CN114006448A - Robot charging system and robot charging method - Google Patents

Robot charging system and robot charging method Download PDF

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Publication number
CN114006448A
CN114006448A CN202111135054.5A CN202111135054A CN114006448A CN 114006448 A CN114006448 A CN 114006448A CN 202111135054 A CN202111135054 A CN 202111135054A CN 114006448 A CN114006448 A CN 114006448A
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China
Prior art keywords
charging
robot
module
direct current
power
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CN202111135054.5A
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Chinese (zh)
Inventor
罗沛
王辉
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Uditech Co Ltd
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Uditech Co Ltd
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Priority to CN202111135054.5A priority Critical patent/CN114006448A/en
Publication of CN114006448A publication Critical patent/CN114006448A/en
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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
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • 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
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
    • 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
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
    • H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
    • H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a robot charging system and a robot charging method, wherein the robot charging system comprises a charging pile unit and a power management unit, the charging pile unit comprises an alternating current-direct current conversion module, and the power management unit comprises a power switching module, a first charging management module and a first battery; the alternating current-direct current conversion module is used for converting alternating current output by the alternating current power supply into direct current, and when the alternating current-direct current conversion module is communicated with the power supply switching module, the output direct current is used for supplying power to the power supply switching module; the power supply switching module is used for supplying power to the first charging management module and the robot by adopting direct current when the direct current output by the alternating current-direct current conversion module is accessed; the first charging management module is used for charging the first battery by adopting the direct current output by the power supply switching module. The robot battery charging system realizes that the robot is supplied with power through the charging pile power supply when the robot battery is charged, the battery does not need to be discharged in the charging process, the charging efficiency of the battery is ensured, and the charging speed of the robot is improved.

Description

Robot charging system and robot charging method
Technical Field
The invention relates to the technical field of robots, in particular to a robot charging system and a robot charging method.
Background
At present, most mobile service robots supply power for lithium batteries, and the batteries are charged through a charger of a charging pile during charging. And in the shutdown state of the robot, the full power of the charger charges the battery, so that the charging efficiency can be ensured. However, when the robot is charged in a starting state, the sensor unit, the interaction unit, the motion unit and the like in the robot are all in an open state, the battery is in a charging and discharging state, especially when the battery is not fully charged in a charging and trickle-flow approaching stage, the charging current and the discharging current are approximately equal, a large amount of time is consumed when the battery is fully charged to 100%, the charging efficiency of the robot is low, and the use experience of the robot is influenced.
Disclosure of Invention
The invention mainly aims to provide a robot charging system and a robot charging method, aiming at the technical problem that the charging efficiency of the existing robot charging mode is low.
In order to achieve the above object, the present invention provides a robot charging system, which includes a charging pile unit and a power management unit of a robot, wherein the charging pile unit includes an ac/dc conversion module, and the power management unit includes a power switching module, a first charging management module and a first battery;
the alternating current-direct current conversion module is used for converting alternating current output by an alternating current power supply into direct current, and when the alternating current-direct current conversion module is communicated with the power supply switching module, the output direct current is used for supplying power to the power supply switching module;
the power supply switching module is used for supplying power to the first charging management module and the robot by adopting direct current when the direct current output by the alternating current-direct current conversion module is accessed;
the first charging management module is used for charging the first battery by adopting the direct current output by the power supply switching module.
Optionally, the power supply switching module is further configured to supply power to the robot by using the direct current output by the first battery when the direct current output by the alternating current-direct current conversion module is not accessed.
Optionally, the charging pile unit further includes a second charging management module and a second battery;
the direct current output by the alternating current-direct current conversion module is also used for supplying power to the second charging management module;
and the second charging management module is used for charging the second battery by adopting the direct current output by the alternating current-direct current conversion module.
Optionally, the charging pile unit further comprises an automatic charging module and a manual charging module;
the alternating current-direct current conversion module is connected with the power supply switching module through the automatic charging module and/or the manual charging module;
the power supply switching module is also used for cutting off the connection with one of the automatic charging module and the manual charging module when the automatic charging module and the manual charging module are connected to the direct current output by the alternating current-direct current conversion module.
