CN104242411A - Intelligent charging method and system, patrol robot and charging power supply - Google Patents
Intelligent charging method and system, patrol robot and charging power supply Download PDFInfo
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- CN104242411A CN104242411A CN201410541683.1A CN201410541683A CN104242411A CN 104242411 A CN104242411 A CN 104242411A CN 201410541683 A CN201410541683 A CN 201410541683A CN 104242411 A CN104242411 A CN 104242411A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The invention discloses an intelligent charging method. The intelligent charging method includes detecting state of charge of a patrol robot; sending a pre-charge request when the detected state of charge is lower than the set threshold value; establishing the marriage relation according to the received per-charge request; verifying identity of the patrol robot within the charging range based on the established marriage relation; starting a charging power supply for the verified patrol robot. According to the arrangement, special charging request of the patrol robot is met through methods including charging reserve and start and stop controlling of the charging power supply, the problem that multiple patrol robots need to be charged is solved, low-carbon and energy-saving effect is achieved, wireless charging technology is adopted, charging efficiency is improved, and element cost is lowered; manual work is free during the whole charging of the patrol robot, and the actual automation and intelligentization is realized. The invention further provides an intelligent charging system, the patrol robot and the charging power supply.
Description
Technical field
The present invention relates to patrol robot automatic charging field, particularly relate to a kind of intelligent charging method, system, patrol robot and charge power supply.
Background technology
Along with development scientific and technical at present, patrol robot substitutes manual inspection has become a kind of trend.But the energy and environment also become the problem that Present Global is paid close attention to the most.Due to low-carbon (LC) demand and energy starved impact, impel the research and development energetically of environmental protection new forms of energy.A lot of wheeled robot is powered by storage battery, and charge in batteries uses maximum modes to be by manually manually inserting attaching plug to charge to it at present.Now many companies are also had to be proposed the self-charging technology of robot, but its intelligence degree is generally on the low side, cannot balance when the same area has multiple robot to need the situation of charging, and the special charge requirement of robot cannot be met, and its scheme is all be based upon robot charging inlet and power supply accurate to connecting, normally transducer is set in robot, robot constantly adjusts position according to the signal of transducer, achieve a butt joint, this scheme needs very high sensor accuracy, require high to sensor accuracy, easily increase device cost.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of intelligent charging method, system, patrol robot and charge power supply, meet the charge requirement that robot is special, and balance multiple robot and need to carry out the situation of charging, achieve automation and the intellectuality of robot charging.
It is as follows that the present invention solves the problems of the technologies described above adopted technical scheme:
According to a first aspect of the invention, a kind of intelligent charging method provided, comprising:
The dump energy of patrol robot is detected;
When the dump energy detected is lower than setting threshold, send precharge request;
Pair relationhip is set up in precharge request according to receiving;
According to set up pair relationhip, the identity of patrol robot in chargeable range is checked;
Charge power supply is opened to the patrol robot by identification checkup.
Preferably, pair relationhip is set up in the precharge request according to receiving, and comprises further:
After receiving precharge request, the current state of charge power supply is checked;
When the current state checked is idle condition, the positional information of the identity information of patrol robot, dump energy information and charge power supply is prestored;
Patrol robot and charge power supply are matched in advance.
Preferably, intelligent charging method comprises further:
When receiving the precharge request of multiple patrol robot, the dump energy information according to the patrol robot prestored carries out prioritization to multiple patrol robot;
Patrol robot the highest for priority level and charge power supply are matched in advance.
Preferably, set up pair relationhip according to the precharge request received also to comprise:
When the current state checked is operating state, send charging outstanding message to patrol robot.
Preferably, according to set up pair relationhip, the identity of patrol robot in chargeable range is checked, comprises further:
Detect the identity information of patrol robot;
Confirm whether the identity information detected matches with the identity information of the patrol robot prestored.
Preferably, open charge power supply to the patrol robot by identification checkup, comprise further:
When by identification checkup, receive charging signals;
Charging signals according to receiving opens described charge power supply.
Preferably, according to set up pair relationhip, before the step that the identity of patrol robot in chargeable range is checked, also comprise:
According to the positional information of the charge power supply prestored, tracking is in chargeable range.
According to a second aspect of the invention, a kind of intelligent charging system provided, comprising:
Detection module, for detecting the dump energy of patrol robot;
Request module, for when the dump energy detected is lower than setting threshold, sends precharge request;
Matching module, for setting up pair relationhip according to the precharge request received;
Check module, for according to set up pair relationhip, the identity of patrol robot in chargeable range is checked;
Charging module, for opening charge power supply to the patrol robot by identification checkup.
