CN112186850A - 一种机器人智能充电桩 - Google Patents
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Abstract
本发明实施例涉及机器人充电技术领域,公开了一种机器人智能充电桩,包括:充电回路、保护回路以及通信控制回路;所述充电回路与所述保护回路连接,所述保护回路与所述通信控制回路连接,所述通信控制回路通过控制所述保护回路的闭合进而控制所述充电回路的闭合;所述通信控制回路与所述充电回路连接,所述通信控制回路还用于获取机器人的电池信息数据,并根据所述电池信息数据向所述充电回路发送调节指令;所述充电回路用于根据所述调节指令调节自身的充电参数,并根据调节后的充电参数对机器人进行充电。本发明提供的机器人智能充电桩安全性高、可靠性高,且能够适配多种电池类型的机器人。
Description
技术领域
本发明实施例涉及机器人充电技术领域,特别涉及一种机器人智能充电桩。
背景技术
目前机器人的发展十分迅速,其功能也在日益增加,但机器人在工作时常常遇到电池电量不足的问题,机器人就需要人工操作帮助机器人进行续航,这使得机器人在执行工作时受到了限制,也增加了人力成本。为了提高机器人的工作效率、减少人力成本,研究机器人自主充电成为了目前机器人发展的重大方向,现有的机器人主要通过充电桩进行自动充电。
发明人发现现有技术中至少存在如下问题:1、充电桩接上电源后就有充电电压输出,输出不安全,容易短路、触电;2、一个充电桩配套一个机器人,没有一种可满足不同类型机器人的智能充电桩,而随着不同机器人的电池类型不同,机器人的充电桩更要频繁更换,带来诸多成本和技术上的浪费。
发明内容
本发明实施方式的目的在于提供一种机器人智能充电桩,其安全性高、可靠性高,且能够适配多种电池类型的机器人。
为解决上述技术问题,本发明的实施方式提供了一种机器人智能充电桩,包括:
充电回路、保护回路以及通信控制回路;所述充电回路与所述保护回路连接,所述保护回路与所述通信控制回路连接,通信控制回路通过控制所述保护回路的闭合进而控制所述充电回路的闭合;所述通信控制回路与所述充电回路连接,所述通信控制回路还用于获取机器人的电池信息数据,并根据所述电池信息数据向所述充电回路发送调节指令;所述充电回路用于根据所述调节指令调节自身的充电参数,并根据调节后的充电参数对机器人进行充电。
本发明的实施方式相对于现有技术而言,通过设置充电回路、保护回路以及通信控制回路,一方面保护回路分别与通信控制回路和充电回路连接,由于通信控制回路能够通过控制保护回路的闭合进而控制充电回路的闭合,因此可在充电桩接上电源后控制保护回路关闭,进而使充电回路关闭,在需要对机器人充电时再控制保护回路打开。从而避免了“充电桩接上电源后就有充电电压输出,输出不安全,容易短路、触电”的情况的发生,提高了机器人智能充电桩的安全性和可靠性;另一方面,通信控制回路还会获取机器人的电池信息数据,充电回路能够根据通信控制回路发送的调节指令调节自身的充电参数,再根据调节后的充电参数对机器人进行充电,使得机器人智能充电桩能够适配多种电池类型的机器人。
另外,所述充电回路包括电源输入插座、充电模块以及可接触电极;所述电源输入插座与市电连接,用于引入输入电源;所述充电模块与所述通信控制回路连接,用于根据所述调节指令调节自身的充电参数;所述可接触电极与机器人连接,用于根据调节后的充电参数对机器人进行充电。
另外,所述可接触电极内设有传感器,所述可接触电极内设有传感器,所述传感器用于检测充电桩与机器人的接触是否满足预设要求;所述通信控制回路与所述传感器连接,用于在所述传感器检测到充电桩与机器人的接触满足预设要求时,启动自身的检测程序。通过此种方式,进一步提高了机器人智能充电桩的安全性和可靠性。
另外,所述通信控制回路包括对桩检测单元,所述对桩检测单元与所述可接触电极连接,所述对桩检测单元用于在传感器检测到充电桩与机器人的接触满足预设要求,检测机器人是否与充电桩对桩完成;所述通信控制回路用于在检测到机器人与充电桩对桩完成后,控制所述保护回路打开,以使所述可接触电极对机器人进行充电。通过此种方式,进一步提高了机器人智能充电桩的安全性和可靠性。
另外,所述通信控制回路包括自动控制单元,所述自动控制单元用于检测机器人是否与充电桩建立通信连接,并在检测到机器人与充电桩建立通信连接后,获取机器人发送的所述电池信息数据。
另外,所述通信控制回路包括手动控制单元和存储单元,所述存储单元内存储有多种机器人的电池信息数据;所述手动控制单元用于检测所述存储单元内的电池信息数据是否被调用,并在检测到所述存储单元内的电池信息数据被调用时,将被调用的电池信息数据作为所述机器人的电池信息数据。
另外,所述通信控制回路还包括充电控制单元,所述充电控制单元用于对所述电池信息数据进行逻辑判断,并在所述逻辑判断无误后,向所述充电回路发送所述调节指令。通过此种方式,进一步提高了机器人智能充电桩的安全性和可靠性。