Optionally, the charging pile unit further comprises a positive electrode block and a negative electrode block;
the automatic charging module is used for outputting the direct current output by the alternating current-direct current conversion module to the power supply switching module when the positive electrode block and the negative electrode block are in a connected state.
Optionally, the charging pile unit further includes a communication module;
the direct current output by the alternating current-direct current conversion module is also used for supplying power to the communication module;
the communication module is used for connecting the second charging management module to acquire charging data of the second battery and uploading the charging data to a cloud platform;
the communication module is also used for connecting the automatic charging module to acquire the connection state of the positive and negative electrode blocks and uploading the connection state to the cloud platform.
Optionally, the power management unit further comprises a control unit;
the control unit is used for connecting the first charging management module to acquire charging data of the first battery;
the control unit is also used for connecting the power supply switching module to acquire a power supply mode of the robot;
the control unit is also used for connecting a robot system of the robot and sending the charging data and the power supply mode to the robot system.
In order to achieve the above object, the present invention provides a robot charging method, which is applied to a robot, in which a charging management module and a battery are disposed, the method including the steps of:
detecting whether the robot is connected with a charging pile circuit or not;
and if the robot is communicated with the charging pile circuit, the direct current output by the charging pile circuit is adopted to supply power to the charging management module and the robot, and the charging management module is controlled to charge the battery.
Optionally, after the step of detecting whether the robot and the charging pile are connected, the method further includes:
and if the robot is not detected to be communicated with the charging pile circuit, controlling the battery to supply power to the robot.
Optionally, if the robot is connected to the charging pile circuit, the step of supplying power to the charging management module and the robot by using the direct current output by the charging pile circuit includes:
if the robot is connected with the automatic charging circuit and the manual charging circuit of the charging pile circuit, the connection with one of the automatic charging circuit and the manual charging circuit is disconnected, and the charging management module and the robot are powered by direct current output by the other path.
The invention provides a robot charging system which comprises a charging pile unit and a power management unit of a robot, wherein the charging pile unit comprises an alternating current-direct current conversion module, and the power management unit comprises a power switching module, a first charging management module and a first battery; the alternating current-direct current conversion module is used for converting alternating current output by the alternating current power supply into direct current, and when the alternating current-direct current conversion module is communicated with the power supply switching module, the output direct current is used for supplying power to the power supply switching module; the power supply switching module is used for supplying power to the first charging management module and the robot by adopting direct current when the direct current output by the alternating current-direct current conversion module is accessed; the first charging management module is arranged to charge the first battery by using the direct current output by the power supply switching module. Through setting up a first management module and the power switching module that charges in the power management unit of robot, when first battery charges, can switch to the power by filling electric pile output through the power switching module and give the robot power supply, adopt first management module that charges to utilize the power of filling electric pile output to charge for first battery full power ground simultaneously for first battery need not discharge at the charging process, has guaranteed the charge efficiency of first battery, improves the charging speed. And when the first battery is charged, the robot is powered by the charging pile power supply, so that the charging efficiency is realized, meanwhile, the robot can still be in a starting working state in the charging process, and the effect of uninterrupted work of the robot is achieved. And, through set up first management module that charges in the power management unit of robot for when guaranteeing the charge efficiency of first battery, only need set up an input power between electric pile and the robot, the circuit complexity is low, lays with low costsly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot charging system according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a robot control method according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that if the description of "first", "second", etc. is provided in the embodiment of the present invention, the description of "first", "second", etc. is only for descriptive purposes and is not to be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a robot charging system.
At present, most mobile service robots supply power for lithium batteries, and the batteries are charged through a charger of a charging pile during charging. And in the shutdown state of the robot, the full power of the charger charges the battery, so that the charging efficiency can be ensured. However, when the robot is charged in a starting state, the sensor unit, the interaction unit, the motion unit and the like in the robot are all in an open state, the battery is in a charging and discharging state, especially when the battery is not fully charged in a charging and trickle-flow approaching stage, the charging current and the discharging current are approximately equal, a large amount of time is consumed when the battery is fully charged to 100%, the charging efficiency of the robot is low, and the use experience of the robot is influenced.
