Communication method, communication device, charging pile and robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a communication method, a communication device, a charging pile and a robot. The method comprises the following steps: under the condition that a charging pile establishes physical connection with a robot, generating a handshake command data frame through a first controller; performing direct current carrier modulation on the handshake command data frame through a first direct current carrier modulation circuit to obtain a handshake command modulation signal; the handshake command modulation signal is injected into the charging direct-current bus through a first coupling circuit, so that the robot extracts the handshake command modulation signal from the charging direct-current bus; a response modulation signal of the robot is extracted from the charging direct-current bus through a first coupling circuit; performing direct current carrier demodulation on the response modulation signal through a first direct current carrier demodulation circuit to obtain a response frame of the robot; and under the condition that the response frame is successfully authenticated, the charging direct current bus communicates with the robot, so that the communication performance between the charging pile and the robot is effectively improved.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a communication method, a communication device, a charging pile, and a robot. Background Technology

[0002] Automatic charging technology for robots has been widely adopted. Currently, communication between robots and charging stations mainly relies on contact communication and wireless communication. Contact communication involves setting additional metal contacts on both the charging station and the robot. When the robot docks with the station, these contacts physically connect, forming a communication loop (e.g., using UART or CAN bus). The disadvantages of this method are: the contacts are prone to poor contact due to oxidation, contamination, and mechanical wear, leading to communication failure; it requires precise mechanical alignment mechanisms and accurate navigation control, increasing cost and complexity. Wireless communication refers to communication using Wi-Fi or Bluetooth. The disadvantages of this method are: in complex industrial environments, wireless signals are susceptible to interference, shielding, or multipath effects, leading to unstable communication; there are network security and data latency issues; and it requires independent radio frequency modules and antennas, increasing hardware costs and power consumption. Summary of the Invention

[0003] In view of this, embodiments of this application provide a communication method, a communication device, a charging pile, and a robot to solve the problem of poor communication performance between the robot and the charging pile.

[0004] A first aspect of this application provides a communication method applied in a charging pile, wherein the charging pile includes a first controller, a first DC carrier modulation circuit, a first DC carrier demodulation circuit, and a first coupling circuit; the communication method includes:

[0005] Once a physical connection with the robot is established, a handshake command data frame is generated via the first controller;

[0006] The handshake command data frame is modulated by a DC carrier through the first DC carrier modulation circuit to obtain a handshake command modulation signal.

[0007] The handshake command modulation signal is injected into the charging DC bus through the first coupling circuit, so that the robot can extract the handshake command modulation signal from the charging DC bus;

[0008] The robot's response modulation signal is extracted from the charging DC bus through the first coupling circuit;

[0009] The response modulation signal is demodulated by the first DC carrier demodulation circuit to obtain the robot's response frame;

[0010] If the authentication of the response frame is successful, communication is established with the robot via the charging DC bus.

[0011] In one specific implementation of the first aspect, generating a handshake command data frame through the first controller may include:

[0012] The first controller generates the handshake command data frame, which includes a preamble, a handshake command, and a checksum.

[0013] The preamble is used for data synchronization, the handshake command is used to establish communication between the charging pile and the robot, and the checksum is used for data verification.

[0014] In one specific implementation of the first aspect, the communication with the robot via the charging DC bus may include:

[0015] The charging parameters are sent to the robot via the charging DC bus so that the robot is charged according to the charging parameters;

[0016] The battery status data sent by the robot is received via the charging DC bus;

[0017] In the event of an anomaly in the battery status data, an anomaly handling command is sent to the robot via the charging DC bus, so that the robot stops charging or adjusts the charging parameters according to the anomaly handling command.

[0018] A second aspect of this application provides a communication method applied in a robot, the robot including a second controller, a second DC carrier modulation circuit, a second DC carrier demodulation circuit, and a second coupling circuit; the communication method may include:

[0019] When a physical connection with the charging pile is established, the handshake command modulation signal of the charging pile is extracted from the charging DC bus through the second coupling circuit;

[0020] The handshake command modulation signal is demodulated by the second DC carrier demodulation circuit to obtain the handshake command data frame of the charging pile.

[0021] The second controller parses the handshake command data frame and generates a response frame corresponding to the handshake command data frame.

[0022] The response frame is modulated by a DC carrier through the second DC carrier modulation circuit to obtain the response modulation signal;

[0023] The response modulation signal is injected into the charging DC bus through the second coupling circuit, so that the charging pile can extract the response modulation signal from the charging DC bus;

[0024] If the charging pile successfully authenticates the response frame, it communicates with the charging pile via the charging DC bus.

