CN102545285B - Butting method - Google Patents
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- CN102545285B CN102545285B CN201010599403.4A CN201010599403A CN102545285B CN 102545285 B CN102545285 B CN 102545285B CN 201010599403 A CN201010599403 A CN 201010599403A CN 102545285 B CN102545285 B CN 102545285B
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Abstract
The invention relates to a butting method, which is used for butting automatic running equipment and a charging station. The charging station comprises a first group of terminals for providing charging energy for an energy providing unit of the first group of terminals; and the automatic running equipment comprises a second group of terminals which can be correspondingly electrically connected with the first group of terminals, an energy storage unit providing energy for the automatic running equipment, a current detection unit which is electrically connected with the energy storage unit, and a master control unit which is electrically connected with the current detection unit. The butting method comprises the following steps that: the current detection unit detects charging current from a third terminal and a fourth terminal to the energy storage unit; the master control unit determines whether the current detection unit detects the charging current; and the master control unit determines the second group of terminals are successfully butted with the first group of terminals if the current detection unit detects the charging current. By the butting method, the automatic running equipment can be reliably butted with the charging station without human intervention, and great convenience is brought to production and life.
Description
Technical field
The present invention relates to a kind of docking calculation, the docking calculation that particularly a kind of automatic running device docks with charging station.
Background technology
Along with scientific and technical development, the automatic running device of intelligence is well known, because the program that automatic running device can set in advance is automatically carried out the inter-related task setting in advance, operation that need not be artificial and intervention, therefore the application on commercial Application and family product is very extensive.Industrial application is as carried out the robot of various functions, and the application on family product is as hay mover, dust catcher etc., and these smart machines have greatly been saved people's time, all brings great convenience to industrial production and life staying idle at home.But these automatic running devices are owing to adopting energy storage unit power supply, after the energy of energy storage unit is exhausted, these automatic running devices just cannot have been worked, and now just must artificially automatic running device be moved to the charging station of energy can be provided for it, be its makeup energy.In some cases, makeup energy may need to spend the time of a few hours, and people must wait for a few hours, until makeup energy completes, thereby again opens automatic running device, and it is worked on.
For overcoming the problems referred to above, must develop a kind of docking calculation, realize the automatic butt of automatic running device and charging station.
Summary of the invention
The technical problem that the present invention solves is: a kind of docking calculation is provided, realizes the automatic butt of automatic running device and charging station.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of docking calculation, for realizing automatic running device, dock with charging station, and described charging station comprises: first group of terminal, at least comprises the first terminal and the second terminal; Energy provides unit, provides rechargeable energy to the first terminal and the second terminal; Described automatic running device comprises: second group of terminal, at least comprise the 3rd terminal and the 4th terminal, can with first group of corresponding electric connection of terminal; Energy storage units, for automatic running device provides energy; Current detecting unit with energy storage units electric connection; Main control unit, is electrically connected with current detecting unit, controls the operating state of automatic running device; Described docking calculation comprises the steps: that current detecting unit detects the 3rd terminal and the 4th terminal to the charging current of energy storage units; Main control unit confirms whether current detecting unit detects charging current; Current detecting unit detects charging current; Main control unit confirms that second group of terminal docks successfully with first group of terminal.
Preferably, current detecting unit is converted to corresponding charging current signal by the charging current detecting and passes to main control unit, and when charging current signal is preset signals, main control unit confirms that current detecting unit detects charging current.
Preferably, after main control unit confirms that second group of terminal docks successfully with first group of terminal, control automatic running device and stop walking.
Preferably, automatic running device stops after walking, and current detecting unit does not again detect charging current within the default time, and main control unit is controlled automatic running device and started walking.
Preferably, automatic running device further comprises energy control unit, when current detecting unit detects charging current and is less than predetermined current value, the charging current that main control unit detects according to current detecting unit is controlled energy control unit and is stopped the 3rd terminal and the 4th terminal to the energy transmission of energy storage units.
Preferably, automatic running device further comprises stored energy detecting unit, the current energy that energy storage units detected when stored energy detecting unit is during lower than default energy value, and main control unit returns to charging station according to the energy measuring signal controlling automatic running device of stored energy detecting unit transmission.
Preferably, automatic running device also comprises positive-action return, and when positive-action return sends return instruction, the return instruction that main control unit sends according to positive-action return is controlled automatic running device and returned to charging station.
Preferably, main control unit detects the operating time of automatic running device, and when the operating time reaches Preset Time value, main control unit is controlled automatic running device and returned to charging station.
Preferably, automatic running device further comprises the rectification unit being arranged between the 3rd terminal and the 4th terminal, described rectification unit arranges electrode input end, negative input, cathode output end and cathode output end, electrode input end and the 3rd terminal are electrically connected, negative input and the 4th terminal are electrically connected, the positive pole of cathode output end and energy storage units is electrically connected, and the negative pole of cathode output end and energy storage units is electrically connected.
Beneficial effect of the present invention is: automatic running device can reliably dock with charging station without human intervention, gives and produces and live and bring very big facility.
Accompanying drawing explanation
Technical problem, technical scheme and the beneficial effect that above-described the present invention solves can, by the detailed description that can realize specific embodiments of the invention below, be described and clearly acquisition simultaneously by reference to the accompanying drawings.
Identical label in accompanying drawing and specification and symbol are for representing element identical or that be equal to.
Fig. 1 is the automatic running device of a preferred embodiment of the present invention and the schematic diagram of charging station;
Fig. 2 is automatic running device shown in Fig. 1 and the schematic diagram that docks of charging station;
Fig. 3 is the circuit module figure of automatic running device shown in Fig. 1 and charging station;
Fig. 4 is the circuit block diagram of automatic running device shown in Fig. 1 and charging station;
Fig. 5 is the workflow diagram that automatic running device shown in Fig. 1 docks with charging station.