In order to solve the above problem, referring to fig. 1, a first embodiment of the robot charging system of the present invention is proposed, in which the robot charging system includes:
the charging pile comprises a charging pile unit 100 and a power management unit 200 of the robot, wherein the charging pile unit 100 comprises an alternating current-direct current conversion module 110, and the power management unit 200 comprises a power switching module 210, a first charging management module 220 and a first battery 230;
the ac-dc conversion module 110 is configured to convert ac power output by an ac power source into dc power, and when the ac-dc conversion module 110 is connected to the power switching module 210, the output dc power is used to supply power to the power switching module 210;
the power switching module 210 is configured to, when the direct current output by the ac-dc conversion module 110 is switched in, supply power to the first charging management module 220 and the robot by using the direct current;
the first charging management module 220 is configured to charge the first battery 230 with the dc power output by the power switching module 210.
In this embodiment, the charging pile unit 100 may be deployed in a charging pile that is movably or fixedly disposed. The robot may be various types of robots such as a social robot, a home robot, a service robot, and the like, and the type of the robot is not limited in this embodiment.
The power management unit 200 is disposed in the robot, and may be disposed independently from a robot system of the robot, and is used to supply power to the entire robot, where the robot system may be understood as a part of the robot except for the power management unit 200, and the detailed description of the robot system is not made in this embodiment.
The AC/DC conversion module 110 is an AC-DC conversion module and can convert AC power into DC power. The power switching module 210 may be implemented by a hardware circuit, or implemented by an independent microprocessor, such as a single chip, a DSP, an FPGA, or the like, which is not limited in this embodiment. If the implementation is realized by a hardware circuit, a switching element may be used to switch on the ac/dc conversion module 110, the first charging management module 220 and the robot when the power switching module 210 is connected to the dc power output by the ac/dc conversion module 110, so that the ac/dc conversion module 110 supplies power to the first charging management module 220 and the robot. If the function is implemented by the microprocessor, a program for controlling the first charging management module 220 and the robot to be powered by the direct current when the direct current output by the ac/dc conversion module 110 is switched in may be integrated in the memory of the microprocessor, so that the microprocessor calls the program in the memory to implement the above-mentioned function of the power switching module 210.
The first charging management module 220 may be implemented by a portion of the charger excluding the ac/dc conversion module, and specifically, the first charging management module 220 may include a transformer for converting a dc voltage into a charging voltage, a voltage detection capacity for detecting a capacity of the battery, a controller for controlling the charging voltage and current and performing overvoltage and undervoltage protection, and the controller may also be implemented by a microprocessor. The first battery 230 may be a lithium ion storage battery or a nickel metal hydride battery, and the like, and is not limited in the embodiment.
In fig. 1, the ac/dc conversion module 110 is configured to be connectable to the power switching module 210 through an automatic connection manner and a manual connection manner, and in this embodiment, a connection manner between the ac/dc conversion module 110 and the power switching module 210 is not limited, for example, only the manual connection manner may be set, and only the automatic connection manner may be set.
In the present embodiment, a robot charging system is provided, which includes a charging pile unit 100 and a power management unit 200 of a robot, the charging pile unit 100 is configured to include an ac/dc conversion module 110, and the power management unit 200 is configured to include a power switching module 210, a first charging management module 220, and a first battery 230; the ac-dc conversion module 110 is configured to convert ac power output by the ac power supply into dc power, and when the ac-dc conversion module is connected to the power switching module 210, the output dc power is configured to supply power to the power switching module 210; the power switching module 210 is configured to supply power to the first charging management module 220 and the robot by using direct current when the direct current output by the alternating current/direct current conversion module 110 is accessed; the first charging management module 220 is configured to charge the first battery 230 with the dc power output by the power switching module 210. By arranging the first charging management module 220 and the power switching module 210 in the power management unit 200 of the robot, when the first battery 230 is charged, the power output by the charging pile can be switched to through the power switching module 210 to supply power to the robot, and meanwhile, the first charging management module 220 is adopted to fully charge the first battery 230 by using the power output by the charging pile, so that the first battery 230 does not need to be discharged in the charging process, the charging efficiency of the first battery 230 is ensured, and the charging speed is improved. And, when first battery 230 charges, the robot is by filling electric pile power supply to make when realizing charge efficiency, also can guarantee that the robot still can be in start operating condition in the charging process, reach the incessant effect of work of robot. In addition, the first charging management module 220 is arranged in the power management unit 200 of the robot, so that only one input power supply needs to be arranged between the charging pile and the robot while the charging efficiency of the first battery 230 is ensured, the circuit complexity is low, and the laying cost is low.