[0025] In one specific implementation of the second aspect, the handshake command data frame includes a preamble, a handshake command, and a checksum; the step of parsing the handshake command data frame through the second controller may include:

[0026] The handshake command data frame is synchronized according to the preamble.

[0027] If data synchronization is successful, the handshake command data frame is verified according to the verification code.

[0028] If the data verification is successful, the handshake command data frame is parsed to obtain the handshake command; wherein, the handshake command is used to establish communication between the charging pile and the robot.

[0029] In one specific implementation of the second aspect, the communication with the charging pile via the charging DC bus may include:

[0030] The charging parameters sent by the charging pile are received via the charging DC bus, and charging is performed according to the charging parameters;

[0031] During the charging process, battery status data is sent to the charging pile via the charging DC bus;

[0032] In the event of an abnormality in the battery status data, the system receives an abnormality handling command from the charging pile via the charging DC bus and stops charging or adjusts the charging parameters according to the abnormality handling command.

[0033] A third aspect of this application provides a communication device applied in a charging pile, wherein the charging pile may include a first controller, a first DC carrier modulation circuit, a first DC carrier demodulation circuit, and a first coupling circuit; the communication device may include:

[0034] The handshake command data frame generation module is used to generate a handshake command data frame through the first controller when a physical connection with the robot is established.

[0035] The handshake command data frame modulation module is used to perform DC carrier modulation on the handshake command data frame through the first DC carrier modulation circuit to obtain the handshake command modulation signal.

[0036] A handshake command modulation signal injection module is used to inject the handshake command modulation signal into the charging DC bus through the first coupling circuit, so that the robot can extract the handshake command modulation signal from the charging DC bus.

[0037] The response modulation signal extraction module is used to extract the robot's response modulation signal from the charging DC bus through the first coupling circuit;

[0038] The response modulation signal demodulation module is used to perform DC carrier demodulation on the response modulation signal through the first DC carrier demodulation circuit to obtain the robot's response frame;

[0039] The first communication module is used to communicate with the robot via the charging DC bus when the authentication of the response frame is successful.

[0040] In one specific implementation of the third aspect, the handshake command data frame generation module can be specifically used to: generate the handshake command data frame including a preamble, a handshake command, and a checksum through the first controller; wherein, the preamble is used for data synchronization, the handshake command is used to establish communication between the charging pile and the robot, and the checksum is used for data verification.

[0041] In one specific implementation of the third aspect, the first communication module may be specifically used to: send charging parameters to the robot via the charging DC bus so that the robot charges according to the charging parameters; receive battery status data sent by the robot via the charging DC bus; and, in the event of an abnormality in the battery status data, send an abnormality handling command to the robot via the charging DC bus so that the robot stops charging or adjusts the charging parameters according to the abnormality handling command.

[0042] A fourth aspect of this application provides a communication device applied in a robot, wherein the robot may include a second controller, a second DC carrier modulation circuit, a second DC carrier demodulation circuit, and a second coupling circuit; the communication device may include:

[0043] The handshake command modulation signal extraction module is used to extract the handshake command modulation signal of the charging pile from the charging DC bus through the second coupling circuit when a physical connection with the charging pile is established.

[0044] The handshake command modulation signal demodulation module is used to demodulate the handshake command modulation signal using the second DC carrier demodulation circuit to obtain the handshake command data frame of the charging pile.

[0045] The data parsing and response module is used to parse the handshake command data frame through the second controller and generate a response frame corresponding to the handshake command data frame.

[0046] The response frame modulation module is used to modulate the response frame with a DC carrier through the second DC carrier modulation circuit to obtain a response modulation signal;

[0047] The response modulation signal injection module is used to inject the response modulation signal into the charging DC bus through the second coupling circuit, so that the charging pile can extract the response modulation signal from the charging DC bus.

[0048] The second communication module is used to communicate with the charging pile via the charging DC bus when the charging pile successfully authenticates the response frame.

[0049] In one specific implementation of this fourth aspect, the handshake command data frame may include a preamble, a handshake command, and a checksum; the data parsing and response module may be specifically used to: synchronize the handshake command data frame according to the preamble; if the data synchronization is successful, verify the handshake command data frame according to the checksum; if the data verification is successful, parse the handshake command data frame to obtain the handshake command; wherein, the handshake command is used to establish communication between the charging pile and the robot.

