CN112693352A - Charging monitoring system, robot charging system and robot charging method - Google Patents

Charging monitoring system, robot charging system and robot charging method Download PDF

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Publication number
CN112693352A
CN112693352A CN201910990228.2A CN201910990228A CN112693352A CN 112693352 A CN112693352 A CN 112693352A CN 201910990228 A CN201910990228 A CN 201910990228A CN 112693352 A CN112693352 A CN 112693352A
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CN
China
Prior art keywords
charging
robot
conductive
plug
socket
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Pending
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CN201910990228.2A
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Chinese (zh)
Inventor
李晓杰
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Beijing Geekplus Technology Co Ltd
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Beijing Geekplus Technology Co Ltd
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Priority to CN201910990228.2A priority Critical patent/CN112693352A/en
Publication of CN112693352A publication Critical patent/CN112693352A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/31—Charging columns specially adapted for electric vehicles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
    • H02J7/0032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits disconnection of loads if battery is not under charge, e.g. in vehicle if engine is not running
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a charging monitoring system, a robot charging system and a robot charging method, and belongs to the technical field of intelligent robots. The charging monitoring system provided by the invention comprises a charging socket, a detection circuit and a charging plug, wherein a conductive elastic sheet is arranged on the charging socket, and a conductive block is arranged on the charging plug. This monitoring system that charges sets up detection circuitry to and set up electrically conductive shell fragment on charging socket, set up the conducting block on charging plug, when charging plug and charging socket peg graft, utilize the conducting block to contact with electrically conductive shell fragment and can change detection circuitry's state, realized the control effectively to charging plug and charging socket's the butt joint state and the connection state that charges, be favorable to improving the charging effect. The robot charging system and the robot charging method provided by the invention can effectively monitor the charging states of the robot and the charging pile, and are beneficial to improving the charging effect.

Description

Charging monitoring system, robot charging system and robot charging method
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a charging monitoring system, a robot charging system and a robot charging method.
Background
With the rapid development of artificial intelligence technology, robots are increasingly used in various production, handling, sorting and other work scenarios. The working scene is usually large in working area, so that the load and labor intensity of the robot are also large, and therefore reliable charging measures are required to be provided for power guarantee in the working scene.
In the conventional charging method, when a control system learns that the robot needs to be charged, the control system issues a command to the robot to enter a charging station for waiting for charging, and at the moment, the robot can receive the command and enter the charging station to complete charging operation. But when the robot charges through filling electric pile, control system can't accomplish very effectual control to subsequent robot and the smooth butt joint of charging station and whether steady scheduling problem of the connection state between robot and the charging station.
Therefore, how to provide a charging monitoring system, so as to be able to monitor the charging docking state and the charging connection state, is a technical problem that needs to be solved urgently.
Disclosure of Invention
A first object of the present invention is to provide a charge monitoring system capable of effectively monitoring a charge docking state and a charge connection state of a charge receptacle and a charge plug.
A second object of the present invention is to provide a robot charging system capable of effectively monitoring a charging state between a robot and a charging pile.
A third object of the present invention is to provide a robot charging method capable of effectively monitoring a charging state between a robot and a charging pile.
In order to achieve the purpose, the invention adopts the following technical scheme:
a charge monitoring system, comprising:
the charging socket is characterized in that a conductive elastic sheet is arranged on the inner wall surface of a socket of the charging socket;
the detection circuit is electrically connected with the conductive elastic sheet, and the initial state of the detection circuit is an open circuit state;
the charging plug is provided with a conductive block on the outer wall surface;
when the charging plug is inserted into the plug interface of the charging socket, the conductive block is configured to be capable of contacting with the conductive elastic sheet, so that the detection circuit is switched from an open circuit state to an open circuit state, and a charging in-place signal is sent out.
Preferably, the number of the conductive elastic pieces is multiple, and the multiple conductive elastic pieces are arranged on the inner wall surface of the socket at intervals.
Preferably, the number of the conductive elastic pieces is two, and the two conductive elastic pieces are symmetrically arranged on the inner wall surface of the socket.
Preferably, the number of the conductive blocks is two, the two conductive blocks are symmetrically arranged on the outer wall surface of the charging plug, and a conductor is arranged between the two conductive blocks.
Preferably, the conductor is a wire or a conductive spring.
