CN112531845B - Robot multi-mode fusion charging device, method and computer storage medium - Google Patents
Robot multi-mode fusion charging device, method and computer storage medium Download PDFInfo
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- CN112531845B CN112531845B CN202011439922.4A CN202011439922A CN112531845B CN 112531845 B CN112531845 B CN 112531845B CN 202011439922 A CN202011439922 A CN 202011439922A CN 112531845 B CN112531845 B CN 112531845B
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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
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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
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
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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
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/007188—Regulation of charging or discharging current or voltage the charge cycle being controlled or terminated in response to non-electric parameters
- H02J7/007192—Regulation of charging or discharging current or voltage the charge cycle being controlled or terminated in response to non-electric parameters in response to temperature
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention provides a robot multi-mode fusion charging device, a method and a computer storage medium, wherein the robot multi-mode fusion charging device comprises: a charging dock; the first charging panel is arranged in the charging dock, and the positive electrode and the negative electrode of the first charging panel charge the robot; the second charging panel is arranged in the charging dock, and the positive electrode and the negative electrode of the second charging panel charge the robot; and the controller is connected with the first charging panel and the second charging panel, acquires the electric quantity information of the robot and controls the first charging panel and/or the second charging panel to charge the robot according to the electric quantity information. According to the robot multi-mode fusion charging device provided by the embodiment of the invention, the charging speed of the robot is improved, the patrol period of the robot is prolonged, heat accumulation caused by long-time charging is avoided, and the service lives of wires and metal electrodes are prolonged.
Description
Technical Field
The invention relates to the field of charging devices, in particular to a robot multi-mode fusion charging device, a method and a computer storage medium.
Background
The existing robot automatic charging mode generally has the following three types: 1. horizontal charging mode: forward and backward; 2. vertical charging mode: downward pressing and lifting type; 3. wireless charging, however, the robot charging dock is only provided with one charging mode, and only using one charging mode can cause the following problems: 1. the charging speed is slow: if the output current is larger, sparks are generated when the electrodes are contacted, the hidden danger of ignition is caused, if the current is increased from small, sparks are avoided to a certain extent when the electrodes are contacted, but then the current is increased to a certain extent, or sparks are generated because the two contact electrode faces cannot be completely attached, so that the peak value of the current is usually lower in order to avoid sparks, the charging speed is slower, and the charging mode of high-power wireless charging is adopted, so that the energy loss is larger, and the charging cost is higher; 2. severe fever: because a certain impedance exists between the cable and the metal electrode contact, the metal electrode and the cable can generate heat in the charging process, and heat accumulation is caused by longer charging time, so that the aging of the cable and the metal is accelerated; 3. the battery charge is not full: because of a certain impedance between the cable and the contact of the metal electrode, when the current finally reaches the battery from the output of the charger, the current is lost, so that when the battery enters a constant voltage stage, the current is seriously damaged, and the battery cannot be charged to 100%.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-mode fusion charging device and method for a robot and a computer storage medium, which can improve the charging speed of the robot, avoid heat accumulation caused by long-time charging and prolong the service lives of wires and metal electrodes.
According to an embodiment of the first aspect of the present invention, a robot multimode fusion charging device includes:
a charging dock; the first charging panel is arranged in the charging dock, and the positive electrode and the negative electrode of the first charging panel charge the robot; the second charging panel is arranged in the charging dock, and positive electrodes and negative electrodes of the second charging panel charge the robot; the controller is connected with the first charging panel and the second charging panel, acquires electric quantity information of the robot and controls the first charging panel and/or the second charging panel to charge the robot according to the electric quantity information.
According to the multi-mode fusion charging device for the robot, disclosed by the embodiment of the invention, the existing charging dock used for charging the robot is optimized by adopting the technical scheme of multi-mode fusion charging, so that the robot can be rapidly charged in the charging dock, the attendance frequency of the robot is improved, the service life of equipment in a charging link of the robot is prolonged, and other problems caused by heating are reduced.
According to some embodiments of the invention, the charging dock includes a base plate and a riser, the first charging panel is disposed on the base plate, a positive electrode and a negative electrode of the first charging panel extend out of the base plate, the second charging panel is disposed on a side of the riser facing the base plate, and a positive electrode and a negative electrode of the second charging panel extend out of the riser, the robot multi-mode fusion charging device further includes: the third charging panel is arranged on the charging dock, and can be connected with the robot and used for wirelessly charging the robot.
