.
In step 506, the second controller turns on the battery circuit to electrically connect the robot with the charging pile.
The battery circuit is detected and abnormal judgment is carried out firstly, and the charging pile is detected only when the battery circuit is not abnormal, so that the time is saved.
In some embodiments, a switch may be provided in both the charging circuit and the battery circuit, and the switches on both sides may be turned off simultaneously when an abnormality occurs in one of the charging circuit and the battery circuit to ensure safety. In one embodiment, as shown in fig. 11A, the charging circuit includes an ac-dc converter, and a first switch is disposed between an output terminal of the charging circuit and the ac-dc converter to turn on or off an output of the charging circuit; a second switch is included at the input of the battery circuit to turn on or off the input of the battery circuit. When there is an abnormality in the charging circuit or the battery circuit, that is, in step 103, the first controller controls the first switch to be turned off and the second controller controls the second switch to be turned off, so that the robot is not electrically connected to the charging pile.
In another embodiment, a third switch may be further included between the input terminal of the charging circuit and the ac-dc converter to turn on or off the input of the charging circuit. When there is an abnormality in the charging circuit or the battery circuit, that is, in step 103, the first controller may control the third switch to be turned off so that the robot is not electrically connected to the charging pile.
In other embodiments, the switch may be disposed at other positions of the charging circuit and the battery circuit, as long as the switch can be turned on and off, or the battery circuit and the charging circuit are kept in an off or sleep state in other manners. In other embodiments, the second controller may also control the robot to move away from the charging post so that the robot is not electrically connected to the charging post or otherwise.
When it is determined that there is no abnormality in the charging circuit and the battery circuit, that is, in step 104, the robot and the charging pile may be electrically connected by remote control, square wave communication, voltage detection, touch switch, or other opening methods.
In one embodiment, the charging pile and the robot communicate through WIFI, near field communication or other remote communication modes, so that when the charging circuit and the battery circuit are confirmed to be not abnormal, the charging pile and the robot can communicate with each other to inform and carry out electric connection.
Fig. 6 shows a schematic flow diagram of the square wave communication opening according to an example embodiment, wherein the charging pile may include a first communication device and the robot may include a second communication device. As shown in fig. 6, the step 104 may include the following steps:
in step 601, the second controller controls the input terminal of the battery circuit to be connected to the output terminal of the charging circuit when the charging circuit is turned off and/or the battery circuit is turned off.
Thereafter, step 602 is entered, and the second communication device sends a square wave signal to the first communication device.
Then, in step 603, the first communication device receives the square wave signal and sends the square wave signal to the first controller.
Then, in step 604, the first controller determines whether the square wave signal is a predetermined square wave signal. If the square wave signal is determined to be the preset square wave signal, entering step 605; otherwise, go to step 606.
In step 605, the first controller turns on the charging circuit and/or the second controller turns on the battery circuit.
In step 606, the charging circuit is maintained in a disconnected state from the battery circuit. In one embodiment, an alarm signal may be issued to draw the attention of the operator. In another embodiment, the robot may be moved directly away from the charging post.
After confirming that battery circuit and charging circuit do not have unusually, start the robot through the square wave communication mode and charge with filling electric pile, can further ensure the security.
In another embodiment, a contact switch may be provided on the outside of the charging pile or the robot, which when pressed opens the charging circuit or the battery circuit. For example, when the touch switch is pressed, an activation signal is transmitted to the first controller or the second controller, so that the first controller or the second controller interrupts the charging circuit or the battery circuit off state or the sleep state. The second controller controls the robot to approach the charging post in step 104 so that a portion of the robot presses the contact switch outside the charging post to open the charging circuit or so that a portion of the charging post presses the contact switch outside the robot to open the battery circuit.
The method embodiments of the present application may be implemented in software, hardware, firmware, etc. Whether implemented in software, hardware, or firmware, the instruction code may be stored in any type of computer-accessible memory (e.g., permanent or modifiable, volatile or non-volatile, solid or non-solid, fixed or removable media, etc.). Also, the Memory may be, for example, Programmable Array Logic (PAL), Random Access Memory (RAM), Programmable Read Only Memory (PROM), Read-Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), a magnetic disk, an optical disk, a Digital Versatile Disk (DVD), or the like.