Further, in an embodiment, the power switching module 210 is further configured to supply power to the robot by using the dc power output by the first battery 230 when the dc power output by the ac/dc conversion module 110 is not accessed.
When the power switching module 210 is not connected to the ac/dc conversion module 110, the robot is in an uncharged state, and if the robot is in a power-on state, the power switching module 210 switches the first battery 230 to supply power to the robot, so as to ensure the operation of the robot. Because first battery 230 is by the charging of first charge management module 220 full power when charging, also can guarantee the normal work of robot when charging, so in the actual scene, can guarantee that first battery 230's electric quantity is sufficient to when using first battery 230 power supply, the time of endurance is more of a specified duration, thereby improves the use of robot and experiences.
Further, in an embodiment, the charging pile unit 200 may also directly supply power to the power switching module 210 by using ac power input by an ac power source, and at this time, the first charging management module 220 may include an ac-dc conversion module for implementing ac-dc conversion, so as to convert ac power output by the power switching module 210 into dc power and then charge the first battery 230.
Further, referring to fig. 1, a second embodiment of the robot charging system of the present invention is proposed based on the first embodiment, in this embodiment, the charging pile unit 100 further includes a second charging management module 120 and a second battery 130;
the direct current output by the ac-dc conversion module 110 is also used to supply power to the second charging management module 120;
the second charging management module 120 is configured to charge the second battery 130 with the dc power output by the ac-dc conversion module 110.
In the present embodiment, the charging pile unit 100 disposed in the charging pile further provides a second battery 130 as a backup battery, that is, in the case that the first battery 230 is dead, the second battery 130 may be used to replace the first battery 230. The second battery 130 may also be a lithium ion storage battery, a nickel metal hydride battery, or the like, and is not limited in this embodiment. In addition, a second charging management module 120 is also provided in the charging pile unit 100 for charging the second battery 130. The second charging management module 120 may be implemented by a portion of the charger excluding the ac/dc conversion module, and specifically, the second charging management module 120 may include a transformer for converting a dc voltage into a charging voltage, a voltage detection capacity for detecting a battery capacity, a controller for controlling the charging voltage and current and performing overvoltage and undervoltage protection, and the controller may also be implemented by a microprocessor.
In a specific embodiment, when the robot is out of power, the user may connect the robot and the charging pile, and the charging pile unit 100 supplies power to the robot while charging the first battery 230 through the first charging management module 220; when the user needs to quickly recover the battery capacity of the robot, the fully charged second battery 130 in the charging pile can be taken out to replace the first battery 230, the robot is powered by the second battery 130, the first battery 230 is placed in the charging pile and is charged by the second charging management module 120, and at this time, it can be understood that the first battery 230 becomes the second battery 130, and the second battery 130 becomes the first battery 230.
In this embodiment, by arranging the second charging management module 120 and the second battery 130 in the charging pile unit 100, the second charging management module 120 is adopted to charge the second battery 130 at ordinary times, so as to ensure the electric quantity of the second battery 130, and when the robot needs to be charged quickly, the robot can directly adopt the second battery 130 to replace the first battery 230 in the robot, so that the robot can enter a normal working state quickly. Moreover, when the first battery 230 is charged, the robot is powered by the charging pile instead of the first battery 230, so that when the first battery 230 needs to be replaced, the robot can still be in a power-on state, and the battery can be replaced instead of being powered off, thereby realizing the purpose of 'replacing and walking immediately'.