[0050] In one specific implementation of the fourth aspect, the second communication module may be specifically used to: receive charging parameters sent by the charging pile via the charging DC bus, and charge according to the charging parameters; during the charging process, send battery status data to the charging pile via the charging DC bus; if the battery status data is abnormal, receive an abnormality handling command sent by the charging pile via the charging DC bus, and stop charging or adjust the charging parameters according to the abnormality handling command.

[0051] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the communication methods described above applied to a charging pile.

[0052] A sixth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the above-described communication methods applied in a robot.

[0053] A seventh aspect of this application provides a charging pile, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the above-described communication methods applied to the charging pile.

[0054] An eighth aspect of this application provides a robot including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the above-described communication methods applied to the robot.

[0055] A ninth aspect of this application provides a computer program product that, when run on a charging pile, causes the charging pile to execute the steps of any of the communication methods applied to the charging pile described above.

[0056] A tenth aspect of this application provides a computer program product that, when run on a robot, causes the robot to perform the steps of any of the communication methods applied to the robot described above.

[0057] The beneficial effects of this application embodiment compared with the prior art are as follows: In this application embodiment, when a physical connection is established between the charging pile and the robot, a handshake command data frame is generated by a first controller; the handshake command data frame is DC carrier modulated by a first DC carrier modulation circuit to obtain a handshake command modulation signal; the handshake command modulation signal is injected into the charging DC bus by a first coupling circuit, enabling the robot to extract the handshake command modulation signal from the charging DC bus; the robot's response modulation signal is extracted from the charging DC bus by the first coupling circuit; the response modulation signal is DC carrier demodulated by a first DC carrier demodulation circuit to obtain the robot's response frame; and communication with the robot is established via the charging DC bus after successful authentication of the response frame. Through this application embodiment, the charging DC bus can be reused as a communication medium, enabling it to simultaneously perform both charging and communication functions. This avoids the physical wear and oxidation problems of contact communication, as well as the signal interference and shielding problems of wireless communication, thereby effectively improving the communication performance between the charging pile and the robot. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1This is a schematic diagram of a communication system consisting of a charging pile and a robot, as described in an embodiment of this application.

[0060] Figure 2 This is a flowchart of one embodiment of a communication method applied in a charging pile according to the present application;

[0061] Figure 3 This is a flowchart of one embodiment of a communication method applied in a robot according to the present application;

[0062] Figure 4 This is a structural diagram of one embodiment of a communication device applied in a charging pile according to the present application.

[0063] Figure 5 This is a structural diagram of one embodiment of a communication device applied in a robot according to the present application.

[0064] Figure 6 This is a schematic block diagram of a charging pile according to an embodiment of this application;

[0065] Figure 7 This is a schematic block diagram of a robot according to an embodiment of this application. Detailed Implementation

[0066] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0067] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0068] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0069] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0070] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0071] Furthermore, in the description of this application, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0072] Automatic charging technology for robots has been widely adopted. Currently, communication between robots and charging stations mainly relies on contact communication and wireless communication. Contact communication involves setting additional metal contacts on both the charging station and the robot. When the robot docks with the station, these contacts physically connect, forming a communication loop (e.g., using UART or CAN bus). The disadvantages of this method are: the contacts are prone to poor contact due to oxidation, contamination, and mechanical wear, leading to communication failure; it requires precise mechanical alignment mechanisms and accurate navigation control, increasing cost and complexity. Wireless communication refers to communication using Wi-Fi or Bluetooth. The disadvantages of this method are: in complex industrial environments, wireless signals are susceptible to interference, shielding, or multipath effects, leading to unstable communication; there are network security and data latency issues; and it requires independent radio frequency modules and antennas, increasing hardware costs and power consumption.

[0073] In view of this, embodiments of this application provide a communication method, a communication device, a charging pile, and a robot to solve the problem of poor communication performance between the robot and the charging pile.

[0074] In this embodiment, the charging DC bus can be reused as a communication medium, enabling it to perform both charging and communication functions simultaneously. This avoids the physical wear and oxidation problems of contact communication, as well as the signal interference and shielding problems of wireless communication, thereby effectively improving the communication performance between the charging pile and the robot.

[0075] Figure 1The diagram illustrates a communication system according to an embodiment of this application. As shown, the communication system may include, but is not limited to, a first DC carrier communication module at the charging pile end, a second DC carrier communication module at the robot end, and a DC charging bus. The DC charging bus can be the electrode plates of the charging pile and the robot. During charging, the electrode plates of both make contact and conduction, forming a charging circuit, serving as the DC charging bus for charging the robot. In this embodiment, besides using the DC charging bus as a charging medium, it can also be used as a communication medium.

