Robot, charging pile, charging control method, electronic device and storage medium

Abstract

The present invention discloses a robot, a charging pile, a charging control method, an electronic device and a storage medium. In the robot, a first spring piece is connected to a battery through a charging circuit, a first spring piece sensor and a charging circuit are respectively connected to a first controller, the first spring piece contacts and moves with a second spring piece of the charging pile, the first spring piece sensor outputs a first signal when detecting that the first spring piece moves to a preset position, the first controller controls the robot to brake and controls the charging circuit to be turned on when receiving the first signal, and the charging pile charges the battery through the charging circuit, so that the first spring piece of the robot contacts and moves with the second spring piece of the charging pile to the preset position, that is, controls the robot to brake and charge, solves the problem that the robot and the charging pile cannot brake in time due to a time delay in determining the spring piece contact through wireless communication interaction, can control the robot to brake in time, avoids safety accidents caused by the robot colliding with the charging pile, and improves the safety of the robot and the charging pile docking and charging.

Description

Technical Field

[0001] The present invention relates to the field of charging technology, and in particular to a robot, a charging pile, a charging control method, an electronic device, and a storage medium. Background Art

[0002] The robots used in daily life are generally powered by batteries, and charging piles for robots are essential supporting equipment for robots.

[0003] In the prior art, when a robot is charging, charging is achieved by contact between a spring clip on the robot and a spring clip on a charging pile. When the robot and the charging pile are docked, they are connected via a wireless network and exchange information to confirm that the spring clips are in contact, so that the robot brakes and charges after confirming that the spring clips are in contact.

[0004] However, due to the time delay in wireless network communication and interactive information processing, the robot delayed braking after receiving the message of shrapnel contact from the charging pile, causing the robot to continue moving towards the charging pile after the shrapnel contact, and the robot squeezed and collided with the charging pile, causing a safety accident. Summary of the Invention

[0005] The present invention provides a robot, a charging pile, a charging control method, an electronic device and a storage medium to solve the problem that a robot cannot brake in time when docking with a charging pile for charging, causing the robot to collide with or squeeze the charging pile, resulting in a safety accident.

[0006] In a first aspect, the present invention provides a robot comprising a first controller, a first spring, a first spring sensor, a charging circuit, and a battery, wherein the first spring is connected to the battery via the charging circuit, and the first spring sensor and the charging circuit are respectively connected to the first controller;

[0007] The first elastic piece is used to contact and move with the second elastic piece of the charging pile;

[0008] The first spring sheet sensor is configured to output a first signal to the first controller when detecting that the first spring sheet has moved to a preset position;

[0009] The first controller is used to determine whether the first signal is received from the first spring sensor; when the first signal is received, the robot is controlled to brake, and the charging circuit is controlled to be turned on, so that the charging pile charges the battery through the charging circuit.

[0010] In a second aspect, the present invention provides a charging pile, including a second controller, a second spring, a second spring sensor, a discharge circuit, and a charger, wherein the second spring is electrically connected to the charger through the discharge circuit, and the second spring sensor and the discharge circuit are respectively connected to the second controller;

[0011] The second elastic piece is used to contact and move with the first elastic piece of the robot;

[0012] The second spring sheet sensor is configured to output a second signal to the second controller when detecting that the second spring sheet has moved to a preset position;

[0013] The second controller is used to determine whether the second signal is received from the second spring sensor; when the second signal is received, the second controller controls the discharge circuit to be turned on, and the charger charges the robot through the discharge circuit.

[0014] In a third aspect, the present invention provides a robot charging control method, applied to the robot described in the first aspect, comprising:

[0015] determining whether a first signal is received from the first spring sensor, where the first signal is a signal output by the first spring sensor when the first spring sensor detects that the first spring moves to a preset position;

[0016] controlling the robot to brake upon receiving the first signal;

[0017] The charging circuit is controlled to be turned on, and the charging pile charges the battery through the charging circuit.

[0018] In a fourth aspect, the present invention provides a charging pile charging control method, which is applied to the charging pile described in the second aspect, comprising:

[0019] determining whether a second signal is received from the second shrapnel sensor;

[0020] When the second signal is received, the discharge circuit is controlled to be turned on, and the charger charges the robot through the discharge circuit.

[0021] In a fifth aspect, the present invention provides an electronic device, comprising:

[0022] at least one processor; and

[0023] a memory communicatively connected to the at least one processor; wherein,

[0024] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the robot charging control method described in the first aspect and / or the charging pile charging control method described in the second aspect.

[0025] In a sixth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, it implements the robot charging control method described in the first aspect and / or the charging pile charging control method described in the second aspect.

