CN111835068A - System and method for realizing stable charging of mobile robot - Google Patents

System and method for realizing stable charging of mobile robot Download PDF

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Publication number
CN111835068A
CN111835068A CN202010709956.4A CN202010709956A CN111835068A CN 111835068 A CN111835068 A CN 111835068A CN 202010709956 A CN202010709956 A CN 202010709956A CN 111835068 A CN111835068 A CN 111835068A
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CN
China
Prior art keywords
charging
electrode
relay
power supply
conversion module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010709956.4A
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Chinese (zh)
Inventor
柳鹏
董状
陈虹瑾
王富刚
张克溪
李健
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Siasun Robot and Automation Co Ltd
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Shenyang Siasun Robot and Automation Co Ltd
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Publication date
Application filed by Shenyang Siasun Robot and Automation Co Ltd filed Critical Shenyang Siasun Robot and Automation Co Ltd
Priority to CN202010709956.4A priority Critical patent/CN111835068A/en
Publication of CN111835068A publication Critical patent/CN111835068A/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
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/6205—Two-part coupling devices held in engagement by a magnet
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
    • H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/639—Additional means for holding or locking coupling parts together, after engagement, e.g. separate keylock, retainer strap
    • 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
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the field of mobile robot charging piles, in particular to a system and a method for realizing stable charging of a mobile robot, wherein the system comprises a charging pile body, a charging seat, a charging control circuit, an electromagnet and a charging electrode; the charging base is arranged outside the charging body, the charging electrode is arranged on the charging base, and the charging control circuit is arranged in the charging pile body; the charging control circuit comprises a power-on switch, a power supply conversion module and a relay; one end of the electromagnet is connected with a power supply through the relay, and the other end of the electromagnet is connected with the charging electrode; one end of the power-on switch is connected with a power supply, the other end of the power-on switch is connected with the charging electrode through the power supply conversion module, one group of output ends of the power supply conversion module are connected with a relay in parallel, and after the relay is powered on, contacts in the relay are controlled to be closed to enable the electromagnet to be powered on; the charging electrode is connected with the signal input end of the power supply conversion module. The electromagnet has the advantage that the adsorption magnetic conductivity metal block of the electromagnet can make up for the autonomous charging error caused by insufficient navigation precision.