[0076] The first DC carrier communication module at the charging pile end may include, but is not limited to, a first controller (MCU), a first DC carrier modulation circuit, a first DC carrier demodulation circuit, and a first coupling circuit. The first controller can generate data to be transmitted. After the data is modulated and amplified by the first DC carrier modulation circuit, it can be injected into the DC charging bus by the first coupling circuit. At the same time, the first coupling circuit can also extract signals from the robot from the DC charging bus, demodulate them by the first DC carrier demodulation circuit, and then send them to the first controller.

[0077] The second DC carrier communication module on the robot side may include, but is not limited to, a second controller (MCU), a second DC carrier modulation circuit, a second DC carrier demodulation circuit, and a second coupling circuit. The second controller can generate data to be transmitted. After the data is modulated and amplified by the second DC carrier modulation circuit, it can be injected into the DC charging bus by the second coupling circuit. At the same time, the second coupling circuit can also extract signals from the charging pile from the DC charging bus, demodulate them by the second DC carrier demodulation circuit, and then send them to the second controller.

[0078] Through the above methods, this application embodiment constructs a complete system that enables reliable data communication between the robot and the charging pile entirely through the charging DC bus. It can be directly applied to existing DC charging systems, requiring only the addition of a carrier communication module for upgrades. It boasts strong compatibility and convenient deployment. This application embodiment reuses the charging DC bus as the communication medium, enabling it to simultaneously perform both charging and communication functions. This avoids the physical wear and oxidation problems of contact communication, as well as the signal interference and shielding problems of wireless communication, thereby effectively improving the communication performance between the charging pile and the robot. Furthermore, since no additional communication contacts and precision alignment mechanisms are needed, nor are independent Wi-Fi / Bluetooth modules and their antennas required, the mechanical and electrical design of the charging pile and the robot is simplified, significantly reducing manufacturing costs and complexity.

[0079] In the embodiments of this application, a non-contact coupling circuit design can be adopted to achieve efficient and safe fusion and separation of communication signals and high-power DC power based on high-frequency coupling, thereby effectively solving the problem of "drowning" weak communication signals by high-current DC power supply.

[0080] In this embodiment, a two-way half-duplex communication architecture can be adopted to realize the two-way command and status data exchange between the charging pile (master device) and the robot (slave device) on a single physical line. The system can intelligently switch the sending and receiving states to complete complex interactions such as handshake, authentication, charging parameter distribution, and real-time status monitoring.

[0081] Please see Figure 2 One embodiment of a communication method applied in a charging pile in this application may include:

[0082] Step S201: After establishing a physical connection with the robot, a handshake command data frame is generated by the first controller.

[0083] When charging is needed, the robot can drive into the charging position. After the physical connection between the charging station and the robot is detected, both the charging station and the robot can power on their respective DC carrier communication modules and initialize them.

[0084] After initialization, the charging pile can initiate handshake authentication, generating a handshake command data frame through the first controller, including but not limited to a preamble, handshake command, and checksum. The preamble is used for data synchronization, the handshake command establishes communication between the charging pile and the robot, and the checksum, including but not limited to CRC16 checksum, is used for data verification. As an example, the frame format of the handshake command data frame can be: [preamble 0xAA, 0x55...] + [start of frame 0xF0] + [target address] + [command word] + [data length] + [data field] + [CRC16 checksum]. This is a frame structure and error correction protocol optimized for noise specific to charging pile scenarios (such as PWM chopper noise and contactor engagement noise). Through adaptive preamble synchronization and strong CRC16 checksum, it effectively improves communication reliability.

[0085] Step S202: The handshake command data frame is modulated by a DC carrier through the first DC carrier modulation circuit to obtain the handshake command modulation signal.

[0086] Step S203: Inject the handshake command modulation signal into the charging DC bus through the first coupling circuit.

[0087] The charging station can inject a handshake command modulation signal into the charging DC bus, enabling the robot to extract the handshake command modulation signal from the charging DC bus. Specifically, the robot can extract the charging station's handshake command modulation signal from the charging DC bus via a second coupling circuit; demodulate the handshake command modulation signal using a second DC carrier demodulation circuit to obtain the charging station's handshake command data frame; parse the handshake command data frame using a second controller and generate a response frame corresponding to the handshake command data frame, which may include robot identification information (ID); modulate the response frame using a second DC carrier modulation circuit to obtain a response modulation signal; and inject the response modulation signal into the charging DC bus via the second coupling circuit, enabling the charging station to extract the response modulation signal from the charging DC bus.