Fig. 7 shows a block diagram of an intelligent charging pile system according to an example embodiment. The intelligent charging pile system can be used for implementing the operation method shown in fig. 1. As shown in fig. 7, the intelligent charging pile system includes a charging pile 1 and a robot 2, the charging pile 1 includes a first controller 11, the robot 2 includes a second controller 21, and at least one of the charging pile 1 and the robot 2 includes a detection device. Wherein:
the detection device is used for detecting the charging circuit 12 of the charging pile 1 and the battery circuit 22 of the robot 2 when the robot 2 needs to be charged and sending detection information to the first controller 11 and/or the second controller 21. In one embodiment, the detection information may be one or a combination of voltage, current, temperature, and smoke concentration. When there is an abnormality in the charging circuit or the battery circuit, the detection information deviates from a preset range. In other embodiments, other parameters may be used for detection as long as it is possible to determine whether or not there is an abnormality in the charging circuit and the battery circuit.
The first controller 11 and/or the second controller 21 are used for judging whether the charging circuit 12 and the battery circuit 22 are abnormal or not according to the detection information sent by the detection device, when the charging circuit 12 or the battery circuit 22 is confirmed to be abnormal, the first controller 11 and/or the second controller 21 controls the robot 2 not to be electrically connected with the charging pile 1, and when the charging circuit 12 and the battery circuit 22 are confirmed to be abnormal, the first controller 11 and/or the second controller 21 controls the robot 2 to be electrically connected with the charging pile 1 for charging.
In one embodiment, the robot is an Automated Guided Vehicle (AGV). In another embodiment, the robot may be any robot that needs to be charged by using a charging pile.
In this embodiment, before the robot needs to be charged through the charging pile, the detection device detects the charging circuit of the charging pile and the battery circuit of the robot, and the first controller and/or the second controller are/is electrically connected after confirming that the charging circuit and the battery circuit are in a normal operation state, so that a charging system with higher safety is provided.
In various embodiments, detection devices may be provided in the charging pile and the robot as needed. Fig. 8-10 illustrate block diagrams of intelligent charging pile systems, according to example embodiments. The intelligent charging pile systems shown in fig. 9-10 may be used to implement the methods shown in fig. 2-5.
Fig. 8 shows a block diagram of an intelligent charging pile system including detection devices on both sides according to an example embodiment of the present application. In this embodiment, the above-described detection means includes the first detection means 13 and the second detection means 23, and the detection information includes first detection information and second detection information, which are detection information on the charging circuit and the battery circuit, respectively. As shown in fig. 8, the charging pile 1 includes a first detection device 13, and the robot 2 includes a second detection device 23.
The first detection device 13 is configured to detect the charging circuit 12 of the charging pile 1 and send first detection information to the first controller 11, and the second detection device 23 is configured to detect the battery circuit 22 of the robot 2 and send second detection information to the second controller 21.
The first controller 11 is configured to determine whether there is an abnormality in the charging circuit 12 based on first detection information transmitted from the first detection device 13, and the second controller 21 is configured to determine whether there is an abnormality in the battery circuit 22 based on second detection information transmitted from the second detection device 23.
Fig. 9 is a block diagram illustrating a structure of an intelligent charging system including only a charging pile including a detection device according to an example embodiment of the present application. In this embodiment, the above-mentioned detection means is the first detection means 13, and the detection information includes first detection information and second detection information, which are detection information on the charging circuit and the battery circuit, respectively. As shown in fig. 9, only the charging pile 1 includes the first detection device 13.
The first detection device 13 is configured to detect the charging circuit 12 and send first detection information to the first controller 11, and detect the battery circuit 22 and send second detection information to the first controller 11 after the second controller 21 controls the input terminal of the battery circuit 22 to be connected to the output terminal of the charging circuit 12.