10 charging stations 60 the 3rd terminal
12 power lines 62 the 4th terminal
14 first printed substrate 72 rectification units
16 the first terminal 76 main control units
18 second terminal 80 current detecting units
20 energy provide unit 82 stored energy detecting units
50 automatic running device v 88 energy control units
52 motor 90 positive-action returns
54 wheels 92 checkout gear of drenching with rain
56 energy storage units 100 boundary lines
58 second printed substrate 102 working regions
Embodiment
About detailed description of the present invention and technology contents, coordinate accompanying drawing to be described as follows, yet appended accompanying drawing only provide reference and explanation, is not used for the present invention to be limited.
Figure 1 shows that the system that charging station 10 and automatic running device 50 form, this system also comprises boundary line 100, boundary line 100 is used to form working region 102, charging station 10 is positioned on boundary line 100, automatic running device 50 is the 100 interior automatic walkings in working region 102 that form in boundary line, according to the program setting in advance 102 interior work in working region.When automatic running device 50 need charging or work or the operating time to or detect while the situation such as drenching with rain, automatic running device 50 100 returns to charging station 10 along boundary line, trial is docked with charging station 10.After automatic running device 50 docks successfully with charging station 10, automatic running device 50 stops walking, the charging that charging station 10 starts automatic running device 50.If charging station 10 does not comprise boundary line 100 with the system that automatic running device 50 forms, automatic running device 50 is carried out work and is returned by the mode of signal guidance, and the border forming along signal when automatic running device 50 returns to charging station 10 is returned.
Charging station 10 comprises power line 12, the first printed substrate 14 being electrically connected with power line 12, the first group of terminal being connected with the output of the first printed substrate 14 as shown in Figure 2, and first group of terminal at least comprises the first terminal 16 and the second terminal 18 (due to the first terminal 16 in angle cause chart and the second terminal 18 coincidences).Automatic running device 50 comprises selectively the second printed substrate 58 of being electrically connected with second group of terminal of first group of corresponding electric connection of terminal, with second group of terminal, be subject to walking mechanism that the second printed substrate 58 controls, for automatic running device 50 provides the energy storage units 56 of energy, wherein second group of terminal at least comprises the 3rd terminal 60 and the 4th terminal 62 (because the 3rd terminal 60 in angle cause chart and the 4th terminal 62 overlap).The wheel 54 that walking mechanism further comprises motor 52, driven by motor 52.When automatic running device 50 need to charge, walking mechanism drives automatic running device 50 to return to charging station 10, attempts docking with charging station 10.
As shown in Figure 3, the first printed substrate 14 further comprises to the first terminal 16 and the second terminal 18 provides the energy of rechargeable energy that unit 20 is provided, it obtains energy by power line 12 from external ac power source, and Conversion of Energy is applied to the first terminal 16 and the second terminal 18 for being applicable to the energy of energy storage units 56 charge modes in automatic running device 50.When the 3rd terminal 60 and the 4th terminal 62 are during respectively with the first terminal 16 and the corresponding electric connection of the second terminal 18, energy provides the energy of unit 20 can be applied to energy storage units 56.
The second printed substrate 58 further comprises main control unit 76, current detecting unit 80, stored energy detecting unit 82, energy control unit 88, rectification unit 72, wherein energy control unit 88 is for controlling the 3rd terminal 60 and the 4th terminal 62 to the energy transmission of energy storage units 56, there is two states in energy control unit 88, a kind of state is to forbid that the 3rd terminal 60 and the 4th terminal 62 are to the energy transmission of energy storage units 56, a kind of state is for allowing the 3rd terminal 60 and the 4th terminal 62 to the energy transmission of energy storage units 56, stored energy detecting unit 82 is for detection of the current energy state of energy storage units 56, and detection signal is passed to main control unit 76, current detecting unit 80 is applied to the charging current of energy storage units 56 for detection of the 3rd terminal 60 and the 4th terminal 62, and detection signal is passed to main control unit 76, main control unit 76 is electrically connected with current detecting unit 80, stored energy detecting unit 82 and energy control unit 88, according to the state of the signal controlling energy control unit 88 of current detecting unit 80 and 82 detections of stored energy detecting unit, rectification unit 72 arranges electrode input end, negative input, cathode output end, and cathode output end, electrode input end and the 3rd terminal 60 are electrically connected, negative input and the 4th terminal 62 are electrically connected, the positive pole of cathode output end and energy storage units 56 is electrically connected, the negative pole of cathode output end and energy storage units 56 is electrically connected, when the corresponding relation that therefore the 3rd terminal 60 is connected with the second terminal 18 with the first terminal 16 with the 4th terminal 62 changes arbitrarily, the positive pole of the rechargeable energy that the first terminal 16 and the second terminal 18 transmit is electrically connected with the positive pole of energy storage units 56 all the time, the negative pole of rechargeable energy is electrically connected with the negative pole of energy storage units 56 all the time, effectively avoid the corresponding relation that is connected with the second terminal 18 with the first terminal 16 with the 4th terminal 62 due to the 3rd terminal 60 to change causing the 3rd terminal 60 and the 4th terminal 62 change direction and the inner member of automatic running device 50 is caused to damage to the electric current of automatic running device 50 interior transmission.