[0088] Step S204: Extract the robot's response modulation signal from the charging DC bus through the first coupling circuit.

[0089] Step S205: The response modulation signal is demodulated by the first DC carrier demodulation circuit to obtain the robot's response frame.

[0090] Step S206: If the authentication of the response frame is successful, communicate with the robot via the charging DC bus.

[0091] After receiving the robot's response frame, the charging station can authenticate the robot identification information in the response frame. If the authentication is successful, the charging station and the robot can communicate bidirectionally via the charging DC bus.

[0092] Specifically, the charging station can send charging parameters to the robot via the charging DC bus, enabling the robot to charge according to these parameters. These charging parameters may include, but are not limited to, constant voltage, constant current, and cutoff conditions. The robot can receive the charging parameters from the charging station via the charging DC bus, configure its battery management system (BMS) accordingly, and begin charging. During charging, the robot can periodically package battery status data into data frames and send this data to the charging station via the charging DC bus. This battery status data may include, but is not limited to, voltage, current, temperature, and state of charge (SOC). The charging station can receive the battery status data from the robot via the charging DC bus. In case of abnormal battery status data (such as over-temperature or over-voltage), the charging station can send an anomaly handling command to the robot via the charging DC bus. The robot can receive the anomaly handling command from the charging station via the charging DC bus and stop charging or adjust the charging parameters accordingly, thereby achieving closed-loop safety control.

[0093] When the battery is fully charged or a stop command is received, the connection between the charging station and the robot can be disconnected, ending the communication process.

[0094] Through the above process, bidirectional data interaction is achieved throughout the entire charging process, enabling the charging station to perform intelligent and adaptive charging based on the robot's real-time battery status. This not only improves charging efficiency but also greatly prevents safety hazards such as overcharging and over-discharging, and extends battery life.

[0095] For a communication method applied to a robot as described in the above embodiments, please refer to [link to relevant documentation]. Figure 3 One embodiment of a communication method applied in a robot, as described in this application, may include:

[0096] Step S301: After establishing a physical connection with the charging pile, extract the handshake command modulation signal of the charging pile from the charging DC bus through the second coupling circuit.

[0097] When charging is needed, the robot can drive into the charging position. After the physical connection between the charging station and the robot is detected, both the charging station and the robot can power on their respective DC carrier communication modules and initialize them.

[0098] After initialization, the charging pile can initiate handshake authentication, generating a handshake command data frame via the first controller. The handshake command data frame is then modulated by a DC carrier through a first DC carrier modulation circuit to obtain a handshake command modulated signal. This signal is then injected into the charging DC bus via a first coupling circuit. The robot can extract the charging pile's handshake command modulated signal from the charging DC bus via a second coupling circuit.

[0099] Step S302: The handshake command modulation signal is demodulated by the second DC carrier demodulation circuit to obtain the handshake command data frame of the charging pile.

[0100] Step S303: The handshake command data frame is parsed by the second controller, and a response frame corresponding to the handshake command data frame is generated.

[0101] The handshake command data frame includes, but is not limited to, a preamble, a handshake command, and a checksum. The robot can synchronize data with the handshake command data frame using the preamble via a second controller. If data synchronization is successful, the handshake command data frame can be verified using the checksum. If data verification is successful, the handshake command data frame can be parsed to obtain the handshake command. The handshake command is used to establish communication between the charging station and the robot.

[0102] After completing the data parsing, the robot can generate a response frame corresponding to the handshake command data frame through the second controller. This response frame may include robot identification information (ID).

[0103] Step S304: The response frame is modulated by a DC carrier through the second DC carrier modulation circuit to obtain the response modulation signal.

[0104] Step S305: Inject the response modulation signal into the charging DC bus through the second coupling circuit.

[0105] The robot can inject a response modulation signal into the charging DC bus, enabling the charging station to extract the response modulation signal from the charging DC bus. Specifically, the charging station can extract the robot's response modulation signal from the charging DC bus through a first coupling circuit; and perform DC carrier demodulation on the response modulation signal through a first DC carrier demodulation circuit to obtain the robot's response frame.

[0106] Step S306: If the charging pile successfully authenticates the response frame, it communicates with the charging pile via the charging DC bus.

[0107] After receiving the robot's response frame, the charging station can authenticate the robot's identification information in the response frame. If the authentication is successful, the charging station and the robot can communicate bidirectionally via the charging DC bus.