According to some embodiments of the invention, the third charging panel is disposed on the bottom plate, the first charging panel is disposed between the third charging panel and the second charging panel, and the controller is disposed on the riser above the second charging panel.
According to some embodiments of the invention, the controller comprises: the wireless communication module is used for receiving charging information sent by the robot and acquiring electric quantity information of the robot; and the charging control module is electrically connected with the wireless communication module and controls the contact type charging panel and/or the third charging panel to charge the robot according to the information received by the wireless communication module.
According to a second aspect of the present invention, a robot multi-mode fusion charging method based on a robot multi-mode fusion charging device includes the steps of: s1, when a robot moves to a charging position, charging the robot, and acquiring voltage V and current I of a battery of the robot, maximum charging current Imax allowed by the battery, temperature T of a battery cell, an electric quantity value Q and standby power consumption P of the robot; s2, judging the temperature T of the battery cell, a set minimum temperature value Tmin and a set maximum temperature value Tmax, if Tmin is smaller than T < Tmax, continuing to judge the battery voltage V, otherwise, suspending charging; s3, judging the battery voltage V and a voltage value Vmin of low-voltage protection of the battery, entering a pre-charging mode when V is smaller than Vmin, continuously judging the temperature T of the battery cell, a set minimum temperature value Tmin and a set maximum temperature value Tmax, entering an S2 cycle, and otherwise, continuously judging the voltage V of the battery; s4, judging the battery voltage V and a cut-off voltage value Vr of the robot quick charge, if V is smaller than Vr, entering a quick charge mode, continuously judging the temperature T of the battery cell, a set minimum temperature value Tmin and a set maximum temperature value Tmax, entering an S2 cycle, and otherwise, judging the electric quantity value Q of the robot; s5, judging the electric quantity value Q of the robot and the cut-off value Qr of the constant voltage mode of the robot, if Q is smaller than Qr, entering the constant voltage mode, continuously judging the temperature T of the battery cell and the set minimum temperature value Tmin and the set maximum temperature value Tmax, entering the S2 cycle, otherwise, entering the full power mode, continuously judging the temperature T of the battery cell and the set minimum temperature value Tmin and the set maximum temperature value Tmax, and entering the S2 cycle.
According to some embodiments of the invention, in step S3, the precharge mode comprises the steps of:
s31, starting current output of the first charging panel; s32, setting the current value to be 0.05C; s33, closing the current output of the second charging panel and the third charging panel.
According to some embodiments of the invention, in step S4, the fast charge mode comprises the steps of: s41, starting current output of the first charging panel, and setting output current to be Imax/2; s42, after the charging power is stable, starting the current output of the second charging panel, and setting the output current to be Imax/2;
s43, after the charging power is stable, starting the current output of the third charging panel, and setting the output current as Imax-I.
According to some embodiments of the invention, in step S5, the constant voltage mode includes the steps of:
s51, closing current output of the second charging panel and the third charging panel; s52, gradually reducing the output current of the first charging panel to 2A until the electric quantity value Q is equal to the constant voltage mode cut-off value Qr.
According to some embodiments of the present invention, in step S5, when the full charge mode is entered, the output power of the first charging panel is adjusted to the standby power consumption P of the robot, so as to supply power to the devices on the robot and maintain the full charge of the robot.
In a third aspect, embodiments of the present invention provide a computer storage medium comprising one or more computer instructions which, when executed, implement a method as described in the above embodiments.
Additional aspects and advantages of the invention will be set forth in part 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 foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic diagram of a robot multi-mode fusion charging device according to an embodiment of the invention;
fig. 2 is a flowchart of a robot multi-mode fusion charging method based on a robot multi-mode fusion charging device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an electronic device according to an embodiment of the invention.
Reference numerals:
the robotic multi-mode fusion charging device 100;
a charging dock 10; a riser 11; a bottom plate 12;
a first charging panel 20; a positive electrode 21 of the first charging panel; a negative electrode 22 of the first charging panel;
a second charging panel 30; a positive electrode 31 of the second charging panel; a negative electrode 32 of the second charging panel;
a controller 40;
a third charging panel 50;
an electronic device 300;
a memory 310; an operating system 311; an application 312;
a processor 320; a network interface 330; an input device 340; a hard disk 350; and a display device 360.
