CN113572239A - Charging method, related device and charging system - Google Patents
Charging method, related device and charging system Download PDFInfo
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- CN113572239A CN113572239A CN202110938379.0A CN202110938379A CN113572239A CN 113572239 A CN113572239 A CN 113572239A CN 202110938379 A CN202110938379 A CN 202110938379A CN 113572239 A CN113572239 A CN 113572239A
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- 238000004590 computer program Methods 0.000 claims description 2
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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
- H02J7/00032—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
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- 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
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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
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Abstract
The invention discloses a charging method, a related device and a charging system, and relates to the technical field of computers. One embodiment of the method comprises: generating a handshake communication signal after detecting the equipment to be charged, and sending the handshake communication signal to the equipment to be charged; recognizing a handshake confirmation signal from the device to be charged; and determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charging the equipment to be charged. This embodiment can solve the problem that has foreign matter or user to touch when filling the electric pile pole piece and fill electric pile pole piece electrified, avoids the electric leakage risk, reduces the potential safety hazard, has improved the safety level of charging.
Description
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a charging method, a related apparatus, and a charging system.
Background
The equipment to be charged (such as a robot) is usually powered by a battery, and the equipment can automatically return to the charging equipment (such as a charging pile) for charging when the power is low. At present, two charging schemes are adopted for equipment to be charged, wherein the first scheme is that a charging pile pole piece is always charged, and the robot charging pole piece can be charged after being contacted with the charging pile pole piece; scheme two is uncharged when filling the electric pile pole piece standby, and when the robot leans on a stake extrusion pole piece after, it is electrified to fill the electric pile pole piece.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
under the condition that there is the foreign matter or the user touches and fills the electric pile pole piece, fill electric pile pole piece electrified, have the electric leakage risk, cause the potential safety hazard easily, the security level of charging is lower.
Disclosure of Invention
In view of this, embodiments of the present invention provide a charging method, a related apparatus, and a charging system, which can solve the problem that a charging pile pole piece is charged when a foreign object or a user touches the charging pile pole piece, avoid a leakage risk, reduce a potential safety hazard, and improve a charging safety level.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a charging method.
A method of charging, comprising: generating a handshake communication signal after detecting the equipment to be charged, and sending the handshake communication signal to the equipment to be charged; identifying a handshake confirmation signal from the device to be charged; and determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charging the equipment to be charged.
Optionally, the detecting a device to be charged includes: and detecting the equipment to be charged through an infrared receiving tube and an infrared transmitting tube.
Optionally, before sending the handshake communication signal to the device to be charged, the method further includes: modulating the handshake communication signal by a first timer; and converting the modulated handshake communication signals for detection of the equipment to be charged.
Optionally, the identifying a handshake confirmation signal from the device to be charged includes: receiving a second signal from the device to be charged through a first sensor, converting the second signal to obtain a modulated handshake confirmation signal, wherein the second signal is obtained by generating a corresponding handshake confirmation signal by the device to be charged through the handshake communication signal, and converting and modulating the handshake confirmation signal; and demodulating the modulated handshake confirmation signal through a first demodulation circuit to obtain the handshake confirmation signal.
Optionally, the converting the second signal to obtain a modulated handshake confirmation signal includes: and converting the second signal into a second voltage signal through a first resistor, and amplifying the second voltage signal to obtain the modulated handshake confirmation signal.
Optionally, the determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal includes: if the handshake confirmation signal is received within the preset time and corresponds to the handshake communication signal, the handshake is successful; and if the handshake confirmation signal is not received within the preset time or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
Optionally, when the device to be charged is charged, handshaking is performed on the device to be charged according to a preset period, and when the handshaking fails, the charging of the device to be charged is stopped.
According to another aspect of the embodiments of the present invention, there is provided a charging method.
A method of charging, comprising: identifying a handshake communication signal from the charging device; generating a corresponding handshake confirmation signal according to the handshake communication signal, and sending the handshake confirmation signal to the charging equipment; and after confirming that the handshake is successful, charging through the charging equipment.
Optionally, the identifying a handshake communication signal from the charging device includes: receiving the modulated and converted handshake communication signals from the charging equipment through a second sensor, and converting the modulated and converted handshake communication signals to obtain modulated handshake communication signals; and demodulating the modulated handshake communication signals through a second demodulation circuit to obtain the handshake communication signals.
Optionally, the converting the modulated and converted handshake communication signal to obtain a modulated handshake communication signal includes: and converting the modulated and converted handshake communication signal into a first voltage signal through a second resistor, and amplifying the first voltage signal to obtain the modulated handshake communication signal.
Optionally, before the sending the handshake confirmation signal to the charging device, the method further includes: modulating the handshake confirmation signal by a second timer; and converting the modulated handshake confirmation signal for detection by the charging equipment.
Optionally, the method further comprises: if the charging equipment receives the handshake confirmation signal within the preset time and the handshake confirmation signal corresponds to the handshake communication signal, the handshake is successful; and if the charging equipment does not receive the handshake confirmation signal within the preset time, or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
Optionally, during charging, according to a preset period, performing handshaking through the charging device, and stopping charging when the handshaking fails.
According to still another aspect of an embodiment of the present invention, there is provided a charging apparatus for a charging device.
