CN112636410A - Charging method, mobile robot and charging pile - Google Patents
Charging method, mobile robot and charging pile Download PDFInfo
- Publication number
- CN112636410A CN112636410A CN202011435697.7A CN202011435697A CN112636410A CN 112636410 A CN112636410 A CN 112636410A CN 202011435697 A CN202011435697 A CN 202011435697A CN 112636410 A CN112636410 A CN 112636410A
- Authority
- CN
- China
- Prior art keywords
- charging
- mobile robot
- pile
- electrode
- charging pile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
-
- 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 application discloses a charging method, a mobile robot and a charging pile, wherein the charging method comprises the steps of establishing wireless communication with the charging pile by utilizing LoRa; controlling the mobile robot to retreat so that the first charging electrode moves towards the second charging electrode of the charging pile; when the first charging electrode contacts the second charging electrode, a travel switch on the charging pile is triggered, a retreat stopping signal sent by the charging pile is received, and after the charging pile sends the retreat stopping signal, a second relay between the voltage converter and the second charging electrode is closed; and closing the first relay, and charging the rechargeable battery through the first charging electrode butted with the second charging electrode. This application sets up travel switch on filling electric pile, after mobile robot retreats and triggers this travel switch, fills electric pile and mobile robot and closes respective relay to the function that the charging electrode that realizes filling electric pile and mobile robot's charging electrode butt joint were charged has guaranteed the security of charging.
Description
Technical Field
The invention belongs to the technical field of computers, and relates to a charging method, a mobile robot and a charging pile.
Background
The mobile robot is generally provided with a built-in battery, when the electric quantity is insufficient, the mobile robot needs to be close to a charging device, a charging electrode on the mobile robot body is in butt joint with a charging electrode on a charging pile, and then charging is carried out.
The charging electrode of the mobile robot body is generally installed at the tail of the mobile robot, and the charging electrode is connected with a battery. Fill electric pile built-in battery charger, the output of charger is connected to and fills on electric pile's the charging electrode, and after mobile robot's charging electrode and the charging electrode contact of filling electric pile, the charger that fills in the electric pile can be for mobile robot charges.
The mobile robot slowly retreats until the charging electrode of the mobile robot is contacted with the charging electrode of the charging pile, charging current is generated, and the mobile robot stops retreating after detecting the charging current.
The mobile robot charging electrode is directly connected with the battery, namely the voltage of the battery is exposed outside, and when conductors such as a conducting wire and the like fall on the robot charging electrode carelessly, risks such as short circuit, fire and the like can occur. Fill electric pile electrode and directly link to each other with battery charger output is direct, also has the risk that the short circuit is on fire.
Mobile robot navigates to filling electric pile the place ahead, can slowly retreat until detecting charging current, has certain time delay because of the measuring current, leads to the robot can oppress and fills electric pile, can damage for a long time and fill electric pile. When filling the unexpected outage of electric pile, mobile robot can't detect the charging current, can move backward always, and the electric pile is filled in the easy damage.
Disclosure of Invention
In order to solve the problems that in the prior art, a charging electrode of a mobile robot is directly connected with a battery, a charging electrode of a charging pile is directly connected with the output of a battery charger, the charging electrodes of the mobile robot and the battery charger are exposed to the outside, and short circuit risks exist, the application provides a method for charging the mobile robot by using the charging pile, the mobile robot and the charging pile. The technical scheme is as follows:
in a first aspect, the present application provides a method for charging a mobile robot by using a charging pile, where the method is applied to a mobile robot, the mobile robot includes a first charging electrode, a charging battery, and a first relay connected between the first charging electrode and the charging battery, and the method includes:
establishing wireless communication with the charging pile by utilizing LoRa;
controlling the mobile robot to retreat so that the first charging electrode moves towards a second charging electrode of the charging pile;
when the first charging electrode contacts the second charging electrode, triggering a travel switch on the charging pile, receiving a back-off stopping signal sent by the charging pile, and after the charging pile sends the back-off stopping signal, closing a second relay between a voltage converter and the second charging electrode;
and closing the first relay, and charging the rechargeable battery through the first charging electrode butted with the second charging electrode.