Preferably, the number of the conductive blocks is one, a through hole is formed in the charging plug, the conductive blocks are arranged in the through hole, and two ends of each conductive block protrude out of the through hole.
Preferably, the conductive elastic sheet is in a folded line shape, and the bent part of the conductive elastic sheet is a contact point contacted with the conductive block.
Preferably, the number of the contacts is plural.
A robot charging system, includes foretell monitoring system that charges, robot charging system still includes: the system comprises a robot, a charging pile and a control system; wherein the content of the first and second substances,
the control system is in wireless communication connection with the robot and the charging pile;
the charging plug and the charging socket can be interchangeably positioned on the robot and the charging pile;
the robot comprises a robot body, a detection circuit, a main control circuit and a driving circuit, wherein the detection circuit is located on the robot body, the robot body further comprises the main control circuit and the driving circuit, the detection circuit sends a charging in-place signal to the main control circuit, and the main control circuit controls the driving circuit to stop driving so that the robot body stops at a charging in-place position.
Preferably, the master control circuit reports the information that the robot is in place to the control system.
A robot charging method uses the robot charging system, and the robot charging method comprises the following steps:
the control system is in communication connection with the robot and the charging pile;
when the robot needs to be charged, the control system controls the robot to travel to the position of the charging pile and controls the robot to gradually move towards the charging pile, so that a charging plug of the robot is gradually inserted into an insertion hole of a charging socket of the charging pile;
when the charging plug is inserted into the interface, the main control circuit detects whether the detection circuit sends a charging in-place signal in real time, when the conductive block is in contact with the conductive elastic sheet, the detection circuit sends the charging in-place signal, and the main control circuit controls the robot to stop moving.
Preferably, the robot charging method further includes:
the master control circuit reports the information that the robot is charged in place to the control system;
the control system sends a charging starting instruction to the charging pile according to the information that the robot is in place for charging, and the charging pile starts to charge the robot;
the robot reports the charging state information of the robot to the control system in real time, and after the robot finishes charging, the control system sends a charging ending instruction to the charging pile and controls the robot to be separated from the charging pile.
The invention has the beneficial effects that:
the invention provides a charging monitoring system, which is characterized in that a detection circuit is arranged, a conductive elastic sheet is arranged on a charging socket, a conductive block is arranged on a charging plug, and when the charging plug is plugged with the charging socket, the state of the detection circuit can be changed by the contact of the conductive block and the conductive elastic sheet, so that the charging butt joint state and the charging connection state of the charging plug and the charging socket are effectively monitored, and the charging effect is improved.
The invention also provides a robot charging system and a robot charging method, which can effectively monitor the charging state of the robot and the charging pile and are beneficial to improving the charging effect.
Drawings
Fig. 1 is an isometric view of a charging receptacle provided by the present invention;
FIG. 2 is a front view of a charging receptacle provided by the present invention;
FIG. 3 is a side view of a charging receptacle provided by the present invention;
fig. 4 is a top view of a charging socket provided by the present invention;
fig. 5 is an isometric view of a charging plug provided by the present invention from a certain perspective;
fig. 6 is an isometric view of a charging plug provided by the present invention from another perspective;
fig. 7 is a top view of a charging plug provided by the present invention;
fig. 8 is a sectional view taken in the direction of a-a in fig. 7.
In the figure:
100. a charging socket; 101. a first insertion part; 102. a second insertion part; 103. a rib plate; 104. a conductive post;
200. a charging plug; 201. an upper plug cover; 202. a lower plug cover; 203. a jack;
1. a conductive spring plate; 2. a conductive block; .
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
The present embodiment provides a charging monitoring system, which can effectively monitor the charging state when the charging socket 100 and the charging plug 200 are connected, so as to ensure that a user can timely know whether the charging socket 100 and the charging plug 200 are in a good charging state. Specifically, as shown in fig. 1 to 8, the charge monitoring system includes a charging inlet 100, a detection circuit, and a charging plug 200. The inner wall surface of the socket of the charging socket 100 is provided with a conductive elastic sheet 1, and the conductive elastic sheet 1 is a sheet structure made of a metal material and has good conductivity. The outer wall surface of the charging plug 200 is provided with a conductive block 2, and the conductive block 2 is a block structure made of a metal material and has good conductivity. The detection circuit is electrically connected with the conductive elastic sheet 1, and the initial state of the detection circuit is an open circuit state. When the charging plug 200 is inserted into the socket of the charging socket 100, the conductive block 2 is configured to contact with the conductive elastic sheet 1 to trigger the detection circuit, switch the detection circuit from an off-state to an on-state, and send a charging-in-place signal.