According to a third aspect of the present invention, a kind of patrol robot provided, comprising:
Detection module, for detecting the dump energy of patrol robot;
Request module, for when the dump energy detected is lower than setting threshold, sends precharge request.
According to a fourth aspect of the present invention, a kind of charge power supply provided, comprising:
Matching module, for setting up pair relationhip according to the precharge request received;
Check module, for according to set up pair relationhip, the identity of patrol robot in chargeable range is checked;
Charging module, for opening charge power supply to the patrol robot by identification checkup.
The intelligent charging method that the embodiment of the present invention provides, system, patrol robot and charge power supply, in patrol process, monitor self residual electricity by patrol robot and determine whether to need charging, needing to carry out wireless charging to charge power supply during charging in judgement; The present invention adopts wireless charging technology, charging inlet is not needed to dock with the accurate of power supply, save device cost while improve charge efficiency, and meet the special charge requirement of robot by the mode of charging reservation, balance multiple robot and need to carry out the situation of charging; In addition, the present invention can also control the start and stop of charge power supply, opens when needs charging, does not need to close when charging, thus reach the effect of low-carbon energy-saving, solve the technical problem still causing energy dissipation when not having target charging device at emitted energy.Patrol robot without the need to behavior adjustment management in whole charging process, has been broken away from artificial charging, has been achieved real automation and intellectuality.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the flow chart of the intelligent charging method that first embodiment of the invention provides;
Fig. 2 is the refinement flow chart of step S150 in Fig. 1 of the present invention;
Fig. 3 is the refinement flow chart of step S170 in Fig. 1 of the present invention;
Fig. 4 is the refinement flow chart of step S190 in Fig. 1 of the present invention;
Fig. 5 is the flow chart of the intelligent charging method that second embodiment of the invention provides;
Fig. 6 is the function structure chart of the intelligent charging system that third embodiment of the invention provides;
Fig. 7 is the function structure chart of the intelligent charging system that fourth embodiment of the invention provides;
Fig. 8 is the function structure chart of the patrol robot that fifth embodiment of the invention provides;
Fig. 9 is the function structure chart of the patrol robot that sixth embodiment of the invention provides;
Figure 10 is the function structure chart of the charge power supply that seventh embodiment of the invention provides;
Figure 11 is the structural representation of the charging system that the embodiment of the present invention provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the embodiment of a part of the present invention, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
In order to make technical problem to be solved by this invention, technical scheme and beneficial effect clearly, understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Below in conjunction with specific embodiment, specific implementation of the present invention is described in detail:
Fig. 1 is the flow chart of the intelligent charging method that first embodiment of the invention provides, and for convenience of explanation, only list the part relevant to the embodiment of the present invention, details are as follows:
The intelligent charging method that first embodiment of the invention provides, comprises the following steps:
Step S110, the dump energy of patrol robot to be detected.
In embodiments of the present invention, patrol robot timing detects the dump energy of storage battery.
Step S130, when detect described dump energy lower than setting threshold time, send precharge request.
In embodiments of the present invention, when patrol robot detects the dump energy of current storage battery lower than setting threshold, to charge from the request of trend Master Control Center, and send precharge request to charge power supply, particularly, patrol robot sends precharge request by wireless serial module to charge power supply, wherein, wireless serial module plays data penetration transmission effect, send out and namely received.
Step S150, according to receive precharge request set up pair relationhip.
In embodiments of the present invention, after charge power supply receives the precharge request of patrol robot transmission by wireless serial module, and by wireless serial module, patrol robot is replied, patrol robot and charge power supply are matched in advance.
Figure 2 shows that the method setting up pair relationhip according to the precharge request received, specifically comprise the following steps:
After step S151, reception precharge request, the current state of charge power supply is checked;
Step S153, when the current state checked is idle condition, the positional information of the identity information of patrol robot, dump energy information and charge power supply to be prestored;
Step S155, patrol robot and charge power supply to be matched in advance.
Particularly, in embodiments of the present invention, each patrol machine carries RFID label tag per capita, and using RFID label tag sequence number as its unique identifying number, is carried out the identification of patrol robot identity information in embodiments of the present invention by the RFID label tag of patrol robot; Charge power supply also carries RFID label tag, and the positional information of charge power supply is stored in RFID label tag, the identification of charge power supply positional information is carried out in embodiments of the present invention by the RFID label tag of charge power supply, certainly, the storage of charge power supply positional information also can be other modes, the various ways that information stores is prior art, does not repeat one by one at this.