Optionally, after the closing the first relay and the charging the rechargeable battery through the first charging electrode interfacing with the second charging electrode, the method further comprises:
receiving charging monitoring parameters sent by the charging pile in real time in a charging process, wherein the charging monitoring parameters comprise at least one of charging voltage, charging current and temperature information;
judging the charging state of the charging pile according to the charging monitoring parameters;
and when the charging state is abnormal, sending a charging stopping command to the charging pile, and disconnecting the first relay, wherein the charging stopping command is used for triggering the charging pile to disconnect the second charging electrode.
Optionally, after the closing the first relay and the charging the rechargeable battery through the first charging electrode interfacing with the second charging electrode, the method further comprises:
acquiring the electric quantity of the rechargeable battery;
and after the electric quantity of the rechargeable battery reaches the preset electric quantity which is fully charged, sending a charging stopping command to the charging pile, and disconnecting the first relay, wherein the charging stopping command is used for triggering the charging pile to disconnect the second charging electrode.
Optionally, before the establishing wireless communication with the charging pile by using the LoRa, the method further includes:
loading a map, wherein the map is marked with the position of a charging pile;
when the electric quantity of the rechargeable battery is lower than a preset threshold value, the vehicle autonomously navigates to the front of the selected charging pile according to the map;
utilize loRa and fill electric pile and establish wireless communication, include:
initiating a connection request by using LoRa, and waiting for the charging pile to reply a connection response;
when a connection response sent by the charging pile is received, establishing wireless communication with the charging pile;
and when the connection response sent by the charging pile is not received within the preset time after the connection request is sent, giving an alarm prompt.
Optionally, after the wireless communication is established with the charging pile by using the LoRa, the method further includes:
sending a required charging voltage to the charging pile through the established wireless communication, wherein the required charging voltage is used for triggering the charging pile to adjust the output voltage of the voltage converter to the required charging voltage, and sending a charging notice for indicating normal charging to the mobile robot;
and receiving the charging notification, and executing the step of controlling the mobile robot to move backwards.
In a second aspect, the present application also provides a method for charging a mobile robot by using a charging post, which is applied to a charging post, wherein the charging post is inserted into a second charging electrode, a voltage converter, a travel switch, and a second relay connected between the second charging electrode and the voltage converter, and the method includes:
establishing wireless communication with the mobile robot by utilizing LoRa;
generating a back stopping signal when the travel switch is triggered by the mobile robot to back, wherein the second charging electrode is in contact butt joint with a first charging electrode in the mobile robot when the travel switch is triggered;
sending the back stopping signal to the mobile robot, wherein the back stopping signal is used for triggering the mobile robot to stop backing and closing a first relay between a rechargeable battery and the first charging electrode in the mobile robot;
closing the second relay;
and charging the rechargeable battery through the second charging electrode and the butted first charging electrode.
Optionally, during the process of charging the rechargeable battery through the second charging electrode and the docked first charging electrode, the method further includes:
acquiring charging monitoring parameters of the charging column in a charging process in real time, wherein the charging monitoring parameters comprise at least one of charging voltage, charging current and temperature information;
and sending the charging monitoring parameters to the mobile robot, wherein the charging monitoring parameters are used for triggering the mobile robot to judge the charging state according to the charging monitoring parameters, and when the charging state is abnormal, sending a charging stopping command to the charging pile and disconnecting the first relay.
Optionally, the method further includes:
receiving a charging stop command sent by the mobile robot, wherein the charging stop command is sent by the mobile robot when the mobile robot judges that the charging is fully charged or the charging state is abnormal;
and opening the second relay.
