CN112104027A - Autonomous wireless charging system and working method - Google Patents
Autonomous wireless charging system and working method Download PDFInfo
- Publication number
- CN112104027A CN112104027A CN202010940581.2A CN202010940581A CN112104027A CN 112104027 A CN112104027 A CN 112104027A CN 202010940581 A CN202010940581 A CN 202010940581A CN 112104027 A CN112104027 A CN 112104027A
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- robot
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- mobile charger
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000011017 operating method 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
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an autonomous wireless charging system, wherein a charging station comprises an algorithm control system, a plurality of charging bases and a plurality of mobile chargers, the charging bases charge the mobile chargers, communication modules are arranged in the algorithm control system and the mobile chargers, the algorithm control system controls the mobile chargers to move towards a robot with the highest charging priority and to approach and charge the robot through the communication modules, and the mobile chargers are controlled to return to the charging station after being fully charged. The invention also provides a working method of the autonomous wireless charging system. The invention can actively search the moving equipment such as the robot needing to be charged in a workplace, then approach the equipment, synchronously move with the equipment and then wirelessly charge the equipment. In the process, the robot does not need to stop working specially for charging, and the working efficiency and the charging process efficiency of the robot are improved. All the working robots are in a state with enough electric energy, and the robots are ensured not to work continuously, so that the working efficiency is improved.
Description
Technical Field
The invention belongs to the field of wireless charging, relates to a wireless charging station and a working method, and particularly relates to an autonomous wireless charging system and a working method.
Background
The wireless power transmission technology generally comprises a transmitting device and a receiving device, namely, wireless transmission of energy is realized through mutual conversion of an electric field and a magnetic field. The convenience and safety of not requiring physical contact has led to widespread use of this technology.
In current wireless power transmission applications, the transmitting device is generally fixed relatively, and the receiving device is connected to the electric equipment. Such as a mobile phone with wireless charging function, is a receiving device. When the mobile phone is charged wirelessly, the mobile phone needs to be manually placed on a wireless transmitting device, and the mobile phone is relatively fixed, such as placed on a table.
In other words, the emitting device does not move autonomously. When the electric equipment, namely the receiving device, needs electric energy, the receiving device enters the working area of the transmitting device in an active or passive mode, and then the energy can be transmitted.
This mode of operation is not universally applicable. Particularly, in some industrial scenarios, if a transmitting terminal (hereinafter referred to as a charging station) is fixed at a certain position, when an electric device in a workplace, such as a robot, needs to be charged, the electric device must be separated from the working state, and the electric device returns to the charging station after moving for a certain distance. This is not an ideal charging process and will inevitably result in the following deficiencies (but not limited to):
(1) the robot inevitably uses a part of cruising ability for the round trip distance of charging;
(2) the robot inevitably sacrifices normal working time to perform charging;
(3) the charging area not only occupies the field, but also must meet certain requirements, such as meeting the safety requirement, the requirement of charging multiple robots simultaneously, and the like;
(4) the charging area utilization efficiency and the later scalability are not high.
Disclosure of Invention
1. The technical problem to be solved is as follows:
the existing wireless charging station needs to be charged when a robot needs to be charged, the robot needs to be separated from a working state and returns to the charging station after moving for a certain distance, and the problems that part of cruising ability is used for a round trip of charging and normal working time is sacrificed for charging and the like exist.
2. The technical scheme is as follows:
in order to solve the above problems, the present invention provides an autonomous wireless charging system, including a charging station and a robot, where the charging station charges the robot, the charging station includes an algorithm control system, a plurality of charging bases and a plurality of mobile chargers, the charging bases charge the mobile chargers, both the algorithm control system and the mobile chargers are provided with communication modules, the algorithm control system receives and compares electric quantity information of the robot with preset electric quantity information in the algorithm control system through the communication modules, the comparison result is less than the preset electric quantity information, the algorithm control system sends an instruction to one of the mobile chargers to move to and approach to the robot with insufficient electric quantity through the communication modules, the robot starts to be charged, and after the robot is fully charged, the algorithm control system receives information that the electric quantity is full, and recalls the mobile charger to the charging station, and charging the mobile charger through the charging base.
The mobile charger is characterized in that a wireless transmitting end is arranged in the charging base, a wireless receiving end is arranged in the mobile charger, and the charging base charges the mobile charger in a wireless charging mode.
Each mobile charger is internally provided with a wireless transmitting end, the robot is internally provided with a wireless receiving end, and the mobile charger charges the robot in a wireless charging mode.
The invention also provides a working method of the autonomous wireless charging system.
3. Has the advantages that:
the autonomous wireless charging station and the working method provided by the invention can actively search the moving equipment such as the robot needing to be charged in a workplace, then approach the equipment, synchronously move with the equipment, and then wirelessly charge the equipment. In the process, the robot does not need to stop working specially for charging, and does not need to be statically charged after being moved to other positions, so that the working efficiency and the charging process efficiency of the robot are greatly improved. All the working robots in the working area are in a state of enough electric energy, and the robots are guaranteed not to work continuously, so that the working efficiency is improved.