[0108] Specifically, the charging station can send charging parameters to the robot via the charging DC bus, enabling the robot to charge according to these parameters. These charging parameters may include, but are not limited to, constant voltage, constant current, and cutoff conditions. The robot can receive the charging parameters from the charging station via the charging DC bus, configure its battery management system (BMS) accordingly, and begin charging. During charging, the robot can periodically package battery status data into data frames and send this data to the charging station via the charging DC bus. This battery status data may include, but is not limited to, voltage, current, temperature, and state of charge (SOC). The charging station can receive the battery status data from the robot via the charging DC bus. In case of abnormal battery status data (such as over-temperature or over-voltage), the charging station can send an anomaly handling command to the robot via the charging DC bus. The robot can receive the anomaly handling command from the charging station via the charging DC bus and stop charging or adjust the charging parameters accordingly, thereby achieving closed-loop safety control.

[0109] When the battery is fully charged or a stop command is received, the connection between the charging station and the robot can be disconnected, ending the communication process.

[0110] In summary, the embodiments of this application can reuse the charging DC bus as a communication medium, enabling it to simultaneously perform both charging and communication functions. This avoids the physical wear and oxidation problems of contact communication, as well as the signal interference and shielding problems of wireless communication, thereby effectively improving the communication performance between the charging pile and the robot.

[0111] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0112] Corresponding to the communication method applied to charging piles described in the above embodiments, Figure 4 This illustration shows a structural diagram of an embodiment of a communication device applied in a charging pile, according to an embodiment of this application. The charging pile may include a first controller, a first DC carrier modulation circuit, a first DC carrier demodulation circuit, and a first coupling circuit; the communication device may include:

[0113] The handshake command data frame generation module 401 is used to generate a handshake command data frame through the first controller when a physical connection with the robot is established.

[0114] The handshake command data frame modulation module 402 is used to perform DC carrier modulation on the handshake command data frame through the first DC carrier modulation circuit to obtain a handshake command modulation signal.

[0115] The handshake command modulation signal injection module 403 is used to inject the handshake command modulation signal into the charging DC bus through the first coupling circuit, so that the robot can extract the handshake command modulation signal from the charging DC bus.

[0116] The response modulation signal extraction module 404 is used to extract the robot's response modulation signal from the charging DC bus through the first coupling circuit;

[0117] The response modulation signal demodulation module 405 is used to perform DC carrier demodulation on the response modulation signal through the first DC carrier demodulation circuit to obtain the robot's response frame;

[0118] The first communication module 406 is used to communicate with the robot via the charging DC bus when the authentication of the response frame is successful.

[0119] In one specific implementation of this application embodiment, the handshake command data frame generation module can be specifically used to: generate the handshake command data frame including a preamble, a handshake command, and a checksum through the first controller; wherein, the preamble is used for data synchronization, the handshake command is used to establish communication between the charging pile and the robot, and the checksum is used for data verification.

[0120] In one specific implementation of this application embodiment, the first communication module may be specifically used for: sending charging parameters to the robot via the charging DC bus, so that the robot charges according to the charging parameters; receiving battery status data sent by the robot via the charging DC bus; and, in the event of an abnormality in the battery status data, sending an abnormality handling command to the robot via the charging DC bus, so that the robot stops charging or adjusts the charging parameters according to the abnormality handling command.

[0121] Corresponding to the communication method applied to robots described in the above embodiments, Figure 5 This illustration shows a structural diagram of an embodiment of a communication device applied in a robot, as provided in this application. The robot may include a second controller, a second DC carrier modulation circuit, a second DC carrier demodulation circuit, and a second coupling circuit; the communication device may include:

[0122] The handshake command modulation signal extraction module 501 is used to extract the handshake command modulation signal of the charging pile from the charging DC bus through the second coupling circuit when a physical connection with the charging pile is established.

[0123] The handshake command modulation signal demodulation module 502 is used to perform DC carrier demodulation on the handshake command modulation signal through the second DC carrier demodulation circuit to obtain the handshake command data frame of the charging pile.

[0124] The data parsing and response module 503 is used to parse the handshake command data frame through the second controller and generate a response frame corresponding to the handshake command data frame.

[0125] The response frame modulation module 504 is used to perform DC carrier modulation on the response frame through the second DC carrier modulation circuit to obtain a response modulation signal;

[0126] The response modulation signal injection module 505 is used to inject the response modulation signal into the charging DC bus through the second coupling circuit, so that the charging pile can extract the response modulation signal from the charging DC bus.