Optionally, after the establishing wireless communication with the mobile robot by using the LoRa, the method further includes:
receiving a required charging voltage transmitted by the mobile robot through the established wireless communication;
adjusting the output voltage value of a voltage converter to the required charging voltage, wherein the voltage converter is a programmable AC-DC power converter;
sending a charging notification for indicating normal charging to the mobile robot, wherein the charging notification is used for triggering the mobile robot to execute charging related actions.
In a third aspect, the present application further provides a mobile robot comprising a first charging electrode, a charging battery, a first relay connected between the first charging electrode and the charging battery, and a computer-readable storage medium storing an execution program for executing the method provided in the first aspect and various alternatives of the first aspect.
In a fourth aspect, the present application also provides a charging pile comprising a second charging electrode, a voltage converter, a second relay connected between the second charging electrode and the voltage converter, and a computer-readable storage medium storing an execution program for executing the method provided in the second aspect and various alternatives of the second aspect.
The application can at least realize the following beneficial effects:
set up travel switch on filling electric pile, after this travel switch was triggered in the mobile robot retreating, fill electric pile and mobile robot and just close respective relay to the function that the charging electrode that realizes filling electric pile and mobile robot's charging electrode butt joint were charged has guaranteed the security of charging.
The real-time charging monitoring parameters of the charging pile are sent to the mobile robot, the mobile robot can know whether the charging pile is abnormal or not in real time, when the charging pile is abnormal, the charging pile can be timely informed to stop charging, and potential safety hazards caused by charging abnormality of the charging pile are avoided.
The mobile robot can control the charging pile to stop charging when detecting the electric quantity of the mobile robot, so that overcharging is avoided, and the safety of the rechargeable battery is protected.
The mobile robot and the charging pile are automatically connected through LoRa, a connection response is not received for a long time after a connection request sent by the mobile robot, the charging pile is informed of a fault, and an alarm prompt is given at the moment so that a maintainer can check the performance of the charging pile in time.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic flowchart of a method for charging a mobile robot by using a charging pile according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for charging a mobile robot by using a charging pile according to another embodiment of the present disclosure;
fig. 3 is a flowchart illustrating a method for charging a mobile robot by using a charging pile according to another embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
Fig. 1 is a schematic flowchart of a method for charging a mobile robot by using a charging pile according to an embodiment of the present application, where the mobile robot may include at least a first charging electrode, a charging battery, a first relay connected between the first charging electrode and the charging battery, and the charging pile may include at least a second charging electrode, a voltage converter, a travel switch, and a second relay connected between the second charging electrode and the voltage converter. The method for charging the mobile robot by using the charging pile can comprise the following steps:
step 101, establishing wireless communication between a mobile robot and a charging pile by using LoRa;
in one possible implementation, the mobile robot, when performing step 101, may include the following steps:
101a, the mobile robot initiates a connection request by using LoRa, and waits for a connection response replied by the charging pile;
generally speaking, the connection request carries a first identifier of the mobile robot and a second identifier of the charging pile, the first identifier is used for uniquely identifying the mobile robot, and the second identifier is used for uniquely identifying the mobile robot, so that when the charging pile receives the connection request, whether the connection request is sent to the charging pile can be analyzed.
Generally, the charging pile can also carry the first identifier and the second identifier when replying to the connection response.
101b, when receiving a connection response sent by a charging pile, the mobile robot establishes wireless communication with the charging pile;
and step 101c, when the mobile robot does not receive the connection response sent by the charging pile within the preset time after sending the connection request, giving an alarm.
Generally speaking, if the charging pile works normally, the charging pile usually receives and returns a connection response within a preset time after the mobile robot sends a connection request, and if the mobile robot does not receive the connection response sent by the charging pile within the preset time after sending the connection request, the charging pile usually has a fault or is powered off, at this time, the mobile robot can give an alarm to prompt so that maintenance personnel can maintain the charging pile in time.
