Robot charging pile and charging control method

Abstract

The invention discloses a robot charging pile and a charging control method, and the robot charging pile comprises a charging pile main body which is internally provided with a charging module; the carrier communication module is arranged in the charging pile main body; the charging contact assembly is arranged on the charging pile main body; the charging contact assembly comprises a contact end and a travel switch, the contact end is electrically connected with the charging module, the contact end is arranged to be capable of elastically stretching out and drawing back, and the travel switch is used for monitoring the contraction travel of the contact end and outputting a first electric signal when the contraction travel meets a set value; and the control module is arranged in the charging pile body, the control module is electrically connected with the charging module, the carrier communication module and the travel switch, and the control module is arranged to control the charging module to charge the robot through the contact end. According to the invention, the technical effects of signal transmission of the charging pile main body in a network-free environment and ensuring that the butt joint degree of the charging end and the contact end of the robot meets the charging requirement during charging are realized, and the use flexibility and the charging safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot charging equipment, and in particular to a robot charging pile and a charging control method. Background Art

[0002] Among the current applications of robots, various types of inspection robots are widely used. For example, in various environments such as power plants or underground coal mines, the application of inspection robots will greatly reduce the manpower input for inspection work. Currently common inspection robots include inspection tracks and walking mechanisms mounted on the inspection tracks, and cameras and smoke sensors are often required to be installed on the walking mechanisms for daily inspections of the inspection lines. Most robots currently still output power by carrying batteries. At the same time, in order to solve the endurance problem, in some applications, on-track charging piles need to be installed on the inspection tracks. When charging is needed, the robot is controlled to return to the charging piles for charging.

[0003] However, current robot charging piles all need to rely on wired or wireless networks for communication. They cannot be used normally in some harsh environments or when the network is disconnected. In addition, there is a lack of protection measures during charging, posing a safety hazard. Summary of the invention

[0004] The main purpose of the present invention is to provide a robot charging pile and a charging control method to solve the problem that the charging piles in the related technology need to rely on wired or wireless networks for communication, cannot be used normally in some harsh environments or disconnected environments, and lack protective measures during charging, posing safety hazards.

[0005] In order to achieve the above object, the present invention provides a robot charging pile, comprising: A charging pile body, wherein a charging module is arranged in the charging pile body; A carrier communication module is provided in the charging pile body, and the carrier communication module is used to communicate with the control end; A charging contact assembly, provided on the charging pile body, for docking with the charging end of the robot; The charging contact assembly includes a contact end and a travel switch, wherein the contact end is electrically connected to the charging module, the contact end is configured to be elastically retractable, and the travel switch is used to monitor the contraction stroke of the contact end and output a first electrical signal when the contraction stroke meets a set value; A control module is disposed in the charging pile body, the control module is electrically connected to the charging module, the carrier communication module and the travel switch, and the control module is configured to receive the first electrical signal and control the charging module to charge the robot through the contact end.

[0006] Furthermore, it also includes a wireless network communication module, which is arranged in the charging pile body, and the wireless network communication module is used to communicate with the robot and the control end.

[0007] Furthermore, a fixing plate is provided in the charging pile body, the fixing plate is opposite to the contact end, and an elastic telescopic member is provided between the fixing plate and the back side of the contact end.

[0008] Furthermore, the elastic telescopic part includes a telescopic shaft and a spring, the first end of the telescopic shaft slides through the fixed plate, the second end of the telescopic shaft is fixedly connected to the back side of the contact end, the spring is sleeved on the telescopic shaft, and the two ends of the spring are respectively against the fixed plate and the back side of the contact end.

[0009] Furthermore, fixing plates are arranged at both ends of the contact end, and the telescopic shaft and the spring are arranged in two groups and are respectively mounted on the fixing plates at both ends.

[0010] Furthermore, a short circuit monitoring module and a power-off protection module are also provided in the charging pile body.

[0011] Furthermore, the contact end includes a contact bracket and a contact, the contact is fixed on the contact bracket, and the contact bracket is slidably connected to the charging pile body.

[0012] Furthermore, the travel switch includes a fixing frame, a signal transmitting end and a signal receiving end, wherein the fixing frame is fixed in the charging pile body, and the signal transmitting end and the signal receiving end are fixed on the fixing frame and are relatively distributed up and down; A blocking piece is fixedly arranged on the back side of the contact end, and the blocking piece can move between the signal transmitting end and the signal receiving end as the contact end contracts.