The first terminal 16 and the second terminal 18 are during respectively with the 3rd terminal 60 and the corresponding electric connection of the 4th terminal 62, energy provides the rechargeable energy of unit 20 to be passed to the 3rd terminal 60 and the 4th terminal 62 through the first terminal 16 and the second terminal 18, further through current detecting unit 80, be passed to energy storage units 56 for energy storage units 56 chargings, under this state, current detecting unit 80 can detect charging current, and the charging current detecting is passed to main control unit 76, main control unit 76 detect confirm after this charging current the first terminal 16 and the second terminal 18 respectively with the 3rd terminal 60 and the corresponding electric connection of the 4th terminal 62, second group of terminal confirming automatic running device 50 docks successfully with first group of terminal of charging station 10.When the first terminal 16 and the second terminal 18 do not have corresponding electric connection with the 3rd terminal 60 and the 4th terminal 62 respectively, energy provides the rechargeable energy of unit 20 to be passed to the 3rd terminal 60 and the 4th terminal 62 through the first terminal 16 and the second terminal 18, further through current detecting unit 80, be passed to energy storage units 56 for energy storage units 56 chargings, therefore to can't detect charging current be that the charging current that current detecting unit 80 detects is zero to current detecting unit 80, when the charging current that main control unit 76 detects by current detecting unit 80 is zero, confirm that the first terminal 16 and the second terminal 18 do not have corresponding electric connection with in the 3rd terminal 60 and the 4th terminal 62 one group or two groups of terminals respectively, second group of terminal not confirming automatic running device 50 docks successfully with first group of terminal of charging station 10.
Main control unit 76 detects after the condition of returning, and controls automatic running device 50 and returns to charging station 10, and main control unit 76 is controlled energy control unit 88 in allowing the 3rd terminal 60 and the 4th terminal 62 to the state of the energy transmission of energy storage units 56 simultaneously.In return course, current detecting unit 80 detects the charging current that the 3rd terminal 60 and the 4th terminal 62 are applied to energy storage units 56 constantly, before the first terminal 16 and the second terminal 18 dock successfully with the 3rd terminal 60 and the 4th terminal 62, current detecting unit 80 can't detect charging current, after the first terminal 16 and the second terminal 18 dock successfully with the 3rd terminal 60 and the 4th terminal 62, energy provides the rechargeable energy of unit 20 to be passed to the 3rd terminal 60 and the 4th terminal 62 through the first terminal 16 and the second terminal 18, further through current detecting unit 80, be passed to energy storage units 56, current detecting unit 80 detects charging current, once current detecting unit 80 detects charging current, main control unit 76 confirm the first terminals 16 and the second terminal 18 respectively with the 3rd terminal 60 and the corresponding electric connection of the 4th terminal 62, second group of terminal confirming automatic running device 50 docks successfully with first group of terminal of charging station 10, main control unit 76 is controlled automatic running device 50 and is stopped walking, charging station 10 is automatic running device 50 chargings, charging process starts.Preferably, energy provides the energy of unit 20 to be applied to all the time on the first terminal 16 and the second terminal 18, even if automatic running device 50 does not dock with charging station 10, the first terminal 16 and the second terminal 18 are also exported rechargeable energy, the advantage of this scheme is simple in structure, dependable performance.A kind of deformation program to preferred version is, the energy of charging station 10 provides the rechargeable energy that unit 20 provides not conventionally to be applied on the first terminal 16 and the second terminal 18, when automatic running device 50 being detected near charging station 10, energy provides the rechargeable energy that unit 20 provides to be conventionally just applied on the first terminal 16 and the second terminal 18, the advantage of this scheme is more power saving, and security performance is higher.The mode that realizes this scheme can be, on automatic running device 50 and charging station 10, sensing element is set respectively, when automatic running device 50 is during near charging station 10, sensing element action, charging station 10 is controlled energy provides the energy of unit 20 to be applied to the first terminal 16 and the second terminal 18, sensing element can be various ways, as at the interior tongue tube that arranges of charging station 10, the interior magnet steel that arranges of automatic running device 50, when automatic running device 50 is during near charging station 10, magnet steel moves to tongue tube, tongue tube is converted to closure state by off-state, the state variation control energy that charging station 10 detects tongue tube provides the rechargeable energy of unit 20 to be applied to the first terminal 16 and the second terminal 18.
After charging process starts, the current detecting unit 80 of automatic running device 50 constantly detects the 3rd terminal 60 and the 4th terminal 62 is applied to the charging current on energy storage units 56, and detection signal is passed to main control unit 76, main control unit 76, once electric current be detected lower than preset value, is controlled energy control unit 88 termination the 3rd terminals 60 and the 4th terminal 62 to the energy transmission of energy storage units 56.Except detecting by 80 pairs of charging currents of current detecting unit, judge whether to forbid outside the mode of energy transmission, in main control unit 76, also can pass through the current energy state of stored energy detecting unit 82 detected energy memory cell 56, thereby judge whether to need to continue charging, in addition, the mode that main control unit 76 also can arrange timer by portion within it judges whether the charging interval surpass preset value, thereby control, whether forbids energy transmission; Main control unit 76 also can pass through the internal information of detected energy memory cell 56, judge whether to forbid energy transmission, as internal temperature of detected energy memory cell 56 etc., when the internal temperature of energy storage units 56 surpasses preset temperature range, forbid that the 3rd terminal 60 and the 4th terminal 62 are to the energy transmission of energy storage units 56, thereby stop the charging to energy storage units 56.Main control unit 76 is judged and need to be forbidden energy transmission by above-mentioned any one mode, control energy control unit 88 in forbidding that the 3rd terminal 60 and the 4th terminal 62 are to the state of the energy transmission of energy storage units 56, charging process finishes, automatic running device 50 returns to working region 102 again, works on.