102, the mobile robot retreats to enable the first charging electrode to move towards a second charging electrode of the charging pile;
the first charging electrode of the mobile robot is generally located at the rear end of the mobile robot, and thus the mobile robot is retreated such that the first charging electrode located at the rear end is moved toward the second charging electrode of the charging pile.
103, triggering a travel switch on the charging pile when the first charging electrode contacts the second charging electrode by the mobile robot;
the charging pile is provided with the travel switch, and usually when the first charging electrode contacts the second charging electrode, the mobile robot triggers the travel switch, which means that the first charging electrode is already butted with the second charging electrode at the moment, so that charging can be carried out.
104, generating a back stopping signal when the travel switch is triggered by the mobile robot to back;
when the travel switch is backed off by mobile robot and is triggered, fill electric pile and can generate usually and stop the signal of backing off to avoid mobile robot excessive back off, cause oppression, the damage to filling electric pile.
105, the charging pile sends a retreat stopping signal to the mobile robot;
106, the mobile robot receives a retreat stopping signal sent by the charging pile and closes a first relay;
the mobile robot closes the first relay, i.e. conducts the first charging electrode and the rechargeable battery. Therefore, when the mobile robot is not triggered to form the switch, the first relay is always in the off state, and the safety of the rechargeable battery is guaranteed.
Step 107, closing a second relay by the charging pile;
the charging pile closes the second relay, namely, the voltage converter and the second charging electrode are conducted, so that the voltage output by the voltage converter can be input to the second charging electrode.
And 108, charging the rechargeable battery through the second charging electrode and the butted first charging electrode.
The second charging electrode inputs the voltage output by the power converter to the first charging electrode, so that the charging of the rechargeable battery is realized.
To sum up, the method for charging the mobile robot by using the charging pile is characterized in that the travel switch is arranged on the charging pile, and after the mobile robot retreats and triggers the travel switch, the charging pile and the mobile robot close respective relays so as to realize the function of butt-joint charging of the charging electrode of the charging pile and the charging electrode of the mobile robot and ensure the charging safety.
Fig. 2 is a schematic flowchart of a method for charging a mobile robot by using a charging pile according to another embodiment of the present application, in which before step 101, the method for charging a mobile robot by using a charging pile provided in the present application may automatically navigate to a selected charging pile position when the mobile robot needs to be charged, and correspondingly, the method may include the following steps:
step 201, a mobile robot loads a map;
the mobile robot can load the map earlier when using, and the position of filling electric pile in the space that is annotated with mobile robot in this map.
Step 202, when the electric quantity of the rechargeable battery is lower than a preset threshold value, the mobile robot autonomously navigates to the front of the selected charging pile according to a map;
the mobile robot obtains the electric quantity of the rechargeable battery, and when the electric quantity of the rechargeable battery is lower than a preset threshold value, the mobile robot autonomously navigates to the front of the selected charging pile according to the map.
The selected charging pile can be an idle charging pile nearest to the mobile robot at present, or can be a nearest idle charging pile matched with the charging voltage of the mobile robot, and the selected charging pile can be set according to actual requirements.
After the mobile robot travels to the front of the selected charging pile, a charging process can be performed, that is, the following relevant steps are performed.
In more application scenarios, charging voltages required by different types of mobile robots may be different, and in order to ensure that the charging pile can normally provide corresponding charging voltages to different mobile robots, the method for charging the mobile robots by using the charging pile provided by the application may further adjust the charging voltage output by the charging pile under the notification of the mobile robots, and at this time, after step 101 and before step 102, the method may further include the following steps:
step 203, the mobile robot sends the required charging voltage to the charging pile through the established wireless communication;
the required charging voltage referred to herein is a charging voltage required for charging the mobile robot, and the charging voltage required for different types of mobile robots may be different.