In embodiments of the present invention, when patrol robot sends precharge request to charge power supply, this precharge request is a Frame, this Frame comprises the RFID label tag sequence number of charge power supply, the current residual information about power of robot, precharge command and robot RFID label tag sequence number, after charge power supply receives precharge request by wireless serial module, detect current state, if charge power supply is in idle condition, then charge power supply can be used, successful matching, its identity information (RFID label tag sequence number) and dump energy information are sent to charge power supply by patrol robot, charge power supply preserves the identity information (RFID label tag sequence number) of patrol robot to be charged and dump energy information in internal memory, its positional information is sent to patrol robot by charge power supply, the positional information of patrol robot to charge power supply prestores.
Further, step S150, set up pair relationhip according to the described precharge request received, also comprise: when to be checked through its current state be operating state to charge power supply, send charging outstanding message to patrol robot; Particularly, in embodiments of the present invention, be operating state when being checked through charge power supply current state, then charge power supply is unavailable, and current pairing is unsuccessful, and charge power supply sends charging outstanding message to patrol robot by wireless serial module.
As another preferred technical scheme, when charge power supply receives the precharge request of multiple patrol robot, dump energy information according to the patrol robot prestored carries out prioritization to multiple patrol robot, the patrol robot the highest with priority level matches in advance, balance multiple robot with this and need to carry out the situation of charging, and meet the special charge requirement of patrol robot, in embodiments of the present invention, after charge power supply receives the precharge request of multiple patrol robot, charge power supply carries out prioritization according to the dump energy of patrol robot to patrol robot, determine that the patrol robot of limit priority enjoys the right to use of charge power supply, the patrol robot of limit priority and charge power supply are matched in advance, the operating state of charge power supply cycle detection charging module, when the state of charge power supply becomes idle condition by operating state, the then patrol robot charging complete of current highest priority, then the patrol robot of charge power supply and next limit priority matches in advance.
Step S170, according to set up pair relationhip, the identity of patrol robot in chargeable range to be checked.
In embodiments of the present invention, by realizing checking patrol robot identity to checking of patrol robot RFID label tag, in other execution modes of the present invention, also can realize checking of identity each other by the identity information of patrol robot and mutual the checking of charge power supply positional information.
Figure 3 shows that according to set up pair relationhip, to the method that the identity of patrol robot described in chargeable range is checked, specifically comprise the following steps:
The identity information of step S171, detection patrol robot;
Whether the identity information that step S173, confirmation detect matches with the identity information of the patrol robot prestored.
Particularly, in embodiments of the present invention, patrol robot arrives in chargeable range, charge power supply controls rfid interrogator and is gone out through transmission antennas transmit by coded electromagnetic ripple signal, be used for activating the RFID label tag entering this region, simultaneously the RFID label tag signal that reception antenna receives, through software demodulation, effective data are extracted after decoding, whether whether charge power supply checks the sequence number that RFID returns consistent with the RFID label tag sequence number of the patrol robot to be charged preserved in advance, if both sequence number is consistent, then check and pass through, when charge power supply check sequence number that RFID returns inconsistent with the RFID label tag sequence number of the patrol robot to be charged preserved in advance time, then check and do not pass through.
Step S190, open charge power supply to by the patrol robot of identification checkup.
In embodiments of the present invention, open charge power supply to the patrol robot by identification checkup and have two kinds of implementations: one is when patrol robot is by identification checkup, charge power supply is opened automatically, two is when patrol robot is by identification checkup, and this patrol robot controls charge power supply and opens; By controlling the start and stop of charge power supply, connecting when needs charging, not needing to disconnect when charging, avoid the charge power supply when not having target charging device also to cause energy waste at transmitting electric energy, thus reach the effect of low-carbon energy-saving.
Figure 4 shows that when patrol robot is by identification checkup, this patrol robot controls the method that charge power supply carries out opening, and specifically comprises the following steps:
Step S191, when by identification checkup time, receive charging signals;
Step S193, according to receive charging signals open charge power supply.