Second group of terminal at above-mentioned confirmation automatic running device 50 docks in successful process with first group of terminal of charging station 10, and automatic running device 50 starts charging process by once confirming docking.In actual conditions, owing to electric current being detected and controlling automatic running device 50, to stop between walking life period poor, therefore automatic running device 50 stops after walking, and first group of terminal and second group of terminal may be separated from each other again, and current detecting unit 80 can't detect charging current.Main control unit 76 detects electric current by current detecting unit 80 and is less than preset value in the case, causes main control unit 76 to confirm that charging process finishes, and controls automatic running device 50 and again returns to working region 102 work.For avoiding the appearance of above-mentioned situation, second group of terminal that main control unit 76 arranges twice confirmation automatic running device 50 docks successful process with first group of terminal of charging station 10.Main control unit 76 is after second group of terminal confirming for the first time automatic running device 50 docks successfully with first group of terminal of charging station 10, control automatic running device 50 and stop walking, confirm that subsequently whether current detecting unit 80 continues to detect the charging current that the 3rd terminal 60 and the 4th terminal 62 are applied to energy storage units 56 within the default time, if within the default time, continue to detect charging current, main control unit 76 reaffirms that second group of terminal of automatic running device 50 docks successfully with first group of terminal of charging station 10, control the state that automatic running device 50 keeps stopping walking, start charging process, until charging finishes, if within the default time, charging current do not detected, main control unit 76 is controlled automatic running device 50 and is started walking, again attempts docking, and the second group of terminal that repeats above-mentioned confirmation automatic running device 50 docks successful process with first group of terminal of charging station 10.Because the process of whole detection response is very short, therefore default time operated by rotary motion is also shorter, and the present embodiment is set to 2S.Successively confirm that second group of terminal of automatic running device 50 docks in successful process with first group of terminal of charging station 10 for twice, the charging current detecting can be identical, also can be not identical.
For overcoming the deficiency that needs human intervention, automatic running device 50 is provided with the mode that multiple startup is returned, as the operating time to, worked, electric weight is not enough, drench with rain, user forces to return etc. all can be used as the condition that automatic running device 50 returns to charging station 10, main control unit 76, when any above-mentioned condition being detected, is controlled automatic running device 50 and is returned to charging station 10.Operating time to and the detection of having worked by realizing at the interior operating time timer that arranges of main control unit 76, Preset Time arrives, and controls automatic running device 50 and returns to charging station 10, specific implementation, for those skilled in the art know, does not repeat them here.The detection of electric weight deficiency detects the dump energy situation of current energy storage units 56 constantly by stored energy detecting unit 82, and the energy residue situation detecting is fed back to main control unit 76, when the energy of energy storage units 56 is reduced to predetermined threshold value, main control unit 76 is controlled automatic running device 50 and is returned to charging station 10, for energy storage units 56 chargings, predetermined threshold value is according to the chemical characteristic of energy storage units 56, the information summaries such as the working condition of automatic running device 50 are considered to arrange, to guarantee that energy storage units 56 chargings once can make full use of, can avoid again occurring that energy storage units 56 energy drains cause automatic running device 50 cannot return to charging station 10 simultaneously in returning to way, drench with rain and realize by drench with rain checkout gear 92 of the surface of shell setting at automatic running device 50, the checkout gear 92 of drenching with rain is electrically connected with main control unit 76, when drenching with rain, the checkout gear 92 of drenching with rain produces corresponding signal and passes to main control unit 76, main control unit 76 is controlled automatic running device 50 and is returned to charging, and which can effectively be avoided damage automatic running device 50 being caused owing to drenching with rain, user forces to return by the surface of shell at automatic running device 50 positive-action return 90 realizations is set, this positive-action return 90 is electrically connected with main control unit 76, when positive-action return 90 detects user and forces to return to demand, the form that user's request can be converted into the signal of telecommunication passes to main control unit 76, main control unit 76 is controlled automatic running device 50 and is returned to charging station 10, which is mainly used in responding fast user's demand of charging, even if the energy of energy storage units 56 is higher, but user can send return instruction to main control unit 76 by positive-action return 90, main control unit 76 receives after this return instruction, control automatic running device 50 and return to charging station 10, for energy storage units 56 chargings.
Composition and the working method of below in conjunction with Fig. 4, introducing in detail each functional unit of the first printed substrate 14 and the second printed substrate 58, be first introduced the functional unit of the second printed substrate 58.
Main control unit 76 is mainly used in the reception of signal, the judgement of signal, according to the result of signal judgement, produce control signal etc.Based on above-mentioned functions demand, main control unit 76 can be set to the various ways that analog circuit, digital circuit, analog circuit mix with digital circuit, in the present embodiment, main control unit 76 has adopted the form of micro controller MCU, be well known to those skilled in the artly by writing preset program, can carry out the integrated circuit unit that relevant action is realized corresponding function, corresponding function at least comprises detection, identification, the judgement of signal, the generation of signal, transmission, and timing, calculating.Micro controller MCU further comprises receiver port RX1, RX2, RX3, RX4 and signal sending end mouth TX1, and wherein, receiver port RX1 and current detecting unit 80 are electrically connected, the charging current signal transmitting for received current detecting unit 80; Receiver port RX2 and stored energy detecting unit 82 are electrically connected, for receiving the energy of the current energy storage units 56 detecting from stored energy detecting unit 82; Receiver port RX3 and positive-action return 90 are electrically connected, for receiving the signal transmitting from positive-action return 90; Receiver port RX4 is electrically connected with the checkout gear 92 of drenching with rain, for receiving the signal transmitting from the checkout gear 92 of drenching with rain; Signal sending end mouth TX1 and energy control unit 88 are electrically connected, for transmitting control signal to energy control unit 88 to control the 3rd terminal 60 and the 4th terminal 62 to the energy transmission of energy storage units 56.The signal output of the signal control signal transmit port TX1 that main control unit 76 receives according to receiver port RX1, RX2, RX3, RX4.