The second controller 21 is configured to control the input terminal of the battery circuit 22 to be connected to the output terminal of the charging circuit 12 when the charging circuit 12 is turned off after the first detection device 13 sends the first detection information to the first controller 11.
The first controller 11 is configured to determine whether there is an abnormality in the charging circuit 12 based on the first detection information sent by the first detection device 13, determine whether there is an abnormality in the battery circuit 22 based on the second detection information sent by the first detection device 13, and turn on the charging circuit 12 when it is determined that there is no abnormality in the charging circuit 12 and the battery circuit 22.
Fig. 10 is a block diagram illustrating an intelligent charging pile system in which only a robot includes a detection device according to an example embodiment of the present application. In this embodiment, the above-mentioned detection means is the second detection means 23, and the detection information includes first detection information and second detection information, which are detection information on the charging circuit and the battery circuit, respectively. As shown in fig. 10, only the robot 2 includes the second detection device 23.
The second detecting device 23 is used for detecting the battery circuit 22 and sending the second detection information to the second controller 21, and detecting the charging circuit 12 and sending the first detection information to the second controller 21 after the second controller 21 controls the input end of the battery circuit 22 to be connected with the output end of the charging circuit 12.
The second controller 21 is configured to control the input terminal of the battery circuit 22 to be connected to the output terminal of the charging circuit 12 when the battery circuit 22 is turned off after the second detection device 23 sends the second detection information to the second controller 21, determine whether there is an abnormality in the battery circuit 22 according to the second detection information sent by the second detection device 23, determine whether there is an abnormality in the charging circuit 12 according to the first detection information sent by the second detection device 23, and turn on the battery circuit 22 when the second controller 21 confirms that there is no abnormality in the charging circuit 12 and the battery circuit 22.
In some embodiments, a switch may be provided in both the charging circuit and the battery circuit, and the switches on both sides may be turned off simultaneously when an abnormality occurs in one of the charging circuit and the battery circuit to ensure safety. In one embodiment, as shown in fig. 11A and 11B, the charging circuit 12 includes an ac-dc converter 14, and a first switch 17 is provided between the output terminal 15 of the charging circuit 12 and the ac-dc converter 14 to turn on or off the output of the charging circuit 12; a second switch 27 is included at the input 26 of the battery circuit 22 to turn the input of the battery circuit 22 on or off. The first controller 11 is configured to control the first switch 17 to be turned off when it is confirmed that there is an abnormality in the charging circuit 12 or the battery circuit 22, and the second controller 21 is configured to control the second switch 27 to be turned off when it is confirmed that there is an abnormality in the charging circuit 12 or the battery circuit 22, so that the robot 2 is not electrically connected to the charging pile 1.
In another embodiment, as shown in fig. 12, a third switch 18 may be further included between the input terminal 16 of the charging circuit 12 and the ac-dc converter 14 to turn on or off the input of the charging circuit 12. The first controller 11 is also configured to control the third switch 18 to be turned off when it is confirmed that there is an abnormality in the charging circuit 12 or the battery circuit 22, so that the robot 2 is not electrically connected to the charging pile 1.
In some embodiments, when the first controller 11 and/or the second controller 21 determines that there is no abnormality in the charging circuit 12 and the battery circuit 22, the robot and the charging pile may be electrically connected by remote control, method communication, voltage detection, touch switch, or other activation methods.
In an embodiment, the charging pile 1 and the robot 2 communicate through WIFI, near field communication or other remote communication methods, so that when it is determined that there is no abnormality in the charging circuit 12 and the battery circuit 22, the charging pile 1 and the robot 2 can communicate with each other to inform and electrically connect.
In another embodiment, the charging pile 1 may comprise a first communication device (not shown) and the robot 2 may comprise a second communication device (not shown). The second controller 21 is configured to control the input terminal 26 of the battery circuit 22 to be connected to the output terminal 15 of the charging circuit 12 when the charging circuit 12 is turned off and/or when the battery circuit 22 is turned off after confirming that there is no abnormality in the charging circuit 12 and the battery circuit 22.