As shown in fig. 1 to 4, the charging receptacle 100 includes a housing that is enclosed to form a socket. In the present embodiment, in order to reduce the difficulty of plugging and unplugging, the housing includes a first plugging portion 101 and a second plugging portion 102 connected in sequence. The first plugging portion 101 is a cubic shell structure, one end of which is closed, the other end of which is open, and a conductive column 104 adapted to the charging plug 200 is convexly disposed at the closed end of the first plugging portion 101. Optionally, the number of conductive pillars 104 is two. The second inserting part 102 is trumpet-shaped, and the small-size end of the second inserting part 102 is connected with the opening end of the first inserting part 101. The junction of first grafting portion 101 and second grafting portion 102 is provided with the mounting groove that runs through the casing, and electrically conductive shell fragment 1 sets up in the mounting groove, and the one end of electrically conductive shell fragment 1 and the interior wall connection of mounting groove, and the other end is in free state. Optionally, a rib plate 103 is further disposed on the outer wall surface of the housing, a mounting hole is disposed on the rib plate 103, and the connecting member passes through the mounting hole to fix the charging socket 100.
As shown in fig. 5 to 8, the charging plug 200 includes an upper plug cover 201 and a lower plug cover 202 which are disposed up and down and can be snapped together. The upper plug cover 201 and the lower plug cover 202 have the same structure, and are provided with semicircular slots, the slots of the upper plug cover 201 and the slots of the lower plug cover 202 can be spliced into a circular jack 203, and the jack 203 can be in plug-in fit with the conductive column 104. Optionally, the number of receptacles 203 is two. In addition, in order to facilitate the accurate buckling of the upper plug cover 201 and the lower plug cover 202, in both the upper plug cover 201 and the lower plug cover 202, one of them is provided with a positioning groove, and the other is provided with a positioning block, which can be placed in the positioning groove.
The detection circuit is a loop consisting of a lead, a controller, an indicating element, a communication element and other elements, and the conductive elastic sheet 1 is arranged on the loop. The controller can be a centralized or distributed controller, for example, the controller can be a single chip microcomputer or can be formed by a plurality of distributed single chip microcomputers, and a control program can be operated in the single chip microcomputers so as to control the indicating element and the communication element to realize the functions of the indicating element and the communication element. The indicating element is a mechanism capable of emitting indicating sound or indicating light, such as a buzzer or an indicating lamp, and when the detection circuit is switched from the open circuit state to the closed circuit state, the controller can control the indicating element to work so as to give a obvious charging in-place signal to a user. The communication element is always in an operating state and is used for being in communication connection with an external control system so as to transmit related information of the control circuit to the external control system. The connection relationship and the model of each component in the detection circuit are the prior art, and are not described in detail herein.
Optionally, in order to improve the working stability of the charging monitoring system, the number of the conductive elastic pieces 1 is set to be multiple, and the multiple conductive elastic pieces 1 are arranged on the inner wall surface of the socket at intervals. Through setting up a plurality of electrically conductive shell fragments 1, flexibility when charging plug 200 and charging socket 100 are pegged graft can be improved, avoid appearing leading to the appearance of the unable contact phenomenon of conducting block 2 and electrically conductive shell fragment 1 because the grafting angle is improper. Further optionally, the plurality of conductive elastic pieces 1 are uniformly distributed along the inner wall surface of the socket and are arranged in a pairwise symmetry manner. In this embodiment, the number of the conductive elastic pieces 1 is two, the two conductive elastic pieces 1 are both connected with the detection circuit, and a disconnection port of the detection circuit is formed between the two conductive elastic pieces 1.
In this embodiment, the number of the conductive blocks 2 is two, two conductive blocks 2 are symmetrically disposed on the outer wall surface of the charging plug 200, and a conductive body is disposed between the two conductive blocks 2. Optionally, the electrical conductor is a wire or a conductive spring. When the charging plug 200 and the charging socket 100 are plugged, the two conductive blocks 2 can be respectively communicated with the two conductive elastic pieces 1, so that the detection circuit is switched from an open circuit state to a closed circuit state, and an indicating element of the detection circuit works.