Detailed description of the preferred embodiments
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
A robot multi-mode fusion charging device 100 according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, a robot multi-mode fusion charging device 100 according to an embodiment of the present invention includes: the charging dock 10, the first charging panel 20, the second charging panel 30, and the controller 40.
Specifically, the first charging panel 20 is disposed in the charging dock 10, the positive electrode 21 and the negative electrode 22 of the first charging panel charge the robot, the second charging panel 30 is disposed in the charging dock 10, the positive electrode 31 and the negative electrode 32 of the second charging panel charge the robot, the controller 40 is connected with the first charging panel 20 and the second charging panel 30, and the controller 40 obtains the electric quantity information of the robot and controls the first charging panel 20 and/or the second charging panel 30 to charge the robot according to the electric quantity information.
In other words, as shown in fig. 1, the robot multi-mode fusion charging device 100 according to the embodiment of the invention mainly comprises a charging dock 10, a first charging panel 20 arranged on the charging dock 10 for charging the robot through positive and negative electrodes, a second charging panel 30 arranged on the charging dock 10 for charging the robot through positive and negative electrodes, and a controller 40 for establishing connection with the first charging panel 20 and the second charging panel 30, acquiring electric quantity information of the robot and controlling the first charging panel 20 and/or the second charging panel 30 to charge the robot according to the electric quantity information. The robot enters the charging dock 10 and moves to a charging direction, the robot end is connected with the charging dock 10 controller 40, a charging start command is sent, and the controller 40 acquires electric quantity information of the robot and controls the first charging panel 20 and/or the second charging panel 30 to charge the robot according to the electric quantity information. The connection method between the robot and the controller 40 may be wireless connection or wired connection, which is understood and easily implemented by those skilled in the art, and thus will not be described in detail.
Therefore, according to the multi-mode fusion charging device 100 for the robot, the existing charging dock used for charging the robot is optimized by adopting the technical scheme of multi-mode fusion charging, so that the robot can be rapidly charged in the charging dock 10, the attendance frequency of the robot is improved, the service life of equipment in a charging link of the robot is prolonged, and other problems caused by heating are reduced.
In some embodiments of the present invention, the charging dock 10 includes a base plate 12 and a riser 11, a first charging panel 20 is provided on the base plate 12, a positive electrode 21 and a negative electrode 22 of the first charging panel extend out of the base plate 12, a second charging panel 30 is provided on a side of the base plate 12 toward which the riser 11 faces, a positive electrode 31 and a negative electrode 32 of the second charging panel extend out of the riser 11, and the robotic fusion charging device 100 further includes: and a third charging panel 50.
Specifically, the third charging panel 50 is disposed on the charging dock 10, and the third charging panel 50 can establish connection with the robot and wirelessly charge the robot.
As shown in fig. 1, the charging dock 10 includes a bottom plate 12 and a riser 11, the first panel is disposed on the bottom plate 12, the positive electrode and the negative electrode of the first charging panel 20 extend out of the bottom plate 12, the robot can be charged through forward and backward modes, the second charging panel 30 is disposed on one side of the bottom plate 12 facing the riser 11, the positive electrode 31 and the negative electrode 32 of the second charging panel extend out of the riser 11, the robot can be charged through downward and upward modes, the multi-mode fusion charging device 100 for the robot further includes a third charging panel 50, the third charging panel 50 is disposed on the charging dock 10, and the third charging panel 50 can be connected with the robot and perform wireless charging on the robot. Because there is certain impedance between cable and the metal electrode contact, when the electric current arrives the battery from the charger output end, there is the current loss, when leading to the battery to get into the constant voltage stage, the electric current breakage is serious, can't charge the battery to 100%, can overcome the unable problem of filling of electric quantity through wireless charging.
As shown in fig. 1, in some embodiments of the present invention, a third charging panel 50 is provided on the base plate 12, a first charging panel 20 is provided between the third charging panel 50 and the second charging panel 30, and a controller 40 is provided on the riser 11 above the second charging panel 30.
In some embodiments of the present invention, the controller 40 includes: and the wireless communication module and the charging control module.
Specifically, the wireless communication module receives charging information sent by the robot and acquires electric quantity information of the robot, and the charging control module is electrically connected with the wireless communication module and controls the contact charging panel and/or the third charging panel 50 to charge the robot according to the information received by the wireless communication module.
In summary, the robotic multimode fusion charging device 100 according to the embodiments of the invention has at least the following advantages:
(1) The charging dock 10 used for charging the robot is optimized by adopting the technical scheme of fusion charging in various modes, so that the robot can be rapidly charged in the charging dock 10, and the attendance frequency of the robot is improved;
(2) The service life of equipment in a robot charging link is prolonged, and other problems caused by heating are reduced;
(3) The problem that the battery cannot be charged to 100% because certain impedance exists between the cable and the contact of the metal electrode and current loss exists when the current finally reaches the battery from the output of the charger, so that the current is seriously damaged when the battery enters a constant voltage stage is solved.
As shown in fig. 2, the embodiment of the invention further provides a robot multi-mode fusion charging method based on the robot multi-mode fusion charging device 100, which comprises the following steps: s1, when a robot moves to a charging position, charging the robot, and acquiring voltage V and current I of a battery of the robot, maximum charging current Imax allowed by the battery, temperature T of a battery cell, an electric quantity value Q and standby power consumption P of the robot; s2, judging the temperature T of the battery cell, a set minimum temperature value Tmin and a set maximum temperature value Tmax, if Tmin is smaller than T < Tmax, continuing to judge the battery voltage V, otherwise, suspending charging; s3, judging the battery voltage V and a voltage value Vmin of low-voltage protection of the battery, entering a pre-charging mode when V is smaller than Vmin, continuously judging the temperature T of the battery cell, a set minimum temperature value Tmin and a set maximum temperature value Tmax, entering an S2 cycle, and otherwise, continuously judging the voltage V of the battery; s4, judging the battery voltage V and a cut-off voltage value Vr of the robot quick charge, if V is smaller than Vr, entering a quick charge mode, continuously judging the temperature T of the battery cell, a set minimum temperature value Tmin and a set maximum temperature value Tmax, entering an S2 cycle, and otherwise, judging the electric quantity value Q of the robot; s5, judging the electric quantity value Q of the robot and the cut-off value Qr of the constant voltage mode of the robot, if Q is smaller than Qr, entering the constant voltage mode, continuously judging the temperature T of the battery cell and the set minimum temperature value Tmin and the set maximum temperature value Tmax, entering the S2 cycle, otherwise, entering the full power mode, continuously judging the temperature T of the battery cell and the set minimum temperature value Tmin and the set maximum temperature value Tmax, and entering the S2 cycle.
In some embodiments of the present invention, in step S3, the precharge mode includes the steps of: s31, starting current output of the first charging panel 20; s32, setting the current value to be 0.05C; s33, the current outputs of the second charging panel 30 and the third charging panel 50 are turned off. When the battery voltage V is smaller than the voltage value Vmin of the low-voltage protection of the battery, the battery is damaged by continued use, so that the robot is charged by only starting the first panel to output current of 0.05C, and the battery is protected.
In some embodiments of the present invention, in step S4, the fast charge mode includes the steps of: s41, starting current output of the first charging panel 20, and setting output current to be Imax/2; s42, after the charging power is stable, starting the current output of the second charging panel 30, and setting the output current to be Imax/2; s43, after the charging power is stable, the current output of the third charging panel 50 is started, and the output current is set to be Imax-I. The controller 40 of the charging dock 10 firstly starts the current output of the first charging panel 20, sets the current value to be half Imax/2 of the maximum charging current value allowed by the battery, starts the current output of the second charging panel 30 after the charging power is stable, sets the current value to be half Imax/2 of the maximum charging current value allowed by the battery, starts the current output of the wireless charging module after the charging power is stable, and outputs current Imax-I for compensating the current loss caused by contact charging.
In some embodiments of the present invention, in step S5, the constant voltage mode includes the steps of: s51, turning off the current output of the second charging panel 30 and the third charging panel 50; s52, gradually decreasing the output current of the first charging panel 20 to 2A until the electric quantity value Q is equal to the constant voltage mode cutoff value Qr. With the increase of the charge capacity, the actual electric quantity value Q of the battery becomes closer to the constant voltage mode cut-off value Qr, and in order to maintain the constant voltage, the electric current value is gradually reduced to 2A, and if the voltage limitation is not performed, the voltage of the battery continuously rises, the battery is internally polarized until the battery structure is damaged, the battery fails, and even explodes.
In some embodiments of the present invention, in step S5, when the full charge mode is entered, the output power of the first charging panel 20 is adjusted to the standby power consumption P of the robot, so as to supply power to the devices on the robot and maintain the full charge of the robot.
Therefore, according to the robot multi-mode fusion charging method based on the robot multi-mode fusion charging device 100, the charging method used by the existing robot charging is optimized by adopting the technical scheme of multi-mode fusion charging, the battery is protected, the robot can be rapidly charged in the charging dock 10, the attendance frequency of the robot is improved, the service life of equipment in the charging link of the robot is prolonged, other problems caused by heating are reduced, and the problem that the electric quantity cannot be fully charged due to contact charging loss is overcome by wireless charging.
In addition, the invention also provides a computer storage medium, which comprises one or more computer instructions, and the one or more computer instructions realize the robot multi-mode fusion charging method when being executed.
That is, the computer storage medium stores a computer program that, when executed by the processor, causes the processor to perform any one of the robot multi-mode fusion charging methods described above.
As shown in fig. 3, an embodiment of the present invention provides an electronic device 300, including a memory 310 and a processor 320, where the memory 310 is configured to store one or more computer instructions, and the processor 320 is configured to invoke and execute the one or more computer instructions, thereby implementing any of the methods described above.
That is, the electronic device 300 includes: a processor 320 and a memory 310, in which memory 310 computer program instructions are stored which, when executed by the processor, cause the processor 320 to perform any of the methods described above.
Further, as shown in fig. 3, the electronic device 300 also includes a network interface 330, an input device 340, a hard disk 350, and a display device 360.
The interfaces and devices described above may be interconnected by a bus architecture. The bus architecture may be a bus and bridge that may include any number of interconnects. One or more Central Processing Units (CPUs), represented in particular by processor 320, and various circuits of one or more memories, represented by memory 310, are connected together. The bus architecture may also connect various other circuits together, such as peripheral devices, voltage regulators, and power management circuits. It is understood that a bus architecture is used to enable connected communications between these components. The bus architecture includes, in addition to a data bus, a power bus, a control bus, and a status signal bus, all of which are well known in the art and therefore will not be described in detail herein.
The network interface 330 may be connected to a network (e.g., the internet, a local area network, etc.), and may obtain relevant data from the network and store the relevant data in the hard disk 350.
The input device 340 may receive various instructions from an operator and transmit the instructions to the processor 320 for execution. The input device 340 may include a keyboard or pointing device (e.g., a mouse, a trackball, a touch pad, or a touch screen, among others).
The display device 360 may display results obtained by the processor 320 executing instructions.
The memory 310 is used for storing programs and data necessary for the operation of the operating system, and data such as intermediate results in the calculation process of the processor 320.
It will be appreciated that memory 310 in embodiments of the invention may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM), erasable Programmable Read Only Memory (EPROM), electrically Erasable Programmable Read Only Memory (EEPROM), or flash memory, among others. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. The memory 310 of the apparatus and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In some implementations, the memory 310 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof: an operating system 311 and applications 312.
The operating system 311 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application programs 312 include various application programs such as a Browser (Browser) and the like for implementing various application services. A program implementing the method of the embodiment of the present invention may be included in the application program 312.
The method disclosed in the above embodiment of the present invention may be applied to the processor 320 or implemented by the processor 320. Processor 320 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in processor 320. The processor 320 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, or discrete hardware components, which may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 310 and the processor 320 reads the information in the memory 310 and in combination with its hardware performs the steps of the method described above.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
In particular, the processor 320 is further configured to read the computer program and execute any of the methods described above.
In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may be physically included separately, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform part of the steps of the transceiving method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (4)
1. A robot multi-mode fusion charging device, comprising:
a charging dock;
the first charging panel is arranged in the charging dock, and the positive electrode and the negative electrode of the first charging panel charge the robot;
the second charging panel is arranged in the charging dock, and positive electrodes and negative electrodes of the second charging panel charge the robot;
the controller is connected with the first charging panel and the second charging panel, acquires electric quantity information of the robot and controls the first charging panel and/or the second charging panel to charge the robot according to the electric quantity information;
the dock that charges includes bottom plate and riser, first charging panel locates the bottom plate, first charging panel's positive electrode and negative electrode stretch out the bottom plate, the second charging panel is located the riser is towards one side of bottom plate, second charging panel's positive electrode and negative electrode stretch out the riser, the multi-mode integration charging device of robot still includes:
the third charging panel is arranged in the charging dock and can be connected with the robot and wirelessly charge the robot;
the robot multi-mode fusion charging device comprises the following fusion charging method, and the specific steps are as follows:
s1, when a robot moves to a charging position, charging the robot, and acquiring voltage V and current I of a battery of the robot, maximum charging current Imax allowed by the battery, temperature T of a battery cell, an electric quantity value Q and standby power consumption P of the robot;
s2, judging the temperature T of the battery cell, a set minimum temperature value Tmin and a set maximum temperature value Tmax, if Tmin is smaller than T < Tmax, continuing to judge the battery voltage V, otherwise, suspending charging;
s3, judging the battery voltage V and a voltage value Vmin of low-voltage protection of the battery, entering a pre-charging mode when V is smaller than Vmin, continuously judging the temperature T of the battery cell, a set minimum temperature value Tmin and a set maximum temperature value Tmax, entering an S2 cycle, and otherwise, continuously judging the voltage V of the battery;
s4, judging the battery voltage V and a cut-off voltage value Vr of the robot quick charge, if V is smaller than Vr, entering a quick charge mode, continuously judging the temperature T of the battery cell, a set minimum temperature value Tmin and a set maximum temperature value Tmax, entering an S2 cycle, and otherwise, judging the electric quantity value Q of the robot;
s5, judging the electric quantity value Q of the robot and the cut-off value Qr of the constant voltage mode of the robot, if Q is smaller than Qr, entering the constant voltage mode, continuously judging the temperature T of the battery cell and the set minimum temperature value Tmin and the set maximum temperature value Tmax, entering the S2 circulation, otherwise, entering the full power mode, continuously judging the temperature T of the battery cell and the set minimum temperature value Tmin and the set maximum temperature value Tmax, and entering the S2 circulation;
in step S3, the precharge mode includes the steps of:
s31, starting current output of the first charging panel;
s32, setting the current value to be 0.05C;
s33, closing current output of the second charging panel and the third charging panel;
in step S4, the fast charge mode includes the steps of:
s41, starting current output of the first charging panel, and setting output current to be Imax/2;
s42, after the charging power is stable, starting the current output of the second charging panel, and setting the output current to be Imax/2;
s43, after the charging power is stable, starting the current output of the third charging panel, and setting the output current as Imax-I;
in step S5, the constant voltage mode includes the steps of:
s51, closing current output of the second charging panel and the third charging panel;
s52, gradually reducing the output current of the first charging panel to 2A until the electric quantity value Q is equal to the constant voltage mode cut-off electric quantity value Qr.
2. The robotic multimode fusion charging device of claim 1, wherein the third charging panel is disposed on the base plate, the first charging panel is disposed between the third charging panel and the second charging panel, and the controller is disposed on the riser and above the second charging panel.
3. The robotic multimode fusion charging device of claim 1, wherein the controller comprises:
the wireless communication module is used for receiving charging information sent by the robot and acquiring electric quantity information of the robot;
and the charging control module is electrically connected with the wireless communication module and controls the contact type charging panel and/or the third charging panel to charge the robot according to the information received by the wireless communication module.
4. The robot multi-mode fusion charging device according to claim 1, wherein in step S5, when the full charge mode is entered, the output power of the first charging panel is adjusted to the standby power consumption P of the robot, so as to supply power to the equipment on the robot and maintain the full charge of the robot.
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| CN201690242U (en) * | 2009-12-03 | 2010-12-29 | 国基电子（上海）有限公司 | Double-mode charging circuit |
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| KR20170089604A (en) * | 2016-01-27 | 2017-08-04 | 엘지전자 주식회사 | Battery charging device and cleaner including the same |
| CN107425583A (en) * | 2017-09-15 | 2017-12-01 | 国家电网公司 | HV Transmission Line Routing Inspection intelligent robot induction charging device |
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