另外,所述通信控制回路还包括电压检测单元,所述电压检测单元与机器人连接,用于检测机器人的充电电压;所述充电控制单元还用于在所述电压检测单元检测到所述充电电压不在预设电压范围内时,控制所述保护电路闭合,以使所述充电回路停止对机器人进行充电。
另外,所述通信控制回路还包括显示单元,所述显示单元与机器人通信连接,用于显示机器人的充电状态。
另外,所述电池信息数据包括:电池类型、电池参数和电池健康状态中的至少一种。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明,这些示例性说明并不构成对实施例的限定,附图中具有相同参考数字标号的元件表示为类似的元件,除非有特别申明,附图中的图不构成比例限制。
图1是根据本发明第一实施方式提供的机器人智能充电桩的结构示意图;
图2是根据本发明第一实施方式提供的机器人智能充电桩的另一种结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合附图对本发明的各实施方式进行详细的阐述。然而,本领域的普通技术人员可以理解,在本发明各实施方式中,为了使读者更好地理解本发明而提出了许多技术细节。但是,即使没有这些技术细节和基于以下各实施方式的种种变化和修改,也可以实现本发明所要求保护的技术方案。
本发明的第一实施方式涉及一种机器人智能充电桩100,具体结构如图1所示,包括:
充电回路1、保护回路2以及通信控制回路3;充电回路1与保护回路2连接,保护回路2与通信控制回路3连接,通信控制回路3通过控制保护回路2的闭合进而控制充电回路1的闭合;通信控制回路3与充电回路1连接,通信控制回路3还用于获取机器人的电池信息数据,并根据电池信息数据向充电回路1发送调节指令;充电回路1用于根据调节指令调节自身的充电参数,并根据调节后的充电参数对机器人进行充电。
本发明的实施方式相对于现有技术而言,通过设置充电回路1、保护回路2以及通信控制回路3,一方面保护回路2分别与通信控制回路3和充电回路1连接,由于通信控制回路3能够通过控制保护回路2的闭合进而控制充电回路1的闭合,因此可在充电桩接上电源后控制保护回路2关闭,进而使充电回路1关闭,在需要对机器人充电时再控制保护回路2打开。从而避免了“充电桩接上电源后就有充电电压输出,输出不安全,容易短路、触电”的情况的发生,提高了机器人智能充电桩100的安全性和可靠性;另一方面,通信控制回路3还会获取机器人的电池信息数据,充电回路1能够根据通信控制回路3发送的调节指令调节自身的充电参数,再根据调节后的充电参数对机器人进行充电,使得机器人智能充电桩100能够适配多种电池类型的机器人。
请参见图2,本实施方式中的充电回路1包括电源输入插座11、充电模块12以及可接触电极13;电源输入插座11与市电连接,用于引入输入电源;充电模块12与通信控制回路3连接,用于根据所述调节指令调节自身的充电参数;可接触电极13与机器人连接,用于根据调节后的充电参数对机器人进行充电。具体的说,电源输入插座11为交流电源输入插座;充电模块12内设有AC/DC转换器和DC/DC转换器,AC/DC转换器用于将交流电转变为直流电,DC/DC转换器用于将直流电转换为直流电源。
值得一提的是,可接触电极13内设有传感器(图未示出),传感器用于检测充电桩与机器人的接触是否满足预设要求;通信控制回路3与传感器连接,用于在传感器检测到充电桩与机器人的接触满足预设要求时,启动自身的检测程序。具体的说,传感器检测充电桩与机器人是否接触良好(机器人与充电桩接触后,传感器通过接触的电信号判断充电桩与机器人是否接触良好),在充电桩与机器人接触良好后再启动通信控制回路进行下一步的检测。
优选地,通信控制回路3包括对桩检测单元31,对桩检测单元31与可接触电极13连接,对桩检测单元31用于在传感器检测到充电桩与机器人的接触满足预设要求时,检测机器人是否与充电桩对桩完成;通信控制回路3用于在检测到机器人与充电桩对桩完成后,控制保护回路2打开,以使可接触电极13对机器人进行充电。具体的说,对桩检测单元31有以下两种方式检测机器人是否与充电桩对桩完成:1、通过机械检测机器人与充电桩接触到位,传感器会向对桩检测单元31反馈信号,通过判断是否接收到反馈信号判断机器人是否与充电桩对桩完成;2、若机器人与充电桩对桩完成,对桩检测单元31会接收到机器人的通信数据,通过判断是否接收到通信数据判断机器人是否与充电桩对桩完成。通过此种方式,能够在确保机器人与充电桩满足充电条件后,再对机器人进行充电,从而进一步提高了机器人智能充电桩100的安全性和可靠性。