[0026] The robot of an embodiment of the present invention includes a first controller, a first spring clip, a first spring clip sensor, a charging circuit and a battery. The first spring clip is connected to the battery through the charging circuit. The first spring clip sensor and the charging circuit are respectively connected to the first controller. The first spring clip contacts and moves with the second spring clip of the charging pile. The first spring clip sensor outputs a first signal to the first controller when detecting that the first spring clip moves to a preset position. When receiving the first signal, the first controller controls the robot to brake and controls the charging circuit to be turned on, so that the charging pile charges the battery through the charging circuit. The displacement of the first spring clip is detected by the first spring clip sensor to determine whether the robot is docked with the charging pile. After the first spring clip of the robot contacts and is pressed to move to the preset position with the second spring clip of the charging pile, the robot is controlled to brake and the charging circuit is controlled to be turned on. This solves the problem that the robot and the charging pile cannot brake in time due to a time delay in determining the spring clip contact through wireless communication interaction. The robot can be controlled to brake in time, avoiding safety accidents caused by the robot colliding and squeezing the charging pile, and improving the safety performance of the robot and the charging pile docking and charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of the structure of a robot provided by an embodiment of the present invention;

[0028] Figure 2 A schematic diagram of a robot provided by an embodiment of the present invention;

[0029] Figure 3 This is a flow chart of charging control for a robot according to an embodiment of the present invention when the battery is charged;

[0030] Figure 4 This is a flow chart of manual charging control when the battery of the robot according to an embodiment of the present invention is out of power;

[0031] Figure 5 This is a structural block diagram of a charging pile according to an embodiment of the present invention;

[0032] Figure 6 A schematic diagram of a charging pile provided in an embodiment of the present invention;

[0033] Figure 7 This is a control flow chart of the charging pile during charging according to an embodiment of the present invention;

[0034] Figure 8 A flowchart of a robot charging control method provided by an embodiment of the present invention;

[0035] Figure 9 This is a flow chart of a charging pile charging control method provided by an embodiment of the present invention.

[0036] Figure 10 This is a structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0038] Example 1

[0039] Figure 1 A schematic diagram of the structure of a robot provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the robot 1 of the embodiment of the present invention includes a first controller 10, a first spring 11, a first spring sensor 12, a charging circuit 13 and a battery 14. The first spring 11 is connected to the battery 14 through the charging circuit 13, and the first spring sensor 12 and the charging circuit 13 are respectively connected to the first controller 10.

[0040] The robot 1 in this embodiment can be a mobile robot powered by a battery. For example, the robot 1 can be an assisted autonomous driving cleaning vehicle, an assisted autonomous driving car, a sweeping robot, etc. The first controller 10 can be the main controller on the robot. The first spring clip 11 is set on the robot 1 and exposed outside the robot 1. The first spring clip 11 is used to contact the second spring clip on the charging pile to achieve electrical connection between the robot 1 and the charging pile. The first spring clip 11 can be a conductive metal, such as copper, stainless steel and other metals. The first spring clip 11 can be connected to a spring. When the robot 1 is docked with the charging pile, the first spring clip 11 contacts the second spring clip on the charging pile. After the first spring clip 11 is under pressure, it moves toward the inside of the robot 1 to achieve sufficient and reliable contact with the second spring clip on the charging pile under the action of the spring, thereby ensuring the stability of the electrical connection.

[0041] The first spring clip sensor 12 may be a sensor for detecting that the first spring clip 11 moves to a preset position after being compressed. In one embodiment, the first spring clip sensor 12 may be a Hall sensor, a photoelectric sensor, etc., so as to detect that the first spring clip 11 moves to the preset position. This embodiment does not limit the first spring clip sensor 12.

[0042] The charging circuit 13 may be a circuit that is turned on or off under the control of the first controller 10 , so that the first elastic member 11 may be connected to or disconnected from the battery 14 through the charging circuit 13 .

[0043] In this embodiment, the first spring clip 11 is used to contact and move with the second spring clip of the charging pile, and the first spring clip sensor 12 is used to output a first signal to the first controller 10 when detecting that the first spring clip 11 moves to a preset position. The first controller 10 is used to determine whether the first signal is received from the first spring clip sensor 12, and control the robot 1 to brake when receiving the first signal, and control the charging circuit 13 to be turned on, so that the charging pile charges the battery 14 through the charging circuit 13.

[0044] The robot charging process of this embodiment is as follows:

[0045] When the robot 1 is docked with the charging pile, after the first spring clip 11 on the robot 1 contacts the second spring clip on the charging pile, as the robot 1 continues to move toward the charging pile, the first spring clip 11 is squeezed and moves toward the inside of the robot 1. When the first spring clip 11 moves to the preset position, the first spring clip sensor 12 detects the first spring clip 11, and the first spring clip sensor 12 outputs a first signal to the first controller 10, such as outputting a high-level signal to the first controller 10. The first controller 10 immediately controls the robot 1 to brake to prevent the robot 1 from continuing to move toward the charging pile and squeezing and colliding with the charging pile to cause a safety accident, and controls the charging circuit 13 to be turned on. The electric energy output by the charging pile passes through the first spring clip 11 and the charging circuit 13 to charge the battery 14, which solves the problem that the robot and the charging pile cannot brake in time due to the delay in determining the spring clip contact through wireless communication interaction. The robot can be controlled to brake in time, avoiding the robot colliding and squeezing the charging pile to cause a safety accident, and improving the safety performance of the robot and the charging pile docking and charging.

[0046] Figure 2 Schematic diagram of a robot according to an embodiment of the present invention, Figure 2 As shown, in one embodiment, the charging circuit 13 includes a pulse detection unit 131 and a charging switch 132, the first spring 11 is electrically connected to the battery 14 through the charging switch 132, the control end of the charging switch 132 is connected to the first controller 10, the input end of the pulse detection unit 131 is electrically connected to the first spring 11, and the output end of the pulse detection unit 131 is connected to the first controller 10.