Of course, in other embodiments, only one conductive block 2 may be provided, a through hole is provided in the charging plug 200, the conductive block 2 is disposed in the through hole, two ends of the conductive block 2 are disposed to protrude out of the through hole, and two ends of the conductive block 2 are in contact with the two conductive elastic pieces 1, so that the detection circuit is switched from the open state to the closed state. Or more pairs of conductive blocks 2 are provided, and a conductive body is provided between two opposite conductive blocks 2, so as to further improve the flexibility of the charging plug 200 and the charging socket 100 when being plugged.
Optionally, in this embodiment, the conductive elastic sheet 1 is in a folded line shape, and a bent portion of the conductive elastic sheet 1 is a contact point contacting with the conductive block 2. Specifically, the conductive elastic sheet 1 may be a single V-shaped elastic sheet, thereby having one contact; or may be a single piece of corrugated spring sheet, having a plurality of contacts. Of course, the conductive dome 1 may also be a bifurcated dome, so that there are a plurality of contacts.
Example two
On the basis of the first embodiment, the present embodiment provides a robot charging system, which includes a control system, a robot, and a charging pile, in addition to the charging monitoring system in the first embodiment. The control system comprises a controller, the controller can be a centralized or distributed controller, for example, the controller can be a single-chip microcomputer or can be formed by a plurality of distributed single-chip microcomputers, and a control program can be operated in the single-chip microcomputers so as to control the robot to execute the actions of advancing, retreating, rotating and the like. And the control system is in wireless communication connection with the robot and the charging pile in the charging monitoring system and is used for receiving information about the detection circuit sent by a communication element of the charging monitoring system. The robot is a mechanism needing charging, and the charging plug 200 in the first embodiment is arranged on the robot, but in other embodiments, the mechanism needing charging can be other mechanisms besides the robot. The detection circuit is located on the robot, the robot further comprises a main control circuit and a driving circuit, and the detection circuit can send a charging in-place signal to the main control circuit. The main control circuit can control the driving circuit to stop driving so that the robot stops at the charging in-place position, and when the robot reaches the charging in-place position, the main control circuit can report the information that the robot is charged in place to the control system. Of course, the main control circuit can also control the drive circuit to start driving so that the robot continues to travel. Fill electric pile for the equipment that can provide the electric energy, fill and be provided with the socket 100 that charges in embodiment one on the electric pile. Of course, in other embodiments, the charging socket 100 may be disposed on the robot, and the charging plug 200 may be disposed on the charging pile.
When the charging plug 200 of the robot is plugged with the charging socket 100 of the charging pile, the charging monitoring system can effectively monitor the charging state of the robot, and the charging effect is improved. Through utilizing above-mentioned monitored control system that charges, the user of being convenient for in time masters the robot and fills the charging condition of electric pile.
EXAMPLE III
The present embodiment provides a robot charging method using the robot charging system of the second embodiment. Specifically, the robot charging method comprises the following steps:
the control system is in communication connection with the robot and the charging pile;
when the robot needs to be charged, the control system controls the robot to travel to the position of the charging pile and controls the robot to gradually move towards the charging pile, so that the charging plug 200 of the robot is gradually inserted into the plug hole of the charging socket 100 of the charging pile;
when the charging plug 200 is inserted into the jack, the main control circuit detects whether the detection circuit sends a charging in-place signal in real time, when the conductive block 2 is in contact with the conductive elastic sheet 1, the detection circuit sends the charging in-place signal, and the main control circuit controls the robot to stop moving.
Optionally, after the main control circuit controls the robot to stop moving, the robot charging method further includes the following steps:
the main control circuit reports the information that the robot is charged in place to the control system;
the control system sends a charging starting instruction to the charging pile according to the information that the robot is in place for charging, and the charging pile starts to charge the robot;
the robot reports the charging state information of the robot to the control system in real time, and after the robot finishes charging, the control system sends a charging ending instruction to the charging pile and controls the robot to be separated from the charging pile.
Optionally, the robot charging method further includes:
before the control system controls the robot to move towards the charging pile, the control system acquires the state of the detection circuit and ensures that the state of the detection circuit is normal, namely the detection circuit is determined to be in an open circuit state, so that the charging pile is determined not to be occupied by other robots.
