CN111327098A - Robot in-place detection method for robot charging pile - Google Patents
Robot in-place detection method for robot charging pile Download PDFInfo
- Publication number
- CN111327098A CN111327098A CN202010186214.8A CN202010186214A CN111327098A CN 111327098 A CN111327098 A CN 111327098A CN 202010186214 A CN202010186214 A CN 202010186214A CN 111327098 A CN111327098 A CN 111327098A
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- robot
- charging pile
- charging
- electrode
- detection method
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- 238000001514 detection method Methods 0.000 title claims abstract description 29
- 210000001503 joint Anatomy 0.000 claims abstract description 17
- 230000001939 inductive effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
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Classifications
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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
- H02J7/0029—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/02—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with propagation of electric current
-
- 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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
Abstract
The invention relates to the technical field of robot charging, in particular to a robot in-place detection method for a robot charging pile, which is more accurate and reliable by detecting the state of an electrode through an arranged elastic piece switch and combining physical position detection and electric signal detection; the butt joint of the robot and the charging pile comprises two aspects: the charging pile end judges whether the robot is in butt joint, and the robot end judges whether the robot is in butt joint.
Description
Technical Field
The invention relates to the technical field of robot charging, in particular to a robot in-place detection method for a robot charging pile.
Background
At present, the field of intelligent robots is generally charged by adopting an autonomous charging mode so as to reduce manual intervention. The common practice in the industry is to use two sets of parallel fixed electrodes, one set of which is arranged on the robot and the other set of which is arranged on the charging pile; when charging is needed, the robot uses the electrode of the robot to collide with the electrode on the pile, and contact charging is achieved.
The process that the robot independently got back to and fills electric pile is that there is error and accident situation, if fill electric pile and align completely according to the condition of prediction, just begin to charge through the charging electrode, there is the potential safety hazard.
When the inventor specifically implements the prior art scheme, the following technical problems exist in the prior art:
whether the electrodes are completely aligned or not cannot be judged only through pre-charging, and the condition of poor contact between the charging pile electrodes and the robot electrodes cannot be detected.
Disclosure of Invention
The embodiment of the invention aims to provide a robot in-place detection method for a robot charging pile, which is used for solving the problems that whether electrodes are completely aligned cannot be judged only through pre-charging and poor contact between a charging pile electrode and a robot electrode cannot be detected. The specific technical scheme is as follows:
a robot in-place detection method for a robot charging pile comprises the following steps:
when the battery power of the robot is low, the robot is moved to a charging pile;
a position detection sensor is arranged at the electrode of the charging pile, the charging pile starts to detect,
acquiring the state of a charging electrode, and detecting whether two ends of the electrode are in butt joint;
when the two ends of the electrode are in butt joint, the charging pile gives a voltage pulse,
and when the charging pile detects loop current and the robot detects charging current, determining that the charging pile and the robot are completely butted and starting charging.
Further, the acquiring the state of the charging electrode includes the following steps:
if the electrode is pressed, the state of the charging electrode is acquired again if the electrode is not pressed;
and (3) judging whether two electrodes are pressed down or not, if not, indicating and alarming by the charging pile 1.
Further, when the robot detects that no charging current exists, posture adjustment is performed.
Further, when the charging pile detects that no loop current exists, indicating and alarming 2 are carried out.
Further, the position detection sensor is a dome switch or a position hall.
Further, the position detection sensor is a contact sensing switch.
The invention has the beneficial effects that: the embodiment of the invention provides a robot in-place detection method for a robot charging pile, which is more accurate and reliable by detecting the state of an electrode through an arranged elastic piece switch and simultaneously combining physical position detection and electric signal detection; the butt joint of the robot and the charging pile comprises two aspects: the charging pile end judges whether the robot is in butt joint, and the robot end judges whether the robot is in butt joint.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a charging pile work flow diagram of the present invention;
FIG. 2 is a robot work flow diagram of the present invention;
fig. 3 is a flowchart of docking between the charging pile and the robot according to the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example 1
As shown in the figures 1-3 of the drawings,
a robot in-place detection method for a robot charging pile comprises the following steps:
when the battery power of the robot is low, the robot is moved to a charging pile;
a position detection sensor is arranged at the electrode of the charging pile, the charging pile starts to detect,
acquiring the state of a charging electrode, and detecting whether two ends of the electrode are in butt joint;
when the two ends of the electrode are in butt joint, the charging pile gives a voltage pulse,
and when the charging pile detects loop current and the robot detects charging current, determining that the charging pile and the robot are completely butted and starting charging.
In one embodiment, the acquiring the state of the charging electrode includes:
if the electrode is pressed, the state of the charging electrode is acquired again if the electrode is not pressed;
and (3) judging whether two electrodes are pressed down or not, if not, indicating and alarming by the charging pile 1.
And when the robot detects that no charging current exists, carrying out attitude adjustment.
And when the charging pile detects that no loop current exists, indicating and alarming 2.
In a preferred embodiment, the position detecting sensor is a dome switch or a position hall.
In one embodiment, the position detection sensor is a touch sensitive switch.