Further, in an embodiment, the second charging management module 120 may be further configured to charge the second battery 130 with the dc power output by the ac/dc conversion module 110 when the electric quantity of the second battery 130 is less than a preset threshold, so as to ensure that the electric quantity of the second battery 130 serving as a backup battery is maintained at a state of being at or above the preset threshold, that is, a state of sufficient electric quantity, and further ensure that the robot runs for a longer time when the first battery 230 in the robot is replaced with the second battery 130. The preset threshold value can be set according to specific needs.
Further, in one embodiment, when the second battery 130 is connected to the first charging management module 220 (the connection line is not shown in fig. 1), the second battery 130 can be used to supply power to the first charging management module 220, and the first charging management module 220 charges the first battery 230 with the dc power output by the second battery 130; at this time, when the power switching module 210 is connected to the dc power output by the ac/dc conversion module 110, the robot may be powered by only the dc power. Since the first battery 230 is fully charged by the electric quantity of the second battery 130, no discharge is required during the charging process, thereby ensuring the charging rate of the first battery 230; and because the robot is powered by the direct current output by the direct current conversion module 110, the charging efficiency is realized, and meanwhile, the robot can still be in a starting working state in the charging process, so that the effect of uninterrupted work of the robot is achieved.
Further, in an embodiment, when the power switching module 210 is accessing the dc power output by the ac/dc conversion module 110 and the second battery 130 is connected to the power switching module 210 (a connection line is not shown in fig. 1), the power switching module 210 may use the dc power output by the second battery 130 to supply power to the first charging management module 220, and the first charging management module 220 uses the dc power output by the second battery 130 to charge the first battery 230 and uses the dc power output by the dc conversion module 110 to supply power to the robot; alternatively, the power switching module 210 may also use the direct current output by the second battery 130 to supply power to the robot, and use the direct current output by the direct current conversion module 110 to supply power to the first charging management module 220, and the first charging management module 220 uses the direct current output by the direct current conversion module 110 to charge the first battery 230. Because the robot is powered by the direct current output by the direct current conversion module 110 while the first battery 230 is charged by the second battery 130, or the robot is powered by the second battery 130 while the first battery is charged by the direct current output by the direct current conversion module 110, the first battery 130 does not need to be discharged in the charging process, the charging rate of the first battery 230 is ensured, and the robot can be ensured to be still in a starting working state in the charging process, thereby achieving the effect of uninterrupted work of the robot.
Further, referring to fig. 1, a third embodiment of the robot charging system of the present invention is proposed based on the first and/or second embodiments, in this embodiment, the charging pile unit 100 further includes an automatic charging module 140 and a manual charging module 150;
the ac/dc conversion module 110 is connected to the power switching module 210 through the automatic charging module 140 and/or the manual charging module 150;
the power switching module 210 is further configured to cut off a connection with one of the automatic charging module 140 and the manual charging module 150 when the automatic charging module 140 and the manual charging module 150 access the dc power output by the ac-dc conversion module 110.
In this embodiment, the robot can connect the electric pile through automatic and manual two kinds of modes. The automatic connection mode is realized by arranging an automatic charging module 140 in the charging pile unit 100; the automatic charging module 140 may be composed of a positive electrode block and a negative electrode block as a connection interface, and a charging control module connected to the positive electrode block and the negative electrode block; the charging control module is connected with the ac-dc conversion module 110 and configured to control whether the direct current output by the ac-dc conversion module 110 is output to the positive and negative electrode blocks; the power management unit 200 is also provided with a positive electrode block and a negative electrode block as a connection interface, and the positive electrode block and the negative electrode block are connected to the power switching module 210 and are used for being in contact with the positive electrode block and the negative electrode block in the automatic charging module 140 to realize connection. In one embodiment, the automatic charging module 140 is configured to output the dc power outputted from the ac/dc conversion module 110 to the power switching module 210 when the positive and negative electrode blocks thereof are in the turned-on state; specifically, the charging control module in the automatic charging module 140 detects whether both the positive electrode block and the negative electrode block in the automatic charging module 140 are in the turned-on state, that is, if it is detected that the positive electrode block is in contact with the positive electrode block in the robot and the negative electrode block is in contact with the negative electrode block in the robot, it is determined that both the positive electrode block and the negative electrode block are in the turned-on state; if the positive and negative electrode blocks in the automatic charging module 140 are detected to be in the connected state, the direct current output by the ac/dc conversion module 110 is output to the positive and negative electrode blocks, so that the direct current output by the ac/dc conversion module 110 passes through the positive and negative electrode blocks and the positive and negative electrode blocks in the robot and is output to the power switching module 210, and the ac/dc conversion module 110 and the power switching module 210 are connected through the automatic charging module 140. The charging control module in the automatic charging module 140 may be implemented by a switch circuit, or may be implemented by a microprocessor, which is not limited in this embodiment. When the robot makes the positive and negative electrode blocks in the robot contact with the positive and negative electrode blocks in the charging pile through autonomous navigation, the automatic charging module 140 automatically connects the ac-dc conversion module 110 and the power switching module 210.
The manual connection mode is realized by arranging a manual charging module 150 in the charging pile unit 100; the manual charging module 150 may be a plug or a socket directly connected to the ac/dc conversion module 110, the power management unit 200 of the robot is correspondingly provided with a socket or a plug connected to the power switching module 210, when a user connects a circuit of the manual charging module 150 to the power switching module 210 by manually plugging the socket, the dc power output by the ac/dc conversion module 110 to the manual charging module 150 is directly output to the power switching module 210 through the manual charging module 150, that is, the ac/dc conversion module 110 is connected to the power switching module 210 through the manual charging module 150.
When the power switching module 210 is connected to the dc power output by the ac-dc conversion module 110 through the automatic charging module 140 and the manual charging module 150, only one output power is connected to the power switching module 210 by disconnecting the connection with one of the automatic charging module 140 and the manual charging module 150. Here, whether to switch off the automatic charging module 140 or the manual charging module 150 may be preset, and is not limited in this embodiment. When the power switching module 210 is implemented by a hardware circuit, a mutual exclusion switch may be disposed in the power switching module 210 to disconnect one of the two paths when the two paths are connected.
Further, referring to fig. 1, in one embodiment, the charging pile unit 100 further includes a communication module 160; the direct current output by the ac-dc conversion module 110 is also used for supplying power to the communication module 160; the communication module 160 is configured to connect the second charging management module 120 to obtain charging data of the second battery 130, and upload the charging data to a cloud platform; the communication module 160 is further configured to connect the automatic charging module 140 to obtain a connection state of the positive and negative electrode blocks, and upload the connection state to the cloud platform.
In this embodiment, the communication module 160 may be implemented by a microcontroller integrated with a communication unit. The communication module 160 is powered by the dc power output from the ac-dc conversion module 110. The communication module 160 may be configured to obtain charging data of the second battery 130 from the second charging management module 120, where the charging data may include data of a number, an electric quantity, a charging frequency, a charging state, and the like of the second battery 130, the communication module 160 may also upload the charging data to a cloud platform periodically or in real time, and a client or a robot system may download the charging data of each charging pile from the cloud platform to display the charging data, so that a user may view a situation of a backup battery in each charging pile. The communication module 160 can also be connected with the automatic charging module 140 to obtain the connection state of the positive and negative electrode blocks in the automatic charging module 140, the communication module 160 can directly upload the connection state to the cloud platform, and the client or the robot system can download the connection state of each charging pile from the cloud platform for display, so that a user can check the use condition of each charging pile.
Further, in one embodiment, the power management unit 200 further includes a control unit (not shown in fig. 1); the control unit is configured to connect to the first charging management module 220 to obtain charging data of the first battery 230 from the first charging management module 220, where the charging data may include data such as a number, an electric quantity, a charging number, and a charging state of the first battery 230; the control unit is further configured to connect to the power switching module 210, so as to obtain a power supply mode of the robot from the power switching module 210, that is, whether the robot is automatically charged or manually charged; the control unit is also used for connecting the robot system of the robot, and sending the charging data of the first battery 230 and the power supply mode of the robot to the robot system, so that the robot system displays the charging data and the power supply mode in the display device of the robot, and a user can know the charging mode of the robot and the condition of the battery.
The embodiment of the present invention further provides a robot charging method, which is applied to a robot, and specifically, may be applied to the main controller of the robot system in the foregoing embodiment, or applied to the power switching module 210 in the foregoing embodiment; if the power switching module 210 is applied, the power switching module 210 may be a microcontroller independent from a main controller of the robot system, a processor of the microcontroller stores a robot charging program, and when the microcontroller calls the robot charging program in the processor, the following steps of the robot charging method can be implemented. For convenience of description, the following embodiments are described using a robot as an execution subject.
In an embodiment, the robot is further provided with a charging management module (which can be implemented by using the first charging management module 220 in the above embodiment) and a battery (which can be implemented by using the first battery 230 in the above embodiment). Referring to fig. 2, the robot charging method includes the steps of:
step S10, detecting whether the robot is connected with a charging pile circuit;
whether robot detection robot with fill electric pile circuit switch-on, whether can specifically detect with filling electric pile circuit switch-on through the connection interface who detects in the robot has direct current input. The charging pile circuit may be the charging pile unit 100 in the above embodiment, or may be another circuit capable of outputting a dc power supply.
And step S20, if the robot is communicated with the charging pile circuit, the direct current output by the charging pile circuit is adopted to supply power to the charging management module and the robot, and the charging management module is controlled to charge the battery.
If the robot is detected to be connected with the charging pile circuit, the robot can control direct current output by the charging pile circuit to supply power to the charging management module and the robot, and control the charging management module to charge the battery. Therefore, when the battery is charged, the robot can be powered by the power output by the charging pile circuit, and the charging management module is used for charging the battery at full power by utilizing the power output by the charging pile, so that the battery does not need to be discharged in the charging process, the charging efficiency of the battery is ensured, and the charging speed is improved. And when the battery charges, the robot is supplied with power by the charging pile power supply, so that the charging efficiency is realized, meanwhile, the robot can still be in a starting working state in the charging process, and the effect of uninterrupted work of the robot is achieved. And, through set up the management module that charges in the robot for when guaranteeing the charge efficiency of battery, only need set up an input power between electric pile and the robot, the circuit complexity is low, lays with low costsly.
Further, in an embodiment, after the step S10, the method further includes:
and step S20, if the robot is detected not to be communicated with the charging pile circuit, controlling the battery to supply power to the robot.
If the robot is detected not to be connected with the charging pile circuit, the robot is in a non-charging state, and at the moment, if the robot is in a starting state, the robot can control the battery to supply power to the robot so as to ensure the operation of the robot. Because the battery is by the charging of the management module full power that charges when charging, also can guarantee the normal work of robot when charging, so in the actual scene, can guarantee that the electric quantity of battery is sufficient to when using battery power supply, the time of endurance is more of a specified duration, thereby improves the use of robot and experiences.
Further, in one embodiment, if the robot is connected to the charging post circuit in step S20, the step of supplying power to the charging management module and the robot using the dc power output by the charging post circuit includes:
step S201, if the robot is connected with the automatic charging circuit and the manual charging circuit of the charging pile circuit, the connection with one of the automatic charging circuit and the manual charging circuit is disconnected, and the charging management module and the robot are powered by direct current output by the other path.
An automatic charging circuit and a manual charging circuit can be arranged in the charging pile circuit, the automatic charging circuit can be regarded as a circuit formed by the ac/dc conversion module 110 and the automatic charging module 140 in the above embodiment, and the manual charging circuit can be regarded as a circuit formed by the ac/dc conversion module 110 and the manual charging module 150 in the above embodiment. The robot can be connected with the automatic charging circuit and the manual charging circuit, when the robot is connected with the automatic charging circuit and the manual charging circuit, the robot can control the automatic disconnection of the automatic charging circuit and the manual charging circuit, and the other path of output direct current is used for supplying power to the charging management module and the robot.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. The robot charging system is characterized by comprising a charging pile unit and a power management unit of a robot, wherein the charging pile unit comprises an alternating current-direct current conversion module, and the power management unit comprises a power switching module, a first charging management module and a first battery;
the alternating current-direct current conversion module is used for converting alternating current output by an alternating current power supply into direct current, and when the alternating current-direct current conversion module is communicated with the power supply switching module, the output direct current is used for supplying power to the power supply switching module;
the power supply switching module is used for supplying power to the first charging management module and the robot by adopting direct current when the direct current output by the alternating current-direct current conversion module is accessed;
the first charging management module is used for charging the first battery by adopting the direct current output by the power supply switching module.
2. The robot charging system according to claim 1, wherein the power switching module is further configured to supply power to the robot using the dc power output by the first battery when the dc power output by the ac/dc conversion module is not accessed.
3. The robot charging system of claim 1, wherein the charging pile unit further comprises a second charging management module and a second battery;
the direct current output by the alternating current-direct current conversion module is also used for supplying power to the second charging management module;
and the second charging management module is used for charging the second battery by adopting the direct current output by the alternating current-direct current conversion module.
4. The robot charging system according to any one of claims 1 to 3, wherein the charging pile unit further comprises an automatic charging module and a manual charging module;
the alternating current-direct current conversion module is connected with the power supply switching module through the automatic charging module and/or the manual charging module;
the power supply switching module is also used for cutting off the connection with one of the automatic charging module and the manual charging module when the automatic charging module and the manual charging module are connected to the direct current output by the alternating current-direct current conversion module.
5. The robot charging system according to claim 4, wherein the charging pile unit further includes positive and negative electrode blocks;
the automatic charging module is used for outputting the direct current output by the alternating current-direct current conversion module to the power supply switching module when the positive electrode block and the negative electrode block are in a connected state.
6. The robot charging system of claim 5, wherein the charging pile unit further comprises a communication module;
the direct current output by the alternating current-direct current conversion module is also used for supplying power to the communication module;
the communication module is used for connecting the second charging management module to acquire charging data of the second battery and uploading the charging data to a cloud platform;
the communication module is also used for connecting the automatic charging module to acquire the connection state of the positive and negative electrode blocks and uploading the connection state to the cloud platform.
7. A robot charging system according to any of claims 1 to 3, wherein the power management unit further comprises a control unit;
the control unit is used for connecting the first charging management module to acquire charging data of the first battery;
the control unit is also used for connecting the power supply switching module to acquire a power supply mode of the robot;
the control unit is also used for connecting a robot system of the robot and sending the charging data and the power supply mode to the robot system.
8. A robot charging method is characterized in that the method is applied to a robot, a charging management module and a battery are arranged in the robot, and the method comprises the following steps:
detecting whether the robot is connected with a charging pile circuit or not;
and if the robot is communicated with the charging pile circuit, the direct current output by the charging pile circuit is adopted to supply power to the charging management module and the robot, and the charging management module is controlled to charge the battery.
9. The method for charging a robot of claim 8, wherein after the step of detecting whether the robot and charging post circuit is on, further comprising:
and if the robot is not detected to be communicated with the charging pile circuit, controlling the battery to supply power to the robot.
10. The robot charging method according to claim 8 or 9, wherein the step of supplying the charging management module and the robot with the direct current output from the charging pile circuit if the robot is connected to the charging pile circuit comprises:
if the robot is connected with the automatic charging circuit and the manual charging circuit of the charging pile circuit, the connection with one of the automatic charging circuit and the manual charging circuit is disconnected, and the charging management module and the robot are powered by direct current output by the other path.
CN202111135054.5A 2021-09-27 2021-09-27 Robot charging system and robot charging method Pending CN114006448A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111135054.5A CN114006448A (en) 2021-09-27 2021-09-27 Robot charging system and robot charging method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111135054.5A CN114006448A (en) 2021-09-27 2021-09-27 Robot charging system and robot charging method

Publications (1)

Publication Number Publication Date
CN114006448A true CN114006448A (en) 2022-02-01

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Family Applications (1)

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