Step 204, the charging pile receives the required charging voltage and adjusts the output voltage of the voltage converter to the required charging voltage;
the voltage converter can be a programmable AC-DC voltage converter, and the charging pile can adjust the output voltage of the voltage converter to the required charging voltage according to the required charging voltage of the mobile robot.
Step 205, the charging pile sends a charging notice for indicating normal charging to the mobile robot;
after the charging pile adjusts the required charging voltage of the mobile robot, the charging pile has the condition of charging the mobile robot, and at the moment, a charging notice for indicating normal charging can be sent to the mobile robot.
Step 206, the mobile machine receives a charging notification;
after receiving the charging notification, the mobile robot indicates that the charging pile can be charged normally, and at this time, the step of controlling the mobile robot to move backwards is started, that is, the step 102 is executed to start the charging operation.
To sum up, the method for charging the mobile robot by using the charging pile is characterized in that the travel switch is arranged on the charging pile, and after the mobile robot retreats and triggers the travel switch, the charging pile and the mobile robot close respective relays so as to realize the function of butt-joint charging of the charging electrode of the charging pile and the charging electrode of the mobile robot and ensure the charging safety.
The mobile robot and the charging pile are automatically connected through LoRa, a connection response is not received for a long time after a connection request sent by the mobile robot, the charging pile is informed of a fault, and an alarm prompt is given at the moment so that a maintainer can check the performance of the charging pile in time.
Fig. 3 is a schematic flowchart of a method for charging a mobile robot by using a charging pile according to still another embodiment of the present application, where in a charging process of the method for charging a mobile robot by using a charging pile, a charging state of the charging pile is detected, so that the mobile robot can better make a safety response, and at this time, the charging method provided by the present application may further include the following steps:
301, acquiring a charging monitoring parameter of a charging column in a charging process in real time by a charging pile;
the charge monitoring parameter as referred to herein may include at least one of charging voltage, charging current and temperature information. For example, when charging voltage, charging current or the high temperature of filling electric pile, it has the risk of charging to mean to fill electric pile this moment usually, in order to avoid the hidden danger of charging, fills electric pile and can acquire the monitoring parameter that charges of self in charging process in real time.
Step 302, the charging pile sends charging monitoring parameters to the mobile robot;
step 303, the mobile robot receives the charging monitoring parameters sent by the charging pile in real time in the charging process;
step 304, the mobile robot judges the charging state of the charging pile according to the charging monitoring parameters;
305, when judging that the charging state is abnormal, the mobile robot sends a charging stopping command to the charging pile;
step 306, the mobile robot acquires the electric quantity of the rechargeable battery;
step 307, after the electric quantity of the rechargeable battery reaches the preset electric quantity which is fully charged, the mobile robot sends a charging stopping command to the charging pile;
that is to say, when the mobile robot determines that the charging state of the charging pile is abnormal according to the charging monitoring parameters sent by the charging pile, or when the electric quantity of the rechargeable battery of the mobile robot reaches the predetermined electric quantity which is fully charged (indicating that the charging pile is fully charged and the charging is no longer required to be continued), a charging stop command is sent to the charging pile.
308, the mobile robot disconnects the first relay;
when the mobile robot determines to send the charging stop command to the charging pile, the mobile robot usually means that the charging pile is not required to continue charging, and in order to avoid that the charging pile does not successfully receive the charging stop command or does not successfully stop charging, the mobile robot automatically disconnects the first relay after sending the charging stop command.
Step 309, receiving a charging stopping command sent by the mobile robot by the charging pile;
step 310, the charging pile disconnects the second relay.
And when the charging pile receives a charging stopping command, the second relay is automatically disconnected, and the mobile robot is stopped being charged.
To sum up, the method for charging the mobile robot by using the charging pile provided by the application sends the real-time charging monitoring parameters of the charging pile to the mobile robot, and the mobile robot can know whether the charging pile is abnormal or not in real time, and can timely inform the charging pile to stop charging when the charging pile is abnormal, so that the potential safety hazard caused by the abnormal charging of the charging pile is avoided.