Particularly, in embodiments of the present invention, when confirming that identification checkup passes through, patrol robot controls motor stopping of advancing, and issue charging instruction, control infrared emission sensor emission infrared signal, this infrared signal is charging signals, open after the door control unit of charge power supply receives charging signals, and open electricity transmitting element, patrol robot opens the electricity receiving element being installed on chassis simultaneously, electricity transmitting element and the wireless connections of electricity receiving element, patrol robot and charging module are set up to charge and are connected, patrol robot is charged by wireless charging technology, in charging process, patrol robot remains static.Patrol robot monitors self electric quantity in real time, when electricity reaches predetermined threshold value, show charging complete, patrol robot controls infrared emission sensor emission charging completion signal to charge power supply, close after the door control unit of charge power supply receives charging completion signal, and close electricity transmitting element, patrol robot closes the electricity receiving element being installed on chassis simultaneously.
The intelligent charging method that first embodiment of the invention provides, in patrol robot patrol process, constantly monitor self residual electricity and determine whether to need charging, need to carry out wireless charging to charge power supply during charging in judgement, adopt wireless charging technology, charging inlet is not needed to dock with the accurate of power supply, device cost is saved while improve charge efficiency, and meet the special charge requirement of robot by the mode of charging reservation and balance multiple robot and need to carry out the situation of charging, patrol robot in whole charging process without the need to behavior adjustment management, break away from artificial charging, achieve real automation and intellectuality.In addition, the embodiment of the present invention can also control the start and stop of charge power supply, opens when needs charging, does not need to close when charging, thus reach the effect of low-carbon energy-saving, solve the technical problem still causing energy dissipation when not having target charging device at emitted energy.
Fig. 5 is the flow chart of the intelligent charging method that second embodiment of the invention provides, and for convenience of explanation, only list the part relevant to the embodiment of the present invention, details are as follows:
The intelligent charging method that second embodiment of the invention provides, according to set up pair relationhip, before the step check, also comprises the identity of patrol robot in chargeable range:
The positional information of the charge power supply that step S160, basis prestore, tracking is in chargeable range.
In embodiments of the present invention, the Master Control Center of patrol robot is by obtaining the positional information of charge power supply, and determine the path arriving charge power supply, command patrol robot automatic tracking in chargeable range by Master Control Center, in tracking process, realize automatic obstacle avoiding function by ultrasonic sensor.Two ultrasonic sensors are respectively installed in the front and back of patrol robot, ultrasonic sensor by detect the ultrasonic wave launched and its run into barrier after produce time difference between echo, detect the distance of patrol robot and barrier, control turning to, advance or retreating of patrol robot again, auxiliary patrol robot tracking is in chargeable range.
The intelligent charging method that second embodiment of the invention provides, in patrol robot patrol process, constantly monitor self residual electricity and determine whether to need charging, need automatically to arrive charge power supply during charging in judgement and carry out wireless charging, the present invention adopts wireless charging technology, charging inlet is not needed to dock with the accurate of power supply, device cost is saved while improve charge efficiency, and meet the special charge requirement of robot by the mode of charging reservation and balance multiple robot and need to carry out the situation of charging, patrol robot in whole charging process without the need to behavior adjustment management, break away from artificial charging, achieve real automation and intellectuality.In addition, the embodiment of the present invention can also control the start and stop of charge power supply, opens when needs charging, does not need to close when charging, thus reach the effect of low-carbon energy-saving, solve the technical problem still causing energy dissipation when not having target charging device at emitted energy.
Fig. 6 is the function structure chart of the intelligent charging system that third embodiment of the invention provides, and for convenience of explanation, only list the part relevant to the embodiment of the present invention, details are as follows:
The intelligent charging system 100 that third embodiment of the invention provides, comprising:
Detection module 110, for detecting the dump energy of patrol robot;
Request module 130, for when the dump energy detected is lower than setting threshold, sends precharge request;
Matching module 150, for setting up pair relationhip according to the precharge request received;
Check module 170, for according to set up pair relationhip, the identity of patrol robot in chargeable range is checked;
Charging module 190: for opening charge power supply to the patrol robot by identification checkup;
Further, matching module 150 comprises inspection unit, prestore unit and pairing unit;
Inspection unit, for after reception precharge request, checks the current state of charge power supply;
Prestore unit, for when the current state checked is idle condition, prestores to the positional information of the identity information of patrol robot, dump energy information and charge power supply;
Pairing unit: for patrol robot and charge power supply are matched in advance.
Further, prestore unit also for when receiving the precharge request of multiple patrol robot, the dump energy information according to the patrol robot prestored carries out prioritization to multiple patrol robot; And
Pairing unit is also for matching patrol robot the highest for priority level and charge power supply in advance.
Further, inspection unit, also for when the current state checked is operating state, sends charging outstanding message to patrol robot.