[0013] Furthermore, the travel switch includes a distance measuring sensor, which is fixed in the charging body and is used to detect the telescopic displacement of the contact end.

[0014] According to another aspect of the present application, a robot charging control method is provided, which uses the above-mentioned robot charging pile and the following steps: Step 1: Control the robot to return to the charging position, dock the charging end on the robot with the contact end on the robot charging pile, and push the contact end to retract to trigger the travel switch; Step 2: After the travel switch is triggered, the travel switch sends a first electrical signal to the control module, and the control module controls the charging module to output a first voltage to the contact end based on the first electrical signal, where the first voltage is a safety voltage; Step 3, the robot detects the voltage value received by the charging end; Step 4: determine whether the voltage value is consistent with the first voltage value; if they are consistent, the control module controls the charging module to output a charging voltage to the contact end.

[0015] Furthermore, step 3 also includes: Obtaining the positions of the robot charging pile and the robot; The step 4 also includes: Determine whether the position of the robot charging pile and the position of the robot are correct; determining whether the voltage value is consistent with the first voltage value; If the position of the robot charging pile and the position of the robot are correct, and the voltage value is consistent with the first voltage value, the control module controls the charging module to output the charging voltage to the contact end.

[0016] In an embodiment of the present invention, a charging pile body is provided, in which a charging module is provided; a carrier communication module is provided in the charging pile body, and the carrier communication module is used to communicate with the control end; a charging contact assembly is provided on the charging pile body, and is used to dock with the charging end of the robot; the charging contact assembly includes a contact end and a travel switch, the contact end is electrically connected to the charging module, the contact end is configured to be elastically retractable, the travel switch is used to monitor the contraction stroke of the contact end, and output a first electrical signal when the contraction stroke meets the set value; a control module is provided in the charging pile body, the control module is electrically connected to the charging module, the carrier communication module and the travel switch, the control module is configured to receive the first electrical signal, and control the charging module to send a first electrical signal to the robot through the contact end. The robot charging achieves the goal of enabling the charging pile body to communicate with the control end without a network by using the carrier communication module, and the contact end on the charging pile is pressurized to produce elastic contraction during charging, and the travel switch can trigger the charging when the contact end contracts to a set contraction stroke, thereby realizing the signal transmission of the charging pile body in a network-free environment and ensuring that the degree of docking between the charging end of the robot and the contact end of the charging pile meets the charging requirements during charging, thereby improving the flexibility of use and the safety of charging. This solves the problem that the charging piles in the related technologies need to rely on wired or wireless networks for communication, cannot be used normally in some harsh environments or in disconnected environments, lack protective measures during charging, and have safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, so that other features, purposes and advantages of the present invention become more obvious. The accompanying drawings of the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings: Figure 1 is a schematic diagram of the structure of a robot charging pile according to an embodiment of the present invention; Figure 2 is a schematic diagram of the internal structure of a robot charging pile according to an embodiment of the present invention; Figure 3 is a schematic diagram of a charging control method according to an embodiment of the present invention; Figure 4 is a schematic diagram of a charging control method according to an embodiment of the present invention; Among them, 1 is a charging pile body, 2 is a contact end, 20 is a contact, 21 is a contact bracket, 3 is a travel switch, 30 is a fixing frame, 31 is a signal transmitting end, 32 is a signal receiving end, 5 is a fixing plate, 5 is a telescopic shaft, 6 is a spring, and 7 is a baffle. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged under appropriate circumstances to facilitate the embodiments of the present invention described herein.

[0020] In the present invention, the directions or positional relationships indicated by the terms "upper", "lower", "inner", etc. are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0021] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0022] In addition, the terms "disposed", "provided with", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In addition, the term "plurality" shall mean two or more.

[0024] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] To solve relevant technical problems, such as Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a robot charging pile, including: A charging pile body 1, wherein a charging module is arranged in the charging pile body 1; A carrier communication module is provided in the charging pile body 1, and the carrier communication module is used to communicate with the control end; A charging contact assembly is provided on the charging pile body 1 and is used to connect with the charging end of the robot; The charging contact assembly includes a contact end 2 and a travel switch 3. The contact end 2 is electrically connected to the charging module. The contact end 2 is configured to be elastically retractable. The travel switch 3 is used to monitor the contraction stroke of the contact end 2 and output a first electrical signal when the contraction stroke meets a set value. The control module is arranged in the charging pile body 1. The control module is electrically connected to the charging module, the carrier communication module and the travel switch 3. The control module is configured to receive a first electrical signal and control the charging module to charge the robot via the contact end 2.