The mobile robot can control the charging pile to stop charging when detecting the electric quantity of the mobile robot, so that overcharging is avoided, and the safety of the rechargeable battery is protected.
In addition, the present application also provides a mobile robot, which may include a first charging electrode, a charging battery, a first relay connected between the first charging electrode and the charging battery, and a computer-readable storage medium, where the computer-readable storage medium stores an execution program for executing the method executed by the mobile robot in fig. 1 to 3, and specific execution steps may be as shown in fig. 1 to 3, and are not described herein again.
The application also provides a charging pile, which includes a second charging electrode, a voltage converter, a second relay connected between the second charging electrode and the voltage converter, and a computer-readable storage medium, where the computer-readable storage medium stores an execution program for executing the method executed by the charging pile in fig. 1 to 3, and specific execution steps may be shown in fig. 1 to 3, and are not described again here.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (11)
1. A method for charging a mobile robot by using a charging pile is applied to the mobile robot, the mobile robot comprises a first charging electrode, a charging battery and a first relay connected between the first charging electrode and the charging battery, and the method comprises the following steps:
establishing wireless communication with the charging pile by utilizing LoRa;
controlling the mobile robot to retreat so that the first charging electrode moves towards a second charging electrode of the charging pile;
when the first charging electrode contacts the second charging electrode, triggering a travel switch on the charging pile, receiving a back-off stopping signal sent by the charging pile, and after the charging pile sends the back-off stopping signal, closing a second relay between a voltage converter and the second charging electrode;
and closing the first relay, and charging the rechargeable battery through the first charging electrode butted with the second charging electrode.
2. The method of claim 1, wherein after closing the first relay to charge the rechargeable battery through the first charging electrode interfacing with the second charging electrode, the method further comprises:
receiving charging monitoring parameters sent by the charging pile in real time in a charging process, wherein the charging monitoring parameters comprise at least one of charging voltage, charging current and temperature information;
judging the charging state of the charging pile according to the charging monitoring parameters;
and when the charging state is abnormal, sending a charging stopping command to the charging pile, and disconnecting the first relay, wherein the charging stopping command is used for triggering the charging pile to disconnect the second charging electrode.
3. The method of claim 1, wherein after closing the first relay to charge the rechargeable battery through the first charging electrode interfacing with the second charging electrode, the method further comprises:
acquiring the electric quantity of the rechargeable battery;
and after the electric quantity of the rechargeable battery reaches the preset electric quantity which is fully charged, sending a charging stopping command to the charging pile, and disconnecting the first relay, wherein the charging stopping command is used for triggering the charging pile to disconnect the second charging electrode.
4. The method of claim 1, wherein prior to establishing wireless communication with a charging post using the LoRa, the method further comprises:
loading a map, wherein the map is marked with the position of a charging pile;
when the electric quantity of the rechargeable battery is lower than a preset threshold value, the vehicle autonomously navigates to the front of the selected charging pile according to the map;
utilize loRa and fill electric pile and establish wireless communication, include:
initiating a connection request by using LoRa, and waiting for the charging pile to reply a connection response;
when a connection response sent by the charging pile is received, establishing wireless communication with the charging pile;
and when the connection response sent by the charging pile is not received within the preset time after the connection request is sent, giving an alarm prompt.
5. The method of claim 1, wherein after establishing wireless communication with a charging post using the LoRa, the method further comprises:
sending a required charging voltage to the charging pile through the established wireless communication, wherein the required charging voltage is used for triggering the charging pile to adjust the output voltage of the voltage converter to the required charging voltage, and sending a charging notice for indicating normal charging to the mobile robot;
and receiving the charging notification, and executing the step of controlling the mobile robot to move backwards.