Further, check module 170 and comprise detecting unit and confirmation unit;
Detecting unit, for detecting the identity information of patrol robot;
Confirmation unit, for confirming whether the identity information detected matches with the identity information of the patrol robot prestored.
Further, charging module 190 comprises door control unit;
Door control unit, for when by identification checkup, receives charging signals; And open charge power supply according to the charging signals received.
The intelligent charging system that third embodiment of the invention provides, patrol robot is constantly monitored self residual electricity and is determined whether to need charging in patrol process, need to carry out wireless charging to charge power supply during charging in judgement, adopt wireless charging technology, charging inlet is not needed to dock with the accurate of power supply, device cost is saved while improve charge efficiency, and meet the special charge requirement of robot by the mode of charging reservation and balance multiple robot and need to carry out the situation of charging, patrol robot in whole charging process without the need to behavior adjustment management, break away from artificial charging, achieve real automation and intellectuality.In addition, the embodiment of the present invention can also control the start and stop of charge power supply, opens when needs charging, does not need to close when charging, thus reach the effect of low-carbon energy-saving, solve the technical problem still causing energy dissipation when not having target charging device at emitted energy.
Fig. 7 is the function structure chart of the intelligent charging system that fourth embodiment of the invention provides, and for convenience of explanation, only list the part relevant to the embodiment of the present invention, details are as follows:
Preferably, the intelligent charging system that fourth embodiment of the invention provides also comprises:
Tracking module 160, for the positional information according to the charge power supply prestored, tracking is in chargeable range.
The intelligent charging system that fourth embodiment of the invention provides, in patrol robot patrol process, constantly monitor self residual electricity and determine whether to need charging, need to carry out wireless charging to charge power supply during charging in judgement, owing to adopting wireless charging technology, charging inlet is not needed to dock with the accurate of power supply, device cost is saved while improve charge efficiency, and meet the special charge requirement of robot by the mode of charging reservation and balance multiple robot and need to carry out the situation of charging, another by controlling switching on and off of wireless charging system and power supply, connect when needs charging, do not need to disconnect when charging, thus reach the effect of low-carbon energy-saving, patrol robot in whole charging process without the need to behavior adjustment management, break away from artificial charging, achieve real automation and intellectuality.
Fig. 8 is the function structure chart of the patrol robot that fifth embodiment of the invention provides, and for convenience of explanation, only list the part relevant to the embodiment of the present invention, details are as follows:
The patrol robot 200 that fifth embodiment of the invention provides comprises:
Detection module 210, for detecting the dump energy of patrol robot;
Request module 230, for when the dump energy detected is lower than setting threshold, sends precharge request.
In embodiments of the present invention, the controller TTL interface of patrol robot connects wireless serial module, and wireless serial module is connected with antenna; When the dump energy detected is lower than setting threshold, patrol robot sends precharge request by wireless serial module to charge power supply.
Further, patrol robot 200 also comprises electricity receiving element.
The patrol robot that fifth embodiment of the invention provides, in patrol process, constantly monitor self residual electricity and determine whether to need charging, need to carry out wireless charging to charge power supply during charging in judgement, patrol robot in whole charging process without the need to behavior adjustment management, break away from artificial charging, achieve real automation and intellectuality; In addition, the embodiment of the present invention can also control startup and the closedown of charging system, opens when needs charging, does not need to close when charging, thus reach the effect of low-carbon energy-saving, solve the technical problem still causing energy dissipation when not having target charging device at emitted energy.
Fig. 9 is the function structure chart of the patrol robot that sixth embodiment of the invention provides, and for convenience of explanation, only list the part relevant to the embodiment of the present invention, details are as follows:
Preferably, the patrol robot that sixth embodiment of the invention provides also comprises:
Tracking module 250, for the positional information according to the charge power supply prestored, tracking is in chargeable range.
In embodiments of the present invention, because charge power supply is arranged in accumulator plant, when patrol robot executes task in service area, needing to return to accumulator plant could charge.Magnetic wire track is set between service area and accumulator plant, and at magnetic wire track, RFID label tag is set along the line, aid in guide patrol robot returns to accumulator plant, multiple RFID label tag is arranged at turning point, test point, change-over point and the charge point that magnetic wire track is preset along the line, be embedded in the underground of default turning point, test point, change-over point and charge point, being located in the scope that the RFID card reader in patrol robot can respond to.