Description

System and method for realizing stable charging of mobile robot
Technical Field
The invention belongs to the field of mobile robot charging piles, and particularly relates to a system and a method for realizing stable charging of a mobile robot.
Background
The mobile robot charging system is a source for the mobile robot to obtain energy, and is a very important part in the electrical composition of the mobile robot. The current autonomous charging system for mobile robots adopts a contact charging mode with electrodes of a robot body through a charging station. When the charging station is used for autonomous charging, the charging failure may occur due to poor contact between the charging electrode and the charging electrode of the charging station body caused by the gradient or poor flatness of the ground or the separation of the charging electrode after the charging electrode is in a charging state, and further optimization cannot be performed on the poor charging phenomenon in order to realize successful butt joint and safety protection on the mechanical structure.
Disclosure of Invention
Aiming at the problems, the invention improves the charging success rate of the manual or autonomous charging mode of the butt joint of the mobile robot and the charging pile, and makes up for some mechanical designs and navigation algorithms and some defects of the navigation hardware in the direction of electrical hardware.
The technical scheme adopted by the invention for realizing the purpose is as follows: a system for realizing stable charging of a mobile robot comprises a charging pile body, a charging seat, a charging control circuit, an electromagnet and a charging electrode; the charging base is arranged outside the charging body, the charging electrode is arranged on the charging pile base, and the charging control circuit is arranged in the charging pile body;
the charging control circuit comprises an electrifying switch, a power supply conversion module and a relay; one end of the electromagnet is connected with a power supply through a relay, and the other end of the electromagnet is connected with a charging electrode;
the power supply conversion module comprises a group of input ends, two groups of output ends and an input signal end, one end of the power-on switch is connected with a power supply, the other end of the power-on switch is connected with the charging electrode through the power supply conversion module, one group of output ends of the power supply conversion module are connected with a relay in parallel, and after the relay is electrified, contacts in the relay are controlled to be closed to power on the electromagnet; and the charging electrode is connected with the signal input end of the power supply conversion module.
And the relay coil is connected with a reverse diode in parallel.
And the contact in the relay is a normally open contact.
The charging electrodes comprise a first electrode, a second electrode, a third electrode and a fourth electrode which are arranged in parallel from top to bottom;
the first electrode and the third electrode are respectively connected with the positive electrode and the negative electrode of one group of output ends of the power supply conversion module; the second electrode is a magnetic adsorption part of the electromagnet, and the fourth electrode is grounded through a signal input end of the power supply conversion module.
The lengths of the first electrode, the third electrode and the fourth electrode in the charging electrodes extending out of the charging seat are equal and are all larger than the length of the second electrode extending out of the charging seat;
and when the first electrode, the third electrode and the fourth electrode are butted by the robot charging seat, the second electrode is adsorbed on the robot charging seat.
The robot body charging seat is provided with a charging electrode A, a metal block, a charging electrode B and a signal sending end in sequence from top to bottom in parallel, and is respectively in butt joint with a first electrode, a second electrode, a third electrode and a fourth electrode of the charging electrode.
The metal block is a magnetic conductive metal block made of iron.
A method for realizing stable charging of a mobile robot comprises the following steps:
(1) the power-on switch is turned on, the power conversion module supplies power, and the charging seat of the robot body is in butt joint with the charging seat of the charging pile body for charging;
(2) when the charging seat of the robot body is in butt joint with the charging pile, a fourth electrode of a charging electrode of the charging pile body obtains a low-level input signal sent by a signal sending end of the robot, and the power supply conversion module simultaneously outputs voltage to the charging electrode and the relay of the charging seat; at the moment, the first electrode of the charging electrode is connected with voltage, the third electrode is grounded, and the two electrodes are in butt joint with the corresponding electrodes of the robot end to finish charging;
(3) the relay is electrified to enable the normally open contact in the relay to be attracted, so that the electromagnet is controlled to be electrified, and the second electrode of the charging electrode adsorbs the metal block of the charging seat of the robot body, so that smooth charging is guaranteed.
After the step (3) is completed, the robot does not output a low level signal to the fourth electrode of the charging pile body any more, the power supply conversion module stops working, the relay is not attracted any more when power is lost, the electromagnet is powered off and stops working, the magnetism of the second electrode of the charging pile body disappears, and charging is completed.
The invention has the following beneficial effects and advantages:
1. the invention can be used for spring type charging station electrodes and normal charging station electrodes.
2. The magnetic conductive adsorption metal block of the electromagnet can make up for the autonomous charging error caused by insufficient navigation precision.
3. The invention can compensate errors such as walking angles and the like caused by mechanical gear trains and the like when some robots are automatically charged.
4. According to the invention, the robot body can keep the robot body and the charging pile body in a charging state to be adsorbed under the condition of uneven ground or under the condition that the charging pile leans against a wall body with an uneven angle.
Drawings
FIG. 1 is a schematic diagram of a charge control circuit;
wherein, 1 is an electrifying switch, 2 is a power supply conversion module, 3 is a relay, 4 is an electromagnet, and 5 is a charging electrode;
FIG. 2 is a schematic structural diagram of a charging stand of a mobile robot;
wherein 6 is a charging electrode A, 7 is a metal block, 8 is a charging electrode B, and 9 is a signal sending end;
FIG. 3 is a partially enlarged view of a charging base of the mobile robot;
FIG. 4 is a side view of a portion of a charging dock of the mobile robot;