By using the robot charging method, the charging states of the robot and the charging pile can be effectively monitored, and the charging effect is favorably improved.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A charge monitoring system, comprising:
the charging socket (100) is characterized in that a conductive elastic sheet (1) is arranged on the inner wall surface of a socket of the charging socket (100);
the detection circuit is electrically connected with the conductive elastic sheet (1), and the initial state of the detection circuit is an open circuit state;
the charging plug (200), the outer wall surface of the charging plug (200) is provided with a conductive block (2);
when the charging plug (200) is inserted into the plug interface of the charging socket (100), the conductive block (2) is configured to be capable of contacting with the conductive spring piece (1) so as to switch the detection circuit from an off state to an on state and send a charging in-place signal.
2. The charge monitoring system of claim 1,
the number of the conductive elastic pieces (1) is multiple, and the conductive elastic pieces (1) are arranged on the inner wall surface of the socket at intervals.
3. The charge monitoring system of claim 2,
the number of the conductive elastic pieces (1) is two, and the two conductive elastic pieces (1) are symmetrically arranged on the inner wall surface of the socket.
4. The charge monitoring system of claim 3,
the number of the conductive blocks (2) is two, the two conductive blocks (2) are symmetrically arranged on the outer wall surface of the charging plug (200), and a conductive body is arranged between the two conductive blocks (2).
5. The charge monitoring system of claim 4,
the conductor is a wire or a conductive spring.
6. The charge monitoring system of claim 3,
the number of the conductive blocks (2) is one, a through hole is formed in the charging plug (200), the conductive blocks (2) are arranged in the through hole, and the two ends of the conductive blocks (2) protrude out of the through hole.
7. A robot charging system comprising the charging monitoring system according to any one of claims 1 to 6, the robot charging system further comprising: the system comprises a robot, a charging pile and a control system; wherein the content of the first and second substances,
the control system is in wireless communication connection with the robot and the charging pile;
the charging plug (200) and the charging socket (100) are interchangeably located on the robot and the charging post;
the robot comprises a robot body, a detection circuit, a main control circuit and a driving circuit, wherein the detection circuit is located on the robot body, the robot body further comprises the main control circuit and the driving circuit, the detection circuit sends a charging in-place signal to the main control circuit, and the main control circuit controls the driving circuit to stop driving so that the robot body stops at a charging in-place position.
8. The robot charging system of claim 7, wherein the master control circuit further reports to the control system information that the robot is in place to charge.
9. A robot charging method characterized by using the robot charging system according to claim 7 or 8, the robot charging method comprising the steps of:
the control system is in communication connection with the robot and the charging pile;
when the robot needs to be charged, the control system controls the robot to travel to the position of the charging pile and controls the robot to gradually move towards the charging pile, so that a charging plug (200) of the robot is gradually inserted into an insertion hole of a charging socket (100) of the charging pile;
in the process that the charging plug (200) is inserted into the interface, the main control circuit detects whether the detection circuit sends a charging in-place signal in real time, when the conductive block (2) is in contact with the conductive elastic sheet (1), the detection circuit sends the charging in-place signal, and the main control circuit controls the robot to stop moving.
10. The robot charging method according to claim 9, further comprising:
the master control circuit reports the information that the robot is charged in place to the control system;
the control system sends a charging starting instruction to the charging pile according to the information that the robot is in place for charging, and the charging pile starts to charge the robot;
the robot reports the charging state information of the robot to the control system in real time, and after the robot finishes charging, the control system sends a charging ending instruction to the charging pile and controls the robot to be separated from the charging pile.
CN201910990228.2A 2019-10-17 2019-10-17 Charging monitoring system, robot charging system and robot charging method Pending CN112693352A (en)

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CN106786882A (en) * 2016-12-21 2017-05-31 重庆邮电大学 A kind of universal automatic butt charging device suitable for indoor mobile robot
CN107579571A (en) * 2017-10-10 2018-01-12 京东方科技集团股份有限公司 Cradle, electronic product, charging system and charging method
CN208046273U (en) * 2018-03-30 2018-11-02 北京艾力泰尔信息技术股份有限公司 Anticreep limit card slot charging device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1297475A (en) * 1970-02-27 1972-11-22
US20020039851A1 (en) * 2000-09-29 2002-04-04 Mou Zhiquan Anti-spark power jack with switch contacts therein
CN201260083Y (en) * 2008-04-18 2009-06-17 宝安沙井万丰协粮塑胶模具五金厂 Multifunctional power charging and supplying device
CN203056183U (en) * 2013-01-08 2013-07-10 龙友科技（深圳）有限公司 Conductive elastic sheet
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