Stored energy detecting unit 82 is mainly used in the energy of moment detected energy memory cell 56 in automatic running device 50 work and charging process, and detection signal is passed to receiver port RX2, in automatic running device 50 courses of work, the signal that micro controller MCU receives according to it judges whether the energy of energy storage units 56 exceeds a certain preset value, thereby judges whether to return charging station 10 chargings; In automatic running device 50 charging processes, the signal that micro controller MCU receives according to it judges whether the energy of energy storage units 56 exceeds a certain preset value, thereby judges whether to stop charging process by energy control unit 88.In automatic running device 50 courses of work, when the energy that energy storage units 56 detected is during lower than a certain preset value, micro controller MCU controls automatic running device 50 and 100 returns to charging station 10 along boundary line; In automatic running device 50 charging processes, when the energy that energy storage units 56 detected is during higher than a certain preset value, micro controller MCU controls automatic running device 50 and stops charging.For the current energy state of detected energy memory cell 56, detected energy memory cell 56 voltage statuss can be passed through, also the discharging current of detected energy memory cell 56 or the various ways such as stored energy of charging current and electric discharge or charging interval calculating energy memory cell 56 can be passed through.In the present embodiment, adopted the mode of measuring energy storage units 56 voltage statuss, the advantage of which is to realize simple.As shown in Figure 4, stored energy detecting unit 82 comprises that resistance R 5, R6 are composed in series voltage divider, and the voltage divider consisting of resistance R 5, R6 detects the voltage of energy storage units 56.In automatic running device 50 courses of work, this predeterminated voltage value is generally higher than 90% of energy storage units 56 nominal voltages, setting both can guarantee the abundant work of automatic running device 50 like this, can guarantee that again automatic running device 50 returned to charging station 10 before the energy drain of energy storage units 56, be energy storage units 56 makeup energy; In automatic running device 50 charging processes, this predeterminated voltage value is traditionally arranged to be higher than 10% of energy storage units 56 nominal voltages.In the present embodiment, because energy storage units 56 adopts lead-acid battery, the nominal voltage of this battery is 24V, therefore the predeterminated voltage value in the course of work is set to 21.6V, but because generally adopting the form that judges charging current, lead-acid battery determines whether stop charging, therefore the signal of the stored energy detecting unit 82 in the present embodiment be not used in the condition that judges whether to stop charging, is not construed as limiting the predeterminated voltage in charging process at this.
Positive-action return 90 is for responding fast user's charging demand, its major function is response user's charging demand, and this demand is fed back to micro controller MCU with the form of the signal of telecommunication, can there is this function of implemented in many forms, as respond to user voice, sensing user touch etc., form compared to induction user voice, the mode of sensing user touch is more easy, therefore in the present embodiment, adopt the mode of sensing user touch, based on this mode, positive-action return 90 can be set to normal open switch or trigger switch form, is specially trigger switch form.As shown in Figure 4, interrupteur SW 1 one end and energy storage units 56 negative poles are electrically connected, the receiver port RX3 of one end and main control unit 76 is electrically connected, and under normal conditions, receiver port RX3 is in high-impedance state, once user's push switch SW1 is closed, receiver port RX3 can receive low level, and the low level that main control unit 76 response signal receiving port RX3 receive is controlled automatic running device 50 and returned to charging station 10, is energy storage units 56 chargings.
Drench with rain checkout gear 92 for detection of whether rain pouring drops down onto automatic running device 50, if rainwater detected, the signal detecting is passed to main control unit 76 by receiver port RX4, main control unit 76 control automatic running devices 50 return to charging station 10 and take shelter from rain, thereby avoid the erosion of rainwater to automatic running device 50.The checkout gear 92 of drenching with rain can be realized by two sheet metals of mutually isolating, the receiver port RX4 of sheet metal and micro controller MCU is electrically connected, another sheet metal and the 4th terminal 62 are electrically connected, when there is no rainwater, two sheet metals keep separate state, receiver port RX4 is in vacant state, when rain, two sheet metals interconnect by rainwater, receiver port RX4 receives low level signal, and micro controller MCU control automatic running device 50 returns to charging station 10 and takes shelter from rain.The function of two sheet metals is equivalent to the effect of switch, and therefore, in Fig. 4, the checkout gear 92 of drenching with rain is illustrated by interrupteur SW 2.