FIG. 5 is a front view of a partial view of a charging dock of the mobile robot;
FIG. 6 is a schematic structural diagram of a charging pile;
wherein, 10 is a first electrode, 11 is a second electrode, 12 is a third electrode, 13 is a fourth electrode, 14 is a charging seat, and 15 is a charging pile body;
FIG. 7 is a front view of the charging post;
fig. 8 is a side view of the charging post;
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, which is a schematic diagram of a charging control circuit of the present invention, a system for realizing stable charging of a mobile robot includes a charging pile body 15, a charging seat 14, a charging control circuit, an electromagnet 4, and a charging electrode 5; wherein, the charging seat 14 is arranged outside the charging body 15, the charging electrode 5 is arranged on the charging seat 2, and the charging control circuit is arranged in the charging pile body 15;
the charging control circuit comprises an electrifying switch 1, a power supply conversion module 2 and a relay 3; one end of the electromagnet 4 is connected with a power supply through the relay 3, and the other end of the electromagnet is connected with the charging electrode 5;
the power supply conversion module 2 comprises a group of input ends, two groups of output ends and an input signal end, one end of the power-on switch 1 is connected with a power supply, the other end of the power-on switch is connected with the charging electrode 5 through the power supply conversion module 2, one group of output ends of the power supply conversion module 2 are connected with the relay 3 in parallel, and after the relay 3 is electrified, the contact in the relay 3 is controlled to be closed to electrify the electromagnet 4; and the charging electrode 5 is connected with the signal input end of the power supply conversion module 2.
The coil of the relay 3 is connected with a reverse diode in parallel.
The contacts in the relay 3 are normally open contacts.
As shown in fig. 6 to 8, the charging electrodes include a first electrode 10, a second electrode 11, a third electrode 12 and a fourth electrode 13, which are arranged in parallel from top to bottom;
the first electrode 10 and the third electrode 12 are respectively connected with the positive electrode and the negative electrode of one group of output ends of the power conversion module 2; the second electrode 11 is a magnetic adsorption part of the electromagnet 4, and the fourth electrode 13 is grounded through a signal input end of the power conversion module 2.
The lengths of the first electrode 10, the third electrode 12 and the fourth electrode 13 in the charging electrode 5 extending out of the charging seat 14 are equal and are all larger than the length of the second electrode 12 extending out of the charging seat;
the first electrode 10, the third electrode 12 and the fourth electrode 13 in the charging electrode 5 are respectively installed on the charging seat 14 through springs, and when the first electrode 10, the third electrode 12 and the fourth electrode 13 are butted by the robot charging seat, the second electrode 12 is made to be adsorbed on the robot charging seat.
The alternating current 220V is connected to the AC input end of the power conversion module 2 after passing through the power-on switch 1, the power conversion module 2 is simultaneously protected by grounding, an input signal of the power conversion module 2 is connected to the fourth electrode 13 of the charging electrode 5, one group of DC30V of the power conversion module 2 outputs "+" and "-" which are respectively connected to the first electrode 10 and the third electrode 12 of the charging electrode 5, the other group of DC30V of the power conversion module 2 outputs "+" and "-" which are respectively connected to the power supply of the relay 3, the power supply "+" of the electromagnet 4 is connected to the alternating current 220V through the control path of the relay 3, the power supply "-" of the electromagnet 4 is connected to the alternating current 0V, and the magnetic adsorption unit of the electromagnet 4 is installed at the position of the second electrode 11 of the charging electrode 5 of the.
As shown in fig. 2-5, which are partial views of the robot body charging stand, the robot body charging stand is provided with a charging electrode A6, a metal block 7, a charging electrode B8, and a signal transmitting terminal 9, which are arranged in parallel from top to bottom, and are respectively connected to the first electrode 6, the second electrode 7, the third electrode 8, and the fourth electrode 9 of the charging electrode 5.
As shown in fig. 6, the metal block 7 of the robot body charging stand is a magnetic conductive metal block made of iron.
As shown in fig. 1, a method for realizing stable charging of a mobile robot includes the following steps:
(1) the power-on switch 1 is turned on, the power conversion module 2 is powered on, and the robot body charging seat is in butt joint with the charging seat 14 of the charging pile body 15 for charging;
(2) when the robot body charging seat is in butt joint with the charging pile, the fourth electrode 13 of the charging electrode 5 of the charging pile body 15 obtains a low-level input signal sent by a robot signal sending end, and the power supply conversion module 2 simultaneously outputs voltage to the charging electrode 5 of the charging seat 14 and the relay 3; at the moment, the first electrode 10 of the charging electrode 5 is connected to voltage, the third electrode 12 is grounded, and the two electrodes are in butt joint with the corresponding electrodes of the charging seat of the robot body to finish charging;
(3) the relay 3 is electrified to enable the normally open contact in the relay 3 to be attracted, so that the electromagnet 4 is controlled to be electrified, and the second electrode 12 of the charging electrode 5 adsorbs the metal block 7 of the charging seat of the robot body, so that the smooth charging is ensured.
After the step (3) is completed, the robot does not output a low level signal to the fourth electrode 13 of the charging electrode 5 of the charging pile body 15 any more, the power conversion module 2 stops working, the relay 3 is not attracted any more when power is lost, the electromagnet 4 is powered off and stops working, the magnetism of the second electrode 11 of the charging electrode 5 of the charging pile body 15 disappears, and charging is completed.
When considering to promote the robot to fill electric pile and charge, through manual with the charging electrode of robot body charging seat and fill electric pile body 15 charging seat 14 charging electrode 5 alignment, the robot body with fill electric pile body 15 will accomplish above and independently the same step of charging automatically.
And in the charging process, if make the robot break away from under the circumstances of not being full of the electricity and fill electric pile body 15, then close and fill electric pile body 15 last electric switch 1 can, let the robot leave and fill electric pile body 15 through the mode of remote control or manual promotion.