[0026] In this embodiment, the charging pile body 1 includes a charging pile shell, and the carrier communication module, the charging contact assembly and the control module are all installed in the charging pile shell. The carrier communication module is a power line carrier communication module, which can transmit signals based on the power line. In the absence of a network, the signal of the charging pile body 1 can be transmitted to the control end through the carrier communication module via the power line, or transmitted to the relay module in a network environment, and then transmitted to the control via the network by the relay module. Similarly, the control signal of the control end can also be transmitted to the charging pile body 1 through the same path. After the carrier communication module is configured on the charging pile body 1, the charging pile body 1 can transmit data in a network-free environment, which is more flexible to use.

[0027] In order to realize charging of the robot, a charging contact assembly is provided on the charging pile body 1 in this embodiment, and the charging contact assembly includes a contact end 2, and the contact end 2 can be connected with the charging end on the robot to charge the robot. In one embodiment, the contact end 2 and the charging end are plugged together, and the plugging direction can be the walking direction of the robot. The specific structural form of the contact end 2 can be designed according to specific needs, and it is not limited in this embodiment. In one embodiment, in order to improve the stability of charging, the contact end 2 is a long strip structure protruding from the charging pile body, and the corresponding charging end on the robot is also a long strip groove structure.

[0028] To ensure that the contact end 2 of the charging contact assembly can be properly docked with the charging end on the robot before charging, Figure 2 As shown, in this embodiment, the charging contact assembly further includes a travel switch 3, and the contact end 2 is configured as a movable structure that can be elastically retracted under pressure. After the charging end of the robot is docked with the contact end 2, the robot will push the contact end 2 to retract a certain stroke (i.e., the retraction stroke of the contact end 2) toward the inside of the charging pile body 1. During this process, the contact end 2 will compress the corresponding elastic member. When the elastic member is compressed to a certain extent, the contact end 2 can be maintained in a relatively fixed state, and the contact end 2 will be pressed tightly inside the charging end of the robot under the elastic force of the elastic member.

[0029] When the contraction stroke of the contact end 2 reaches the set value, the travel switch 3 is triggered, indicating that the docking degree between the contact end 2 and the charging end meets the charging requirements. At this time, the travel switch 3 sends a first electrical signal to the control module in the charging pile body 1. After receiving the first electrical signal, the control module can control the charging module in the charging pile body 1 to charge the robot through the contact end 2. In this embodiment, there is no limitation on the specific structure of the charging module, and a commonly used functional module in the relevant technology can be used.

[0030] In this embodiment, the control module may be a PCB control board installed in the charging pile body 1 .

[0031] The present invention achieves the purpose of enabling the charging pile body 1 to communicate with the control end without a network by using the carrier communication module, and the contact end 2 on the charging pile is compressed and elastically contracts during charging, and the travel switch 3 can trigger charging when the contact end 2 contracts within a set contraction stroke, thereby realizing the signal transmission of the charging pile body 1 in a network-free environment and ensuring that the degree of docking between the charging end of the robot and the contact end 2 of the charging pile meets the charging requirements during charging, thereby improving the flexibility of use and the safety of charging, thereby solving the problem that the charging piles in the related art need to rely on wired or wireless networks for communication, cannot be used normally in some harsh environments or in disconnected environments, lack of protective measures during charging, and potential safety hazards.

[0032] In order to further enrich the functions of the charging pile, the charging pile in this embodiment also includes a wireless network communication module, which is arranged in the charging pile body 1, and the wireless network communication module is used to communicate with the robot and the control end.

[0033] Specifically, in this embodiment, the module used for communication between the charging pile and the control end includes both a carrier communication module and a wireless network communication module, and the carrier communication module or the wireless network communication module can be selected according to the actual use environment. The wireless network communication module can adopt a commonly used 4G or 5G or WIFI wireless communication module, and this embodiment does not limit it here.

[0034] like Figure 2 As shown, in order to realize the elastic expansion and contraction of the contact end 2, a fixing plate 5 is provided in the charging pile body 1 in this embodiment, the fixing plate 5 is opposite to the contact end 2, and an elastic expansion member is provided between the fixing plate 5 and the back side of the contact end 2.

