CN112072750A - Butt joint charging system and method based on position of automatic walking equipment - Google Patents
Butt joint charging system and method based on position of automatic walking equipment Download PDFInfo
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- CN112072750A CN112072750A CN202010946984.8A CN202010946984A CN112072750A CN 112072750 A CN112072750 A CN 112072750A CN 202010946984 A CN202010946984 A CN 202010946984A CN 112072750 A CN112072750 A CN 112072750A
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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
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
A docking charging system and method based on the position of an automatic walking device. The invention sets a position detection unit on the automatic walking equipment to determine the position relation between the automatic walking equipment and the charging station, and then correspondingly switches the state of the state switching unit on the charging station according to the position relation. Therefore, the charging station voltage can be increased to the charging voltage when the automatic walking equipment is close to the charging station, and the charging station has lower voltage when the automatic walking equipment is far away from the charging station, so that the energy consumption is saved, and the electric shock risk is reduced.
Description
Technical Field
The invention relates to the field of automatic walking equipment, in particular to a butt joint charging system and method based on the position of the automatic walking equipment.
Background
Automatic devices such as intelligent lawn mowing robots have been widely popularized. The lawn mower replaces the traditional lawn mower, does not need to invest a large amount of manpower to maintain the lawn, and brings convenience to users.
Automatic walking equipment such as intelligent mowing robots generally adopt battery packs to provide power for the automatic walking equipment. When the battery pack works for a period of time, the battery pack is insufficient in electric quantity and needs to return to a base station or a charging station for charging. Charging stations are usually arranged on the boundary lines of the working area of the self-propelled device. When the automatic walking equipment detects that the electric quantity of the battery is insufficient and triggers a command of returning to charge, the control unit of the automatic walking equipment can control the automatic walking equipment to return to a charging station along the boundary wire to carry out butt joint charging.
In the prior art, on a charging station of automatic walking equipment, a charging electrode of the automatic walking equipment is always electrified, and the charging electrode is always in an electrified working state. Therefore, electric energy can be consumed in a non-charging state, and potential safety hazards can be caused.
In order to solve the above problems, in the prior art, a method of detecting parameters such as current in a docking charging circuit is proposed to determine whether the docking of the charging electrode of the automatic walking device is successful, and when the docking is detected to be successful, a controller controls the charging circuit to charge. However, in this charging detection method, the determination process is delayed, and the response speed is slow.
Disclosure of Invention
The invention provides a butt-joint charging system and a butt-joint charging method based on the position of automatic walking equipment, aiming at the defects of the prior art, the invention triggers the charging station to enter a charging mode when the automatic walking equipment approaches the charging station, can reduce the energy consumption of the system and improve the safety of the system in a non-charging state, and has faster charging response speed and higher stability of butt-joint charging when the butt-joint charging is needed. The invention specifically adopts the following technical scheme.
First, in order to achieve the above object, a docking charging system based on a position of an automatic walking device is provided, which includes: the automatic walking equipment position detection unit is used for detecting the position relation between the automatic walking equipment and the charging station; and the state switching unit is arranged on the charging station and used for triggering the charging station to switch to the charging state when the automatic walking equipment reaches the triggering area according to the position relation between the automatic walking equipment and the charging station.
Optionally, the docking charging system based on the position of the automatic walking equipment as described above, wherein a station entry signal generating device is further disposed on the charging station or in a triggering area near the charging station, and is configured to output a station entry identification signal; the automatic walking equipment position detection unit is arranged on the automatic walking equipment and used for receiving the arrival identification signal and detecting whether the automatic walking equipment reaches the trigger area or not according to the arrival identification signal.
Optionally, the docking charging system based on the position of the automatic walking apparatus as described in any one of the above, wherein the arrival signal generating device includes: an induction coil or an electrical conductor arranged on or near the charging station at the edge of the triggering area, the induction coil or the electrical conductor being used for outputting an arrival identification signal capable of covering the triggering area; the automatic walking equipment position detection unit is a signal detection device on the automatic walking equipment and is used for detecting station-entering identification signals output by the induction coil or the electric lead; the state switching unit is used for triggering the charging station to switch to a charging state when the automatic walking equipment reaches the triggering area range according to whether the automatic walking equipment reaches the triggering area covered by the station-entering identification signal of the induction coil or the electric lead.