Claims (9)

1. A system for realizing stable charging of a mobile robot is characterized by comprising a charging pile body (15), a charging seat (14), a charging control circuit, an electromagnet (4) and a charging electrode (5); the charging seat (14) is arranged outside the charging pile body (15), the charging electrode (5) is arranged on the charging seat (14), and a charging control circuit is arranged in the charging pile body (15);
the charging control circuit comprises a power-on switch (1), a power supply conversion module (2) and a relay (3); one end of the electromagnet (4) is connected with a power supply through the relay (3), and the other end of the electromagnet is connected with the charging electrode (5);
the power supply conversion module (2) comprises a group of input ends, two groups of output ends and an input signal end, one end of the power-on switch (1) is connected with a power supply, the other end of the power-on switch is connected with the charging electrode (5) through the power supply conversion module (2), one group of output ends of the power supply conversion module (2) are connected with the relay (3) in parallel, and after the relay (3) is electrified, the contact in the relay (3) is controlled to be closed to enable the electromagnet (4) to be electrified; and the charging electrode (5) is connected with the signal input end of the power supply conversion module (2).
2. The system for realizing the stable charging of the mobile robot is characterized in that the coil of the relay (3) is provided with a backward diode in parallel.
3. The system for realizing stable charging of the mobile robot is characterized in that the contact in the relay (3) is a normally open contact.
4. The system for realizing stable charging of the mobile robot is characterized in that the charging electrode (5) comprises a first electrode (10), a second electrode (11), a third electrode (12) and a fourth electrode (13) which are arranged in parallel from top to bottom;
the first electrode (10) and the third electrode (12) are respectively connected with the positive electrode and the negative electrode of one group of output ends of the power supply conversion module (2); the second electrode (11) is a magnetic adsorption part of the electromagnet, and the fourth electrode (13) is grounded through a signal input end of the power supply conversion module (2).
5. The system for realizing the stable charging of the mobile robot is characterized in that the lengths of the first electrode (10), the third electrode (12) and the fourth electrode (13) of the charging electrodes, which extend out of the charging seat (14), are equal and are all larger than the length of the second electrode (11), which extends out of the charging seat (14);
a first electrode (10), a third electrode (12) and a fourth electrode (13) in the charging electrodes are respectively installed on the charging seat (14) through springs, and when the first electrode (10), the third electrode (12) and the fourth electrode (13) are connected with the robot charging seat (14) in a butt joint mode, the second electrode (11) is made to adsorb to the robot body charging seat.
6. The system for realizing stable charging of the mobile robot according to claim 1, further comprising a robot body charging base, wherein the robot body charging base is provided with a charging electrode a (6), a metal block (7), a charging electrode B (8) and a signal sending end (9) in parallel from top to bottom, and the charging electrode a, the metal block, the charging electrode B and the signal sending end are respectively butted with a first electrode (10), a second electrode (11), a third electrode (12) and a fourth electrode (13) of the charging electrode (5).
7. The system for realizing stable charging of a mobile robot according to claim 6, characterized in that the metal block (7) is a magnetic conductive metal block made of iron.
8. The method for realizing stable charging of the mobile robot as claimed in claims 1-7, comprising the following steps:
(1) the power-on switch (1) is turned on, the power conversion module (2) is powered on, and the robot body charging seat is in butt joint with a charging seat (14) of the charging pile body (15) to charge;
(2) when the robot body charging seat is in butt joint with the charging pile body (15), a fourth electrode (13) of a charging electrode (5) of the charging pile body (15) obtains a low-level input signal sent by a robot signal sending end, and the power supply conversion module (2) outputs voltage to the charging electrode (5) of the charging seat (14) and the relay (3) at the same time; at the moment, a first electrode (10) of the charging electrode (5) is connected to voltage, a third electrode (12) is grounded, and the two electrodes are in butt joint with corresponding electrodes of the robot end to finish charging;
(3) the relay (3) is electrified to enable the normally open contact in the relay (3) to be attracted, so that the electromagnet (4) is controlled to be electrified, and the second electrode (12) of the charging electrode (5) adsorbs the metal block (7) of the charging seat of the robot body, so that the smooth charging is ensured.
9. The method for realizing stable charging of the mobile robot according to claim 8, wherein after the step (3) is completed, the robot does not output a low level signal to the fourth electrode (13) of the charging electrode (5) of the charging pile body (15), the power conversion module (2) stops working, the relay (3) is not electrified and is not attracted any more, the electromagnet (4) is powered off and stops working, and the magnetism of the second electrode (11) of the charging electrode (5) of the charging pile body (15) disappears to complete charging.
CN202010709956.4A 2020-07-22 2020-07-22 System and method for realizing stable charging of mobile robot Pending CN111835068A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010709956.4A CN111835068A (en) 2020-07-22 2020-07-22 System and method for realizing stable charging of mobile robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010709956.4A CN111835068A (en) 2020-07-22 2020-07-22 System and method for realizing stable charging of mobile robot

Publications (1)

Publication Number Publication Date
CN111835068A true CN111835068A (en) 2020-10-27

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ID=72924639

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010709956.4A Pending CN111835068A (en) 2020-07-22 2020-07-22 System and method for realizing stable charging of mobile robot

Country Status (1)

Country Link
CN (1) CN111835068A (en)

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