[0047] Specifically, a charging bus can be provided in the charging circuit 13, one end of the charging bus is connected to the first spring 11, and the other end is connected to the battery 14. The charging switch 132 is provided on the charging bus. When the charging switch 132 is turned on, the charging bus is turned on, and when the charging switch 132 is turned off, the charging bus is turned off. The charging switch 132 can be an electronic switch such as a relay, a MOS tube, or a transistor.

[0048] The pulse detection unit 131 can be a circuit for detecting the frequency of the pulse voltage in the charging bus connected to the first spring 11. When the robot 1 is docked with the charging pile, after the first spring 11 contacts the second spring on the charging pile, the first spring 11 moves toward the inside of the robot 1 after being compressed by the first spring 15. When it moves to be detected by the first spring sensor 12, the first spring sensor 12 outputs a first signal to the first controller 10. The first controller 10 controls the robot 1 to brake. The charging pile first outputs a pulse voltage of a preset frequency. After the pulse voltage is input from the first spring 11, the pulse detection unit 131 receives the pulse voltage output from the charging pile from the first spring 11. voltage, and outputs the frequency of the pulse voltage to the first controller 10. If the first controller 10 determines that the frequency of the pulse voltage is equal to the preset frequency, and determines that the charging pile is a charging pile of the correct model, it can control the charging switch 132 to be turned on, and the charging pile charges the battery 14. If the first controller 10 determines that the frequency of the pulse voltage is not equal to the preset frequency, and determines that the charging pile is an illegal or unsafe charging pile, the first controller 10 controls the charging switch 132 to be turned off, prohibiting the illegal or unsafe charging pile from charging the battery 14, thereby realizing the detection of the charging pile, avoiding safety accidents caused by illegal or unsafe charging piles charging the battery 14, and improving the safety performance of the robot charging.

[0049] Figure 3 This is a flow chart of charging control for a robot according to an embodiment of the present invention when the battery is charged. Figure 3 As shown, when the battery 14 can power the pulse detection unit 131 and the first controller 10, the first controller 10 determines in real time whether the first signal output by the first spring sensor 12 is received. If so, the robot 1 is docked with the charging pile and the first spring 11 is compressed to a preset position. The first controller 10 controls the robot to brake. If not, it continues to determine in real time whether the first signal output by the first spring sensor 12 is received. After the first controller 10 controls the robot to brake, it determines in real time whether the frequency of the pulse voltage received from the pulse detection unit 131 is equal to the preset frequency. If so, it determines that the charging pile is a legal charging pile. The first controller 10 The charging switch 132 is controlled to be turned on, and the charging pile charges the battery 14. If not, the first controller 10 determines that the charging pile is an illegal charging pile and controls the charging switch 132 to be turned off, so as to prevent the illegal charging pile from charging the battery 14, and returns to the step of judging in real time whether the first signal output by the first spring sensor 12 is received. It can brake in time when the first spring 11 is compressed to a preset position during the docking process with the charging pile, so as to prevent the robot from being unable to brake in time and squeezing and colliding with the charging pile to cause a safety accident, and can also perform a legitimacy check on the connected charging pile, so as to prevent illegal charging piles or unsafe charging piles from charging the robot, thereby improving the safety performance of the robot charging.

[0050] like Figure 2As shown, in one embodiment, the charging circuit 13 further includes an energy storage unit 133, an input end of the energy storage unit 133 is electrically connected to the first spring 11, and an output end of the energy storage unit 133 is connected to the control end of the charging switch 132. Specifically, the energy storage unit 133 can be a circuit for storing electrical energy and outputting a drive signal to drive the charging switch 132 to turn on when the voltage of the stored electrical energy is greater than a preset voltage.

[0051] like Figure 2 As shown, in one example, the energy storage unit 133 includes an energy storage capacitor C and a voltage transformer circuit (buck circuit), wherein the voltage transformer circuit can be a circuit that outputs a drive signal to drive the charging switch 132 to turn on when the voltage of the energy storage capacitor C is greater than a preset voltage. The first end of the energy storage capacitor C is electrically connected to the first spring 11, and the second end of the energy storage capacitor C is grounded. For example, after the energy storage capacitor C is connected to the charging bus through the resistor R1 and the diode D, it is electrically connected to the first spring 11 through the charging bus. The input end of the voltage transformer circuit (buck circuit) is connected to the first end of the energy storage capacitor C, and the output end of the voltage transformer circuit (buck circuit) is connected to the control end of the charging switch 132. The voltage transformer circuit (buck circuit) is used to drive the charging switch 132 to turn on when the voltage of the energy storage capacitor C is equal to the preset voltage.

[0052] Specifically, the energy storage unit 133 is used when the battery 14 has no power output. Since the battery 14 has no power, the robot 1 cannot move automatically. The user can manually push the robot 1 to the charging pile for charging and docking. If the first spring clip 11 contacts the second spring clip of the charging pile, the energy storage unit 133 receives the pulse voltage output by the charging pile from the first spring clip 11 for charging and energy storage, and drives the charging switch 132 to turn on when the charging and energy storage voltage is equal to the preset voltage, so that the charging pile charges the battery 14.