更优地,通信控制回路3包括自动控制单元32,自动控制单元32用于检测机器人是否与充电桩建立通信连接,并在检测到机器人与充电桩建立通信连接后,获取机器人发送的所述电池信息数据。也就是说,对于具有通信和交互功能的机器人,机器人智能充电桩100设置了自动控制单元32与其建立通信连接,使得机器人能够将自身的电池信息数据直接发送至机器人智能充电桩100,以便于充电回路1调节自身的充电参数,直至与机器人的电池信息数据适配,确保机器人能够进行充电。
可以理解的是,目前也存在部分机器人不具备通信和交互功能,针对上述机器人,本实施方式的机器人智能充电桩100的通信控制回路3还包括手动控制单元33和存储单元34,存储单元34内存储有多种机器人的电池信息数据;手动控制单元33用于检测存储单元34内的电池信息数据是否被调用,并在检测到存储单元34内的电池信息数据被调用时,将被调用的电池信息数据作为所述机器人的电池信息数据。具体的说,本实施方式手动控制单元33用于检测存储单元34内的电池信息数据是否被调用的方式可以为:在机器人智能充电桩100上设置多个按钮,不同的按钮对应不同的电池信息数据,在需要对不具备通信和交互功能的机器人进行充电时,可人工查看该机器人的电池信息数据,通过按压与该电池信息数据对应的按钮,即表明该电池信息数据被调用。
值得一提的是,为了进一步提高机器人智能充电桩100的安全性和可靠性,本实施方式中的通信控制回路3还包括充电控制单元35,充电控制单元35用于对所述电池信息数据进行逻辑判断,并在所述逻辑判断无误后,向充电回路1发送所述调节指令。具体的说,在逻辑判断无误后,通信控制回路3通过调节指令和PWM调节方式调节充电模块12的充电参数,在充电参数与机器人电池适配的情况下给机器人充电,当充电参数不满足机器人运行条件时,及时上报信息给后台并中断输出。由于机器人发送的电池信息数据或存储单元内被调用的电池信息数据可能存在逻辑错误(如电池类型与电池参数不匹配、充电模块12无法调节充电参数与机器人发送的电池信息数据适配等),通过上述检测方式,能够进一步提高机器人智能充电桩100的安全性和可靠性。
需要说明的是,本实施方式中的电池信息数据包括:电池类型、电池参数和电池健康状态中的至少一种。具体的说,本实施方式能够根据不同类型的机器人电池手动或自动得到电池类型,从而根据电池类型调节充电桩的输出电压、充电电流以及充电曲线,当充电桩面对的机器人电池容量不相同时,充电桩自动接受来自机器人的电池信息数据,实时拟合并判断电池的容量大小,可根据输入条件内部编程控制曲线,输出合适的充电曲线和功率曲线来满足不同机器人的充电需求。
本实施方式中,通信控制回路3还包括显示单元36,显示单元36与机器人通信连接,用于显示机器人的充电状态。具体的说,显示单元36包括三色灯条,在充电桩握手(即与机器人连接成功)、充电(正在给机器人充电)、满电(机器人已充满电)情况下分别呈现蓝色、绿色和红色三种颜色以提醒后台人员的操作。
具体的说,通信控制回路3还包括电压检测单元(图未示出),电压检测单元与机器人连接,用于检测机器人的充电电压;充电控制单元35还用于在电压检测单元检测到充电电压不在预设电压范围内时,控制保护电路2闭合,以使充电回路1停止对机器人进行充电。通过此种方式,进一步提高了机器人智能充电桩100的安全性和可靠性。
更具体的,如图2所示,保护电路2包括第一QF保护单元21、开关机键22、SPD单元23、第二QF保护单元24和继电器25;第一QF保护单元21设置在开关机键22和充电模块12之间,开关机键22设置在电源输入插座11和第一QF保护单元21之间,SPD单元23接地且分别与电源输入插座11和开关机键22连接,第二QF保护单元24设置在充电模块12和继电器25之间,继电器25与可接触电极13连接;通信控制回路3还包括通断控制单元37和通信单元38。为了便于理解,下面对本实施方式的机器人智能充电桩100如何对机器人充电进行具体的说明:
1、电源输入插座11接入市电后,在有尖峰和脉冲产生时,SPD单元23导通,使电源输入插座11直接接地,电流不会流入开关机键22。
2、经开关机键22开机后,能量经过第一QF保护单元21后流入充电模块12,充电模块12经AC/DC转换器和DC/DC转换器转换后经过第二QF保护单元24并经过继电器25输出给可接触电极13。
3、可接触电极13通过内置传感器检测充电桩与机器人接触良好与否,如硬件接触良好后通过通信单元38告知通信控制回路3,此时通信控制回路3启动。
4、通信控制回路3首先检测可接触电极13的对桩接口电路,在对桩完成后,充电桩控制单元35按既定程度进行逻辑运算处理,在检测无误及充电回路1和保护回路2没有问题的情况下,通断控制单元37发出控制指令给继电器25上电,指引充电回路1工作,在检测单元检测到输出电压或电流过低或过高时或欠压时,充电控制单元35发出指令及时判断充电桩输出,在短路和过载情况下第一QF保护单元和第一QF保护单元及时动作,保护整个充电桩的电气安全。