In embodiments of the present invention, patrol robot tracking comprises the following steps to charge power supply:
Step one, when judging that patrol robot needs charging, detects the deflection of patrol robot current place magnetic wire track;
Step 2, adjusts the speed with trailing wheel advance that turns to of patrol robot front-wheel, makes patrol robot along the magnetic wire orbital motion of laying in advance according to deflection;
Step 3, reads the label string number of the RFID label tag of establishing in advance, controls according to label string number the operation that patrol robot performs stop, turning, speed governing.
Step 4, patrol robot returns in the process of accumulator plant at tracking, detects the distance between patrol robot and preceding object thing.
In step 4, by detect the ultrasonic wave launched and its run into barrier after time difference between the echo that produces, obtain the distance of barrier.
Step 5, according to the distance between patrol robot and barrier, controls patrol robot and performs the action turning to, advance or retreat, avoiding obstacles.
In embodiments of the present invention, bury RFID (radio-frequency (RF) identification) label in advance at ad-hoc locations such as the turning of magnetic wire track and default test point, change-over point, charge point, the label string of RFID label tag number and geographical position one_to_one corresponding.Patrol robot is in motion process, RFID card reader reads the label string number of RFID label tag and reports master controller, the position judging residing for patrol robot according to label string number by master controller, and issue command adapted thereto and control patrol robot and perform the operations such as stop, turning, speed governing, detection, charging.
The electromagnetic wire of the embodiment of the present invention is easy to install, stability is high, strong adaptability.Because patrol robot works in open air, environment facies are to instability, and electromagnetic wire line walking mode is better than infrared sensor line walking mode, electromagnetic wire can be embedded in the surface layer of predetermined trajectory when applying, the disguise of electromagnetic wire and the reliability of magnetic track can be strengthened, reduce wear.And ad-hoc location pre-plugged good RFID (radio-frequency (RF) identification) label such as turning point, test point, change-over point, charge point only needing at polling path, do not need omnidistance laying, save RFID label tag, saving components cost.
The patrol robot that sixth embodiment of the invention provides, in patrol process, constantly monitor self residual electricity and determine whether to need charging, when judging to need charging, automatic tracking carries out wireless charging to charge power supply, patrol robot in whole charging process without the need to behavior adjustment management, break away from artificial charging, achieve real automation and intellectuality; In addition, the embodiment of the present invention can also control startup and the closedown of charging system, opens when needs charging, does not need to close when charging, thus reach the effect of low-carbon energy-saving, solve the technical problem still causing energy dissipation when not having target charging device at emitted energy.
Figure 10 is the function structure chart of the charge power supply that seventh embodiment of the invention provides, and for convenience of explanation, only list the part relevant to the embodiment of the present invention, details are as follows:
The charge power supply 300 that seventh embodiment of the invention provides comprises:
Matching module 310, for setting up pair relationhip according to the precharge request received;
The controller TTL interface of charge power supply connects wireless serial module, wireless serial module is connected with antenna, carry out data and command communication by formulating serial port communicating protocol between patrol robot and charge power supply, charge power supply receives the precharge request of patrol robot transmission by wireless serial module.
Check module 330, for according to set up pair relationhip, the identity of patrol robot in chargeable range is checked;
Charging module 350, for opening charge power supply to the patrol robot by identification checkup.
Further, matching module 310 comprises inspection unit, prestore unit and pairing unit;
Inspection unit, for after reception precharge request, checks the current state of charge power supply;
Prestore unit, for when the current state checked is idle condition, prestores to the positional information of the identity information of patrol robot, dump energy information and charge power supply;
Pairing unit: for patrol robot and charge power supply are matched in advance.
Further, prestore unit also for when receiving the precharge request of multiple patrol robot, the dump energy information according to the patrol robot prestored carries out prioritization to multiple patrol robot; And
Pairing unit is also for matching patrol robot the highest for priority level and charge power supply in advance.
Further, inspection unit, also for when the current state checked is operating state, sends charging outstanding message to patrol robot.
Further, check module 330 and comprise detecting unit and confirmation unit;
Detecting unit, for detecting the identity information of patrol robot;
Confirmation unit, for confirming whether the identity information detected matches with the identity information of the patrol robot prestored.
Further, charging module 350 comprises door control unit;
Door control unit, for when by identification checkup, receives charging signals; And open charge power supply according to the charging signals received.
In embodiments of the present invention, charging module also comprises electricity transmitting element, the electricity receiving element wireless connections of this electricity transmitting element and patrol robot, door control unit is made up of infrared remote control switch receiver and power supply, this infrared remote control switch receiver is electrically connected with electricity transmitting element, power supply respectively, and the connecting and disconnecting of infrared remote control switch receiver and power supply are controlled by patrol robot; This charge power supply is arranged in accumulator plant; wherein electricity transmitting element is installed on the underground of accumulator plant, and makes waterproofing protection, with the electricity receiving element wireless connections being installed on patrol robot chassis; by magnetic resonance to electricity receiver module electric energy transmitting, thus charge to patrol robot.
The charge power supply that seventh embodiment of the invention provides, adopt wireless charging technology, charging inlet is not needed to dock with the accurate of power supply, device cost is saved while improve charge efficiency, and meet the special charge requirement of robot by the mode of charging reservation, and balance multiple robot and need to carry out the situation of charging, another by controlling switching on and off of wireless charging system and power supply, connect when needs charging, do not need to disconnect when charging, thus reach the effect of low-carbon energy-saving, patrol robot in whole charging process without the need to behavior adjustment management, break away from artificial charging, achieve real automation and intellectuality.
The structural representation of the charging system that Figure 11 provides for the embodiment of the present invention, in the present embodiment, carries out wireless charging to patrol robot by charge power supply with the structure of charging system and is described in detail.This charging system is the wireless charging system based on WiTricity technology, frequency of utilization is greatly between 300kHz to 20MHz, by WiTricity Technology application on the wireless charging of wheeled patrol robot, a magnetic resonance system is calibrated for by primary coil (namely sending coil) and secondary coil (i.e. receiving coil), when the frequency of oscillating magnetic field that primary coil produces is identical with the natural frequency of secondary coil or quite close to time, primary coil and secondary coil then can resonate, form resonator system, realize the wireless transmission of internal energy.The magnetic Field Coupling of primary coil and secondary coil is not by restriction of obstacle therebetween.This charging system realizes the Radio Transmission Technology of electric energy in space based on high frequency magnetic field resonance principle, solves the technical problem needing high-precision sensor accurately to dock.For convenience of explanation, only list the part relevant to the embodiment of the present invention, details are as follows:
Wherein, infrared remote control switch receiver and power supply grid are electrically connected, and current rectifying and wave filtering circuit and infrared remote control switch receiver are electrically connected, and high-frequency inverter circuit and current rectifying and wave filtering circuit are electrically connected, high-frequency inverter circuit is connected with electric capacity, and electric capacity and transmitting coil connect and compose LC resonator.The alternating current that power supply grid exports, be generally mains electricity 220V/50hz, direct current is converted to through current rectifying and wave filtering circuit, then high-frequency inverter circuit is passed through, produce high frequency, high-power sine wave as driving source, transmitting coil, under high_frequency sine wave effect, forms directed non-radiative magnetic field around.
In embodiments of the present invention, in charging system, the frequency of the receiving coil of electricity receiving element is identical with the frequency of the transmitting coil of electricity transmitting element, therefore receiving coil and transmitting coil produce resonance and are coupled, receive magnetic field energy, generation current, the electric current of the receiving coil generation of electricity receiving element, through rectification filtering voltage stabilizing circuit, exports constant voltage to the charge in batteries of patrol robot.The infrared remote control switch receiver of charge power supply is generally off-state, only have when patrol robot needs charging, patrol robot sends wireless charging signal by infrared emission transducer to infrared remote control switch receiver, infrared remote control switch receiver receives wireless charging signal and switches on power, open the electricity transmitting element transmission of electricity of charge power supply, electricity transmitting element by magnetic resonance to the electricity receiving element electric energy transmitting of patrol robot, electricity receiving element is to the charge in batteries be attached thereto, and after the storage battery of patrol robot is full of electricity, patrol robot controls infrared emission sensor emission signal, the infrared remote control switch receiver of charge power supply receives deenergization after signal, and under to send instructions the door control unit of charge closing module, the opening and closing of charge power supply are controlled by patrol robot, open when needs charging, do not need to close when charging, the electricity sending module when not having target charging device is avoided also to cause energy waste at transmitting electric energy, thus reach the effect of low-carbon energy-saving.Whole charging process, without the need to behavior adjustment management, has been broken away from artificial charging, has been achieved real automation and intellectuality.
The intelligent charging method that the embodiment of the present invention provides, system, patrol robot and charge power supply, in patrol process, monitor self residual electricity by patrol robot and determine whether to need charging, needing to carry out wireless charging to charge power supply during charging in judgement; The present invention adopts wireless charging technology, charging inlet is not needed to dock with the accurate of power supply, save device cost while improve charge efficiency, and meet the special charge requirement of robot by the mode of charging reservation, balance multiple robot and need to carry out the situation of charging; In addition, the present invention can also control the start and stop of charge power supply, opens when needs charging, does not need to close when charging, thus reach the effect of low-carbon energy-saving, solve the technical problem still causing energy dissipation when not having target charging device at emitted energy.Patrol robot without the need to behavior adjustment management in whole charging process, has been broken away from artificial charging, has been achieved real automation and intellectuality.
It will be appreciated by those skilled in the art that the modules for above-described embodiment comprises, unit are carry out dividing according to function logic, but be not limited to above-mentioned division, as long as corresponding function can be realized; In addition, the concrete title of each functional module, unit, also just for the ease of mutual differentiation, is not limited to protection scope of the present invention.
Those of ordinary skill in the art it is also understood that, the all or part of step realized in above-described embodiment method is that the hardware that can carry out instruction relevant by program has come, described program can be stored in a computer read/write memory medium, described storage medium, comprises ROM/RAM, disk, CD etc.
Above with reference to the accompanying drawings of the preferred embodiments of the present invention, not thereby limit to interest field of the present invention.Those skilled in the art do not depart from the scope and spirit of the present invention, and multiple flexible program can be had to realize the present invention, and the feature such as an embodiment can be used for another embodiment and obtains another embodiment.All use do within technical conceive of the present invention any amendment, equivalently replace and improve, all should within interest field of the present invention.
Claims (10)
1. an intelligent charging method, is characterized in that, comprising:
The dump energy of patrol robot is detected;
When the described dump energy detected is lower than setting threshold, send precharge request;
Pair relationhip is set up in described precharge request according to receiving;
According to set up pair relationhip, the identity of patrol robot described in chargeable range is checked;
Charge power supply is opened to the described patrol robot by identification checkup.
2. intelligent charging method according to claim 1, is characterized in that, pair relationhip is set up in the described precharge request according to receiving, and comprises further:
After receiving described precharge request, the current state of described charge power supply is checked;
When the described current state checked is idle condition, the positional information of the identity information of described patrol robot, dump energy information and described charge power supply is prestored;
Described patrol robot and described charge power supply are matched in advance.
3. intelligent charging method according to claim 2, is characterized in that, comprises further:
When receiving the precharge request of multiple described patrol robot, the dump energy information according to the described patrol robot prestored carries out prioritization to multiple described patrol robot;
Described patrol robot the highest for priority level and described charge power supply are matched in advance.
4. intelligent charging method according to claim 2, is characterized in that, also comprises:
When the described current state checked is operating state, send charging outstanding message to described patrol robot.
5. intelligent charging method according to claim 2, is characterized in that, described according to set up pair relationhip, checks, comprise further the identity of patrol robot described in chargeable range:
Detect the identity information of described patrol robot;
Confirm whether the described identity information detected matches with the identity information of the described patrol robot prestored.
6. intelligent charging method according to claim 1, is characterized in that, described to the patrol robot unlatching charge power supply by identification checkup, comprises further:
When by identification checkup, receive charging signals;
Described charging signals according to receiving opens described charge power supply.
7. intelligent charging method according to claim 1, is characterized in that, described according to set up pair relationhip, before the step check, also comprises the identity of patrol robot described in chargeable range:
According to the positional information of the described charge power supply prestored, in tracking to described chargeable range.
8. a robot automtion charging system, is characterized in that, comprising:
Detection module, for detecting the dump energy of described patrol robot;
Request module, for when the described dump energy detected is lower than setting threshold, sends precharge request;
Matching module, for setting up pair relationhip according to the described precharge request received;
Check module, for according to set up pair relationhip, the identity of patrol robot described in chargeable range is checked;
Charging module: for opening charge power supply to the described patrol robot by identification checkup.
9. a patrol robot, is characterized in that, comprising:
Detection module, for detecting the dump energy of described patrol robot;
Request module, for when the described dump energy detected is lower than setting threshold, sends precharge request.
10. a charge power supply, is characterized in that, comprising:
Matching module, for setting up pair relationhip according to the described precharge request received;
Check module, for according to set up pair relationhip, the identity of patrol robot described in chargeable range is checked;
Charging module, for opening charge power supply to the described patrol robot by identification checkup.
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| CN201410541683.1A CN104242411B (en) | 2014-10-14 | 2014-10-14 | A kind of intelligent charging method, system, patrol robot and charge power supply |
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