Current detecting unit 80 is mainly used in returning and in charging station 10 and charging process, detecting the 3rd terminal 60 and the 4th terminal 62 is applied to the charging current of energy storage units 56 at automatic running device 50, and the charging current detecting is fed back to main control unit 76.In return course, whether whether automatic running device 50 detects by current detecting unit 80 second group of terminal that charging current judges automatic running device 50 docks successfully with first group of terminal of charging station 10; In charging process, whether the charging current that automatic running device 50 detects by current detecting unit 80 judges whether to need to stop charging lower than preset value.For the function of current detecting unit 80, current detecting unit 80 can be set to various ways, in the present embodiment, adopts the mode of micro-resistance well known to those skilled in the art and operational amplifier to realize.As shown in Figure 4, current detecting unit 80 comprises and is arranged at the 3rd terminal 60 to the micro-resistance R 1 between energy storage units 56 positive poles, amplifies and amplifying signal is passed to the operational amplifier A of receiver port RX1 to being applied to voltage in resistance R 1.Micro controller MCU detects after the voltage being applied in resistance R 1 by receiver port RX1, carry out corresponding computing, judge the charging current of the resistance R 1 of flowing through, can obtain the 3rd terminal 60 and the 4th terminal 62 to the charging current value of energy storage units 56.When the first terminal 16 and the second terminal 18 are during respectively with the 3rd terminal 60 and the corresponding electric connection of the 4th terminal 62, energy provides the energy of unit 20 to be applied to the 3rd terminal 60 and the 4th terminal 62 through the first terminal 16 and the second terminal 18, further through current detecting unit 80, provide to energy storage units 56, now current detecting unit 80 detects charging current, and main control unit 76 confirms that second group of terminal of automatic running device 50 docks successfully with first group of terminal of charging station 10; Otherwise when in the first terminal 16 and the second terminal 18 and the 3rd terminal 60 and the 4th terminal 62 one group or two groups is thrown off mutually, do not have electric current to provide to energy storage units 56, therefore current detecting unit 80 can't detect charging current, and main control unit 76 does not confirm that second group of terminal of automatic running device 50 docks successfully with first group of terminal of charging station 10.As previously mentioned, current detecting unit 80 not only detects electric current for docking operation and feeds back to main control unit 76 and docks successfully with first group of terminal of charging station 10 for judging whether second group of terminal of automatic running device 50, thereby be also applied to electric current be detected and feed back to main control unit 76 in charging process judges whether to stop charging simultaneously.In docking operation, if main control unit 76 be set to detect charging current judge the first terminal 16 and the second terminal 18 respectively with the 3rd terminal 60 and the corresponding electric connection of the 4th terminal 62; In charging process, the charging current that main control unit 76 is set to detect is less than a certain preset value and sends signal to the 88 control termination chargings of energy control unit, this predetermined current value is according to the characteristic setting of energy storage units 56, what energy storage units 56 adopted in the present embodiment is lead-acid battery, according to its characteristic, preset value is set to 200mA.
Energy control unit 88 is for forbidding or allowing the 3rd terminal 60 and the 4th terminal 62 to the energy transmission of energy storage units 56.Automatic running device 50 detects after the condition of returning, and main control unit 76 sends control signal and controls energy control unit 88 in allowing the 3rd terminal 60 and the 4th terminal 62 to the state of the Energy Transfer of energy storage units 56; 10 pairs of automatic running devices of charging station 50 carry out in charging process, and the charging current that main control unit 76 detects according to rechargeable energy detecting unit 80 is sent control signal through signal sending end mouth TX1 and controlled energy control unit 88 in allowing or forbidding the state that the 3rd terminal 60 and the 4th terminal 62 to the energy of energy storage units 56 transmits.Function for energy control unit 88, energy control unit 88 at least can be set to drive circuit and add the mode of metal-oxide-semiconductor or the mode that drive circuit adds relay, as shown in Figure 4, adopted in the present embodiment drive circuit to add metal-oxide-semiconductor mode, wherein metal-oxide-semiconductor Q1 is arranged between the 3rd terminal 60 and the positive pole of energy storage units 56, drive circuit is arranged between secondary signal transmit port TX1 and metal-oxide-semiconductor, and drive circuit further comprises the resistance R 4 for the resistance R 2 of driven MOS pipe and R3, switching transistor Q2 and driving switch transistor Q2.Generally, micro controller MCU sends low level signal by signal sending end mouth TX1, and control switch transistor Q2 disconnects, and then controls metal-oxide-semiconductor Q1 disconnection, avoids the energy consumption of control circuit to energy storage units 56.Once micro controller MCU from receiver port RX2 or RX3 receive charging inverse signal, micro controller MCU sends high level signal by signal sending end mouth TX1, control switch transistor Q2 conducting, and then control metal-oxide-semiconductor Q1 conducting, thereby allow the 3rd terminal 60 and the 4th terminal 62 to the Energy Transfer of energy storage units 56, allow the charging of 10 pairs of automatic running devices 50 of charging station.After charging starts, current detecting unit 80 detects the 3rd terminal 60 and the 4th terminal 62 constantly to the charging current of energy storage units 56, and detection signal is passed to micro controller MCU by receiver port RX1, once micro controller MCU, charging current detected and be less than 200mA, by signal sending end mouth TX1, send low level signal, control switch transistor Q2 disconnects, and then control metal-oxide-semiconductor Q1 disconnects, thereby interrupt energy flow control three terminals 60 and the 4th terminal 62 to the Energy Transfer of energy storage units 56, stop the charging of 10 pairs of automatic running devices 50 of charging station.