5、通信控制回路3设置手动和自动两种模式,手动模式条件下首先设置好几种不同类型电池的电压和电流特性曲线,如LPF1.LPF2、三元1、三元2曲线等,工程师根据机器人电池要求手动拨码充电开关以满足机器人的充电要求。
6、自动模式下,机器人与充电桩硬件对桩无误后,通过自动控制单元32进行信息传输,机器人和充电桩通过既定协议握手,在满足通信协议及握手成功条件下,智能充电桩100接收机器人发出的电池信息数据,包括电池类型、电池参数和电池健康状态等,充电桩接收信息后由充电控制单元进行逻辑判断,在逻辑判断无误后,通过调节指令和PWM调节方式调节充电模块12的输出曲线和充电参数,在充电曲线满足电池需求的情况下给机器人充电,当充电曲线不满足机器人运行条件时,及时上报信息给后台并中断输出。
本领域的普通技术人员可以理解,上述各实施方式是实现本发明的具体实施例,而在实际应用中,可以在形式上和细节上对其作各种改变,而不偏离本发明的精神和范围。
Claims (10)
1.一种机器人智能充电桩,其特征在于,包括:充电回路、保护回路以及通信控制回路;
所述充电回路与所述保护回路连接,所述保护回路与所述通信控制回路连接,所述通信控制回路通过控制所述保护回路的闭合进而控制所述充电回路的闭合;
所述通信控制回路与所述充电回路连接,所述通信控制回路还用于获取机器人的电池信息数据,并根据所述电池信息数据向所述充电回路发送调节指令;
所述充电回路用于根据所述调节指令调节自身的充电参数,并根据调节后的充电参数对机器人进行充电。
2.根据权利要求1所述的机器人智能充电桩,其特征在于,所述充电回路包括电源输入插座、充电模块以及可接触电极;
所述电源输入插座与市电连接,用于引入输入电源;
所述充电模块与所述通信控制回路连接,用于根据所述调节指令调节自身的充电参数;
所述可接触电极与机器人连接,用于根据调节后的充电参数对机器人进行充电。
3.根据权利要求2所述的机器人智能充电桩,其特征在于,所述可接触电极内设有传感器,所述传感器用于检测充电桩与机器人的接触是否满足预设要求;
所述通信控制回路与所述传感器连接,用于在所述传感器检测到充电桩与机器人的接触满足预设要求时,启动自身的检测程序。
4.根据权利要求3所述的机器人智能充电桩,其特征在于,所述通信控制回路包括对桩检测单元,所述对桩检测单元与所述可接触电极连接,所述对桩检测单元用于在传感器检测到充电桩与机器人的接触满足预设要求时,检测机器人是否与充电桩对桩完成;
所述通信控制回路用于在检测到机器人与充电桩对桩完成后,控制所述保护回路打开,以使所述可接触电极对机器人进行充电。
5.根据权利要求1所述的机器人智能充电桩,其特征在于,所述通信控制回路包括自动控制单元,所述自动控制单元用于检测机器人是否与充电桩建立通信连接,并在检测到机器人与充电桩建立通信连接后,获取机器人发送的所述电池信息数据。
6.根据权利要求1所述的机器人智能充电桩,其特征在于,所述通信控制回路包括手动控制单元和存储单元,所述存储单元内存储有多种机器人的电池信息数据;
所述手动控制单元用于检测所述存储单元内的电池信息数据是否被调用,并在检测到所述存储单元内的电池信息数据被调用时,将被调用的电池信息数据作为所述机器人的电池信息数据。
7.根据权利要求5或6所述的机器人智能充电桩,其特征在于,所述通信控制回路还包括充电控制单元,所述充电控制单元用于对所述电池信息数据进行逻辑判断,并在所述逻辑判断无误后,向所述充电回路发送所述调节指令。
8.根据权利要求7所述的机器人智能充电桩,其特征在于,所述通信控制回路还包括电压检测单元,所述电压检测单元与机器人连接,用于检测机器人的充电电压;
所述充电控制单元还用于在所述电压检测单元检测到所述充电电压不在预设电压范围内时,控制所述保护电路闭合,以使所述充电回路停止对机器人进行充电。
9.根据权利要求1所述的机器人智能充电桩,其特征在于,所述通信控制回路还包括显示单元,所述显示单元与机器人通信连接,用于显示机器人的充电状态。
10.根据权利要求1至9任一项所述的机器人智能充电桩,其特征在于,所述电池信息数据包括:电池类型、电池参数和电池健康状态中的至少一种。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
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CN202011043121.6A CN112186850A (zh) | 2020-09-28 | 2020-09-28 | 一种机器人智能充电桩 |
EP21827570.9A EP3996238A4 (en) | 2020-09-28 | 2021-09-22 | INTELLIGENT LOADING STACK FOR ROBOTS |