Optionally, the docking charging system based on the position of the automatic walking apparatus as described in any one of the above, wherein the arrival signal generating device includes: a first communication unit disposed on or near a charging station; the automatic walking device position detection unit comprises a second communication unit which can acquire the arrival identification signal output by the first communication unit, detect the distance between the automatic walking device and the charging station according to the transmission time and/or the speed of the arrival identification signal and judge whether the automatic walking device reaches the trigger area.
Optionally, as described in any of the above, the docking charging system based on the position of the automatic walking device, wherein the automatic walking device position detecting unit is set as a distance sensor, a contact switch, and a positioning device, the distance sensor includes any one or a combination of an ultrasonic distance sensor, a laser distance sensor, and an infrared distance measuring sensor, and the automatic walking device position detecting unit is set on the automatic walking device or on the charging station, and is configured to detect a distance between the automatic walking device and the charging station, and determine whether the automatic walking device reaches the trigger area.
Optionally, the docking charging system based on the position of the automatic walking device as described in any one of the above, wherein the automatic walking device position detecting unit includes: any one or combination of the satellite positioning signal receiving unit, the radio frequency positioning signal receiving unit and the image identification unit is used for detecting the distance between the automatic walking equipment and the charging station according to the satellite positioning signal, the radio frequency positioning signal or the image of the charging station and judging whether the automatic walking equipment reaches the trigger area.
Optionally, the docking charging system based on the automatic walking device position as described in any one of the above, wherein an edge of the trigger area is located outside a charging contact position of the charging station; and the state switching unit triggers the charging station to switch to the charging state when the automatic walking equipment approaches the charging station and reaches the inside of the triggering area.
Optionally, the docking charging system based on the position of the automatic walking device is as described in any one of the above, wherein the automatic walking device is in communication connection with a charging station, and provides the state switching unit with the position relationship between the automatic walking device and the charging station.
Optionally, the docking charging system based on the position of the automatic walking device as described in any one of the above, wherein the charging station is provided with a first electrode unit capable of outputting a charging signal to the automatic walking device; in a charging state, the state switching unit triggers the first electrode unit to output a charging voltage; in a non-charging state, the state switching unit triggers the first electrode unit to power off or outputs a second voltage; wherein the second voltage is a ground voltage or at least lower than the charging voltage.
Optionally, the docking charging system based on the position of the automatic walking device as described in any one of the above, wherein the state switching unit is a first switch unit connected between the energy supply unit and the first electrode unit in the charging station.
Optionally, the docking charging system based on the position of the automatic walking device is as described in any one of the above, wherein the automatic walking device is provided with a second electrode unit, which can be electrically connected to the first electrode unit in a charging state, and transmit the charging voltage to an energy storage unit of the automatic walking device; and a second switch unit is also connected between the second electrode unit and the energy storage unit, is synchronous with the first switch unit, is switched on in a charging state, and is switched off or connected with a second voltage in a non-charging state.
Meanwhile, in order to achieve the above object, the present invention further provides a docking charging method based on the position of the automatic walking device, which includes the following steps: detecting the position relation between the automatic walking equipment and a charging station; when the automatic walking equipment reaches a trigger area, triggering the charging station to switch to a charging state; and the automatic walking equipment continues to operate until the automatic walking equipment is in butt joint with a charging station for charging.
Optionally, the docking charging method based on the position of the automatic walking device as described in any one of the above, wherein whether the automatic walking device reaches the trigger area is determined according to the following steps: and receiving an arrival identification signal on the charging station or in a trigger area near the charging station, and judging that the automatic walking equipment reaches the trigger area when detecting that the distance between the automatic walking equipment and the charging station reaches a set range according to the arrival identification signal.
Optionally, the docking charging method based on the position of the automatic walking device as described in any one of the above, wherein the inbound identification signal includes: the system comprises a charging station, a first communication unit, a distance sensor, an induction coil or an electric lead, wherein the induction coil or the electric lead is arranged at the edge of a trigger area near the charging station, an incoming station identification signal output by the first communication unit on the charging station or near the charging station, a distance signal between the automatic walking equipment and the charging station acquired by the distance sensor, and any one or combination of a positioning signal of the automatic walking equipment.
Optionally, the docking charging method based on the position of the automatic walking device as described in any one of the above, wherein the distance signal between the automatic walking device and the charging station acquired by the distance sensor includes: any one or combination of a detection signal of an ultrasonic distance sensor, a detection signal of a laser distance sensor and a detection signal of an infrared distance measuring sensor; the positioning signal includes: any one of or a combination of satellite positioning signals, radio frequency positioning signals, image signals of the charging station.