As shown in fig. 3, the specific method of the present invention is as follows:
when the battery power of the robot is low, the robot is moved to a charging pile to start butt joint, and when the position is appropriate, the robot stops butt joint; the charging pile starts to detect at the moment, electrode state detection is carried out through an arranged elastic piece switch, when two electrodes are detected to be pressed down, voltage pulse is given to the charging pile, the charging pile detects whether loop current exists or not, the robot detects whether charging current exists or not, if the charging pile does not detect the loop current, the charging pile indicates to alarm 2, and relevant personnel process the current; if the robot does not detect the charging current, the robot adjusts the posture until the charging current exists, then the robot and the charging pile are successfully butted, and charging is started.
The invention adopts mechanism position detection and current feedback detection for simultaneous judgment, and the butt joint of the robot and the charging pile comprises two aspects: the charging pile end judges whether the robot is in butt joint, the robot end judges whether the robot is in butt joint, the result is accurate, and the cost is low.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. A robot in-place detection method for a robot charging pile is characterized by comprising the following steps:
when the battery power of the robot is low, the robot is moved to a charging pile;
a position detection sensor is arranged at the electrode of the charging pile, the charging pile starts to detect,
acquiring the state of a charging electrode, and detecting whether two ends of the electrode are in butt joint;
when the two ends of the electrode are in butt joint, the charging pile gives a voltage pulse,
and when the charging pile detects loop current and the robot detects charging current, determining that the charging pile and the robot are completely butted and starting charging.
2. The robot in-place detection method for the robot charging pile according to claim 1, wherein the acquiring the state of the charging electrode comprises the following steps:
if the electrode is pressed, the state of the charging electrode is acquired again if the electrode is not pressed;
and (3) judging whether two electrodes are pressed down or not, if not, indicating and alarming by the charging pile 1.
3. The robot on-site detection method for the robot charging pile according to claim 1, characterized in that when the robot detects that no charging current exists, attitude adjustment is performed.
4. The robot in-place detection method for the robot charging pile according to claim 1, characterized in that when the charging pile detects no loop current, an indication alarm 2 is given.
5. The robot in-place detection method for the robot charging pile according to claim 1, wherein the position detection sensor is a dome switch or a position hall.
6. The robot in-place detection method for the robot charging pile according to claim 1, wherein the position detection sensor is a contact inductive switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010186214.8A CN111327098A (en) | 2020-03-17 | 2020-03-17 | Robot in-place detection method for robot charging pile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010186214.8A CN111327098A (en) | 2020-03-17 | 2020-03-17 | Robot in-place detection method for robot charging pile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111327098A true CN111327098A (en) | 2020-06-23 |
Family
ID=71169690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010186214.8A Pending CN111327098A (en) | 2020-03-17 | 2020-03-17 | Robot in-place detection method for robot charging pile |
Country Status (1)
| Country | Link |
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| CN (1) | CN111327098A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113017495A (en) * | 2021-03-11 | 2021-06-25 | 深圳市云鼠科技开发有限公司 | Robot charging docking method and device, computer equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106130136A (en) * | 2016-08-19 | 2016-11-16 | 北京兆维电子(集团)有限责任公司 | A kind of robot automatic butt charging system and automatic butt charging method |
| CN108075514A (en) * | 2016-11-10 | 2018-05-25 | 深圳市朗驰欣创科技股份有限公司 | The control method and control system of automatic charging, for electric installation and ground robot |
| CN109406938A (en) * | 2018-12-06 | 2019-03-01 | 山东锘博特智能科技有限公司 | A kind of automatic charging equipment Plug contact condition checkout gear |
| CN109742832A (en) * | 2019-03-25 | 2019-05-10 | 苏州博众机器人有限公司 | A kind of cradle and robot |
| CN109980736A (en) * | 2019-04-04 | 2019-07-05 | 创泽智能机器人股份有限公司 | A kind of robot charging pile is to stake confirmation method |
| WO2019135590A1 (en) * | 2018-01-02 | 2019-07-11 | 엘지전자 주식회사 | Charging apparatus |
| CN209217737U (en) * | 2018-09-12 | 2019-08-06 | 深圳市优博讯科技股份有限公司 | A kind of mobile robot recharging device |
-
2020
- 2020-03-17 CN CN202010186214.8A patent/CN111327098A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106130136A (en) * | 2016-08-19 | 2016-11-16 | 北京兆维电子(集团)有限责任公司 | A kind of robot automatic butt charging system and automatic butt charging method |
| CN108075514A (en) * | 2016-11-10 | 2018-05-25 | 深圳市朗驰欣创科技股份有限公司 | The control method and control system of automatic charging, for electric installation and ground robot |
| WO2019135590A1 (en) * | 2018-01-02 | 2019-07-11 | 엘지전자 주식회사 | Charging apparatus |
| CN209217737U (en) * | 2018-09-12 | 2019-08-06 | 深圳市优博讯科技股份有限公司 | A kind of mobile robot recharging device |
| CN109406938A (en) * | 2018-12-06 | 2019-03-01 | 山东锘博特智能科技有限公司 | A kind of automatic charging equipment Plug contact condition checkout gear |
| CN109742832A (en) * | 2019-03-25 | 2019-05-10 | 苏州博众机器人有限公司 | A kind of cradle and robot |
| CN109980736A (en) * | 2019-04-04 | 2019-07-05 | 创泽智能机器人股份有限公司 | A kind of robot charging pile is to stake confirmation method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113017495A (en) * | 2021-03-11 | 2021-06-25 | 深圳市云鼠科技开发有限公司 | Robot charging docking method and device, computer equipment and storage medium |
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Application publication date: 20200623 |