Automatic docking charging system and docking charging method

Abstract

The present invention relates to an automatic docking charging system and a corresponding method, and belongs to the technical field of electric appliances. The system is composed of an automatic walking device with a battery pack inside, a first terminal and a second terminal on one side, and a charging station with a charging pile on one side of the bottom plate provided with a third terminal and a fourth terminal; the automatic walking device includes a first control unit, a first receiving unit, and a first sending unit; the charging station includes a second control unit, a second receiving unit, a second current detection unit, and a second sending unit. The present invention does not need to set a voltage detection module on both sides of the receiving control switch to confirm whether the docking is carried out by comparing the voltages on both sides, but confirms the docking after confirming the pulse communication signal multiple times with the help of the first sending unit and the second receiving unit, so it is very reliable. The circuit design is simple, and the battery pack charging switch of the automatic walking device is set inside the charging station, which is convenient and safe to control.

Description

Technical Field

[0001] The invention relates to a charging docking device, in particular to an automatic docking charging system for an intelligent lawn mower, and also to a corresponding docking charging method, belonging to the technical field of electric appliances. Background Art

[0002] The smart lawn mower relies on its own battery pack for power supply, and is used to complete automatic mowing within the area demarcated by the electronic fence. When the battery pack is low on power, it is necessary to travel to the charging station to dock and charge. According to the search, the Chinese patent with application number 201710161668.8 discloses a docking charging system and a charging method thereof, wherein the system includes an automatic walking device and a charging station that can be docked and charged with the automatic walking device, the automatic walking device includes a circuit receiving module, the circuit receiving module includes positive and negative receiving lines, the positive receiving line is connected to the battery pack through a receiving control switch, and voltage detection modules are provided on both sides of the receiving control switch, the voltage detection module is connected to a single-chip microcomputer 1, and the single-chip microcomputer 1 is connected to the receiving control switch; the charging station includes a charging module that can be docked with the circuit receiving module, the charging module includes positive and negative charging lines, a charging control switch is provided on the positive charging line, and the charging control switch is connected to a single-chip microcomputer 2; after the automatic walking device is docked with the charging station, the charging module will automatically dock with the circuit receiving module for charging. Although this technical solution avoids manual operation and improves charging efficiency, it controls the charging control switch by detecting whether the positive and negative charging lines are connected to the receiving lines at one time. For walking-in-place contact, it is not safe and reliable due to factors such as motion inertia. In addition, after the charging control switch is closed, it is necessary to detect and determine that the battery pack voltage is low, and then control the receiving control switch to close for charging. This is not only inconvenient, but also when the contact is not stable, it is inevitable that the switch will malfunction. Summary of the invention

[0003] The purpose of the present invention is to address the shortcomings of the above-mentioned prior art and to provide an automatic docking and charging system which has a simple circuit structure and can ensure reliable charging after docking.

[0004] In order to achieve the above-mentioned purpose, the basic technical scheme of the automatic docking charging system of the present invention is: it is composed of an automatic walking device with a battery pack inside, a first terminal and a second terminal on one side, and a charging station with a charging pile on one side of the bottom plate provided with a third terminal and a fourth terminal; it is characterized in that:

[0005] The automatic walking device includes a first control unit, a first receiving unit, and a first sending unit; the first sending unit includes a feedback controlled end and a sending controlled end; the first terminal and the second terminal are respectively connected to the signal receiving end and the current detection end of the first control unit through the first receiving unit and the first current detection unit, so as to transmit the pulse test signal to the first control unit after the first terminal and the second terminal are respectively connected to the third terminal and the fourth terminal; and transmit the input current signal to the first control unit; the feedback control end and the sending control end of the first control unit are respectively connected to the feedback controlled end and the sending controlled end, so as to control the output pulse feedback signal and send it outward after receiving the pulse test signal;

[0006] The charging station includes a second control unit, a second receiving unit, a second current detection unit, and a second sending unit; the third terminal and the fourth terminal are respectively connected to the signal receiving end and the current detection end of the second control unit through the second receiving unit and the second current detection unit; when the first terminal and the second terminal are respectively connected to the third terminal and the fourth terminal, the pulse feedback signal is transmitted to the second control unit; and the charging output current signal is transmitted to the second control unit; the charging control end of the second control unit is used to control the sending of the pulse test signal and the charging output current.

[0007] The present invention is further improved as follows: the first control unit is composed of a first CPU and its peripheral devices; the first receiving unit includes a first resistor and a second resistor connected in series and then grounded after voltage division; the first current detection unit is composed of a first operational amplifier with a positive input terminal grounded and a reverse input terminal connected to a first sampling resistor; the feedback controlled terminal is connected to the controlled terminal of the second MOS tube on the feedback loop, and the transmission controlled terminal is connected to the controlled terminal of the first MOS tube on the transmission loop.

[0008] A further improvement of the present invention is that: the second control unit is composed of a second CPU and its peripheral devices; the second receiving unit includes a third resistor and a fourth resistor connected in series and then grounded; the second current detection unit is composed of a second operational amplifier with a positive input terminal connected to the ground and a reverse input terminal connected to the fourth terminal, and the reverse input terminal of the second operational amplifier and the fourth terminal are grounded through a second sampling resistor.

[0009] A further improvement of the present invention is that: the second sending unit is composed of a control loop connected to the controlled end of the third MOS tube between the charging power supply and the third terminal via the base of the transistor; the charging control end of the second control unit is connected to the base of the transistor of the second sending unit to control the third MOS tube to send a pulse test signal and a charging output current.

[0010] A further improvement of the present invention is that the first terminal and the second terminal are connected to the signal receiving end and the current detecting end of the first control unit respectively through the first receiving unit and the first current detecting unit after passing through the electromagnetic suppression module composed of common mode inductance and capacitance.

[0011] The present invention is further improved in that: the charging station includes a second control unit, a second receiving unit, a second current detection unit, and a second sending unit through an anti-reverse connection circuit.

[0012] During operation, when the battery pack of the lawn mower needs to be charged and enters the charging position docked with the charging station from the pre-charging state separated from the charging station, the first and second control units control the steps in the following two ways:

[0013] First, the control steps of the first control unit and the second control unit are:

[0014] In the first step, the second control unit controls the second sending unit to send a pulse test signal to the third terminal;

[0015] Step 2: The first receiving unit transmits the received pulse test signal to the first control unit;

[0016] Step 3: The first control unit sends a pulse feedback signal through the first sending unit;

[0017] Step 4: The first control unit determines whether the pulse feedback signal sent reaches a predetermined number of times, and if so, sends a confirmation feedback signal, otherwise returns to the previous step;

[0018] Step 5: The second receiving unit transmits the received confirmation feedback signal to the second control unit;

[0019] Step 6: The second control unit controls the second sending unit to output the charging current;

[0020] Step 7: The second control unit controls charging of the battery pack;

[0021] Step 8: After receiving the charging output current signal of the second current detection unit, the second control unit determines whether the full charge threshold is reached. If not, it returns to step 6; if yes, it returns to step 1.

[0022] Second, the control steps of the first control unit and the second control unit are:

[0023] In the first step, the second control unit controls the second sending unit to send a pulse test signal to the third terminal;

[0024] Step 2: The first receiving unit transmits the received pulse test signal to the first control unit;

[0025] Step 3: The first control unit controls the first sending unit to send a pulse feedback signal;

[0026] Step 4: the second receiving unit transmits the received pulse feedback signal to the second control unit;

[0027] Step 5: The second control unit determines whether the received pulse feedback signal reaches a predetermined number of times, if yes, proceeds to the next step, if not, returns to the first step;

[0028] Step 6: The second control unit controls the second sending unit to output the charging current;

[0029] Step 7: The second control unit controls charging of the battery pack;

[0030] Step 8: After receiving the charging output current signal of the second current detection unit, the second control unit determines whether the full charge threshold is reached. If not, it returns to step 6; if yes, it returns to step 1.

[0031] Compared with the prior art, the present invention does not need to set voltage detection modules on both sides of the receiving control switch to confirm whether the connection is made by comparing the voltages on both sides, but confirms the connection after confirming the pulse communication signal multiple times with the first sending unit and the second receiving unit, so it is very reliable. The circuit design is simple, and the battery pack charging switch (MOS) of the automatic walking equipment is set inside the charging station, which is convenient and safe to control and has lower cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below in conjunction with the accompanying drawings.

[0033] Figure 1 It is a schematic diagram of the three-dimensional structure of the first embodiment of the present invention.

[0034] Figure 2 for Figure 1 Schematic diagram of the internal circuit of the automatic walking device of the embodiment.

[0035] Figure 3 for Figure 1 Schematic diagram of the internal circuit of the charging station of the embodiment.

[0036] Figure 4 for Figure 1 Schematic diagram of the structure before charging of the embodiment.

[0037] Figure 5 for Figure 1 A schematic diagram of the charging structure of the embodiment.

[0038] Figure 6 for Figure 1 Control flow chart of an embodiment.

[0039] Figure 7This is a control flow chart of the second embodiment of the present invention. DETAILED DESCRIPTION

[0040] Embodiment 1

[0041] The automatic docking charging system of this embodiment is as follows Figure 1 As shown, it is composed of a lawn mower 100 as an automatic walking device and a charging station 200 that can be docked and charged. The lawn mower 100 has a battery pack as an energy source, and one side has a first terminal 1 and a second terminal 2. A charging pile 5 with a third terminal 3 and a fourth terminal 4 extending toward one side of the bottom plate is provided on one side of the bottom plate.

[0042] The internal circuit of the automatic walking lawn mower 100 is as follows Figure 2 As shown, it includes a first control unit, a first receiving unit, a first current detection unit, and a first sending unit.

[0043] The first control unit is composed of a first CPU (STM32F031K6T6) and its peripheral devices (similar to the prior art, not shown in the figure).

[0044] The first receiving unit includes a first resistor R21 and a second resistor R23 connected in series and then grounded after voltage division, and a first grounding capacitor C5 is connected between the two voltage-dividing resistors R21 and R23 via a first bypass resistor R22.

[0045] The first current detection unit is composed of a first operational amplifier U1 with a positive input terminal grounded and a reverse input terminal connected to a first sampling resistor R11. The reverse input terminal of the first operational amplifier U1 is connected to its output terminal through a resistor R12.

[0046] The first transmitting unit comprises a feedback controlled terminal and a transmitting controlled terminal. The feedback controlled terminal is connected to the controlled terminal of the second MOS tube D10 on the feedback loop through the base of the second triode Q3; the transmitting controlled terminal is connected to the controlled terminal of the first MOS tube D6 on the transmitting loop through the base of the first triode Q2.

[0047] The first terminal and the second terminal are connected to the signal receiving end and the current detection end of the first control unit through the first receiving unit and the first current detection unit respectively via the electromagnetic suppression module composed of the common mode inductor and the capacitor (which can be purchased externally), so as to transmit the pulse test signal to the first control unit after the first terminal and the second terminal are connected to the third terminal and the fourth terminal respectively; and transmit the input current signal or the battery pack discharge signal to the first control unit. Because the sampling resistor R11 is also connected to the negative terminal C- of the battery pack, it can also reflect its discharge state when the battery pack is discharged. When electrically connected, the series electromagnetic suppression module can block interference signals to prevent the electrical signals inside the automatic walking device from affecting the charging station.

[0048] The feedback control terminal and the transmission control terminal of the first control unit are respectively connected to the feedback controlled terminal and the transmission controlled terminal, so as to control the output of the pulse feedback signal and send it outward after receiving the pulse test signal;

[0049] The circuit inside the charging station 200 is as follows: Figure 3 As shown, it includes a second control unit, a second receiving unit, a second current detection unit, and a second sending unit through an anti-reverse connection circuit.

[0050] The second control unit is composed of the second CPU (STM32F031K6T6) and its peripheral devices.

[0051] The second receiving unit includes a third resistor R8 and a fourth resistor R10 which are connected in series and grounded after voltage division, and a second grounding capacitor C15 is connected between the two voltage-dividing resistors R8 and R10 via a second bypass resistor R9.

[0052] The second current detection unit is composed of a second operational amplifier U2 with a positive input terminal grounded and a reverse input terminal connected to a fourth terminal. The reverse input terminal of the second operational amplifier U2 is connected to its output terminal through a resistor R7, and the reverse input terminal and the fourth terminal are grounded through a second sampling resistor R6.

[0053] The second sending unit comprises a control loop connected to a controlled end of a third MOS tube D3 between the charging power source and the third terminal via a base of a third triode Q1.

[0054] The third terminal and the fourth terminal are connected to the signal receiving end and the current detection end of the first and second control units respectively through the second receiving unit and the second current detection unit; when the first terminal and the second terminal are connected to the third terminal and the fourth terminal respectively, the pulse feedback signal is transmitted to the second control unit; and the charging output current signal is transmitted to the second control unit.

[0055] The charging control terminal of the second control unit is connected to the base of the third transistor Q1 of the second sending unit, so as to control the third MOS tube D3 to send a pulse test signal and a charging output current.

[0056] When the mower's battery pack needs to be charged, Figure 4 Separated from the charging station before charging state, enter the Figure 5 When the charging station is docked at the charging position, the first and second control units control steps (see Figure 6 )as follows:

[0057] In the first step, the second control unit controls Q1-D3, and the second sending unit sends a pulse test signal to the third terminal;

[0058] Step 2: The first receiving unit transmits the received pulse test signal to the first control unit after voltage division by R21 and R23;

[0059] Step 3: The first control unit controls Q3, D10 and Q2, D6, and the first sending unit P+--D10-D6 sends a pulse feedback signal;

[0060] Step 4: The first control unit determines whether the pulse feedback signal sent reaches a predetermined number of times (for example, 3 times), and if so, sends a confirmation feedback signal, otherwise returns to the previous step;

[0061] Step 5: The second receiving unit transmits the received confirmation feedback signal to the second control unit after voltage division by R8 and R10;

[0062] Step 6: The second control unit controls D3 via Q1, and the second sending unit outputs the charging current;

[0063] Step 7: The second control unit charges the battery pack through the output of the electromagnetic suppression module, C+, and C-;

[0064] Step 8: After receiving the charging output current signal amplified by U2 from the second current detection unit R6, the second control unit determines whether the full charge threshold is reached. If not, it returns to step 6; if yes, it returns to step 1.

[0065] It can be seen that the present embodiment not only avoids manual operation and improves charging efficiency, but also has the following significant advantages compared with the prior art:

[0066] 1) The charging station continuously sends pulse test signals and receives pulse feedback signals to confirm successful docking, thereby controlling charging, which is stable and reliable;

[0067] 2) The charging control switch (D3) of the lawn mower battery pack is set inside the charging station, which not only helps to ensure safety, but also helps to protect the lawn mower as an autonomous walking device;

[0068] 3) The internal circuit has multiple shared functions. For example, the second sending unit of the charging station has both the control pulse test signal and the charging output current function. Therefore, the circuit structure is simple and cost-effective.

[0069] Embodiment 2

[0070] The automatic docking charging system of this embodiment is basically the same as that of the embodiment, except that the first and second control units control steps (see Figure 7 ) with slight changes:

[0071] In the first step, the second control unit controls Q1-D3, and the second sending unit sends a pulse test signal to the third terminal;

[0072] Step 2: The first receiving unit transmits the received pulse test signal to the first control unit after voltage division by R21 and R23;

[0073] Step 3: The first control unit controls Q3, D10 and Q2, D6, and the first sending unit P+--D10-D6 sends a pulse feedback signal;

[0074] Step 4: The second receiving unit transmits the received pulse feedback signal to the second control unit after voltage division by R8 and R10;

[0075] Step 5: The second control unit determines whether the received pulse feedback signal reaches a predetermined number of times (for example, 3 times), and if so, proceeds to the next step, otherwise returns to the first step;

[0076] Step 6: The second control unit controls D3 via Q1, and the second sending unit outputs the charging current;

[0077] Step 7: The second control unit charges the battery pack through the output of the electromagnetic suppression module, C+, and C-;

[0078] Step 8: After receiving the charging output current signal amplified by U1 from the second current detection unit R6, the second control unit determines whether the full charge threshold is reached. If not, it returns to step 6; if yes, it returns to step 1.

[0079] In this way, the internal circuit of the charging station determines whether the docking is in place and then controls the charging, which is safer.

[0080] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solution formed by equivalent replacement or equivalent transformation falls within the protection scope required by the present invention.

Claims

1. A docking charging method for an automatic docking charging system, the system comprising an automatic walking device having a battery pack inside, a first terminal and a second terminal on one side, and a charging station having a third terminal and a fourth terminal on one side of a bottom plate; The automatic walking device comprises a first control unit, a first receiving unit, and a first sending unit; the first sending unit comprises a feedback controlled end and a sending controlled end; the first terminal and the second terminal are respectively connected to the signal receiving end and the current detecting end of the first control unit through the first receiving unit and the first current detecting unit, so as to transmit the pulse test signal to the first control unit after the first terminal and the second terminal are respectively connected to the third terminal and the fourth terminal; and transmitting the input current signal to the first control unit; the feedback control end and the transmission control end of the first control unit are respectively connected to the feedback controlled end and the transmission controlled end, so as to control the output pulse feedback signal and send it outward after receiving the pulse test signal; The charging station comprises a second control unit, a second receiving unit, a second current detection unit, and a second sending unit; the third terminal and the fourth terminal are connected to the signal receiving end and the current detection end of the first and second control units respectively through the second receiving unit and the second current detection unit; when the first terminal and the second terminal are connected to the third terminal and the fourth terminal respectively, the pulse feedback signal is transmitted to the second control unit; and the charging output current signal is transmitted to the second control unit; the charging control end of the second control unit is used to control the sending of the pulse test signal and the charging output current; It is characterized in that the control steps of the first control unit and the second control unit are as follows: In the first step, the second control unit controls the second sending unit to send a pulse test signal to the third terminal; Step 2: The first receiving unit transmits the received pulse test signal to the first control unit; Step 3: The first control unit sends a pulse feedback signal through the first sending unit; Step 4: The first control unit determines whether the pulse feedback signal sent reaches a predetermined number of times, and if so, sends a confirmation feedback signal, otherwise returns to the previous step; Step 5: The second receiving unit transmits the received confirmation feedback signal to the second control unit; Step 6: The second control unit controls the second sending unit to output the charging current; Step 7: The second control unit controls charging of the battery pack; Step 8: After receiving the charging output current signal of the second current detection unit, the second control unit determines whether the full charge threshold is reached. If not, it returns to step 6; if yes, it returns to step 1.