A charging device for a charging device comprises a first charging unit, a first controller, a detection unit, a first modulation conversion unit and a first demodulation conversion unit, wherein the first charging unit comprises a first charging pole piece, the first charging unit is used for charging a charging device for equipment to be charged through the first charging pole piece, the first controller is used for generating a handshake communication signal and an identification handshake confirmation signal, the first modulation conversion unit comprises a first timer and a first light emitting diode, the first modulation conversion unit is used for modulating and converting the handshake communication signals, the first demodulation conversion unit comprises a first sensor, a first resistor, a first operational amplifier and a first demodulation circuit, the first demodulation and conversion unit is used for converting and demodulating the handshake confirmation signals subjected to modulation and conversion.
Optionally, the detection unit includes an infrared receiving tube and an infrared transmitting tube, the infrared receiving tube corresponds to the infrared transmitting tube, and when the first charging pole piece is squeezed by the charging device for the device to be charged, the first charging pole piece is shielded between the infrared receiving tube and the infrared transmitting tube to detect the charging device for the device to be charged.
According to still another aspect of the embodiments of the present invention, there is provided a charging apparatus for a device to be charged.
The utility model provides a charging device for treating charging apparatus, includes second charging unit, second controller, second modulation conversion unit, second demodulation conversion unit, wherein, the second charging unit includes the second pole piece that charges, the second charging unit is used for passing through the second pole piece that charges, the second controller is used for discerning the communication signal of shaking hands and generating the confirmation signal of shaking hands, second modulation conversion unit includes second timer and second emitting diode, second modulation conversion unit is used for right the confirmation signal of shaking hands modulates and converts, second demodulation conversion unit includes second sensor, second resistance, second operational amplifier, second demodulation circuit, second demodulation conversion unit is used for to the modulation conversion the communication signal of shaking hands converts and demodulates.
According to still another aspect of an embodiment of the present invention, there is provided a charging apparatus for a charging device.
A charging apparatus for a charging device, comprising: the device comprises a handshake communication signal generation module, a charging device and a charging module, wherein the handshake communication signal generation module is used for generating a handshake communication signal after detecting the charging device for the equipment to be charged and sending the handshake communication signal to the charging device for the equipment to be charged; the handshake confirmation signal identification module is used for identifying a handshake confirmation signal from the charging device for the equipment to be charged; and the first charging module is used for determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charging the charging device for the equipment to be charged.
Optionally, the handshake communication signal generation module is further configured to: and detecting the charging device for the equipment to be charged through an infrared receiving tube and an infrared transmitting tube.
Optionally, the apparatus further includes a handshake communication signal modulation and conversion module, configured to: modulating the handshake communication signal by a first timer; and converting the modulated handshake communication signals for detection of the charging device for the equipment to be charged.
Optionally, the handshake confirmation signal identification module is further configured to: receiving a second signal from the charging device for the equipment to be charged through a first sensor, converting the second signal to obtain a modulated handshake confirmation signal, wherein the second signal is obtained by generating a corresponding handshake confirmation signal through the handshake communication signal and converting and modulating the handshake confirmation signal by the charging device for the equipment to be charged; and demodulating the modulated handshake confirmation signal through a first demodulation circuit to obtain the handshake confirmation signal.
Optionally, the handshake confirmation signal identification module is further configured to: and converting the second signal into a second voltage signal through a first resistor, and amplifying the second voltage signal to obtain the modulated handshake confirmation signal.
Optionally, the method further comprises: if the handshake confirmation signal is received within the preset time and corresponds to the handshake communication signal, the handshake is successful; and if the handshake confirmation signal is not received within the preset time or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
Optionally, when the charging device for the device to be charged is charged, the charging device for the device to be charged is subjected to handshaking according to a preset period, and when the handshaking fails, the charging device for the device to be charged is stopped to be charged.
According to still another aspect of the embodiments of the present invention, there is provided a charging apparatus for a device to be charged.
A charging apparatus for a device to be charged, comprising: the charge device comprises a handshake communication signal identification module, a charge device identification module and a charge device identification module, wherein the handshake communication signal identification module is used for identifying handshake communication signals from the charge device of the charge device; the handshake confirmation signal generation module is used for generating a corresponding handshake confirmation signal according to the handshake communication signal and sending the handshake confirmation signal to the charging device for the charging equipment; and the second charging module is used for charging through the charging device for the charging equipment after confirming that the handshake is successful.
Optionally, the handshake communication signal identification module is further configured to: receiving the modulated and converted handshake communication signals from the charging device for the charging equipment through a second sensor, and converting the modulated and converted handshake communication signals to obtain modulated handshake communication signals; and demodulating the modulated handshake communication signals through a second demodulation circuit to obtain the handshake communication signals.
Optionally, the handshake communication signal identification module is further configured to: and converting the modulated and converted handshake communication signal into a first voltage signal through a second resistor, and amplifying the first voltage signal to obtain the modulated handshake communication signal.
Optionally, the handshake confirmation signal modulation and conversion module is configured to: modulating the handshake confirmation signal by a second timer; and converting the modulated handshake confirmation signal for detection by the charging device for the charging equipment.
Optionally, the method further comprises: if the charging device for the charging equipment receives the handshake confirmation signal within the preset time and the handshake confirmation signal corresponds to the handshake communication signal, the handshake is successful; and if the charging device for the charging equipment does not receive the handshake confirmation signal within the preset time, or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
Optionally, when charging, according to a preset period, performing handshaking by the charging device for the charging equipment, and stopping charging when the handshaking fails.
According to still another aspect of an embodiment of the present invention, there is provided a charging system.