[0035] Specifically, in this embodiment, the fixed plate 5 is installed on the inner side of the charging pile body 1 and opposite to the back side of the contact end 2. The elastic telescopic member is connected between the fixed plate 5 and the back side of the contact end 2. In this embodiment, the elastic telescopic member can be a spring 6 or a spring sheet. The contact end 2 can compress the elastic telescopic member to achieve elastic telescopic expansion. In order to make the telescopic path of the contact end 2 accurate, a corresponding guide structure can be set in the charging pile body 1. In one embodiment, the guide structure includes a hole opened on the charging pile body 1, and the contact end 2 is slidably connected to the hole. On the basis of this embodiment, a guide shaft can be connected between the contact end 2 and the fixed plate 5.

[0036] Specifically, Figure 2 As shown, the elastic telescopic member includes a telescopic shaft 5 and a spring 6. The first end of the telescopic shaft 5 slides through the fixed plate 5, and the second end of the telescopic shaft 5 is fixedly connected to the back side of the contact end 2. The spring 6 is sleeved on the telescopic shaft 5, and the two ends of the spring 6 are respectively against the fixed plate 5 and the back side of the contact end 2.

[0037] In this embodiment, the contact end 2 is provided with two positive and negative electrodes, and the two contact ends 2 are distributed up and down. The contact end 2 includes a contact bracket 21 and a contact 20, and the contact 20 is mounted on the contact bracket 21, wherein the contact 20 is made of metal material, and the contact bracket 21 can be made of insulating material. The telescopic shaft 5 is fixedly connected to the back of the contact bracket 21, and a telescopic hole is provided on the fixed plate 5. The first end of the telescopic shaft 5 slides through the telescopic hole, and the second end is fixedly connected to the contact bracket 21, and the spring 6 is sleeved on the telescopic shaft 5. During the telescopic process of the contact end 2, the telescopic shaft 5 will move linearly in the telescopic hole, thereby accurately guiding the telescopic process of the contact end 2.

[0038] In one embodiment of the contact end 2, the contact end 2 is configured as a long strip structure. Therefore, in order to enable the contact end 2 to be stably retracted, in this embodiment, the fixing plates 5 are configured as two groups and correspond to the two ends of the contact end 2 respectively, and the telescopic shafts 5 and the springs 6 are configured as two groups and are respectively installed on the fixing plates 5 at the two ends. In this embodiment, each group of telescopic shafts 5 and springs 6 includes two telescopic shafts 5 and two springs 6, which correspond to the positive contact 20 and the negative contact 20 respectively.

[0039] In order to further improve charging safety, a short circuit monitoring module and a power-off protection module are also provided in the charging pile body 1 in this embodiment.

[0040] The travel switch 3 is used in the present invention to monitor whether the retraction stroke of the contact end 2 meets the set value. In one embodiment of the travel switch 3, Figure 2 As shown, the travel switch 3 includes a fixing frame 30, a signal transmitting end 31 and a signal receiving end 32. The fixing frame 30 is fixed in the charging pile body 1, and the signal transmitting end 31 and the signal receiving end 32 are fixed on the fixing frame 30 and are relatively distributed up and down; A blocking piece 7 is fixedly provided on the back side of the contact end 2 , and the blocking piece 7 can move between the signal transmitting end 31 and the signal receiving end 32 as the contact end 2 contracts.

[0041] Specifically, the fixing frame 30 is fixed to the inner side of the charging pile body 1, and two groups of upper and lower corresponding signal transmitting terminals 31 and signal receiving terminals 32 are installed on the fixing frame 30, and the two groups of signal transmitting terminals 31 and signal receiving terminals 32 correspond to the positive contact and negative contact in the contact terminal 2 respectively. A baffle 7 is installed on the back side of the contact terminal 2, and specifically, the baffle 7 can be installed on the back side of the contact bracket 21. The baffle 7 can be extended and retracted with the contact terminal 2, and the baffle 7 corresponds to the area between the signal transmitting terminal 31 and the signal receiving terminal 32.

[0042] When not charging, the baffle 7 will not block the signal transmission between the signal transmitting end 31 and the signal receiving end 32. When charging is required, the contact end 2 is pressurized and the baffle is retracted and moves inward synchronously. When the baffle moves to block the signal transmission between the signal transmitting end 31 and the signal receiving end 32, it indicates that the contact end 2 has reached the set retraction stroke. At this time, since the signal receiving end 32 does not receive the signal, it can transmit the first electrical signal to the control module in a set manner.