[0127] The second communication module 506 is used to communicate with the charging pile via the charging DC bus when the charging pile successfully authenticates the response frame.

[0128] In one specific implementation of this application, the handshake command data frame may include a preamble, a handshake command, and a checksum; the data parsing and response module may be specifically used to: synchronize the handshake command data frame according to the preamble; if the data synchronization is successful, verify the handshake command data frame according to the checksum; if the data verification is successful, parse the handshake command data frame to obtain the handshake command; wherein, the handshake command is used to establish communication between the charging pile and the robot.

[0129] In one specific implementation of this application embodiment, the second communication module can be specifically used to: receive charging parameters sent by the charging pile via the charging DC bus, and charge according to the charging parameters; during the charging process, send battery status data to the charging pile via the charging DC bus; if the battery status data is abnormal, receive an abnormality handling command sent by the charging pile via the charging DC bus, and stop charging or adjust the charging parameters according to the abnormality handling command.

[0130] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0131] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0132] Figure 6 A schematic block diagram of a charging pile provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0133] like Figure 6 As shown, the charging pile 6 in this embodiment includes: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60. When the processor 60 executes the computer program 62, it implements the steps in the various communication method embodiments described above, for example... Figure 1 Steps S201 to S206 are shown. Alternatively, when the processor 60 executes the computer program 62, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 4 The functions of modules 401 to 406 are shown.

[0134] For example, the computer program 62 can be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 62 in the charging pile 6.

[0135] Those skilled in the art will understand that Figure 6 This is merely an example of charging pile 6 and does not constitute a limitation on charging pile 6. It may include more or fewer components than shown, or combine certain components, or different components. For example, the charging pile 6 may also include input / output devices, network access devices, buses, etc.

[0136] The processor 60 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0137] The memory 61 can be an internal storage unit of the charging pile 6, such as a hard drive or memory. The memory 61 can also be an external storage device of the charging pile 6, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the charging pile 6. Furthermore, the memory 61 can include both internal and external storage units of the charging pile 6. The memory 61 is used to store the computer program and other programs and data required by the charging pile 6. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0138] Figure 7 A schematic block diagram of a robot provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0139] like Figure 7As shown, the robot 7 in this embodiment includes: a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the processor 70. When the processor 70 executes the computer program 72, it implements the steps in the various communication method embodiments described above, for example... Figure 1 Steps S301 to S306 are shown. Alternatively, when the processor 70 executes the computer program 72, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 5 The functions of modules 501 to 506 are shown.

[0140] For example, the computer program 72 may be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 72 in the robot 7.

[0141] Those skilled in the art will understand that Figure 7 This is merely an example of robot 7 and does not constitute a limitation on robot 7. It may include more or fewer parts than shown, or combine certain parts, or different parts. For example, robot 7 may also include input / output devices, network access devices, buses, etc.

[0142] The processor 70 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0143] The memory 71 can be an internal storage unit of the robot 7, such as a hard drive or memory. The memory 71 can also be an external storage device of the robot 7, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 71 can include both internal and external storage units of the robot 7. The memory 71 is used to store the computer program and other programs and data required by the robot 7. The memory 71 can also be used to temporarily store data that has been output or will be output.

[0144] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0145] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0146] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0147] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0148] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0149] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0150] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0151] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A communication method characterized by comprising: The application is applied to a charging pile, and the charging pile comprises a first controller, a first direct current carrier modulation circuit, a first direct current carrier demodulation circuit and a first coupling circuit; the communication method comprises the following steps: In the case of establishing a physical connection with a robot, a handshake command data frame is generated by the first controller; The handshake command data frame is subjected to direct current carrier modulation by the first direct current carrier modulation circuit to obtain a handshake command modulation signal; The handshake command modulation signal is injected into a charging direct current bus by the first coupling circuit, so that the robot extracts the handshake command modulation signal from the charging direct current bus; The response modulation signal of the robot is extracted from the charging direct current bus by the first coupling circuit; The response modulation signal is subjected to direct current carrier demodulation by the first direct current carrier demodulation circuit to obtain a response frame of the robot; In the case of successful authentication of the response frame, communication is carried out with the robot via the charging direct current bus.

2. The communication method according to claim 1, characterized by, The handshake command data frame is generated by the first controller, comprising the following steps: The handshake command data frame comprising a preamble, a handshake command and a check code is generated by the first controller; The preamble is used for data synchronization, the handshake command is used for establishing communication between the charging pile and the robot, and the check code is used for data verification.

3. The communication method of any one of claims 1-2, wherein, The communication with the robot via the charging direct current bus comprises the following steps: The charging parameters are sent to the robot via the charging direct current bus, so that the robot charges according to the charging parameters; The battery state data sent by the robot is received via the charging direct current bus; In the case of abnormal battery state data, an abnormal processing command is sent to the robot via the charging direct current bus, so that the robot stops charging or adjusts the charging parameters according to the abnormal processing command.

4. A communication method characterized by comprising: The application is applied to a robot, and the robot comprises a second controller, a second direct current carrier modulation circuit, a second direct current carrier demodulation circuit and a second coupling circuit; the communication method comprises the following steps: In the case of establishing a physical connection with a charging pile, the handshake command modulation signal of the charging pile is extracted from a charging direct current bus by the second coupling circuit; The handshake command modulation signal is subjected to direct current carrier demodulation by the second direct current carrier demodulation circuit to obtain a handshake command data frame of the charging pile; The handshake command data frame is subjected to data analysis by the second controller, and a response frame corresponding to the handshake command data frame is generated; The response frame is subjected to direct current carrier modulation by the second direct current carrier modulation circuit to obtain a response modulation signal; The response modulation signal is injected into the charging direct current bus by the second coupling circuit, so that the charging pile extracts the response modulation signal from the charging direct current bus; In the case of successful authentication of the response frame by the charging pile, communication is carried out with the charging pile via the charging direct current bus.

5. The communication method according to claim 4, wherein, The handshake command data frame includes a preamble, a handshake command, and a checksum; the step of parsing the handshake command data frame through the second controller includes: The handshake command data frame is synchronized according to the preamble. If data synchronization is successful, the handshake command data frame is verified according to the verification code. If the data verification is successful, the handshake command data frame is parsed to obtain the handshake command; wherein, the handshake command is used to establish communication between the charging pile and the robot.

6. The communication method according to any one of claims 4 to 5, characterized by, The communication with the charging pile via the charging DC bus includes: The charging parameters sent by the charging pile are received via the charging DC bus, and charging is performed according to the charging parameters; During the charging process, battery status data is sent to the charging pile via the charging DC bus; In the event of an abnormality in the battery status data, the system receives an abnormality handling command from the charging pile via the charging DC bus and stops charging or adjusts the charging parameters according to the abnormality handling command.

7. A communication device, characterized by The device is used in charging piles, which include a first controller, a first DC carrier modulation circuit, a first DC carrier demodulation circuit, and a first coupling circuit; the communication device includes: The handshake command data frame generation module is used to generate a handshake command data frame through the first controller when a physical connection with the robot is established. The handshake command data frame modulation module is used to perform DC carrier modulation on the handshake command data frame through the first DC carrier modulation circuit to obtain the handshake command modulation signal. A handshake command modulation signal injection module is used to inject the handshake command modulation signal into the charging DC bus through the first coupling circuit, so that the robot can extract the handshake command modulation signal from the charging DC bus. The response modulation signal extraction module is used to extract the robot's response modulation signal from the charging DC bus through the first coupling circuit; The response modulation signal demodulation module is used to perform DC carrier demodulation on the response modulation signal through the first DC carrier demodulation circuit to obtain the robot's response frame; The first communication module is used to communicate with the robot via the charging DC bus when the authentication of the response frame is successful.

8. A communication device, characterized by The application is in a robot, the robot including a second controller, a second DC carrier modulation circuit, a second DC carrier demodulation circuit, and a second coupling circuit; the communication device includes: The handshake command modulation signal extraction module is used to extract the handshake command modulation signal of the charging pile from the charging DC bus through the second coupling circuit when a physical connection with the charging pile is established. The handshake command modulation signal demodulation module is used to demodulate the handshake command modulation signal using the second DC carrier demodulation circuit to obtain the handshake command data frame of the charging pile. The data parsing and response module is used to parse the handshake command data frame through the second controller and generate a response frame corresponding to the handshake command data frame. The response frame modulation module is used to modulate the response frame with a DC carrier through the second DC carrier modulation circuit to obtain a response modulation signal; The response modulation signal injection module is used to inject the response modulation signal into the charging DC bus through the second coupling circuit, so that the charging pile can extract the response modulation signal from the charging DC bus. The second communication module is used to communicate with the charging pile via the charging DC bus when the charging pile successfully authenticates the response frame.

9. A charging pile comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the communication method as described in any one of claims 1 to 3.

10. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the communication method as described in any one of claims 4 to 6.

Images