A charging system comprising charging means for a charging device and charging means for a device to be charged, wherein: the charging device for the charging equipment is used for generating a handshaking communication signal after detecting the charging device for the equipment to be charged and sending the handshaking communication signal to the charging device for the equipment to be charged; the charging device for the equipment to be charged is used for identifying the handshaking communication signals from the charging device for the charging equipment, generating corresponding handshaking confirmation signals according to the handshaking communication signals, and sending the handshaking confirmation signals to the charging device for the charging equipment; the charging device for the charging equipment is also used for identifying a handshake confirmation signal from the charging device for the equipment to be charged, determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charging the charging device for the equipment to be charged.
Optionally, the charging apparatus for a charging device is further configured to: and detecting the charging device for the equipment to be charged through an infrared receiving tube and an infrared transmitting tube.
Optionally, the charging apparatus for a charging device is further configured to: modulating the handshake communication signal by a first timer; and converting the modulated handshake communication signals for detection of the charging device for the equipment to be charged.
Optionally, the charging apparatus for a charging device is further configured to: receiving a second signal from the charging device for the equipment to be charged through a first sensor, converting the second signal to obtain a modulated handshake confirmation signal, wherein the second signal is obtained by generating a corresponding handshake confirmation signal through the handshake communication signal and converting and modulating the handshake confirmation signal by the charging device for the equipment to be charged; and demodulating the modulated handshake confirmation signal through a first demodulation circuit to obtain the handshake confirmation signal.
Optionally, the charging apparatus for a charging device is further configured to: and converting the second signal into a second voltage signal through a first resistor, and amplifying the second voltage signal to obtain the modulated handshake confirmation signal.
Optionally, the charging apparatus for a device to be charged is further configured to: receiving the modulated and converted handshake communication signals from the charging device for the charging equipment through a second sensor, and converting the modulated and converted handshake communication signals to obtain modulated handshake communication signals; and demodulating the modulated handshake communication signals through a second demodulation circuit to obtain the handshake communication signals.
Optionally, the charging apparatus for a device to be charged is further configured to: and converting the modulated and converted handshake communication signal into a first voltage signal through a second resistor, and amplifying the first voltage signal to obtain the modulated handshake communication signal.
Optionally, the charging apparatus for a device to be charged is further configured to: modulating the handshake confirmation signal by a second timer; and converting the modulated handshake confirmation signal for detection by the charging device for the charging equipment.
Optionally, if the charging device for charging equipment receives the handshake confirmation signal within a preset time, and the handshake confirmation signal corresponds to the handshake communication signal, the handshake is successful; and if the charging device for the charging equipment does not receive the handshake confirmation signal within the preset time, or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
Optionally, when the charging device for charging the device to be charged charges the charging device for the device to be charged, the charging device for charging the device to be charged handshakes the charging device for the device to be charged according to a preset cycle, and stops charging the charging device for the device to be charged when the handshakes fail.
According to yet another aspect of an embodiment of the present invention, an electronic device is provided.
An electronic device, comprising: one or more processors; a memory for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the charging method provided by the embodiments of the present invention.
According to yet another aspect of an embodiment of the present invention, a computer-readable medium is provided.
A computer-readable medium, on which a computer program is stored, which, when executed by a processor, implements the charging method provided by an embodiment of the present invention.
One embodiment of the above invention has the following advantages or benefits: generating a handshake communication signal after detecting the equipment to be charged, and sending the handshake communication signal to the equipment to be charged; recognizing a handshake confirmation signal from the device to be charged; and determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charging the equipment to be charged. The problem of charging pile pole piece electrification when having foreign matter or user to touch and fill the electric pile pole piece can be solved, the electric leakage risk is avoided, reduces the potential safety hazard, has improved the safety level of charging.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic diagram of the main steps of a charging method according to one embodiment of the present invention;
fig. 2 is a schematic diagram of main steps of a charging method according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot charging with a pile according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of a charging pile detecting pile return according to one embodiment of the invention;
FIG. 5 is a schematic diagram of the charging principle according to one embodiment of the present invention;
FIG. 6 is a schematic flow diagram of charging according to one embodiment of the invention;
FIG. 7 is a schematic diagram of a charging sequence according to one embodiment of the invention;
FIG. 8 is a schematic diagram of charge decoding according to one embodiment of the present invention;
FIG. 9 is a schematic diagram of infrared communication according to one embodiment of the present invention;
fig. 10 is a schematic view of main blocks of a charging device for a charging apparatus according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of the main modules of a charging apparatus for a device to be charged according to one embodiment of the present invention;
fig. 12 is a main configuration diagram of a charging system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram of main steps of a charging method according to an embodiment of the present invention.
As shown in fig. 1, the charging method according to an embodiment of the present invention mainly includes steps S101 to S103. The charging method of the present embodiment may be performed by a charging device for a charging apparatus.
Step S101: after the device to be charged is detected, a handshake communication signal is generated, and the handshake communication signal is sent to the device to be charged.
Detecting a device to be charged, comprising: and detecting the equipment to be charged through the infrared receiving tube and the infrared transmitting tube.
Before will shaking hands communication signal transmission to waiting to charge equipment, still include: modulating the handshake communication signal by a first timer; and converting the modulated handshake communication signals for detection of the equipment to be charged.
Step S102: a handshake confirmation signal from the device to be charged is identified.