JP2021578177A JP2022552765A (ja) | 2020-09-28 | 2021-09-22 | ロボット用スマート充電パイル |
PCT/CN2021/119703 WO2022063139A1 (zh) | 2020-09-28 | 2021-09-22 | 一种机器人智能充电桩 |
KR1020217042996A KR20220044163A (ko) | 2020-09-28 | 2021-09-22 | 로봇 지능형 충전 파일 |
US17/562,816 US20220126720A1 (en) | 2020-09-28 | 2021-12-27 | Intelligent charging pile for robot |
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EP (1) | EP3996238A4 (zh) |
JP (1) | JP2022552765A (zh) |
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Cited By (3)
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CN114006439A (zh) * | 2021-11-23 | 2022-02-01 | 北京云迹科技有限公司 | 一种应用于多种充电设备的充电桩 |
WO2022063139A1 (zh) * | 2020-09-28 | 2022-03-31 | 达闼机器人有限公司 | 一种机器人智能充电桩 |
WO2022166692A1 (zh) * | 2021-02-05 | 2022-08-11 | 上海阪辉新能源科技有限公司 | 充电控制装置及充电控制方法 |
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CN112186850A (zh) * | 2020-09-28 | 2021-01-05 | 达闼机器人有限公司 | 一种机器人智能充电桩 |
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- 2020-09-28 CN CN202011043121.6A patent/CN112186850A/zh active Pending
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2021
- 2021-09-22 JP JP2021578177A patent/JP2022552765A/ja active Pending
- 2021-09-22 WO PCT/CN2021/119703 patent/WO2022063139A1/zh unknown
- 2021-09-22 EP EP21827570.9A patent/EP3996238A4/en active Pending
- 2021-09-22 KR KR1020217042996A patent/KR20220044163A/ko not_active Application Discontinuation
- 2021-12-27 US US17/562,816 patent/US20220126720A1/en active Pending
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CN111448737A (zh) * | 2017-09-22 | 2020-07-24 | 轨迹机器人公司 | 自主机器人充电曲线选择 |
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CN114006439A (zh) * | 2021-11-23 | 2022-02-01 | 北京云迹科技有限公司 | 一种应用于多种充电设备的充电桩 |
Also Published As
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EP3996238A1 (en) | 2022-05-11 |
KR20220044163A (ko) | 2022-04-06 |
WO2022063139A1 (zh) | 2022-03-31 |
EP3996238A4 (en) | 2022-10-19 |
JP2022552765A (ja) | 2022-12-20 |
US20220126720A1 (en) | 2022-04-28 |
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