Optionally, the docking charging method based on the position of the automatic walking device as described in any one of the above, wherein in the charging state: the charging station is used for outputting a charging signal to the automatic walking equipment; in a non-charging state, the first electrode unit is powered off or outputs a second voltage; wherein the second voltage is a ground voltage or at least lower than the charging voltage.
Optionally, the docking charging method based on the position of the automatic walking device as described in any one of the above, wherein in the charging state: the automatic walking equipment receives the charging voltage output by the first electrode and charges an energy storage unit of the automatic walking equipment; and in a non-charging state, the automatic walking equipment cuts off the signal transmission between the first electrode and the energy storage unit of the automatic walking equipment.
Advantageous effects
The position detection unit is arranged on the automatic walking equipment to determine the position relation between the automatic walking equipment and the charging station, and then the state of the state switching unit on the charging station is switched correspondingly according to the position relation. Therefore, the voltage value of the charging circuit of the charging station can be controlled by detecting whether the automatic walking equipment is close to the charging station, and the electrode of the charging station is set to be uncharged or to have lower voltage in a non-charging state that the automatic walking equipment is far away from the charging station, so that the safety is improved; and the electrodes are charged with a charging voltage only when the self-propelled device is detected to be close to the charging station. Therefore, the charging station can save energy consumption of the charging station and reduce electric shock risks. In addition, signals are sent out in advance to control the electrodes of the charging station to be electrified, the response speed of butt joint charging can be effectively improved, and the stability of butt joint charging is improved.
Furthermore, the invention can also directly utilize the boundary line signal acquisition device of the automatic walking equipment to detect the arrival identification signal by arranging the arrival signal generation device such as the induction coil and the like near the charging station, thereby directly judging whether the automatic walking equipment approaches the charging station without using additional electronic devices such as a sensor and the like. The implementation mode does not need to add extra devices, so the cost for implementing the invention can be reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic electrical circuit diagram of the charging station of the present invention;
FIG. 2 is a schematic circuit diagram of the automated walking device of the present invention;
FIG. 3 is a schematic diagram of the process of the automatic walking device entering the station;
in the figure, 1-boundary line, 2-charging station, 3-arrival induction field, 4-first electrode unit, 5-automatic traveling device, 6-second electrode unit, 7-first switch unit.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Example 1
As shown in fig. 1 and 3, the charging station 2 includes an energy supply unit, a first switching unit 7, a first control unit, a first communication unit, and a first electrode unit 4. The charging station 2 may further comprise a boundary line signal generating means for outputting a current signal to the boundary line to generate a boundary line signal. Furthermore, an approach signal generating device, which can be realized in particular by an approach induction coil or an electrical line, is provided on or in the vicinity of the charging station for generating an approach induction field 3.
The energy providing unit can supply power for the first electrode unit of the charging station, and a first switch unit is arranged on the power supply circuit and connected with the first control unit.
As shown in fig. 1 and 2, the automatic walking device is provided with a second electrode unit 6 which can be in butt joint with the first electrode unit to receive a charging signal, and is further provided with a second switch unit, a second control unit, a second communication unit, an energy storage unit and a stored energy detection unit.
The second electrode unit 6 is capable of charging the energy storage unit after docking with the first electrode unit 4. The charging circuit can be provided with a switch module. The switch module is connected with the second control unit, the second control unit can control the on-off of the switch module according to the received electric quantity detection signal obtained by the stored energy detection unit, and the circuit is switched on to charge when the electric quantity of the energy storage unit is low.
The automatic walking equipment also comprises a signal identification unit for identifying the boundary line signal and the station-entering induction magnetic field. The signal identification unit can specifically realize the two functions through a boundary signal acquisition device such as a magnetic sensor.
The first communication unit on the charging station can be connected with the second communication unit of the automatic walking equipment in a wireless communication mode, and information interaction between the charging station and the automatic walking equipment is achieved. The first communication unit is connected with the first control unit, and the second communication unit is connected with the second control unit.
In the charging process:
and 2, at the moment, the automatic walking device continues to walk along the boundary line in a clockwise or anticlockwise direction under the control of the second control unit. The guiding signal in the walking process is a boundary line signal. The boundary line signal is generated by inputting a current signal into the boundary line by the signal generating device. The traveling device induces a magnetic field of the boundary line signal and returns to the charging station along the boundary line. In another embodiment, in the process of controlling the automatic traveling device to move to the charging station, the position of the charging station may be determined by satellite navigation, UWB, image recognition, or the like, and the automatic traveling device may be controlled to return.