Identifying a handshake confirmation signal from a device to be charged, comprising: receiving a second signal from the equipment to be charged through the first sensor, converting the second signal to obtain a modulated handshake confirmation signal, wherein the second signal is obtained by generating a corresponding handshake confirmation signal through a handshake communication signal and converting and modulating the handshake confirmation signal by the equipment to be charged; and demodulating the modulated handshake confirmation signal through the first demodulation circuit to obtain the handshake confirmation signal.
Converting the second signal to obtain a modulated handshake confirmation signal, comprising: and converting the second signal into a second voltage signal through the first resistor, and amplifying the second voltage signal to obtain a modulated handshake confirmation signal.
Step S103: and determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charging the equipment to be charged.
Confirming the success of the handshake based on the handshake communication signal and the handshake confirmation signal, comprising: if the handshake confirmation signal is received within the preset time and corresponds to the handshake communication signal, the handshake is successful; and if the handshake confirmation signal is not received within the preset time or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
When the equipment to be charged is charged, the equipment to be charged is subjected to handshaking according to a preset period, and the charging of the equipment to be charged is stopped under the condition that the handshaking fails.
Fig. 2 is a schematic diagram of main steps of a charging method according to another embodiment of the present invention.
As shown in fig. 2, the charging method according to another embodiment of the present invention mainly includes steps S201 to S203 as follows. The charging method of the present embodiment may be performed by a charging device for a device to be charged. The charging device for the charging equipment can be a charging pile or a robot. The charging device for the charging device and the charging device for the device to be charged may be provided in the same device, for example, in the same robot, and may be used to charge the device by other devices as well as other devices.
Step S201: a handshaking communication signal from the charging device is identified.
Identifying a handshake communication signal from a charging device, comprising: receiving the modulated and converted handshake communication signals from the charging equipment through the second sensor, and converting the modulated and converted handshake communication signals to obtain modulated handshake communication signals; and demodulating the modulated handshake communication signals through a second demodulation circuit to obtain handshake communication signals.
Converting the modulated and converted handshake communication signals to obtain modulated handshake communication signals, comprising: and converting the modulated and converted handshake communication signals into first voltage signals through a second resistor, and amplifying the first voltage signals to obtain modulated handshake communication signals.
Step S202: and generating a corresponding handshake confirmation signal according to the handshake communication signal, and sending the handshake confirmation signal to the charging equipment.
Before sending the handshake confirmation signal to the charging device, the method further includes: modulating the handshake confirmation signal by a second timer; and converting the modulated handshake confirmation signal for detection by the charging equipment.
Step S203: and after confirming that the handshake is successful, charging through the charging equipment.
If the charging equipment receives a handshake confirmation signal within the preset time and the handshake confirmation signal corresponds to the handshake communication signal, the handshake is successful; and if the charging equipment does not receive the handshake confirmation signal within the preset time, or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
When charging, according to the preset cycle, shaking hands through the charging equipment, and under the condition that the shaking hands fail, stopping charging.
Fig. 3 is a schematic diagram of a robot stake charging in accordance with one embodiment of the present invention.
As shown in fig. 3, the robot realizes free movement through the power system, and realizes map and position service through the navigation system, and when the robot needs to be charged, the robot can independently return to the charging pile by virtue of the navigation system and the power system, so that the charging pole piece of the robot is in contact with the charging pole piece of the charging pile. The condition that the robot needs to be charged can be set, for example, when the electric quantity of the robot is lower than a preset threshold, the robot needs to be charged.
Fig. 4 is a schematic diagram of detecting pile return of a charging pile according to an embodiment of the invention, and fig. 5 is a schematic diagram of a charging principle according to an embodiment of the invention.
As shown in fig. 4 and 5, in one embodiment, whether the device to be charged is recovered from the pile (i.e., leaned against the pile) is detected through an infrared receiving tube and an infrared transmitting tube. Specifically, but fill electric pile's pole piece A and pole piece B and can remove, but fill electric pile's pole piece A and pole piece B all be located infrared communication's infrared emission pipe and receiver tube between, consequently when the robot leans on the stake, fill electric pile's pole piece A, pole piece B and receive the extrusion and can shelter from and be located the inside infrared receiver tube A, the infrared receiver tube B of filling electric pile, infrared receiver tube and infrared emission pipe can't carry out infrared communication. When the light that fills electric pile's infrared emission pipe A transmission is received by infrared receiving tube A, output low level to filling electric pile controller, when the robot leans on a post extrusion pole piece A that charges, shelter from infrared emission pipe A's light, when infrared receiving tube A can not receive infrared light, output high level to controller, infrared receiving tube B theory of operation is with infrared receiving tube A. The charging controller judges whether the robot returns to the pile or not according to the level change output by the infrared receiving tube A, B.
Fig. 6 is a schematic flow chart of charging according to an embodiment of the present invention.