Drawings
Fig. 1 is a wireless charging flowchart of a charging station according to embodiment 1.
Detailed Description
The present invention will be described in detail below with reference to the drawings and examples.
Example 1
As shown in fig. 1, the present invention also provides an operating method of the autonomous wireless charging system, including the following steps: step 1-1: starting a wireless charging system, and step 1-2: self-checking the charging station, judging whether the self electric quantity of the mobile charger is insufficient, if so, entering the step 1-12, if not, entering the step 1-3, and the step 1-12: sending a message to other charging bases to inform the charging bases that the charging bases are in a charging state; step 1-3: sending out a wireless charging demand, and establishing wireless connection with robots in the area; step 1-4: judging whether the wireless network is successfully networked, if not, returning to the step 1-3, and if so, entering the step 1-5; judging whether a robot sends a charging application within a certain time period, if not, returning to the step 1-3; if yes, entering step 1-6, and moving the mobile charger to the direction of the robot sending the request; step 1-7, the mobile charger and the robot are connected, if the connection is judged to be successful, the step 1-8 is carried out, and if the connection is judged to be unsuccessful, the step 1-6 is carried out; step 1-8: starting charging, the mobile charger transmits electric energy to a battery of the robot, and the robot and the mobile charger transmit electric quantity information to the algorithm control system; step 1-10: the mobile charger continues to charge, and the algorithm control system judges whether the robot is full through the received electric quantity confidence of the robot; step 1-11: after the robot is fully charged, the algorithm control system sends an instruction to the mobile charger to leave the robot.
Example 2
There are a plurality of robots, a plurality of charging bases and mobile chargers in the work area, so on the basis of embodiment 1, a step 1-9 of judging charging priority is included between steps 1-8 and steps 1-9: in the charging process, if the charging station receives a charging appeal that other robots send higher priority, the charging station returns to the step 1-2, and if the charging station does not receive the charging appeal, the charging station enters the step 1-10. The priority is determined based on the remaining operating time of the robot, and the lower the remaining operating time is, the higher the priority is. For example, the real-time power of the robot being charged can work for 3 hours, the power of a certain robot in the robot group is more than the real-time power of the robot being charged, but the remaining working time of the power is less than the working time of the robot being charged, and the priority of the robot being charged is lower than that of the robot having less remaining working time.
Example 3
In steps 1-6 of embodiment 1, during the moving process, the moving direction of the mobile charger itself is adjusted to be consistent with the robot, and the speed is higher than the latter, but the speed difference is reduced continuously until the speed difference is equal, that is, the two sides are finally in a relatively static state and aligned.
In example 4
On the basis of the embodiment 3, the positioning mode between the mobile charger and the robot comprises laser radar positioning, ultrasonic radar positioning, millimeter wave radar positioning or infrared positioning.
Example 5
On the basis of the embodiment 1-the embodiment 4, in the step 1-3, the mobile charger and the robot establish wireless connection through Wi-Fi or Bluetooth or 4G or 5G communication technology.
Example 6
On the basis of the embodiment 1-the embodiment 5, wireless charging is carried out between the mobile charger and the charging base and between the mobile charger and the robot.
The mobile charger is characterized in that a wireless transmitting end is arranged in the charging base, a wireless receiving end is arranged in the mobile charger, and the charging base charges the mobile charger in a wireless charging mode.
Each mobile charger is internally provided with a wireless transmitting end, the robot is internally provided with a wireless receiving end, and the mobile charger charges the robot in a wireless charging mode.
Example 7
After the robot is charged by the mobile charger, the robot leaves, the algorithm control system controls the mobile charger to return to the charging base for charging according to the collected electric quantity of the mobile charger, which is lower than the preset value, and if the electric quantity of the mobile charger is higher than the preset value, the robot waits in a working area.
Claims (9)
1. An autonomous wireless charging system, includes charging station and robot, robot is charged to the charging station, its characterized in that: the charging station comprises an algorithm control system, a plurality of charging bases and a plurality of mobile chargers, wherein the base bases charge the mobile chargers, communication modules are arranged in the algorithm control system and the mobile chargers, the algorithm control system receives electric quantity information of the robot through the communication modules and compares the electric quantity information with preset electric quantity information in the algorithm control system, the comparison is less than the preset electric quantity information, the algorithm control system sends an instruction to one of the robots needing to be charged through the communication modules to move and approach to the robot, the robot starts to be charged, and after the electric quantity of the robot is full, the algorithm control system receives information that the electric quantity is full and leaves the mobile chargers from the robot.
2. The autonomous wireless charging system of claim 1, wherein: the mobile charger is characterized in that a wireless transmitting end is arranged in the charging base, a wireless receiving end is arranged in the mobile charger, and the charging base charges the mobile charger in a wireless charging mode.
3. The autonomous wireless charging system of claim 2, wherein: each mobile charger is internally provided with a wireless transmitting end, the robot is internally provided with a wireless receiving end, and the mobile charger charges the robot in a wireless charging mode.