And 3, when the automatic walking equipment is about to arrive at the charging station, generating a station-entering signal after a signal detection unit of the automatic walking equipment detects a station-entering induction magnetic field 3 generated by an induction coil or an electric lead near the charging station, feeding the station-entering signal back to a second control unit by the signal detection unit, and controlling the automatic walking equipment to execute a station-entering mode by the second control unit. In the station entering mode, the automatic walking equipment decelerates and is in butt joint with the electrode of the charging station, and the second control unit controls the second switch unit to be closed. Meanwhile, the second communication unit on the automatic walking device can also be in interactive communication with the first communication unit on the charging station, and the station entering signal detected by the automatic walking device is sent to the first control unit of the charging station. At this time, after receiving the station entering signal, the first control unit controls the first switch unit to be powered on, so that the voltage of the first electrode unit of the charging station is provided with the charging voltage, and the charging voltage can be directly output for charging after the first control unit is electrically connected with the second electrode unit of the automatic traveling equipment. In the charging process, the edge of the triggering area defined by the induction coil or the electric conductor near the charging station can be arranged outside the charging contact position of the charging station, so that the charging station can be switched to the triggering state in time, and the automatic walking equipment can directly receive charging voltage to realize charging after running in place.
In this embodiment, in a non-charging state where the automatic traveling apparatus is away from the charging station, the first electrode unit of the charging station may be not powered by cutting off the main power supply circuit.
The embodiment adopts the existing approach detection mode, can avoid using additional electronic devices such as sensors and the like, and has higher accuracy for detecting the approach of the automatic walking equipment by utilizing the approach identification signals output by the approach signal generating devices such as induction coils or electric leads and the like. After the automatic walking equipment is detected to be close to the charging station, the main power supply circuit can be controlled to be switched on in advance, so that the electrode of the charging station is electrified, and the response speed of charging is improved.
Example 2
In this embodiment, the other contents are the same as those in embodiment 1, and the points are that: in the non-charging state, the main power supply circuit of the charging station may also be switched on. Except that the voltage supplied to the first electrode unit is a non-charging voltage at this time. By setting the non-charging voltage to be smaller than the normal charging voltage, the energy consumption of the charging station in a non-charging state can be reduced. And after the first control unit of the charging station receives the signal of the automatic walking equipment entering the station, the first control unit can quickly control the main power supply circuit to increase the voltage provided for the first electrode unit to the charging voltage so as to ensure the response speed of charging.
In this embodiment, the edge of the trigger area may be determined to be located outside the charging contact position of the charging station by the threshold circle set by the automatic traveling device position detection unit, so that the charging station can be also ensured to be switched to the trigger state in time, and the automatic traveling device can directly receive the charging voltage to realize charging after running in place
Example 3
In this embodiment, the other contents are the same as those in embodiment 1, and the points are that: in this embodiment, the manner of detecting whether the automatic walking device is close to charging is as follows:
the distance between the automatic walking equipment and the charging station is detected by utilizing the time and the speed of signal transmission between the first communication unit and the second communication unit, the distance information is correspondingly transmitted to the first control unit, the first control unit compares the real-time distance information with a set value according to the real-time distance information between the automatic walking equipment and the charging station, and when the distance between the automatic walking equipment and the charging station is detected to be smaller than the set value, the automatic walking equipment is judged to be about to enter the station, and the first switch unit is controlled to be switched on and switched off. The set value can be set to be outside the charging contact position of the corresponding charging station so as to reserve sufficient time to trigger the charging station to perform charging response and adjust the running state of the charging station.
The mode of utilizing the communication unit to judge the distance between the charging station and the automatic walking equipment does not need to additionally increase other sensors, and the cost can be effectively reduced.