As shown in fig. 6, when the robot electric quantity is low, the robot autonomously operates to the charging pile, and the robot charging pole piece is in contact with the charging pole piece of the charging pile. Fill electric pile charging pole piece and shelter from infrared receiving tube, fill electric pile and detect the robot and return the stake, trigger and fill electric pile communication of shaking hands, generate the communication signal of shaking hands (the signal of shaking hands promptly), fill electric pile's the communication signal of shaking hands and through modulation and conversion back, obtain the first signal that can detect. The robot detects the first signal through the sensor (namely the second sensor), generates a corresponding handshake confirmation signal through conversion and signal demodulation identification handshake communication signal, and modulates and converts the handshake communication signal to obtain a second signal which can be detected. The charging pile detects the second signal through the sensor (namely the first sensor), and recognizes the handshake confirmation signal through conversion and demodulation. Charging pile judges whether the handshake is successful or not based on the handshake communication signal and the handshake confirmation signal, if the handshake is successful, the charging pole piece of charging pile is charged, the robot is charged, and if the handshake is failed, the charging pole piece of charging pile is kept in an uncharged state, and the robot cannot be charged. Wherein the first and second detectable signals may be in the form of optical signals, such as infrared pulses, the first sensor corresponding to the form of the second signal and the second sensor corresponding to the form of the first signal, such as the first and second sensors may be photodiodes.
When the robot charges by the stake, fill electric pile and shake hands to the robot with presetting cycle T, send the communication signal of shaking hands to the robot with presetting cycle T promptly, the robot receives the communication signal of shaking hands after, replies, when shaking hands the failure, fills electric pile and fills electrode plate and switch into the uncharged state.
After the robot charges and accomplishes, leave and fill electric pile, fill electric pile charging pole piece and bounce open, infrared receiver tube output level changes, fills electric pile and detects that there is not the robot and leans on the stake, fills electric pile charging pole piece and switches into the uncharged state.
Fig. 7 is a schematic diagram of a charging sequence according to an embodiment of the present invention, fig. 8 is a schematic diagram of a charging decoding according to an embodiment of the present invention, and fig. 9 is a schematic diagram of an infrared communication according to an embodiment of the present invention.
As shown in fig. 3, 7, 8 and 9, when the robot does not return, the charging pole piece of the charging pile does not shield the infrared transmitting tube A, B, the infrared receiving tube A, B outputs a low level, and the charging pile controller determines that no robot leans against the pile, and outputs the low level to the input B of the and gate 1 (i.e. the B-terminal signal of the and gate 1), so that the output Y of the and gate 1 is a low level, the transistor NMOS1 is in a cut-off state, and the light emitting diode Q1 does not emit light.
When the robot returns the stake, it shelters from infrared receiving tube A, B to fill the electric pile controller to fill the electric pile pole piece, infrared receiving tube output high level, it leans on the stake to fill the electric pile controller to judge there is the robot, the communication signal that shakes hands is exported AND gate 1 input B, the timer (being first timer) of filling electric pile can export the rectangular wave of fixed frequency f, consequently, the communication signal that shakes hands can receive the rectangular pulse modulation of first timer through AND gate 1, output signal Y, signal Y drive transistor NMOS1 switches on and shuts off, make lighting and closing of emitting diode Q1, realize the conversion of the signal of telecommunication to the light signal.
The photosensitive diode Q4 of robot can produce the electric current after receiving infrared light, can convert current signal into voltage signal behind resistance R2 (be the second resistance), and operational amplifier 2 (be fortune and amplify 2) the voltage signal of resistance R2 both ends, through demodulation circuit 2 (be the second demodulation circuit), discerns the communication signal of shaking hands, inputs to the robot controller. The robot controller generates a corresponding handshake confirmation signal based on the handshake communication signal and outputs the handshake confirmation signal to the input end B of the and gate 2, and the timer (i.e., the second timer) of the robot can output a rectangular wave with a fixed frequency f, so that the handshake confirmation signal can be modulated by the rectangular pulse of the second timer through the and gate 2, and a signal Y is output and drives the transistor NMOS2 to be turned on and off, so that the light-emitting diode Q3 is turned on and off, and the conversion from an electrical signal to an optical signal is realized.
Fill electric pile's photosensitive diode Q2 and can produce the electric current after receiving infrared light, can convert current signal into voltage signal behind resistance R1 (being first resistance), operational amplifier 1 (being fortune is put 1) and is enlargied the voltage signal at resistance R1 both ends, through demodulation circuit 1 (being first demodulation circuit), discerns the affirmation signal of shaking hands, inputs and fills electric pile controller. The charging pile controller judges whether the handshake is successful or not based on the handshake communication signal and the handshake confirmation signal.
The timer may be modulated by a rectangular wave of a fixed frequency f, or may be modulated by another modulation method. The demodulation method of the second demodulation circuit corresponds to the modulation method of the first timer, and the demodulation method of the first demodulation circuit corresponds to the modulation method of the second timer. When photoelectric conversion is realized, an NMOS grid electrode can be adopted, and a triode, a silicon controlled rectifier and the like can also be adopted.
In one embodiment, the charging device may charge one or more devices to be charged, and the devices to be charged may also be charged by different charging devices.
In one embodiment, the charging device for the charging equipment comprises a first charging unit, a first controller, a detection unit, a first modulation conversion unit and a first demodulation conversion unit, wherein the first charging unit comprises a first charging pole piece, the first charging unit is used for charging the charging device for the equipment to be charged through the first charging pole piece, the first controller is used for generating a handshake communication signal and identifying a handshake confirmation signal, the first modulation conversion unit comprises a first timer and a first light emitting diode, the first modulation conversion unit is used for modulating and converting the handshake communication signal, the first demodulation conversion unit comprises a first sensor, a first resistor, a first operational amplifier and a first demodulation circuit, and the first demodulation conversion unit is used for converting and demodulating the handshake confirmation signal of the modulation conversion.