[0043] In another embodiment of the travel switch 3, the travel switch 3 can measure the distance from point A to point B, so as to trigger a signal after reaching a set distance. Specifically, the travel switch 3 in this embodiment includes a distance measuring sensor, which is fixed in the charging body and is used to detect the telescopic displacement of the contact end 2. The distance measuring sensor can be a laser sensor, and this embodiment does not make any specific restrictions on it.

[0044] In another embodiment, the travel switch 3 may also be a contact structure, and the travel switch 3 includes a first contact and a second contact, the first contact may be installed on the back of the contact end 2, and the second contact may be installed in the charging pile body 1 and corresponds to the first contact. When the first contact and the second contact are in contact, a corresponding electrical signal is triggered.

[0045] In addition to the above-mentioned implementation, the travel switch 3 may also adopt other switch structures, which are not limited in this embodiment, and those skilled in the art may adjust them according to actual needs.

[0046] like Figure 3 As shown, according to another aspect of the present application, a robot charging control method is provided, using the above-mentioned robot charging pile, and the following steps: Step 1: Control the robot to return to the charging position, dock the charging terminal on the robot with the contact terminal 2 on the robot charging pile, and push the contact terminal 2 to retract to trigger the travel switch 3; Step 2: After the travel switch 3 is triggered, a first electrical signal is sent to the control module. Based on the first electrical signal, the control module controls the charging module to output a first voltage to the contact terminal 2. The first voltage is a safe voltage. Step 3: The robot detects the voltage value received by the charging terminal; Step 4: determine whether the voltage value is consistent with the first voltage value, and if consistent, the control module controls the charging module to output the charging voltage to the contact terminal 2.

[0047] In this embodiment, the robot can issue a charging instruction when the battery is low, or the control end can monitor the battery of the robot in real time and issue a charging instruction to the robot when the battery is low. The robot can find a charging pile based on the received charging instruction. In one embodiment, the robot can choose to go to the nearest charging pile for charging based on the location information of the charging pile and the robot. In another embodiment, the robot can return to the starting charging pile for charging.

[0048] When the robot reaches the charging position, the charging end on the robot abuts against the contact end 2 on the charging pile and plugs in. As the robot moves further, it pushes the contact end 2 to retract on the charging pile body 1. When the retraction stroke of the contact end 2 reaches the set stroke, the travel switch 3 is triggered. After being triggered, the travel switch 3 sends a first electrical signal to the control module in the charging pile body 1. After receiving the first electrical signal, the control module controls the charging module in the charging pile body 1 to output a first voltage to the contact end 2. The first voltage is a safe voltage for the human body to prevent the human body from accidentally touching the contact end 2. After the contact end 2 outputs the first voltage, the robot synchronously detects the voltage value received by the charging, which can be transmitted to the control module, and the first voltage of the control module is compared with the voltage value. Alternatively, the first voltage and the voltage value are compared in the robot, and then the comparison result is sent to the control module. In this embodiment, there is no restriction on the specific comparison process.

[0049] When the comparison result shows that the voltage value of the charging terminal of the robot is consistent with the first voltage, it indicates that the charging terminal and the contact terminal 2 are successfully connected. At this time, the control module can control the charging module to output a charging voltage to the contact terminal 2, and the charging voltage is higher than the first voltage. When they are inconsistent, it indicates that the charging terminal and the contact terminal 2 have not been successfully connected. At this time, the control module can choose to cut off the power.

[0050] In some operating environments, there may be multiple charging piles and multiple robots. In order to improve the charging accuracy of the charging piles and robots in the operating environment, such as Figure 4 As shown, step 3 in this embodiment also includes: obtaining the position of the robot charging pile and the robot; step 4 also includes: judging whether the position of the robot charging pile and the position of the robot are correct; judging whether the voltage value is consistent with the first voltage value; if the position of the robot charging pile and the position of the robot are correct, and the voltage value is consistent with the first voltage value, the control module controls the charging module to output the charging voltage to the contact terminal 2.

[0051] Specifically, in the present embodiment, when the contact end 2 of the charging pile body 1 triggers the travel switch 3, the charging module outputs a safe first voltage to the contact end 2, and at the same time the robot detects the voltage value of the charging end, and checks the position of the robot charging pile and the position of the robot. Charging can only begin when the voltage value of the charging end detected by the robot is consistent with the first voltage value, and the position of the robot charging pile and the position of the robot are correct, thereby ensuring that in the operating environment of multiple charging piles and multiple robots, the robot can be normally matched with the robot charging pile.