6. A method for charging a mobile robot by using a charging post, which is applied to a charging post comprising a second charging electrode, a voltage converter, a travel switch, and a second relay connected between the second charging electrode and the voltage converter, the method comprising:
establishing wireless communication with the mobile robot by utilizing LoRa;
generating a back stopping signal when the travel switch is triggered by the mobile robot to back, wherein the second charging electrode is in contact butt joint with a first charging electrode in the mobile robot when the travel switch is triggered;
sending the back stopping signal to the mobile robot, wherein the back stopping signal is used for triggering the mobile robot to stop backing and closing a first relay between a rechargeable battery and the first charging electrode in the mobile robot;
closing the second relay;
and charging the rechargeable battery through the second charging electrode and the butted first charging electrode.
7. The method of claim 6, wherein during the charging of the rechargeable battery by the second charging electrode and the docked first charging electrode, the method further comprises:
acquiring charging monitoring parameters of the charging column in a charging process in real time, wherein the charging monitoring parameters comprise at least one of charging voltage, charging current and temperature information;
and sending the charging monitoring parameters to the mobile robot, wherein the charging monitoring parameters are used for triggering the mobile robot to judge the charging state according to the charging monitoring parameters, and when the charging state is abnormal, sending a charging stopping command to the charging pile and disconnecting the first relay.
8. The method of claim 7, further comprising:
receiving a charging stop command sent by the mobile robot, wherein the charging stop command is sent by the mobile robot when the mobile robot judges that the charging is fully charged or the charging state is abnormal;
and opening the second relay.
9. The method of claim 6, wherein after establishing wireless communication with a mobile robot using LoRa, the method further comprises:
receiving a required charging voltage transmitted by the mobile robot through the established wireless communication;
adjusting the output voltage value of a voltage converter to the required charging voltage, wherein the voltage converter is a programmable AC-DC power converter;
sending a charging notification for indicating normal charging to the mobile robot, wherein the charging notification is used for triggering the mobile robot to execute charging related actions.
10. A mobile robot comprising a first charging electrode, a charging battery, a first relay connected between the first charging electrode and the charging battery, a computer-readable storage medium storing an execution program for executing the method according to any one of claims 1 to 5.
11. A charging pile comprising a second charging electrode, a voltage converter, a second relay connected between the second charging electrode and the voltage converter, a computer readable storage medium storing an execution program for executing the method according to any one of claims 6 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011435697.7A CN112636410A (en) | 2020-12-10 | 2020-12-10 | Charging method, mobile robot and charging pile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011435697.7A CN112636410A (en) | 2020-12-10 | 2020-12-10 | Charging method, mobile robot and charging pile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112636410A true CN112636410A (en) | 2021-04-09 |
Family
ID=75309429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011435697.7A Pending CN112636410A (en) | 2020-12-10 | 2020-12-10 | Charging method, mobile robot and charging pile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112636410A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113270921A (en) * | 2021-05-27 | 2021-08-17 | 山东建筑大学 | Automatic charging system and method for transformer substation inspection robot |
| CN113315195A (en) * | 2021-05-25 | 2021-08-27 | 深圳市普渡科技有限公司 | Charging control method, charging pile, mobile device and readable storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2704932Y (en) * | 2004-06-04 | 2005-06-15 | 山东鲁能智能技术有限公司 | Battery charger of movable robot |