In one embodiment, the detection unit comprises an infrared receiving tube and an infrared transmitting tube, the infrared receiving tube corresponds to the infrared transmitting tube, and when the first charging pole piece is squeezed by the charging device for the equipment to be charged, the first charging pole piece is shielded between the infrared receiving tube and the infrared transmitting tube so as to detect the charging device for the equipment to be charged.
In one embodiment, the charging device for the device to be charged comprises a second charging unit, a second controller, a second modulation and conversion unit and a second demodulation and conversion unit, wherein the second charging unit comprises a second charging pole piece, the second charging unit is used for charging through the second charging pole piece, the second controller is used for identifying a handshake communication signal and generating a handshake confirmation signal, the second modulation and conversion unit comprises a second timer and a second light emitting diode, the second modulation and conversion unit is used for modulating and converting the handshake confirmation signal, the second demodulation and conversion unit comprises a second sensor, a second resistor, a second operational amplifier and a second demodulation circuit, and the second demodulation and conversion unit is used for converting and demodulating the modulated handshake communication signal.
Fig. 10 is a schematic diagram of main blocks of a charging device for a charging apparatus according to an embodiment of the present invention.
As shown in fig. 10, a charging device 1000 for a charging apparatus according to an embodiment of the present invention mainly includes: the charging system comprises a handshake communication signal generation module 1001, a handshake confirmation signal identification module 1002 and a first charging module 1003.
The handshake communication signal generation module 1001 is configured to generate a handshake communication signal after detecting a charging device for the to-be-charged device, and send the handshake communication signal to the charging device for the to-be-charged device.
A handshake confirmation signal identification module 1002, configured to identify a handshake confirmation signal from a charging apparatus for a device to be charged.
The first charging module 1003 is configured to determine that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charge the charging device for the to-be-charged apparatus.
In one embodiment, the handshake communication signal generation module is further configured to: the charging device for the equipment to be charged is detected through the infrared receiving tube and the infrared transmitting tube.
In one embodiment, the apparatus further includes a handshake communication signal modulation and conversion module, configured to: modulating the handshake communication signal by a first timer; and converting the modulated handshake communication signals for detection by a charging device of the equipment to be charged.
In one embodiment, the handshake confirmation signal identification module is further configured to: receiving a second signal from a charging device of the equipment to be charged through the first sensor, converting the second signal to obtain a modulated handshake confirmation signal, wherein the second signal is obtained by generating a corresponding handshake confirmation signal through a handshake communication signal and converting and modulating the handshake confirmation signal by the charging device of the equipment to be charged; and demodulating the modulated handshake confirmation signal through the first demodulation circuit to obtain the handshake confirmation signal.
In one embodiment, the handshake confirmation signal identification module is further configured to: and converting the second signal into a second voltage signal through the first resistor, and amplifying the second voltage signal to obtain a modulated handshake confirmation signal.
In one embodiment, further comprising: if the handshake confirmation signal is received within the preset time and corresponds to the handshake communication signal, the handshake is successful; and if the handshake confirmation signal is not received within the preset time or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
In one embodiment, when charging the charging device for the equipment to be charged, the charging device for the equipment to be charged is subjected to handshaking according to a preset period, and in the case of failure of handshaking, the charging device for the equipment to be charged is stopped.
In addition, the specific implementation of the charging device for the charging apparatus in the embodiment of the present invention has been described in detail in the above charging method, and therefore, the repeated description is not repeated here.
Fig. 11 is a schematic diagram of main blocks of a charging apparatus for a device to be charged according to an embodiment of the present invention.
As shown in fig. 11, a charging apparatus 1100 for a device to be charged according to an embodiment of the present invention mainly includes: the charging system comprises a handshake communication signal identification module 1101, a handshake confirmation signal generation module 1102 and a second charging module 1103.
A handshake communication signal identification module 1101, configured to identify a handshake communication signal from a charging apparatus for a charging device.
The handshake confirmation signal generation module 1102 is configured to generate a corresponding handshake confirmation signal according to the handshake communication signal, and send the handshake confirmation signal to the charging device for the charging apparatus.
And a second charging module 1103, configured to perform charging by using a charging device for the charging apparatus after confirming that the handshake is successful.
In one embodiment, the handshake communication signal identification module is further configured to: receiving the modulated and converted handshake communication signals from a charging device for the charging equipment through a second sensor, and converting the modulated and converted handshake communication signals to obtain modulated handshake communication signals; and demodulating the modulated handshake communication signals through a second demodulation circuit to obtain handshake communication signals.
In one embodiment, the handshake communication signal identification module is further configured to: and converting the modulated and converted handshake communication signals into first voltage signals through a second resistor, and amplifying the first voltage signals to obtain modulated handshake communication signals.
In one embodiment, the handshake confirmation signal modulation conversion module is configured to: modulating the handshake confirmation signal by a second timer; the modulated handshake confirmation signal is converted for detection by a charging device for the charging apparatus.
In one embodiment, further comprising: if the charging device for the charging equipment receives the handshake confirmation signal within the preset time and the handshake confirmation signal corresponds to the handshake communication signal, the handshake is successful; and if the charging device for the charging equipment does not receive the handshake confirmation signal within the preset time, or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
In one embodiment, when charging, handshaking is performed by the charging means for the charging device at a preset cycle, and in case of a handshake failure, charging is stopped.
In addition, the specific implementation content of the charging device for the device to be charged in the embodiment of the invention has been described in detail in the above charging method, so that the repeated content is not described again.