[0052] In addition, it should be noted that in an operating environment with one or more charging piles and multiple robots, the charging of the robot needs to be scheduled to improve operating efficiency. For example, the robot can issue a charging instruction when the battery is low, or the control end can monitor the battery of the robot in real time and issue a charging instruction to the robot when the battery is low. The robot can find a charging pile based on the received charging instruction. Specifically, the robot can choose to go to the nearest charging pile for charging based on the location information of the charging pile and the robot. This process can be completed automatically by the robot or the control end can send a control instruction to the robot after completion.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Within the spirit and principle of the present invention, any modification, equivalent replacement, improvement, etc. made shall be included in the protection scope of the present invention.

Claims

1. A robot charging station, characterized in that: include: A charging pile body, wherein a charging module is arranged in the charging pile body; A carrier communication module is provided in the charging pile body, and the carrier communication module is used to communicate with the control end; A charging contact assembly, provided on the charging pile body, for docking with the charging end of the robot; The charging contact assembly includes a contact end and a travel switch, wherein the contact end is electrically connected to the charging module, the contact end is configured to be elastically retractable, and the travel switch is used to monitor the contraction stroke of the contact end and output a first electrical signal when the contraction stroke meets a set value; A control module is disposed in the charging pile body, the control module is electrically connected to the charging module, the carrier communication module and the travel switch, and the control module is configured to receive the first electrical signal and control the charging module to charge the robot through the contact end.

2. The robot charging station according to claim 1, characterized in that: It also includes a wireless network communication module, which is arranged in the charging pile body, and the wireless network communication module is used to communicate with the robot and the control end.

3. The robot charging station according to claim 1, characterized in that: A fixing plate is arranged in the charging pile body, the fixing plate is opposite to the contact end, and an elastic telescopic member is arranged between the fixing plate and the back side of the contact end.

4. The robot charging station according to claim 3, characterized in that: The elastic telescopic member includes a telescopic shaft and a spring, the first end of the telescopic shaft slides through the fixed plate, the second end of the telescopic shaft is fixedly connected to the back side of the contact end, the spring is sleeved on the telescopic shaft, and the two ends of the spring are respectively against the fixed plate and the back side of the contact end.

5. The robot charging station according to claim 3, characterized in that: The fixing plates are arranged at two ends of the contact end, and the telescopic shaft and the spring are arranged in two groups and are respectively mounted on the fixing plates at the two ends.

6. The robot charging station according to claim 1, characterized in that: A short circuit monitoring module and a power-off protection module are also provided in the charging pile body.

7. The robot charging station according to claim 1, characterized in that: The travel switch comprises a fixing frame, a signal transmitting end and a signal receiving end, wherein the fixing frame is fixed in the charging pile body, and the signal transmitting end and the signal receiving end are fixed on the fixing frame and are relatively distributed up and down; A blocking piece is fixedly arranged on the back side of the contact end, and the blocking piece can move between the signal transmitting end and the signal receiving end as the contact end contracts.

8. The robot charging station according to claim 1, characterized in that: The travel switch comprises a distance measuring sensor, which is fixed in the charging body and is used to detect the telescopic displacement of the contact end.

9. A robot charging control method, characterized in that: Using the robot charging pile according to any one of claims 1 to 8, and the following steps: Step 1: Control the robot to return to the charging position, dock the charging end on the robot with the contact end on the robot charging pile, and push the contact end to retract to trigger the travel switch; Step 2: After the travel switch is triggered, the travel switch sends a first electrical signal to the control module, and the control module controls the charging module to output a first voltage to the contact end based on the first electrical signal, where the first voltage is a safety voltage; Step 3, the robot detects the voltage value received by the charging end; Step 4: determine whether the voltage value is consistent with the first voltage value; if they are consistent, the control module controls the charging module to output a charging voltage to the contact end.

10. The robot charging control method according to claim 9, characterized in that: The step 3 also includes: Obtaining the positions of the robot charging pile and the robot; The step 4 also includes: Determine whether the position of the rail robot charging pile and the position of the robot are correct; determining whether the voltage value is consistent with the first voltage value; If the position of the robot charging pile and the position of the robot are correct, and the voltage value is consistent with the first voltage value, the control module controls the charging module to output the charging voltage to the contact end.

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