Rectification unit 72 is for adjusting inputting the sense of current of the 3rd terminal 60 and the 4th terminal 62, guarantee no matter electric current flows into after rectification unit 72 from the 3rd terminal 60 or the 4th terminal 62, electric current all flows out from the positive pole output of rectification unit 72, thereby guarantee that no matter electric current flows into automatic running devices 50 from the 3rd terminal 60 or the 4th terminal 62, electric current arrives first and reaches energy storage units 56 positive poles and then through energy storage units 56 negative poles, flow out automatic running devices 50 for energy storage units 56 chargings.Based on above-mentioned functions, rectification unit 72 is set to the full bridge rectifier that four diodes form, as shown in Figure 4, the back-to-back connection of positive terminal of diode D1, D2, its connected node forms the cathode output end of rectification unit 72, and the negative pole of this cathode output end and energy storage units 56 is electrically connected; The back-to-back connection of negative pole end of diode D3, D4, its connected node forms the cathode output end of rectification unit 72, and the positive pole of this positive terminal and energy storage units 56 is electrically connected; The positive terminal of the negative pole end of diode D1 and diode D3 is electrically connected, and its connected node forms the electrode input end of rectification unit 72, and electrode input end and the 3rd terminal 60 are electrically connected; The positive terminal of the negative pole end of diode D2 and diode D4 is electrically connected, and its connected node forms the negative input of rectification unit 72, and negative input and the 4th terminal 62 are electrically connected.When electric current positive pole flows into from the 3rd terminal 60, electric current flows into the cathode output end of rectification unit 72 through diode D3, further flow into the positive pole of energy storage units 56, then through the negative pole of energy storage units 56, return to the cathode output end of rectification unit 72, through diode D2, flowing into the 4th terminal 62 again, is energy storage units 56 chargings thereby form loop; Electric current positive pole flows into from the 4th terminal 62, electric current flows into the cathode output end of rectification unit 72 through diode D4, further flow into the positive pole of energy storage units 56, then through the negative pole of energy storage units 56, return to the cathode output end of rectification unit 72, through diode D1, flowing into the 3rd terminal 60 again, is energy storage units 56 chargings thereby form loop.Energy provides its positive pole of energy that unit 20 provides to be applied to the first terminal 16, negative pole is applied to the second terminal 18, and in docking operation, the situation that may occur the first terminal 16 and the 4th terminal 62 and the second terminal 18 and the corresponding electric connection of the 3rd terminal 60, if rectification unit 72 is not set, the energy on the first terminal 16 and the second terminal 18 is applied on the 3rd terminal 60 and the 4th terminal 62 with the direction contrary with normal condition, now can cause the damage to automatic running device 50 internal components, but because providing the existence of unit 20, energy can carry out rectification to the energy applying in the other direction, no matter thereby guarantee that energy puts on the 3rd terminal 60 in which way and the 4th terminal 62 all can guarantee to charge normal for automatic running device 50, avoid the device in automatic running device 50 to cause damage.
The concrete structure of each functional unit that foregoing comprises the second printed substrate 58, working method and impact are each other elaborated, and below concrete structure and the working method of the functional unit that the first printed substrate 14 is comprised are described in detail.
The first printed substrate 14 further comprises that energy provides unit 20, energy provide unit 20 by power line 12 from external ac power source obtain energy and transform accordingly pass to the first terminal 16 and the second terminal 18.Conventionally energy provides unit 20 can be set to that Switching Power Supply adds control circuit pattern or transformer adds control circuit pattern, due to Switching Power Supply, to compare transformer energy transformation efficiency higher, therefore being set in the present embodiment Switching Power Supply adds control circuit pattern, Switching Power Supply is converted into High Level AC Voltage after low-voltage AC, and control circuit carries out rectification to low-voltage AC and finally forms low-voltage DC.Control circuit is controlled the operating state of Switching Power Supply simultaneously, adjusts the output of Switching Power Supply according to the characteristic of the energy storage units 56 being recharged.According to the present embodiment, energy storage units 56 is 24V lead-acid battery, the mode of operation of the control circuit regulating switch power supply ductility limit die pressing type that is limited, voltage limiting value is set to 29.5V, cut-off current is set to 1.5A, regulation and control based on control circuit, the energy ceiling voltage that energy provides unit 20 to be finally applied to the first terminal 16 and the second terminal 18 is that 29.5V electric current is up to 1.5A.At energy, provide in unit 20, energy stop device is not set, therefore as long as power line 12 and external ac power source are electrically connected the DC power supply that has 29.5V on the first terminal 16 and the second terminal 18, once the 3rd terminal 60 and the 4th terminal 62 are electrically connected with the first terminal 16 and the second terminal 18 correspondences respectively, there are current delivery to the three terminals 60 and the 4th terminal 62, further pass to energy storage units 56.Although have all the time power supply on the first terminal 16 and the second terminal 18, the ceiling voltage of this power supply is only 29.5V, therefore also can not produce damage to human body, is also safe.
Above combined circuit block diagram is described in detail the function of each functional unit of the first printed substrate 14 and the second printed substrate 58, concrete structure, mutual Collaboration, below in conjunction with the workflow diagram of micro controller MCU, automatic running device 50 and docking operation, the charging process of charging station 10 is carried out to whole detailed description.
As shown in Figure 5, after automatic running device 50 startup work, micro controller MCU enters step S0 and carries out initialization, after initialization micro controller MCU control automatic running device 50 in the working region 102 of boundary line 100 planning according to preset rules work, as shown in step S1, enter subsequently step S2, the state of judgement interrupteur SW 1 sense switch SW1, judge whether user forces output return instruction by positive-action return 90, if the determination result is YES, proceed to step S5, if the determination result is NO, proceed to step S3, the state of sense switch SW2, judge whether to drench with rain, if the determination result is YES, proceed to step S5, if the determination result is NO, whether proceed to the magnitude of voltage of step S4 by stored energy detecting unit 82 detected energy memory cell 56 lower than 21.6V, be whether the current energy of energy storage units 56 is lower than preset value, if the determination result is NO, return to step S1, if the determination result is YES, proceeding to step S5 controls automatic running device 50 and 100 returns to charging station 10 along boundary line, when returning, control energy control unit 88 in conducting state, allow the 3rd terminal 60 and the 4th terminal 62 to the energy transmission of energy storage units 56, proceed to subsequently step S6 detection the 3rd terminal 60 and the 4th terminal 62 to the charging current of energy storage units 56, enter step S7, further judge whether to detect charging current, if the result of judgement is no, return to step S5, if the result of judgement is yes, enter step S8, confirm that second group of terminal of automatic running device 50 docks successfully with first group of terminal of charging station 10, control automatic running device 50 and stop walking, proceed to step S9 continuation detection the 3rd terminal 60 and the 4th terminal 62 to the charging current of energy storage units 56, proceed to subsequently step S11, whether judgement continues to detect charging current in default time 2S, if the result of judgement is no, shows to dock unsuccessfully, control automatic running device 50 and start walking, attempt docking again, return to step S5, if the result of judgement is yes, enter step S12, second group of terminal reaffirming automatic running device docks successfully with first group of terminal of charging station, controls the state that automatic running device 50 keeps stopping walking, and charging process starts.After second group of terminal of automatic running device 50 docks successfully with first group of terminal of charging station 10, the first terminal 16 and the second terminal 18 respectively with the 3rd terminal 60 and the corresponding electric connections respectively of the 4th terminal 62, energy provides unit 20 to provide and through the 3rd terminal 60 and the 4th terminal 62, passes to energy storage units 56 to the energy of the first terminal 16 and the second terminal 18 is its charging.In charging process, current detecting unit 80 continues to detect charging current as shown in step S13; Proceed to subsequently step S14 and judge whether charging current is less than 200mA, if the determination result is NO, return to step S13 and continue to detect charging current, if the determination result is YES, proceed to step S15 and control energy control unit 88 in forbidding that the 3rd terminal 60 and the 4th terminal 62 are to the energy transmission of energy storage units 56, stop charging process, whole docking and charging process also finish thereupon, and automatic running device 50 can again return to working region 102 and work on.
In the present invention, automatic running device 50 can be the various ways such as hay mover, dust catcher, industrial robot.When automatic running device 50 is hay mover, also further comprise cutting mechanism, cutting mechanism comprises cutting motor 52 and cutting blade, and during the working region 102 interior work of hay mover 100 planning in boundary line, cutting motor 52 drives cutting blades rotation, cutting lawns.
Claims (9)
1. a docking calculation, docks with charging station for realizing automatic running device,
Described charging station comprises:
First group of terminal, at least comprises the first terminal and the second terminal;
Energy provides unit, provides rechargeable energy to the first terminal and the second terminal; Described automatic running device comprises:
Second group of terminal, at least comprises the 3rd terminal and the 4th terminal, can with first group of corresponding electric connection of terminal;
Energy storage units, for automatic running device provides energy;
Current detecting unit with energy storage units electric connection;
Main control unit, is electrically connected with current detecting unit, controls the operating state of automatic running device; It is characterized in that, described docking calculation comprises the steps:
Current detecting unit detection the 3rd terminal and the 4th terminal are to the charging current of energy storage units;
Main control unit confirms whether current detecting unit detects charging current;
Current detecting unit detects charging current;
Main control unit confirms that second group of terminal docks successfully with first group of terminal.
2. docking calculation according to claim 1, it is characterized in that: current detecting unit is converted to corresponding charging current signal by the charging current detecting and passes to main control unit, when charging current signal is preset signals, main control unit confirms that current detecting unit detects charging current.
3. docking calculation according to claim 2, is characterized in that: after main control unit confirms that second group of terminal docks successfully with first group of terminal, control automatic running device and stop walking.
4. docking calculation according to claim 3, is characterized in that: automatic running device stops after walking, and current detecting unit does not again detect charging current within the default time, and main control unit is controlled automatic running device and started walking.
5. according to the docking calculation described in any one in claim 1 to 4, it is characterized in that: automatic running device further comprises energy control unit, when current detecting unit detects charging current and is less than predetermined current value, the charging current that main control unit detects according to current detecting unit is controlled energy control unit and is stopped the 3rd terminal and the 4th terminal to the energy transmission of energy storage units.
6. docking calculation according to claim 1, it is characterized in that: automatic running device further comprises stored energy detecting unit, the current energy that energy storage units detected when stored energy detecting unit is during lower than default energy value, and main control unit returns to charging station according to the energy measuring signal controlling automatic running device of stored energy detecting unit transmission.
7. docking calculation according to claim 1, it is characterized in that: automatic running device also comprises positive-action return, when positive-action return sends return instruction, the return instruction that main control unit sends according to positive-action return is controlled automatic running device and is returned to charging station.
8. docking calculation according to claim 1, is characterized in that: main control unit detects the operating time of automatic running device, and when the operating time reaches Preset Time value, main control unit is controlled automatic running device and returned to charging station.
9. docking calculation according to claim 1, it is characterized in that: automatic running device further comprises the rectification unit being arranged between the 3rd terminal and the 4th terminal, described rectification unit arranges electrode input end, negative input, cathode output end and cathode output end, electrode input end and the 3rd terminal are electrically connected, negative input and the 4th terminal are electrically connected, the positive pole of cathode output end and energy storage units is electrically connected, and the negative pole of cathode output end and energy storage units is electrically connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201010599403.4A CN102545285B (en) | 2010-12-20 | 2010-12-20 | Butting method |
| US13/996,394 US9276419B2 (en) | 2010-12-20 | 2011-12-20 | Robot, a docking system and a docking method |
| PCT/CN2011/002139 WO2012083589A1 (en) | 2010-12-20 | 2011-12-20 | Automatic walking device, docking system and docking method therefor |
| EP11849936.7A EP2658073B1 (en) | 2010-12-20 | 2011-12-20 | Docking system and docking method for a robot |
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| CN201010599403.4A CN102545285B (en) | 2010-12-20 | 2010-12-20 | Butting method |
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| CN102799181B (en) * | 2012-08-02 | 2015-05-27 | 江苏苏美达科技产业有限公司 | Charging station system for automatic working device |
| EP3316443B1 (en) | 2015-06-26 | 2020-05-06 | Positec Power Tools (Suzhou) Co., Ltd | Autonomous mobile device and wireless charging system thereof |
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