| CN105119338A (en) * | 2015-09-10 | 2015-12-02 | 珠海市一微半导体有限公司 | Mobile robot charging control system and method |
| CN107240949A (en) * | 2017-08-07 | 2017-10-10 | 上海棠棣信息科技股份有限公司 | A kind of robot charging method and system |
| CN109038735A (en) * | 2018-08-09 | 2018-12-18 | 浙江大华技术股份有限公司 | A kind of charge control method, apparatus and system |
| CN208589803U (en) * | 2018-09-11 | 2019-03-08 | 江苏美的清洁电器股份有限公司 | Charging unit and mobile robot charging system |
| US20200164530A1 (en) * | 2017-05-18 | 2020-05-28 | Shanghai Slamtec Co., Ltd. | Method and Apparatus for Charging Robot |
| CN111211589A (en) * | 2018-11-21 | 2020-05-29 | 锥能机器人（上海）有限公司 | Intelligent charging pile system and operation method thereof |
-
2020
- 2020-12-10 CN CN202011435697.7A patent/CN112636410A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2704932Y (en) * | 2004-06-04 | 2005-06-15 | 山东鲁能智能技术有限公司 | Battery charger of movable robot |
| CN105119338A (en) * | 2015-09-10 | 2015-12-02 | 珠海市一微半导体有限公司 | Mobile robot charging control system and method |
| US20200164530A1 (en) * | 2017-05-18 | 2020-05-28 | Shanghai Slamtec Co., Ltd. | Method and Apparatus for Charging Robot |
| CN107240949A (en) * | 2017-08-07 | 2017-10-10 | 上海棠棣信息科技股份有限公司 | A kind of robot charging method and system |
| CN109038735A (en) * | 2018-08-09 | 2018-12-18 | 浙江大华技术股份有限公司 | A kind of charge control method, apparatus and system |
| CN208589803U (en) * | 2018-09-11 | 2019-03-08 | 江苏美的清洁电器股份有限公司 | Charging unit and mobile robot charging system |
| CN111211589A (en) * | 2018-11-21 | 2020-05-29 | 锥能机器人（上海）有限公司 | Intelligent charging pile system and operation method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113315195A (en) * | 2021-05-25 | 2021-08-27 | 深圳市普渡科技有限公司 | Charging control method, charging pile, mobile device and readable storage medium |
| CN113270921A (en) * | 2021-05-27 | 2021-08-17 | 山东建筑大学 | Automatic charging system and method for transformer substation inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10144298B2 (en) | Power supply device of vehicle | |
| CN102004222B (en) | Method and device for monitoring state of relay in vehicle-mounted battery management system | |
| CN107482741B (en) | Charge control method and system | |
| US10814737B2 (en) | Off-board charger for high-voltage battery charging | |
| KR102113494B1 (en) | System and method for high voltage cable detection in hybrid vehicles | |
| CN112636410A (en) | Charging method, mobile robot and charging pile | |
| CN110611340A (en) | Power supply control method, device, system, electronic equipment and storage medium | |
| CN107490750B (en) | Electric vehicle and insulation detection method, device and system thereof | |
| KR101821008B1 (en) | Electic automobile recharge apparatus | |
| CN106611970A (en) | Charging control method and device of vehicle storage battery | |
| KR102172521B1 (en) | Electrical control system, and method for determining communication fault | |
| CN107472029B (en) | High-voltage fault detection method for vehicle and vehicle | |
| US9647399B2 (en) | Connector for electrical connection | |
| CN111532165B (en) | Vehicle with a vehicle body having a vehicle body support | |
| WO2017076063A1 (en) | Charging control system and method for electric vehicle, and electric vehicle | |
| CN114274819B (en) | Vehicle, charging device, and computer-readable storage medium | |
| CN113500939A (en) | Method, device and equipment for monitoring state of charging contactor of vehicle | |
| CN112824133B (en) | High-voltage control system and control method for electric automobile | |
| US11372044B2 (en) | System and method for detecting fault of quick charge relay | |
| KR102271495B1 (en) | Apparatus for resolving crisis situation for Electric Vehicle | |
| CN110971109B (en) | Drive control module, circuit detection and control method | |
| CN105826977A (en) | Method for realizing electric vehicle automatic and secure discharge by using position detection | |
| CN216069682U (en) | Power cabinet system and charging system for mobile charging pile | |
| CN213199521U (en) | Battery module and charging system of electric vehicle and electric vehicle | |
| CN116373634A (en) | Vehicle control method, device and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |