CN110932413A - Wireless charging guide rail switching system of robot - Google Patents
Wireless charging guide rail switching system of robot Download PDFInfo
- Publication number
- CN110932413A CN110932413A CN201911135503.9A CN201911135503A CN110932413A CN 110932413 A CN110932413 A CN 110932413A CN 201911135503 A CN201911135503 A CN 201911135503A CN 110932413 A CN110932413 A CN 110932413A
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- China
- Prior art keywords
- wireless charging
- robot
- coil
- guide rail
- relay
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0045—Contactless power transmission, e.g. by magnetic induction
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a robot wireless charging guide rail switching system, which comprises a robot, a wireless charging transmitting coil, a wireless charging receiving coil, a coil substrate, a relay, an optical sensor, a wireless charging power supply and an FPGA chip, wherein the wireless charging transmitting coil is arranged on the wireless charging receiving coil; the wireless charging transmitting coil and the wireless charging receiving coil are used for dynamically and wirelessly charging the robot; collecting the position information of the robot by adopting an optical sensor; the FPGA chip controls the working state of the on-loop relay according to the information acquired by the optical sensor; the relay is used for controlling the transmitting circuit or the receiving circuit to be switched on and off. The method for controlling the guide rail switching by adopting the FPGA chip can accelerate the control speed, and can acquire the position information of the robot in real time by adopting the optical sensor. The invention is suitable for a robot wireless charging system, in particular to a robot wireless charging system which needs to switch guide rails dynamically.
Description
Technical Field
The invention relates to a robot wireless charging guide rail switching system, in particular to a robot dynamic wireless charging system needing to switch guide rails.
Background
In order to save energy and reduce environmental pollution, wireless charging is widely popularized in various countries in the world. Because wireless charging technology can solve interface restriction, safety problem that traditional conduction formula charging faced, consequently can be applied to including patrolling and examining various robot equipment including the robot, however, static wireless charging and wired charging have the same problem such as charge frequently, the mileage of endurance is short, the battery quantity is big and with high costs. Therefore, the dynamic wireless charging system is more suitable for the actual needs of the robot wireless charging system.
In a dynamic wireless charging system, a guide rail switching system is an important component, and at present, because the dynamic wireless charging system is not widely applied to the field of robot charging, a relatively perfect robot wireless charging guide rail switching system is not available.
Disclosure of Invention
In order to solve the technical problem, the invention provides a robot wireless charging guide rail switching system.
The invention provides the following technical scheme:
the robot wireless charging guide rail switching system comprises a robot, a wireless charging transmitting coil, a wireless charging receiving coil, a coil substrate, a relay, an optical sensor, a wireless charging power supply and an FPGA chip; the robot comprises a base, a wireless charging receiving coil, a wireless charging transmitting coil, a wireless charging receiving coil, a wireless charging power supply and a relay, wherein the base of the robot is provided with walking wheels, the base slides on a guide rail, the wireless charging transmitting coil is placed on a coil substrate, the coil substrate is arranged below the guide rail, and the wireless charging receiving coil is connected with the wireless charging power supply and the relay;
the wireless charging transmitting coil and the wireless charging receiving coil are used for dynamically and wirelessly charging the robot;
collecting the position information of the robot by adopting an optical sensor;
the FPGA chip controls the working state of the on-loop relay according to the information acquired by the optical sensor;
the relay is used for controlling the on and off of the transmitting circuit.
In the above technical solution, the transmitting circuit, that is, the circuit including the transmitting coil, includes a rectifying circuit, a BUCK chopper circuit, a high-frequency inverter circuit, and a transmitting coil.
In the above technical solution, the receiving circuit is a circuit including a receiving coil.
In the technical scheme, the guide rail switching process is to switch on the relay of the next section of guide rail after the relay of the previous section of guide rail is closed according to the placing sequence.
In the technical scheme, after the robot passes through and is measured by the optical sensor R1, the optical sensor R1 transmits a high level to the FPGA chip, the FPGA chip enters a switching waiting state, when the robot simultaneously passes through the optical sensor R1 and the optical sensor L2, the FPGA chip is controlled to judge that the robot runs from left to right, the FPGA chip is controlled to delay for a period of time, a power supply turn-off signal is sent to a power supply, then after the power supply voltage reduction is completed within 20ms, a turn-off signal is sent to the Relay1 and an indicator lamp corresponding to the Relay1 is turned off, meanwhile, a turn-on signal is sent to the Relay2 and an indicator lamp corresponding to the Relay2 is turned on, and then the power supply finishes the voltage increase within 30 ms.
Compared with the prior art, the invention has the beneficial effects that: the invention adopts the FPGA chip to switch the guide rail, can accelerate the control speed, and can acquire the position information of the robot in real time by adopting the optical sensor. The invention is suitable for a robot wireless charging system, in particular to a robot wireless charging system which needs to switch guide rails dynamically, and has higher control precision and higher control speed.
Drawings
Fig. 1 is a schematic block diagram of the present invention.
Fig. 2 is a flow chart of the system operation.
Fig. 3 is a general circuit diagram of each section of the guide rail.
Fig. 4 is a diagram of a transmitting circuit of the present invention.
FIG. 5 is a diagram of a receiving circuit according to the present invention.
In the figure: 1. a robot; 2. a wireless charging transmitting coil; 3. a wireless charging receiving coil; 4. a coil substrate; 5. a relay; 6. a light sensor; 7. an FPGA chip; 8. a wireless charging power supply; 9. guide rail, 10, base.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the wireless charging guide rail switching system of the robot of the present invention includes a robot 1, a wireless charging transmitting coil 2, a wireless charging receiving coil 3, a coil substrate 4, a relay 5, an optical sensor 6, a wireless charging power supply 8, and an FPGA chip 7;
a wireless charging receiving coil 3 is arranged on a base 10 of the robot 1, the base 10 is provided with walking wheels, the base 10 can slide on a guide rail 9, a wireless charging transmitting coil 2 is placed on a coil substrate 4, the coil substrate 4 is arranged below the guide rail 9, and a wireless charging power supply 8 and a relay 5 are connected to the wireless charging receiving coil 3;
the wireless charging transmitting coil 2 and the wireless charging receiving coil 3 are used for dynamically and wirelessly charging the robot 1;
the optical sensor 6 is used for collecting the position information of the robot, and the optical sensor 6 can collect real-time position information, so that the control precision is improved;
the FPGA chip 7 controls the working state of the on-coil relay 5 according to the information acquired by the optical sensor 6; the FPGA chip can be selected from a model EP4CE6E22C 8N.
The relay 5 is used for controlling the on and off of the transmitting circuit. As shown in fig. 4, the transmitting circuit, i.e., the circuit including the transmitting coil, includes a rectifying circuit, a BUCK chopper circuit, a high-frequency inverter circuit, and a transmitting coil. As shown in fig. 5, the receiving circuit is a circuit including a receiving coil.
In the robot wireless charging process of advancing, the optical sensor 6 is used for collecting the position information of the robot, the FPGA chip 7 is used for controlling the switch of the relay on the coil according to the collected information, the FPGA chip is used for controlling the switching of the guide rail, the response speed is high, and parallel control can be performed.
The work flow of the whole system is as follows: install wireless receiving coil 3 that charges on robot 1's the base 10, wireless transmitting coil 2 that charges places on base plate 4, base plate 4 is placed on guide rail 9, in the process of marcing that robot 1 carries out wireless charging through wireless transmitting coil 2 that charges and wireless receiving coil 3 that charges, collect robot positional information through light sensor 6, adopt FPGA chip 7 to come the switch of relay 5 on the control coil and then switch on or turn off transmitting circuit according to the information of gathering, switch on or turn off transmitting circuit, receiving circuit just can control the guide rail and switch.
The following is the overall circuit for each section of rail (fig. 3), including the transmit circuit (fig. 4) and the receive circuit (fig. 5).
The guide rail switching process is to close the Relay (Relay) of the previous section of guide rail and then switch on the Relay (Relay) of the next section of guide rail according to the placing sequence.
As shown in fig. 2, a specific control flow chart is described by taking a process of the robot 1 moving from left to right as an example: after the robot 1 passes through and is measured by the optical sensor R1, the optical sensor R1 transmits a high level to the FPGA chip 7, the FPGA chip 7 enters a switching waiting state, when the robot passes through the optical sensor R1(E18-D80NK) and the optical sensor L2(E18-D80NK) at the same time, the FPGA chip 7 is controlled to judge that the robot runs from left to right, the FPGA chip 7 is controlled to delay for a certain time (the specific delay time is determined according to the length of the robot and the guide rail), a power off signal is sent to the power supply, then after waiting for about 20ms of power supply voltage reduction, a turn-off signal is sent to the Relay1 and an indicator lamp corresponding to the Relay1 is turned off, meanwhile, a turn-on signal is sent to the Relay2 and an indicator lamp corresponding to the Relay2 is turned on, and then the power supply completes voltage increase for about 30 ms.
The method for controlling the guide rail switching by adopting the FPGA chip can accelerate the control speed, and can acquire the position information of the robot in real time by adopting the optical sensor. The invention is suitable for a robot wireless charging system, in particular to a robot wireless charging system which needs to switch guide rails dynamically.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. Wireless guide rail switched systems that charges of robot, its characterized in that: the system comprises a robot (1), a wireless charging transmitting coil (2), a wireless charging receiving coil (3), a coil substrate (4), a relay (5), an optical sensor (6), a wireless charging power supply (8) and an FPGA chip (7); a wireless charging receiving coil (3) is installed on a base (10) of the robot (1), the base (10) is provided with a travelling wheel, the base (10) slides on a guide rail (9), a wireless charging transmitting coil (2) is placed on a coil substrate (4), the coil substrate (4) is installed below the guide rail (9), and a wireless charging power supply (8) and a relay (5) are connected to the wireless charging receiving coil (3);
the wireless charging transmitting coil (2) and the wireless charging receiving coil (3) are used for dynamically and wirelessly charging the robot (1);
the optical sensor (6) is adopted to collect the position information of the robot;
the FPGA chip (7) controls the working state of the on-coil relay (5) according to the information acquired by the optical sensor (6);
the relay (5) is used for controlling the on and off of the transmitting circuit.
2. The wireless charging rail switching system of a robot of claim 1, wherein: the transmitting circuit is a circuit containing a transmitting coil and comprises a rectifying circuit, a BUCK chopper circuit, a high-frequency inverter circuit and the transmitting coil.
3. The wireless charging rail switching system of a robot of claim 1, wherein: the receiving circuit is a circuit containing a receiving coil.
4. The wireless charging rail switching system of a robot of claim 1, wherein: the guide rail switching process is to close the relay of the previous section of guide rail and then switch on the relay of the next section of guide rail according to the placing sequence.
5. The wireless charging rail switching system of a robot of claim 1, wherein: the robot (1) passes through and is measured by the optical sensor R1, the optical sensor R1 transmits a high level to the FPGA chip (7), the FPGA chip (7) enters a switching waiting state, when the robot simultaneously passes through the photoelectric sensor R1 and the photoelectric sensor L2, the FPGA chip (7) is controlled to judge that the robot runs from left to right, the FPGA chip (7) is controlled to delay for a period of time, a power supply turn-off signal is sent to a power supply, then after the power supply voltage reduction is completed within 20ms, a turn-off signal is sent to the Relay1 and an indicator lamp corresponding to the Relay1 is turned off, meanwhile, a turn-on signal is sent to the Relay2 and an indicator lamp corresponding to the Relay2 is turned on, and then the voltage increase is completed within 30ms by the power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911135503.9A CN110932413A (en) | 2019-11-19 | 2019-11-19 | Wireless charging guide rail switching system of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911135503.9A CN110932413A (en) | 2019-11-19 | 2019-11-19 | Wireless charging guide rail switching system of robot |
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| CN110932413A true CN110932413A (en) | 2020-03-27 |
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| CN201911135503.9A Pending CN110932413A (en) | 2019-11-19 | 2019-11-19 | Wireless charging guide rail switching system of robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113867372A (en) * | 2021-12-03 | 2021-12-31 | 深圳赫兹创新技术有限公司 | Navigation device and navigation method for wireless non-contact power supply AGV |
| CN115027314A (en) * | 2022-08-10 | 2022-09-09 | 深圳大学 | Track charging method and system matched with unmanned light rail |
| WO2022225504A1 (en) * | 2021-04-19 | 2022-10-27 | Hewlett-Packard Development Company, L.P. | Wireless charging device detection with photosensors |
| CN116683656A (en) * | 2022-09-27 | 2023-09-01 | 荣耀终端有限公司 | Wireless charging base and wireless charging system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022225504A1 (en) * | 2021-04-19 | 2022-10-27 | Hewlett-Packard Development Company, L.P. | Wireless charging device detection with photosensors |
| CN113867372A (en) * | 2021-12-03 | 2021-12-31 | 深圳赫兹创新技术有限公司 | Navigation device and navigation method for wireless non-contact power supply AGV |
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| CN116683656A (en) * | 2022-09-27 | 2023-09-01 | 荣耀终端有限公司 | Wireless charging base and wireless charging system |
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Application publication date: 20200327 |
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