Fig. 12 is a main configuration diagram of a charging system according to an embodiment of the present invention.
As shown in fig. 12, a charging system 1200 according to an embodiment of the present invention mainly includes: charging means 1201 for a charging device, charging means 1202 for a device to be charged. The charging device 1201 for the charging device is the same as the charging device 1000 for the charging device, and the functions of the modules are correspondingly the same; the charging apparatus 1202 for the device to be charged is the same as the module included in the charging apparatus 1100 for the device to be charged above and the function of the module is correspondingly the same.
The charging device 1201 for the charging device is configured to generate a handshake communication signal after detecting the charging device for the device to be charged, and send the handshake communication signal to the charging device for the device to be charged.
The charging apparatus 1202 for the device to be charged is configured to identify a handshake communication signal from the charging apparatus for the charging device, generate a corresponding handshake confirmation signal according to the handshake communication signal, and send the handshake confirmation signal to the charging apparatus for the charging device.
The charging device 1201 for the charging device is further configured to recognize a handshake confirmation signal from the charging device for the device to be charged, determine that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charge the charging device for the device to be charged.
In one embodiment, the charging apparatus for a charging device is further configured to: the charging device for the equipment to be charged is detected through the infrared receiving tube and the infrared transmitting tube.
In one embodiment, the charging apparatus for a charging device is further configured to: modulating the handshake communication signal by a first timer; and converting the modulated handshake communication signals for detection by a charging device of the equipment to be charged.
In one embodiment, the charging apparatus for a charging device is further configured to: receiving a second signal from a charging device of the equipment to be charged through the first sensor, converting the second signal to obtain a modulated handshake confirmation signal, wherein the second signal is obtained by generating a corresponding handshake confirmation signal through a handshake communication signal and converting and modulating the handshake confirmation signal by the charging device of the equipment to be charged; and demodulating the modulated handshake confirmation signal through the first demodulation circuit to obtain the handshake confirmation signal.
In one embodiment, the charging apparatus for a charging device is further configured to: and converting the second signal into a second voltage signal through the first resistor, and amplifying the second voltage signal to obtain a modulated handshake confirmation signal.
In one embodiment, the charging apparatus for a device to be charged is further configured to: receiving the modulated and converted handshake communication signals from a charging device for the charging equipment through a second sensor, and converting the modulated and converted handshake communication signals to obtain modulated handshake communication signals; and demodulating the modulated handshake communication signals through a second demodulation circuit to obtain handshake communication signals.
In one embodiment, the charging apparatus for a device to be charged is further configured to: and converting the modulated and converted handshake communication signals into first voltage signals through a second resistor, and amplifying the first voltage signals to obtain modulated handshake communication signals.
In one embodiment, the charging apparatus for a device to be charged is further configured to: modulating the handshake confirmation signal by a second timer; the modulated handshake confirmation signal is converted for detection by a charging device for the charging apparatus.
In one embodiment, if the charging device for the charging equipment receives a handshake confirmation signal within a preset time, and the handshake confirmation signal corresponds to a handshake communication signal, the handshake is successful; and if the charging device for the charging equipment does not receive the handshake confirmation signal within the preset time, or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
In one embodiment, when the charging device for the charging apparatus charges the charging device for the device to be charged, the charging device for the charging apparatus handshakes the charging device for the device to be charged according to a preset cycle, and in case of a handshake failure, the charging device for the device to be charged is stopped.
For the content already described in the above embodiments, the description of the present embodiment is omitted.
According to the technical scheme of the embodiment of the invention, after the device to be charged is detected, a handshake communication signal is generated and sent to the device to be charged; recognizing a handshake confirmation signal from the device to be charged; and determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charging the equipment to be charged. The problem of charging pile pole piece electrification when having foreign matter or user to touch and fill the electric pile pole piece can be solved, the electric leakage risk is avoided, reduces the potential safety hazard, has improved the safety level of charging.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (21)
1. A method of charging, comprising:
generating a handshake communication signal after detecting the equipment to be charged, and sending the handshake communication signal to the equipment to be charged;
identifying a handshake confirmation signal from the device to be charged;
and determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charging the equipment to be charged.
2. The method of claim 1, wherein the detecting of the device to be charged comprises:
and detecting the equipment to be charged through an infrared receiving tube and an infrared transmitting tube.
3. The method of claim 1, wherein before sending the handshake communication signal to the device to be charged, the method further comprises:
modulating the handshake communication signal by a first timer;
and converting the modulated handshake communication signals for detection of the equipment to be charged.
4. The method of claim 1, wherein the identifying a handshake confirmation signal from the device to be charged comprises:
receiving a second signal from the device to be charged through a first sensor, converting the second signal to obtain a modulated handshake confirmation signal, wherein the second signal is obtained by generating a corresponding handshake confirmation signal by the device to be charged through the handshake communication signal, and converting and modulating the handshake confirmation signal;
and demodulating the modulated handshake confirmation signal through a first demodulation circuit to obtain the handshake confirmation signal.
5. The method of claim 4, wherein said converting the second signal to obtain a modulated handshake confirmation signal comprises:
and converting the second signal into a second voltage signal through a first resistor, and amplifying the second voltage signal to obtain the modulated handshake confirmation signal.
6. The method of claim 1, wherein determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal comprises:
if the handshake confirmation signal is received within the preset time and corresponds to the handshake communication signal, the handshake is successful;
and if the handshake confirmation signal is not received within the preset time or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
7. The method according to claim 6, characterized in that when the device to be charged is charged, the device to be charged is subjected to handshake according to a preset period, and in case of failure of the handshake, the charging of the device to be charged is stopped.
8. A method of charging, comprising:
recognizing a handshake communication signal from the charging device;
generating a corresponding handshake confirmation signal according to the handshake communication signal, and sending the handshake confirmation signal to the charging equipment;
and after confirming that the handshake is successful, charging through the charging equipment.
9. The method of claim 8, wherein identifying the handshake communication signal from the charging device comprises:
receiving the modulated and converted handshake communication signals from the charging equipment through a second sensor, and converting the modulated and converted handshake communication signals to obtain modulated handshake communication signals;
and demodulating the modulated handshake communication signals through a second demodulation circuit to obtain the handshake communication signals.
10. The method of claim 9, wherein converting the modulated and converted handshake communication signal to obtain a modulated handshake communication signal comprises:
and converting the modulated and converted handshake communication signal into a first voltage signal through a second resistor, and amplifying the first voltage signal to obtain the modulated handshake communication signal.
11. The method of claim 8, wherein prior to sending the handshake confirmation signal to the charging device, further comprising:
modulating the handshake confirmation signal by a second timer;
and converting the modulated handshake confirmation signal for detection by the charging equipment.
12. The method of claim 8, further comprising:
if the charging equipment receives the handshake confirmation signal within the preset time and the handshake confirmation signal corresponds to the handshake communication signal, the handshake is successful;
and if the charging equipment does not receive the handshake confirmation signal within the preset time, or the handshake confirmation signal does not correspond to the handshake communication signal, the handshake fails.
13. The method according to claim 12, characterized in that, when charging, a handshake is performed by the charging device at a preset cycle, and in case of failure of the handshake, charging is stopped.
14. A charging device for a charging device is characterized by comprising a first charging unit, a first controller, a detection unit, a first modulation conversion unit and a first demodulation conversion unit, wherein the first charging unit comprises a first charging pole piece, the first charging unit is used for charging a charging device for equipment to be charged through the first charging pole piece, the first controller is used for generating a handshake communication signal and an identification handshake confirmation signal, the first modulation conversion unit comprises a first timer and a first light emitting diode, the first modulation conversion unit is used for modulating and converting the handshake communication signals, the first demodulation conversion unit comprises a first sensor, a first resistor, a first operational amplifier and a first demodulation circuit, the first demodulation and conversion unit is used for converting and demodulating the handshake confirmation signals subjected to modulation and conversion.
15. The apparatus according to claim 14, wherein the detection unit comprises an infrared receiving tube and an infrared transmitting tube, the infrared receiving tube corresponds to the infrared transmitting tube, and when the first charging pole piece is pressed by the charging device for the device to be charged, the first charging pole piece is shielded between the infrared receiving tube and the infrared transmitting tube to detect the charging device for the device to be charged.
16. The charging device for the equipment to be charged is characterized by comprising a second charging unit, a second controller, a second modulation and conversion unit and a second demodulation and conversion unit, wherein the second charging unit comprises a second charging pole piece, the second charging unit is used for charging through the second charging pole piece, the second controller is used for identifying a handshake communication signal and generating a handshake confirmation signal, the second modulation and conversion unit comprises a second timer and a second light emitting diode, the second modulation and conversion unit is used for modulating and converting the handshake confirmation signal, the second demodulation and conversion unit comprises a second sensor, a second resistor, a second operational amplifier and a second demodulation circuit, and the second demodulation and conversion unit is used for converting and demodulating the handshake communication signal subjected to modulation and conversion.
17. A charging device for a charging apparatus, comprising:
the device comprises a handshake communication signal generation module, a charging device and a charging module, wherein the handshake communication signal generation module is used for generating a handshake communication signal after detecting the charging device for the equipment to be charged and sending the handshake communication signal to the charging device for the equipment to be charged;
the handshake confirmation signal identification module is used for identifying a handshake confirmation signal from the charging device for the equipment to be charged;
and the first charging module is used for determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charging the charging device for the equipment to be charged.
18. A charging apparatus for a device to be charged, comprising:
the charge device comprises a handshake communication signal identification module, a charge device identification module and a charge device identification module, wherein the handshake communication signal identification module is used for identifying handshake communication signals from the charge device of the charge device;
the handshake confirmation signal generation module is used for generating a corresponding handshake confirmation signal according to the handshake communication signal and sending the handshake confirmation signal to the charging device for the charging equipment;
and the second charging module is used for charging through the charging device for the charging equipment after confirming that the handshake is successful.
19. A charging system comprising charging means for a charging device and charging means for a device to be charged, wherein:
the charging device for the charging equipment is used for generating a handshaking communication signal after detecting the charging device for the equipment to be charged and sending the handshaking communication signal to the charging device for the equipment to be charged;
the charging device for the equipment to be charged is used for identifying the handshaking communication signals from the charging device for the charging equipment, generating corresponding handshaking confirmation signals according to the handshaking communication signals, and sending the handshaking confirmation signals to the charging device for the charging equipment;
the charging device for the charging equipment is also used for identifying a handshake confirmation signal from the charging device for the equipment to be charged, determining that the handshake is successful based on the handshake communication signal and the handshake confirmation signal, and charging the charging device for the equipment to be charged.
20. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-13.
21. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-13.
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