The second communication device is configured to send a square wave signal to the first communication device after the input 26 of the battery circuit 22 is connected to the output 15 of the charging circuit 12. The first communication device is used for receiving the square wave signal sent by the second communication device and sending the square wave signal to the first controller 11.
The first controller 11 is configured to determine whether the square wave signal sent by the first communication device is a preset square wave signal, and after determining that the square wave signal is the preset square wave signal, the first controller 11 turns on the charging circuit 12 and/or the second controller 21 turns on the battery circuit 22.
In yet another embodiment, a contact switch for turning on the charging circuit 12 or the battery circuit 22 when pressed may be provided on the outside of the charging pile 1 or the robot 2. The second controller 21 is configured to control the robot 2 to approach the charging pile 1 when it is determined that there is no abnormality in the charging circuit 12 and the battery circuit 22, so that a part of the robot 2 presses a contact switch on the outside of the charging pile 1 to turn on the charging circuit 12, or so that a part of the charging pile 1 presses a contact switch on the outside of the robot 2 to turn on the battery circuit 22.
The operation method in each method embodiment may be operated in an intelligent charging system, and all descriptions regarding the operation method in each method embodiment may be applied to each system embodiment, which is not described herein again.
It should be noted that, in the embodiments of the systems of the present application, each unit and/or module is a logical unit and/or module, and physically, a logical unit and/or module may be a physical unit and/or module, or a part of a physical unit and/or module, and may also be implemented as a combination of multiple physical units and/or modules, where the physical implementation manner of the logical unit and/or module itself is not the most important, and the combination of the functions implemented by the logical unit and/or module is the key to solve the technical problem presented in the present application. Furthermore, in order to highlight the innovative part of the present application, the above-mentioned system embodiments of the present application do not introduce elements and/or modules that are not so closely related to solve the technical problems presented in the present application, which does not indicate that no other elements and/or modules exist in the above-mentioned system embodiments.
Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
It is to be noted that in the claims and the description of the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element.
To sum up, the application provides a fill electric pile system is including filling electric pile and robot, and the robot can fill electric pile including first controller and charging circuit for automatic navigation floor truck, robot including second controller and battery circuit for automatic navigation. The first controller and the second controller are responsible for controlling the charging pile system, and information acquisition and management control of other modules are realized through a digital circuit and/or an analog circuit, wherein the information acquisition and management control comprises information communication with the mobile charging end, information collection and detection, strategic charging pile opening and closing and the like. The charging circuit is used for converting external electricity into charging current, such as converting external network alternating current into direct current, or converting high-voltage electricity into low-voltage electricity. The battery circuit is used for storing the converted electricity in the battery. At least one of the charging pile and the robot comprises a detection device, the detection device is used for detecting the states of a charging circuit of the charging pile and a battery circuit in the robot and feeding back information to the first controller and/or the second controller, the first controller and/or the second controller judges whether the charging circuit and the battery circuit are abnormal or not, and if the charging circuit or the battery circuit are abnormal, the first controller and/or the second controller controls the robot not to be electrically connected with the charging pile, so that a charging system with higher safety is provided.
When the equipment is not charged by the charging pile, the standby with ultra-low power consumption is realized. When no abnormal state is detected, the charging pile is connected with the robot to charge the battery. And continuously detecting the state of the charging pile in the charging process, and automatically closing the charging system when abnormality occurs. And meanwhile, when the battery is detected to be full of electric quantity or a charging closing signal transmitted by the communication module is received, the charging is automatically closed.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. An operation method of an intelligent charging pile system, the intelligent charging pile system comprising a charging pile and a robot, the charging pile comprising a first controller, the robot comprising a second controller, at least one of the charging pile and the robot comprising a detection device, the operation method comprising the steps of:
when the robot needs to be charged, the detection device detects a charging circuit of the charging pile and a battery circuit of the robot and sends detection information to the first controller and/or the second controller;
the first controller and/or the second controller judges whether the charging circuit and the battery circuit are abnormal or not according to the detection information;
if the charging circuit or the battery circuit is confirmed to be abnormal, the first controller and/or the second controller controls the robot not to be electrically connected with the charging pile,
and if the charging circuit and the battery circuit are confirmed to be not abnormal, the first controller and/or the second controller control the robot to be electrically connected with the charging pile for charging.
2. The operating method according to claim 1, wherein the detection device comprises a first detection device and a second detection device, the detection information comprises first detection information and second detection information, the charging post comprises the first detection device, and the robot comprises the second detection device;
in the step of detecting the charging circuit of the charging pile and the battery circuit of the robot by the detection device and transmitting detection information to the first controller and/or the second controller, the first detection device detects the charging circuit of the charging pile and transmits the first detection information to the first controller, and the second detection device detects the battery circuit of the robot and transmits the second detection information to the second controller;
in the step of judging whether the charging circuit and the battery circuit are abnormal or not according to the detection information by the first controller and/or the second controller, the first controller judges whether the charging circuit is abnormal or not according to the first detection information, and the second controller judges whether the battery circuit is abnormal or not according to the second detection information.
3. The operation method according to claim 1, wherein the detection device is a first detection device, the detection information includes first detection information and second detection information, and only the charging pile includes the first detection device;
the step of detecting the charging circuit of the charging pile and the battery circuit of the robot by the detection device and sending detection information to the first controller and/or the second controller comprises the following steps:
the first detection device detects the charging circuit and sends the first detection information to the first controller; and
the second controller controls the input end of the battery circuit to be connected with the output end of the charging circuit when the charging circuit is closed, and the first detection device detects the battery circuit and sends the second detection information to the first controller;
in the step that the first controller and/or the second controller judges whether the charging circuit and the battery circuit are abnormal or not according to the detection information, the first controller judges whether the charging circuit is abnormal or not according to the first detection information and judges whether the battery circuit is abnormal or not according to the second detection information;
and if the charging circuit and the battery circuit are determined to be not abnormal, the first controller starts the charging circuit in the step that the first controller and/or the second controller control the robot to be electrically connected with the charging pile for charging.
4. The operating method according to claim 1, characterized in that the detection device is a second detection device, the detection information includes first detection information and second detection information, and only the robot includes the second detection device;
the step of detecting the charging circuit of the charging pile and the battery circuit of the robot by the detection device and sending detection information to the first controller and/or the second controller comprises the following steps:
the second detection device detects the battery circuit and sends the second detection information to the second controller; and
the second controller controls the input end of the battery circuit to be connected with the output end of the charging circuit when the battery circuit is closed, and the second detection device detects the charging circuit and sends the first detection information to the second controller;
in the step that the first controller and/or the second controller judges whether the charging circuit and the battery circuit are abnormal or not according to the detection information, the second controller judges whether the battery circuit is abnormal or not according to the second detection information and judges whether the charging circuit is abnormal or not according to the first detection information;
and if the battery circuit and the charging circuit are determined to be abnormal, the second controller starts the battery circuit in the step that the first controller and/or the second controller control the robot to be electrically connected with the charging pile for charging.
5. The method of operation of claim 1, wherein the charging circuit includes an ac-to-dc converter, the charging post includes a first switch between an output of the charging circuit and the ac-to-dc converter, the robot includes a second switch at an input of the battery circuit;
in the step that the first controller and/or the second controller control the robot not to be electrically connected with the charging pile, the first controller controls the first switch to be turned off and the second controller controls the second switch to be turned off.
6. An intelligent charging pile system, which is characterized in that the intelligent charging pile system comprises a charging pile and a robot, the charging pile comprises a first controller, the robot comprises a second controller, at least one of the charging pile and the robot comprises a detection device, wherein:
the detection device is used for detecting a charging circuit of the charging pile and a battery circuit of the robot when the robot needs to be charged and sending detection information to the first controller and/or the second controller;
the first controller and/or the second controller are used for judging whether the charging circuit and the battery circuit are abnormal or not according to the detection information sent by the detection device, controlling the robot not to be electrically connected with the charging pile when the first controller and/or the second controller confirms that the charging circuit or the battery circuit is abnormal, and controlling the robot to be electrically connected with the charging pile to charge when the first controller and/or the second controller confirms that the charging circuit and the battery circuit are not abnormal.