In addition, in this embodiment, a distance sensor may be further disposed on the charging station to form a position detection unit of the automatic traveling device, and the distance sensor may be specifically implemented by an ultrasonic sensor, a laser sensor, an infrared distance measurement sensor, and other elements. The automatic walking equipment position detection unit can also be realized by a contact switch, a positioning device and the like. The automatic walking equipment utilizes the induction of a corresponding distance sensor or a contact switch and a positioning device, and the position detection units are arranged on the automatic walking equipment or a charging station so as to realize the detection of the distance between the automatic walking equipment and the charging station and judge whether the automatic walking equipment reaches a trigger area. Therefore, the distance change between the charging station and the automatic walking equipment can be detected in real time, or the distance change between the charging station and the automatic walking equipment can be judged by detecting the change of the signal intensity emitted by the sensor. In this way, the charging station can still be triggered to switch to the charging state when the traveling robot reaches the trigger area near the charging station, due to the positional relationship between the traveling robot and the charging station.
Thus, the present invention can:
1. the invention can judge whether the machine is close to the charging station by detecting the incoming coil signal and the like, thereby controlling the working state of the charging station and reducing the energy consumption of the charging station in a non-charging state.
2. When the automatic walking equipment approaches the charging station, the controller of the charging station is controlled to increase the voltage of the charging station to the charging voltage, or the switch on the charging circuit is controlled to be closed and electrified, so that the charging station is switched to a state suitable for butt-joint charging of the automatic walking equipment in advance, and the circuit connection efficiency of the butt-joint charging is improved.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (17)
1. A docking charging system based on an automatic walking device position, comprising:
the automatic walking equipment position detection unit is used for detecting the position relation between the automatic walking equipment and the charging station;
and the state switching unit is arranged on the charging station and used for triggering the charging station to switch to the charging state when the automatic walking equipment reaches the triggering area according to the position relation between the automatic walking equipment and the charging station.
2. The docking charging system according to claim 1, wherein the charging station or the triggering area near the charging station is further provided with an entry signal generating means for outputting an entry identification signal;
the automatic walking equipment position detection unit is arranged on the automatic walking equipment and used for receiving the arrival identification signal and detecting whether the automatic walking equipment reaches the trigger area or not according to the arrival identification signal.
3. The automated walking device location-based docking charging system of claim 2, wherein the inbound signal generating means comprises: an induction coil or an electrical conductor arranged on or near the charging station at the edge of the triggering area, the induction coil or the electrical conductor being used for outputting an arrival identification signal capable of covering the triggering area;
the automatic walking equipment position detection unit is a signal detection device on the automatic walking equipment and is used for detecting station-entering identification signals output by the induction coil or the electric lead;
the state switching unit is used for triggering the charging station to switch to a charging state when the automatic walking equipment reaches the triggering area range according to whether the automatic walking equipment reaches the triggering area covered by the station-entering identification signal of the induction coil or the electric lead.
4. The automated walking device location-based docking charging system of claim 2, wherein the inbound signal generating means comprises: a first communication unit disposed on or near a charging station;
the automatic walking device position detection unit comprises a second communication unit which can acquire the arrival identification signal output by the first communication unit, detect the distance between the automatic walking device and the charging station according to the transmission time and/or the speed of the arrival identification signal and judge whether the automatic walking device reaches the trigger area.
5. The docking charging system according to claim 1, wherein the automatic traveling apparatus position detection unit is configured as a distance sensor, a contact switch, and a positioning device, the distance sensor includes any one or a combination of an ultrasonic distance sensor, a laser distance sensor, and an infrared distance sensor, and the automatic traveling apparatus position detection unit is configured on the automatic traveling apparatus or on the charging station, and is configured to detect a distance between the automatic traveling apparatus and the charging station and determine whether the automatic traveling apparatus reaches the trigger area.
6. The automated walking device location-based docking charging system of claim 1, wherein the automated walking device location detection unit comprises: any one or combination of the satellite positioning signal receiving unit, the radio frequency positioning signal receiving unit and the image identification unit is used for detecting the distance between the automatic walking equipment and the charging station according to the satellite positioning signal, the radio frequency positioning signal or the image of the charging station and judging whether the automatic walking equipment reaches the trigger area.
7. The automated walking device location-based docking charging system of claim 1, wherein an edge of the trigger area is located outside of charging contact locations of charging stations;
and the state switching unit triggers the charging station to switch to the charging state when the automatic walking equipment approaches the charging station and reaches the inside of the triggering area.
8. The docking charging system according to any of claims 1 to 7, wherein the automated walking device and the charging station are communicatively connected to provide the status switching unit with a positional relationship between the automated walking device and the charging station.