4. A method of operating an autonomous wireless charging system as claimed in any of claims 1 to 3, comprising the steps of: step 1-1: starting a wireless charging system, and step 1-2: self-checking the charging station, judging whether the electric quantity of the mobile charger is insufficient, if so, entering the step 1-12, if not, entering the step 1-3, and the step 1-12: sending a message to other charging bases to inform the charging bases that the charging bases are in a charging state; step 1-3: sending out a wireless charging demand, and establishing wireless connection with robots in the area; step 1-4: judging whether the wireless network is successfully networked, if not, returning to the step 1-3, and if so, entering the step 1-5; judging whether a robot sends a charging application within a certain time period, if not, returning to the step 1-3; if yes, entering step 1-6, and moving the mobile charger to the direction of the robot sending the request; step 1-7, the mobile charger and the robot are connected, if the connection is judged to be successful, the step 1-8 is carried out, and if the connection is judged to be unsuccessful, the step 1-6 is carried out; step 1-8: starting charging, the mobile charger transmits electric energy to a battery of the robot, and the robot and the mobile charger transmit electric quantity information to the algorithm control system; step 1-10: the mobile charger continues to charge, and the algorithm control system judges whether the robot is full through the received electric quantity confidence of the robot; step 1-11: after the robot is fully charged, the algorithm control system sends an instruction to the mobile charger to leave the robot.
5. The method of claim 4, wherein: a step 1-9 of judging the charging priority is included between the step 1-8 and the step 1-9: in the charging process, if the charging station receives a charging appeal that other robots send higher priority, the charging station returns to the step 1-2, and if the charging station does not receive the charging appeal, the charging station enters the step 1-10.
6. The method of claim 5, wherein: the priority is determined based on the remaining operating time of the robot, and the lower the remaining operating time is, the higher the priority is.
7. The method of claim 4, wherein: in step 1-6, during the moving process, the moving direction of the mobile charger is adjusted to be consistent with the robot, and the speed is higher than the latter, but the speed difference is reduced continuously until the speed difference is equal, namely, the two sides are finally in a relatively static state and aligned.
8. The method of claim 7, wherein: the positioning mode between the mobile charger and the robot comprises laser radar positioning, ultrasonic radar positioning, millimeter wave radar positioning or infrared positioning.
9. The method of claim 4, wherein: in the step 1-3, wireless connection is established between the mobile charger and the robot through Wi-Fi or Bluetooth or 4G or 5G communication technology.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010940581.2A CN112104027A (en) | 2020-09-09 | 2020-09-09 | Autonomous wireless charging system and working method |
| PCT/CN2020/116206 WO2022052151A1 (en) | 2020-09-09 | 2020-09-18 | Autonomous wireless charging system and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010940581.2A CN112104027A (en) | 2020-09-09 | 2020-09-09 | Autonomous wireless charging system and working method |
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| CN112104027A true CN112104027A (en) | 2020-12-18 |
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| CN202010940581.2A Pending CN112104027A (en) | 2020-09-09 | 2020-09-09 | Autonomous wireless charging system and working method |
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| WO (1) | WO2022052151A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU224230U1 (en) * | 2023-04-07 | 2024-03-19 | Общество с ограниченной ответственностью "ЗАРЯД!" | STATION FOR ISSUING, ACCOUNTING AND MAINTENANCE OF PORTABLE CHARGERS |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105071481A (en) * | 2015-08-24 | 2015-11-18 | 孙源 | Intelligent movable electric power motor vehicle charging device and charging method |
| CN108448731A (en) * | 2018-03-07 | 2018-08-24 | 南京邮电大学 | A kind of collaborative wireless sense network energy compensation process and its wireless sense network |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10399449B2 (en) * | 2016-08-08 | 2019-09-03 | Hyundai Motor Company | Wireless charging control apparatus and method for optimal charging by adjusting the inclination of the electric vehicle being charged |
| CN106356932A (en) * | 2016-09-26 | 2017-01-25 | 武汉大学 | Intelligent robot wireless charging system with direction self-adaptation coil structure |
| KR102645040B1 (en) * | 2018-07-26 | 2024-03-08 | 현대자동차주식회사 | Mobile charging system and operation method thereof |
| CN110677892B (en) * | 2019-09-24 | 2022-08-30 | 深圳职业技术学院 | Wireless sensor network circulating charging method and system |
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2020
- 2020-09-09 CN CN202010940581.2A patent/CN112104027A/en active Pending
- 2020-09-18 WO PCT/CN2020/116206 patent/WO2022052151A1/en active Application Filing
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071481A (en) * | 2015-08-24 | 2015-11-18 | 孙源 | Intelligent movable electric power motor vehicle charging device and charging method |
| CN108448731A (en) * | 2018-03-07 | 2018-08-24 | 南京邮电大学 | A kind of collaborative wireless sense network energy compensation process and its wireless sense network |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU224230U1 (en) * | 2023-04-07 | 2024-03-19 | Общество с ограниченной ответственностью "ЗАРЯД!" | STATION FOR ISSUING, ACCOUNTING AND MAINTENANCE OF PORTABLE CHARGERS |
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| WO2022052151A1 (en) | 2022-03-17 |
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Application publication date: 20201218 |