[0053] For example, when the battery 14 in the robot 1 has no power, the first controller 10, the pulse detection unit 131 and the first spring sensor 12 cannot work, and the robot 1 cannot automatically move to the charging pile for charging. The user can manually push the robot 1 to the position of the charging pile and make the first spring 11 contact with the second spring 11 of the charging pile. When the charging pile detects that the second spring 11 is in contact with the first spring 11, it first outputs a pulse voltage. The pulse voltage charges the energy storage capacitor c in the energy storage unit 133 through the first spring 11. When the voltage of the energy storage capacitor c reaches the preset voltage, the transformer circuit (buck circuit) outputs a signal to drive the charging switch 132 to turn on, so that the charging pile charges the battery 14, realizing the sharing of a charging interface for automatic charging of the robot and manual charging when the battery has no power. There is no need to set up an additional charging interface and connector for manual charging, which simplifies the internal circuit of the robot and reduces the cost of the robot.

[0054] Figure 4The charging control flow chart for the robot is compatible with automatic charging and manual charging, such as Figure 4 As shown, when the battery has power output to support the operation of the first controller, the first shrapnel sensor and the pulse detection unit, the first controller determines in real time whether it has received the first signal output by the first shrapnel sensor. If so, the first controller controls the robot to brake, and further determines whether the frequency of the pulse voltage received from the pulse detection unit is equal to the preset frequency. If so, the first controller controls the charging switch to turn on, otherwise, the charging switch is controlled to turn off.

[0055] When the battery has no power output and cannot support the first controller, the first spring sensor and the pulse detection unit to work, since the robot cannot automatically move to the charging pile, the user can manually push the robot to the charging pile so that the first spring of the robot contacts the second spring of the charging pile. The charging pile outputs a pulse voltage, and the energy storage unit on the robot uses the pulse voltage to charge and store energy. When the energy storage voltage is greater than the preset voltage, the buck circuit in the energy storage unit drives the charging switch to turn on, and the charging pile charges the battery, realizing the sharing of the first spring as a charging interface with automatic charging when the battery has no power or needs to be activated. There is no need to set up an additional charging interface for manual charging, which simplifies the robot's circuit and reduces the cost of the robot.

[0056] In another embodiment, the first controller 10 is also used to control the charging switch to be cut off and the charging pile to stop charging the battery when a preset event is detected. The preset event may include at least one of the charging current being less than a current threshold, the battery power reaching a preset power, the first signal not being received, and the battery alarm information being received. The first controller 10 can interact with the battery to obtain the charging current, the battery power, and the battery alarm information. The current threshold may be the current when the battery charging is about to end, such as a value less than the charging current in the trickle charging stage. The battery alarm information may be alarm information such as overtemperature, overvoltage, overcurrent, etc., or an overcharge alarm information. The failure to receive the first signal can determine that the first spring clip of the robot is not in contact with the second spring clip of the charging pile. Of course, the preset event may also be other events, such as the charging voltage being lower than a preset value. This embodiment does not limit the preset events.

[0057] This embodiment can set a preset event to control the charging switch to be cut off when the preset event is detected, thereby automatically stopping charging, avoiding safety accidents caused by continuing charging when the battery has overcurrent, overvoltage, or overtemperature, and improving the safety performance of robot charging.

[0058] Example 2

[0059] Figure 5 A schematic diagram of the structure of a charging pile provided by an embodiment of the present invention is shown in FIG. Figure 5As shown, the charging pile 2 of the embodiment of the present invention includes a second controller 20, a second spring 21, a second spring sensor 22, a discharge circuit 23 and a charger 24. The second spring 21 is electrically connected to the charger 24 through the discharge circuit 23, and the second spring sensor 22 and the discharge circuit 23 are respectively connected to the second controller 20.

[0060] Among them, the charging pile 2 can be a charging device specially designed for the robot, and of course it can also be a public charging device. The second spring piece 21 is arranged on the charging pile 2 and exposed outside the charging pile 2. The second spring piece 21 is used to contact the first spring piece 11 on the robot 1 to realize the electrical connection between the charging pile 2 and the robot 1. The second spring piece 21 can be a conductive metal, such as copper, stainless steel and other metals. The second spring piece 21 can be connected to a spring. When the robot 1 is charging and docking with the charging pile 2, the robot 1 moves toward the charging pile 2, and the first spring piece 11 on the robot 1 contacts the second spring piece 21 on the charging pile 2 and squeezes the second spring piece 21. After being compressed, the second spring piece 21 moves toward the inside of the charging pile 2 to achieve sufficient and reliable contact with the first spring piece 11 on the robot 1 under the action of the spring, thereby ensuring the stability of the electrical connection.

[0061] The discharge circuit 23 may be a circuit that is turned on or off under the control of the second controller 20 , so that the charger 24 can be connected to or disconnected from the second elastic piece 21 through the discharge circuit 23 .

[0062] The second spring sensor 22 is used to output a second signal to the second controller 20 when it detects that the second spring 21 moves to a preset position, such as outputting a high-level signal to the second controller 20. The second controller 20 is used to determine whether the second signal is received from the second spring sensor 22. When the second signal is received, the discharge circuit 23 is controlled to be turned on. The charger 24 outputs electrical energy to the second spring 21 through the discharge circuit 23 to charge the battery 14 in the robot 1 connected to the charging pile 2. In the robot 1, the first spring 11 contacts and moves with the second spring 21 of the charging pile 2. The first spring sensor 12 is used to output a first signal to the first controller 10 when it detects that the first spring 11 moves to the preset position. The first controller 10 is used to determine whether a first signal is received from the first spring sensor 12, and control the robot 1 to brake when the first signal is received, and control the charging circuit 13 to be turned on, so that the charging pile charges the battery 14 through the charging circuit 13, so that the first spring 11 on the robot 1 contacts the second spring 21 of the charging pile 2 and is pressed to move to a preset position, and then the robot 1 is controlled to brake, and the charging circuit is controlled to be turned on, which solves the problem that the robot and the charging pile cannot brake in time due to the delay in determining the spring contact through wireless communication interaction. It can control the robot to brake in time, avoid the safety accident caused by the robot colliding and squeezing the charging pile, and improve the safety performance of the robot and the charging pile for docking and charging.

[0063] The charging process of the robot 1 by the charging pile 2 in this embodiment is as follows:

[0064] When the robot 1 is docked with the charging pile 2 for charging, after the second elastic piece 21 on the charging pile 2 contacts the first elastic piece 11 on the robot 1, as the robot 1 continues to move toward the charging pile 2, the second elastic piece 21 is squeezed and moved into the charging pile 2. When the second elastic piece 21 moves to the preset position, the second elastic piece sensor 22 detects the second elastic piece 21. The second elastic piece sensor 22 outputs a second signal to the second controller 20, such as a high-level signal to the second controller 20. The second controller 20 determines that the robot 1 is connected to the charging pile 2, and the second controller 20 controls the discharge circuit 23 to be turned on. The charger 24 converts the AC mains power into DC power and outputs it to the second elastic piece 21 through the discharge circuit 23, so that the charging pile charges the battery 14 on the robot 1. This solves the problem that there is a delay in the robot and the charging pile determining the elastic piece contact through wireless communication interaction, and the discharge and charging cannot be timely carried out. The charging pile 2 can charge the robot 1 after detecting that the second elastic piece 21 contacts the first elastic piece 11 of the robot 1 and is squeezed to the preset position, thereby shortening the time required for the charging pile and the robot to be connected for charging and improving the efficiency of the charging pile and the robot to be connected.

[0065] like Figure 6 As shown, in one embodiment, the discharge circuit 23 includes a discharge switch 230, the second spring 21 is electrically connected to the charger 24 through the discharge switch 230, and the second controller 20 is used to control the discharge switch 230 to be turned on when receiving the second signal, wherein the discharge switch 230 can be an electronic switch such as a relay, a MOS tube, or a transistor.

[0066] like Figure 6 As shown, in another embodiment, the discharge circuit 23 further includes a current sampling unit 231, which is connected to the second controller 20, wherein the current sampling unit 231 can be a circuit including a sampling resistor and an analog-to-digital conversion chip, and the input end of the current sampling unit 231 can be connected to the second spring 21 or to the charging circuit formed by the charging pile 2 and the robot 1 to detect the current of the charging circuit, that is, the current sampling unit 231 is used to detect the discharge current of the charger 24, which is also the charging current.

[0067] After controlling the discharge switch 230 to turn on, the second controller 20 controls the charger 24 to switch to the pre-charging mode, so that the charger 24 outputs a pulse voltage of a preset frequency. When the discharge current received from the current sampling unit 231 is equal to the preset current, or when the discharge current is detected, it is determined that the battery 14 of the robot 1 connected to the charging pile 2 is a battery of the correct model. The charger 24 can be controlled to switch to the normal charging mode to formally charge the robot 1, thereby preventing dangerous accidents such as metal short-circuiting the second spring 21 or other illegal batteries connected to the charging pile 2 due to continuous discharge causing short circuits, thereby ensuring the safety performance of the charging pile 2.

[0068] Figure 7 The flowchart of charging the robot 1 with the charging pile 2 is as follows: Figure 7 As shown, the second controller 20 in the charging pile 2 detects in real time whether it receives the second signal output by the second spring sensor 22. If so, it is determined that the second spring 21 is docked with the robot 1 and squeezed, and then moves to a preset position under the action of the second spring 25 and is detected by the second spring sensor 22. The second controller 20 controls the discharge switch 230 to turn on and controls the charger 24 to output a pulse voltage of a preset frequency (for example, 1Khz). When the robot 1 detects that the frequency of the pulse voltage is equal to the preset frequency, the first controller 10 of the robot 1 controls the charging circuit 13 to turn on, and a circuit is formed between the charging pile 2 and the robot 1. A charging circuit is formed, and the current is sampled by the current sampling unit 231. If the current sampling unit 231 samples the current, or the sampled current is equal to the preset current, it is determined that the battery 14 in the robot 1 is a battery of the correct model, and the second controller 20 controls the charger 24 to switch to normal mode to formally charge the robot 1. If the sampled current is not equal to the preset current, or the current is not sampled, the discharge switch 230 is controlled to be cut off to avoid dangerous accidents such as short circuit caused by metal short circuit, the second spring 21 or other illegal batteries connected to the charging pile 2 due to continuous discharge, thereby ensuring the safety performance of the charging pile 2.

[0069] In one embodiment, the second controller 20 is also used to control the discharge switch to be cut off and the charging pile to stop charging the robot when a preset event is detected. The preset event includes at least one of the following: the discharge current is less than the current threshold, the discharge time is greater than the overcharge protection time, the second signal is not received, and the charger alarm information is received.

[0070] This embodiment can set a preset event to control the discharge switch to be cut off when the preset event is detected, thereby automatically stopping charging, avoiding safety accidents caused by continued discharge of the charger when there is overcurrent, overvoltage, or overtemperature, and improving the safety performance of the charging pile.

[0071] Example 3

[0072] Figure 8This is a flowchart of a robot charging control method provided in the third embodiment of the present invention. The robot charging control method of the embodiment of the present invention is applicable to the robot provided by the present invention to control the robot to dock with the charging pile for charging. This method can be executed by the robot in the first embodiment, such as Figure 8 As shown, the robot charging control method according to the embodiment of the present invention may specifically include the following steps:

[0073] S801: Determine whether a first signal is received from a first spring sensor, where the first signal is a signal output by the first spring sensor when the first spring sensor detects that the first spring moves to a preset position;

[0074] S802, controlling the robot to brake upon receiving the first signal;

[0075] S803: Control the charging circuit to be turned on, and the charging pile charges the battery through the charging circuit.

[0076] Specifically, such as Figure 2 As shown, after the first spring clip 11 on the robot 1 contacts the second spring clip on the charging pile, as the robot 1 continues to move toward the charging pile, the first spring clip 11 is squeezed and moved toward the inside of the robot 1. When the first spring clip 11 moves to the preset position, the first spring clip sensor 12 detects the first spring clip 11, and the first spring clip sensor 12 outputs a first signal to the first controller 10, such as outputting a high-level signal to the first controller 10. The first controller 10 immediately controls the robot 1 to brake to prevent the robot 1 from continuing to move toward the charging pile and squeezing and colliding with the charging pile to cause a safety accident, and controls the charging switch 132 to turn on. The electric energy output by the charging pile charges the battery 14 after passing through the first spring clip 11 and the charging switch 132, which solves the problem that the robot and the charging pile cannot brake in time due to the delay in determining the spring clip contact through wireless communication interaction. The robot can be controlled to brake in time, avoiding the robot colliding and squeezing the charging pile to cause a safety accident, and improving the safety performance of the robot and the charging pile docking and charging.

[0077] In an alternative embodiment, if Figure 2 As shown, the charging circuit includes a pulse detection unit 131, and before S803, it can also include: receiving the frequency of the pulse voltage output by the charging pile from the pulse detection unit, executing S803 when the frequency is equal to the preset frequency, otherwise, controlling the charging switch 132 to be turned off.

[0078] In another alternative embodiment, Figure 2 As shown, the charging circuit includes an energy storage unit 133. The energy storage unit 133 is used to receive the pulse voltage output by the charging pile from the first spring clip for charging and energy storage when the battery has no power output, if the first spring clip contacts the second spring clip of the charging pile, and drive the charging switch to turn on when the charging energy storage voltage is equal to the preset voltage, so that the charging pile charges the battery.

[0079] like Figure 2 As shown, the energy storage unit 133 includes an energy storage capacitor C and a voltage conversion circuit (buck circuit), the first end of the energy storage capacitor is electrically connected to the first spring, the second end of the energy storage capacitor is grounded, the input end of the voltage conversion circuit is connected to the first end of the energy storage capacitor, and the output end of the voltage conversion circuit is connected to the control end of the charging switch. The voltage conversion circuit is used to drive the charging switch to turn on when the voltage of the energy storage capacitor is equal to the preset voltage.

[0080] In another embodiment, when a preset event is detected, the charging switch is controlled to be cut off and the charging pile stops charging the battery; wherein the preset event includes at least one of the following: the charging current is less than the current threshold, the battery power reaches a preset power, the first signal is not received, and the battery alarm information is received.

[0081] It should be noted that, for the embodiment of the robot charging control method, since it is basically similar to the embodiment of the robot, the description is relatively simple, and the relevant parts can be referred to the partial description of the robot embodiment.

[0082] An embodiment of the present invention determines whether a first signal is received from a first spring sensor, where the first signal is a signal output by the first spring sensor when the first spring sensor detects that the first spring moves to a preset position. When the first signal is received, the robot is controlled to brake, and the charging circuit is controlled to be turned on. The charging pile charges the battery through the charging circuit, and the displacement of the first spring is detected by the first spring sensor to determine whether the robot is docked with the charging pile. After the first spring of the robot contacts and is pressed against the second spring of the charging pile and moves to the preset position, the robot is controlled to brake, and the charging circuit is controlled to be turned on. This solves the problem that the robot and the charging pile cannot brake in time due to a time delay in determining the spring contact through wireless communication interaction. The robot can be controlled to brake in time, avoiding safety accidents caused by the robot colliding with or squeezing the charging pile, and improving the safety performance of the robot and the charging pile in docking and charging.

[0083] Example 4

[0084] Figure 9 This is a flow chart of a charging pile charging control method provided in the fourth embodiment of the present invention. The charging pile charging control method of the embodiment of the present invention is applicable to the charging pile provided by the present invention to control the charging of the robot after the charging pile is docked with the robot. This method can be executed by the charging pile of the second embodiment, such as Figure 9 As shown, the charging pile charging control method of the embodiment of the present invention may specifically include the following steps:

[0085] S901: Determine whether a second signal is received from a second spring sensor.

[0086] S902: When receiving the second signal, the discharge circuit is controlled to be turned on, and the charger charges the robot through the discharge circuit.

[0087] like Figure 6 As shown, the discharge circuit includes a discharge switch 230. When the robot 1 is docked with the charging pile 2 for charging, the second spring piece 21 on the charging pile 2 contacts the first spring piece 11 on the robot 1. As the robot 1 continues to move toward the charging pile 2, the second spring piece 21 is squeezed and moves toward the inside of the charging pile 2. When the second spring piece 21 moves to a preset position, the second spring piece sensor 22 detects the second spring piece 21. The second spring piece sensor 22 outputs a second signal to the second controller 20, such as outputting a high-level signal to the second controller 20. The second controller 20 determines that the robot 1 is connected to the charging pile 2, and the second spring piece 21 is pressed against the charging pile 2. The controller 20 controls the discharge switch 230 to be turned on, and the charger 24 converts the AC mains power into DC power and outputs it to the second spring 21 through the discharge switch 230, so that the charging pile charges the battery 14 on the robot 1, solving the problem that the robot and the charging pile cannot discharge and charge in time due to the delay in determining the spring contact through wireless communication interaction. The charging pile 2 can charge the robot 1 after detecting that the second spring 21 is in contact with the first spring 11 of the robot 1 and is squeezed to a preset position, shortening the time for charging and docking the charging pile and the robot, and improving the efficiency of charging and docking the charging pile and the robot.

[0088] In one embodiment, Figure 6 As shown, the discharge circuit includes a current sampling unit 231, which is used to detect the discharge current, and further includes: controlling the charger to switch to the pre-charge mode so that the charger outputs a pulse voltage of a preset frequency, and when the discharge current received from the current sampling unit is equal to the preset current, controlling the charger to switch to the normal charging mode

[0089] In another embodiment, it also includes: when a preset event is detected, the discharge switch is controlled to be cut off, and the charging pile stops charging the robot; wherein the preset event includes at least one of the following: the discharge current is less than the current threshold, the discharge time is greater than the overcharge protection time, the second signal is not received, and the charger alarm information is received.

[0090] It should be noted that, for the method embodiment, since it is basically similar to the embodiment of the charging pile, the description is relatively simple, and the relevant parts can be referred to the partial description of the embodiment of the charging pile.

[0091] The charging pile of this embodiment can determine whether it has received a second signal from the second spring sensor, and control the discharge circuit to be turned on when receiving the second signal. The charger charges the robot through the discharge circuit, which solves the problem that the robot and the charging pile cannot discharge and charge in time due to the delay in determining the spring contact through wireless communication interaction. The charging pile can charge the robot after detecting that the second spring contacts the first spring of the robot and is squeezed to a preset position, shortening the time for charging and docking the charging pile and the robot, and improving the efficiency of charging and docking the charging pile and the robot.

[0092] Furthermore, after the first spring clip on the robot contacts and is pressed against the second spring clip of the charging pile and moves to a preset position, the robot is controlled to brake and the charging circuit is controlled to be turned on. This solves the problem that the robot and the charging pile cannot brake in time due to a time delay in determining the contact of the spring clips through wireless communication interaction. The robot can be controlled to brake in time, avoiding safety accidents caused by the robot colliding with or squeezing the charging pile, and improving the safety performance of the robot and the charging pile in docking and charging.

[0093] Example 5

[0094] Figure 10 A schematic diagram of an electronic device 100 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0095] like Figure 10 As shown, the electronic device 100 includes at least one processor 101, and a memory connected to the at least one processor 101 in communication, such as a read-only memory (ROM) 102, a random access memory (RAM) 103, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 101 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 102 or the computer program loaded from the storage unit 108 to the random access memory (RAM) 103. Various programs and data required for the operation of the electronic device 100 can also be stored in the RAM 103. The processor 101, ROM 102 and RAM 103 are connected to each other via a bus 104. An input / output (I / O) interface 105 is also connected to the bus 104.

[0096] Multiple components in the electronic device 100 are connected to the I / O interface 105, including an input unit 106, such as a spring sensor, a current sampling unit, a pulse detection unit, etc.; an output unit 107, such as various types of displays, speakers, etc.; a storage unit 108, such as a magnetic disk, an optical disk, etc.; and a communication unit 109, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 109 allows the electronic device 100 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0097] Processor 101 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processor, controller, microcontroller, etc. Processor 101 executes the various methods and processes described above, such as the robot charging control method and / or the charging pile charging control method.

[0098] In some embodiments, the robot charging control method, and / or the charging pile charging control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 108. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 100 via the ROM 102 and / or the communication unit 109. When the computer program is loaded into the RAM 103 and executed by the processor 101, one or more steps of the robot charging control method, and / or the charging pile charging control method described above may be performed. Alternatively, in other embodiments, the processor 101 may be configured to execute the robot charging control method, and / or the charging pile charging control method, by any other appropriate means (e.g., by means of firmware).

[0099] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0101] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0102] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0103] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0104] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0105] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0106] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A robot, characterized in that: The device comprises a first controller, a first spring, a first spring sensor, a charging circuit and a battery, wherein the first spring is connected to the battery via the charging circuit, and the first spring sensor and the charging circuit are respectively connected to the first controller; The first elastic piece is used to contact and move with the second elastic piece of the charging pile; The first spring sheet sensor is configured to output a first signal to the first controller when detecting that the first spring sheet has moved to a preset position; The first controller is used to determine whether the first signal is received from the first spring sensor; when the first signal is received, the robot is braked and the charging circuit is turned on, so that the charging pile charges the battery through the charging circuit; The charging circuit includes a pulse detection unit and a charging switch, the first spring is electrically connected to the battery via the charging switch, a control end of the charging switch is connected to the first controller, an input end of the pulse detection unit is electrically connected to the first spring, and an output end of the pulse detection unit is connected to the first controller; The pulse detection unit is used to receive the pulse voltage output by the charging pile from the first elastic piece, and output the frequency of the pulse voltage to the first controller; The first controller is configured to, after receiving the first signal and controlling the robot to brake, control the charging switch to be turned on if the frequency received from the pulse detection unit is equal to a preset frequency; The charging circuit further includes an energy storage unit, wherein an input end of the energy storage unit is electrically connected to the first elastic piece, and an output end of the energy storage unit is connected to the control end of the charging switch; The energy storage unit is used to receive the pulse voltage output by the charging pile from the first spring piece for charging and energy storage when the battery has no power output, if the first spring piece contacts the second spring piece of the charging pile, and drive the charging switch to turn on when the charging and energy storage voltage is equal to the preset voltage, so that the charging pile charges the battery.

2. The robot according to claim 1, characterized in that The energy storage unit includes an energy storage capacitor and a voltage conversion circuit, wherein a first end of the energy storage capacitor is electrically connected to the first elastic piece, a second end of the energy storage capacitor is grounded, an input end of the voltage conversion circuit is connected to the first end of the energy storage capacitor, and an output end of the voltage conversion circuit is connected to the control end of the charging switch; The voltage conversion circuit is used to drive the charging switch to be turned on when the voltage of the energy storage capacitor is equal to a preset voltage.

3. The robot according to claim 1 or 2, characterized in that: The controller is also used to: When a preset event is detected, the charging switch is controlled to be turned off, and the charging pile stops charging the battery; The preset event includes at least one of the following: the charging current is less than a current threshold, the battery power reaches a preset power level, the first signal is not received, and battery alarm information is received.

4. A charging pile, characterized in that: It includes a second controller, a second spring, a second spring sensor, a discharge circuit and a charger, wherein the second spring is electrically connected to the charger through the discharge circuit, and the second spring sensor and the discharge circuit are respectively connected to the second controller; The second elastic piece is used to contact and move with the first elastic piece of the robot according to any one of claims 1 to 3; The second spring sheet sensor is configured to output a second signal to the second controller when detecting that the second spring sheet has moved to a preset position; The second controller is used to determine whether the second signal is received from the second spring sensor; when the second signal is received, the second controller controls the discharge circuit to be turned on, and the charger charges the robot through the discharge circuit.

5. The charging pile according to claim 4, characterized in that: The discharge circuit includes a discharge switch, and the second elastic piece is electrically connected to the charger via the discharge switch; The second controller is configured to control the discharge switch to be turned on when receiving the second signal.

6. The charging pile according to claim 5, characterized in that: The discharge circuit includes a current sampling unit, and the current sampling unit is connected to the second controller; The current sampling unit is used to detect the discharge current; The second controller is used to control the charger to switch to the pre-charging mode after controlling the discharge switch to be turned on, so that the charger outputs a pulse voltage of a preset frequency, and when the discharge current received from the current sampling unit is equal to the preset current, control the charger to switch to the normal charging mode.

7. The charging pile according to claim 5 or 6, characterized in that: The second controller is further configured to: When a preset event is detected, the discharge switch is controlled to be turned off, and the charging pile stops charging the robot; The preset event includes at least one of the following: a discharge current is less than a current threshold, a discharge duration is greater than an overcharge protection duration, the second signal is not received, and a charger alarm message is received.

8. A robot charging control method, characterized in that: The robot according to any one of claims 1 to 3 comprises: determining whether a first signal is received from the first spring sensor, where the first signal is a signal output by the first spring sensor when the first spring sensor detects that the first spring moves to a preset position; controlling the robot to brake upon receiving the first signal; The charging circuit is controlled to be turned on, and the charging pile charges the battery through the charging circuit.

9. A charging pile charging control method, characterized in that: The charging pile according to any one of claims 4 to 7 comprises: determining whether a second signal is received from the second shrapnel sensor; When the second signal is received, the discharge circuit is controlled to be turned on, and the charger charges the robot through the discharge circuit.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the robot charging control method described in claim 8 and / or the charging pile charging control method described in claim 9.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the robot charging control method according to claim 8 and / or the charging pile charging control method according to claim 9 are implemented.

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