9. The docking charging system according to claim 8, wherein the charging station is provided with a first electrode unit capable of outputting a charging signal to the autonomous traveling apparatus;
in a charging state, the state switching unit triggers the first electrode unit to output a charging voltage;
in a non-charging state, the state switching unit triggers the first electrode unit to power off or outputs a second voltage;
wherein the second voltage is a ground voltage or at least lower than the charging voltage.
10. The automated walking device position-based docking charging system of claim 9, wherein the state switching unit is a first switch unit connected between the energy supply unit and the first electrode unit in the charging station.
11. The docking charging system according to claim 10, wherein a second electrode unit is provided in the self-propelled device, and is electrically connected to the first electrode unit in a charging state, and transmits the charging voltage to an energy storage unit of the self-propelled device;
and a second switch unit is also connected between the second electrode unit and the energy storage unit, is synchronous with the first switch unit, is switched on in a charging state, and is switched off or connected with a second voltage in a non-charging state.
12. A docking charging method based on the position of automatic walking equipment is characterized by comprising the following steps:
detecting the position relation between the automatic walking equipment and a charging station;
when the automatic walking equipment reaches a trigger area, triggering the charging station to switch to a charging state;
and the automatic walking equipment continues to operate until the automatic walking equipment is in butt joint with a charging station for charging.
13. The docking charging method based on the position of the automatic walking device according to claim 12, wherein it is determined whether the automatic walking device reaches the trigger area according to the following steps:
and receiving an arrival identification signal on the charging station or in a trigger area near the charging station, and judging that the automatic walking equipment reaches the trigger area when detecting that the distance between the automatic walking equipment and the charging station reaches a set range according to the arrival identification signal.
14. The automated walking device location-based docking charging method of claim 13, wherein said inbound identification signal comprises: the system comprises a charging station, a first communication unit, a distance sensor, an induction coil or an electric lead, wherein the induction coil or the electric lead is arranged at the edge of a trigger area near the charging station, an incoming station identification signal output by the first communication unit on the charging station or near the charging station, a distance signal between the automatic walking equipment and the charging station acquired by the distance sensor, and any one or combination of a positioning signal of the automatic walking equipment.
15. The docking charging method according to claim 14, wherein the distance signal between the autonomous walking device and the charging station acquired by the distance sensor comprises: any one or combination of a detection signal of an ultrasonic distance sensor, a detection signal of a laser distance sensor and a detection signal of an infrared distance measuring sensor;
the positioning signal includes: any one of or a combination of satellite positioning signals, radio frequency positioning signals, image signals of the charging station.
16. The automated walking device location-based docking charging method of claim 12, wherein in a charging state: the charging station is used for outputting a charging signal to the automatic walking equipment;
in a non-charging state, the first electrode unit is powered off or outputs a second voltage;
wherein the second voltage is a ground voltage or at least lower than the charging voltage.
17. The automated walking device location-based docking charging method of claim 16, wherein in a charging state: the automatic walking equipment receives the charging voltage output by the first electrode and charges an energy storage unit of the automatic walking equipment;
and in a non-charging state, the automatic walking equipment cuts off the signal transmission between the first electrode and the energy storage unit of the automatic walking equipment.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113391631A (en) * | 2021-05-11 | 2021-09-14 | 北京迈格威科技有限公司 | Operation control method and device for mobile device, storage medium and mobile device |
| CN114073455A (en) * | 2021-07-15 | 2022-02-22 | 浙江绍兴苏泊尔生活电器有限公司 | Power supply control method, cleaning base station and cleaning system |
| CN114378821A (en) * | 2022-01-19 | 2022-04-22 | 华能汕头海门发电有限责任公司 | Charging and discharging management method of inspection robot |
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2020
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113391631A (en) * | 2021-05-11 | 2021-09-14 | 北京迈格威科技有限公司 | Operation control method and device for mobile device, storage medium and mobile device |
| CN114073455A (en) * | 2021-07-15 | 2022-02-22 | 浙江绍兴苏泊尔生活电器有限公司 | Power supply control method, cleaning base station and cleaning system |
| CN114073455B (en) * | 2021-07-15 | 2023-08-22 | 浙江绍兴苏泊尔生活电器有限公司 | Power supply control method, cleaning base station and cleaning system |
| CN114378821A (en) * | 2022-01-19 | 2022-04-22 | 华能汕头海门发电有限责任公司 | Charging and discharging management method of inspection robot |
| CN114378821B (en) * | 2022-01-19 | 2024-04-05 | 华能汕头海门发电有限责任公司 | Charging and discharging management method of inspection robot |
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