2. A docking charging method for an automatic docking charging system, the system comprising an automatic walking device having a battery pack inside, a first terminal and a second terminal on one side, and a charging station having a third terminal and a fourth terminal on one side of a bottom plate; The automatic walking device comprises a first control unit, a first receiving unit, and a first sending unit; the first sending unit comprises a feedback controlled end and a sending controlled end; the first terminal and the second terminal are respectively connected to the signal receiving end and the current detecting end of the first control unit through the first receiving unit and the first current detecting unit, so as to transmit the pulse test signal to the first control unit after the first terminal and the second terminal are respectively connected to the third terminal and the fourth terminal; and transmitting the input current signal to the first control unit; the feedback control end and the transmission control end of the first control unit are respectively connected to the feedback controlled end and the transmission controlled end, so as to control the output pulse feedback signal and send it outward after receiving the pulse test signal; The charging station comprises a second control unit, a second receiving unit, a second current detection unit, and a second sending unit; the third terminal and the fourth terminal are connected to the signal receiving end and the current detection end of the first and second control units respectively through the second receiving unit and the second current detection unit; when the first terminal and the second terminal are connected to the third terminal and the fourth terminal respectively, the pulse feedback signal is transmitted to the second control unit; and the charging output current signal is transmitted to the second control unit; the charging control end of the second control unit is used to control the sending of the pulse test signal and the charging output current; It is characterized in that the control steps of the first control unit and the second control unit are as follows: In the first step, the second control unit controls the second sending unit to send a pulse test signal to the third terminal; Step 2: The first receiving unit transmits the received pulse test signal to the first control unit; Step 3: The first control unit controls the first sending unit to send a pulse feedback signal; Step 4: the second receiving unit transmits the received pulse feedback signal to the second control unit; Step 5: The second control unit determines whether the received pulse feedback signal reaches a predetermined number of times, if yes, proceeds to the next step, if no, returns to the first step; Step 6: The second control unit controls the second sending unit to output the charging current; Step 7: The second control unit controls charging of the battery pack; Step 8: After receiving the charging output current signal of the second current detection unit, the second control unit determines whether the full charge threshold is reached. If not, it returns to step 6; if yes, it returns to step 1.

3. The docking charging method of the automatic docking charging system according to claim 1 or 2, characterized in that: The first control unit is composed of a first CPU and its peripheral devices; the first receiving unit includes a first resistor and a second resistor connected in series and then grounded after voltage division; the first current detection unit is composed of a first operational amplifier with a positive input terminal grounded and a reverse input terminal connected to a first sampling resistor; the feedback controlled terminal is connected to the controlled terminal of the second MOS tube on the feedback loop, and the transmission controlled terminal is connected to the controlled terminal of the first MOS tube on the transmission loop.

4. The docking charging method of the automatic docking charging system according to claim 3, characterized in that: The second control unit is composed of a second CPU and its peripheral devices; the second receiving unit includes a third resistor and a fourth resistor connected in series and then grounded; the second current detection unit is composed of a second operational amplifier with a positive input terminal grounded and a reverse input terminal connected to a fourth terminal, and the reverse input terminal of the second operational amplifier and the fourth terminal are grounded via a second sampling resistor.

5. The docking charging method of the automatic docking charging system according to claim 4, characterized in that: The second sending unit is composed of a control loop connected to the controlled end of the third MOS tube between the charging power supply and the third terminal via the base of the transistor; the charging control end of the second control unit is connected to the base of the transistor of the second sending unit, so as to control the third MOS tube to send a pulse test signal and a charging output current.

6. The docking charging method of the automatic docking charging system according to claim 5, characterized in that: The first terminal and the second terminal are connected to the signal receiving end and the current detecting end of the first control unit respectively through the first receiving unit and the first current detecting unit via the electromagnetic suppression module composed of common mode inductance and capacitance.

7. The docking charging method of the automatic docking charging system according to claim 6, characterized in that: The charging station includes a second control unit, a second receiving unit, a second current detection unit, and a second sending unit via an anti-reverse connection circuit.

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