7. The intelligent charging pile system according to claim 6, wherein the detection device comprises a first detection device and a second detection device, the detection information comprises a first detection information and a second detection information, the charging pile comprises the first detection device, and the robot comprises the second detection device;
the first detection device is used for detecting a charging circuit of the charging pile and sending first detection information to the first controller, and the second detection device is used for detecting a battery circuit of the robot and sending second detection information to the second controller;
the first controller is used for judging whether the charging circuit is abnormal or not according to the first detection information sent by the first detection device, and the second controller is used for judging whether the battery circuit is abnormal or not according to the second detection information sent by the second detection device.
8. The intelligent charging pile system according to claim 6, wherein the detection device is a first detection device, the detection information includes first detection information and second detection information, and only the charging pile includes the first detection device;
the first detection device is used for detecting the charging circuit and sending the first detection information to the first controller, and detecting the battery circuit and sending the second detection information to the first controller after the second controller controls the input end of the battery circuit to be connected with the output end of the charging circuit;
the second controller is used for controlling the input end of the battery circuit to be connected with the output end of the charging circuit when the charging circuit is closed after the first detection device sends the first detection information to the first controller;
the first controller is used for judging whether the charging circuit is abnormal or not according to the first detection information sent by the first detection device, judging whether the battery circuit is abnormal or not according to the second detection information sent by the first detection device, and starting the charging circuit when the charging circuit and the battery circuit are confirmed to be abnormal or not.
9. The intelligent charging pile system according to claim 6, wherein the detection device is a second detection device, the detection information includes first detection information and second detection information, and only the robot includes the second detection device;
the second detection device is used for detecting the battery circuit and sending the second detection information to the second controller, and detecting the charging circuit and sending the first detection information to the second controller after the second controller controls the input end of the battery circuit to be connected with the output end of the charging circuit;
the second controller is configured to control an input end of the battery circuit to be connected to an output end of the charging circuit when the battery circuit is turned off after the second detection device sends the second detection information to the second controller, determine whether the battery circuit is abnormal according to the second detection information sent by the second detection device, determine whether the charging circuit is abnormal according to the first detection information sent by the second detection device, and turn on the battery circuit when the second controller confirms that the charging circuit and the battery circuit are not abnormal.
10. The intelligent charging pile system according to any one of claims 6 to 9, wherein the charging pile comprises a first communication device, and the robot comprises a second communication device;
the second controller is used for controlling the input end of the battery circuit to be connected with the output end of the charging circuit when the charging circuit is closed and/or the battery circuit is closed after the charging circuit and the battery circuit are confirmed to be free from abnormality;
the second communication device is used for sending a square wave signal to the first communication device after the input end of the battery circuit is connected with the output end of the charging circuit;
the first communication device is used for receiving the square wave signal sent by the second communication device and sending the square wave signal to the first controller;
the first controller is used for judging whether the square wave signal sent by the first communication device is a preset square wave signal or not, and after the square wave signal is determined to be the preset square wave signal, the first controller starts the charging circuit and/or the second controller starts the battery circuit.
CN201811393085.9A 2018-11-21 2018-11-21 Intelligent charging pile system and operation method thereof Pending CN111211589A (en)

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CN106786872A (en) * 2016-12-19 2017-05-31 钦州市晶通科技有限公司 Electronic equipment with intelligent charger
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CN113799638A (en) * 2020-06-15 2021-12-17 锥能机器人嘉兴有限公司 Method, apparatus and storage medium for controlling charging of an automatic transport unit
CN112319295A (en) * 2020-10-29 2021-02-05 怀化智信能源科技有限公司 Charging method and system for intelligent charging pile
CN112636410A (en) * 2020-12-10 2021-04-09 广州高新兴机器人有限公司 Charging method, mobile robot and charging pile
CN112600278A (en) * 2020-12-22 2021-04-02 上海有个机器人有限公司 Charging system, method and server for safely and perceiving charging state of robot

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