Robot, charging pile and robot charging system

Abstract

The utility model discloses a robot, a charging pile and a robot charging system, wherein the robot includes: a control unit, a battery module, a first wireless communication unit and a charging interface circuit; the first end of the charging interface circuit is connected to the battery module; the second end of the charging interface circuit is used to connect to the charging pile; the control unit is respectively connected to the battery module and the first wireless communication unit, and is used to output the charging voltage and / or charging current required by the battery pack to the charging pile through the first wireless communication unit, so that the charging pile outputs the corresponding charging voltage and / or charging current through the charging interface circuit to charge the battery module. The utility model uses the control unit to obtain battery information, and outputs the charging voltage and / or charging current information required by the battery to the charging pile through the first wireless communication unit, so that the charging pile outputs the corresponding charging voltage and / or charging current to charge the robot.

Description

Technical Field

[0001] The utility model relates to the technical field, and in particular to a robot, a charging pile and a robot charging system. Background Art

[0002] With the development of robot applications in various industries, the robot's autonomous charging function has been widely used, but existing robots only have two charging contacts connected to the charging pile, and the charging pile generally uses active blind charging mode to charge the robot.

[0003] During the charging process, the charging pile uses a constant fixed voltage or current to charge, or the charging pile simply adjusts the charging current based on the voltage of the battery module detected on the contacts, but the charging pile cannot make a comprehensive decision based on the battery module information of the electric robot to output the appropriate charging voltage and current. Utility Model Content

[0004] The main purpose of the utility model is to provide a robot, a charging pile and a robot charging system, aiming to solve the problem that targeted charging cannot be performed according to battery information.

[0005] In order to achieve the above-mentioned object, the robot proposed in the utility model comprises:

[0006] A control unit, a battery module, a first wireless communication unit and a charging interface circuit;

[0007] The first end of the charging interface circuit is connected to the battery module; the second end of the charging interface circuit is used to connect to the charging pile;

[0008] The control unit is respectively connected to the battery module and the first wireless communication unit, and is used to output the charging voltage and / or charging current required by the battery pack to the charging pile through the first wireless communication unit, so that the charging pile outputs the corresponding charging voltage and / or charging current through the charging interface circuit to charge the battery module.

[0009] Optionally, the charging interface circuit includes:

[0010] A first switch unit and a charging interface;

[0011] The first switch unit is arranged in a passage between the battery module and the first end of the charging interface; the second end of the charging interface is used to connect to a charging pile;

[0012] The control end of the first switch unit is connected to the control unit;

[0013] The first switch unit is used to conduct the path between the battery module and the charging interface when receiving the conduction signal output by the control unit;

[0014] The first switch unit is further used to shut down the path between the battery module and the charging interface after receiving a shutdown signal output by the control unit.

[0015] Optionally, the first wireless communication unit includes:

[0016] Bluetooth module, WiFi module or Star Flash module;

[0017] A Bluetooth module, a WiFi module or a Star Flash module is connected to the control unit; the control unit transmits data with the charging pile through the Bluetooth module, the WiFi module or the Star Flash module.

[0018] Optionally, the control unit is connected to the Bluetooth module via a UART bus.

[0019] Optionally, the first switch unit includes a MOS tube;

[0020] The gate of the MOS tube is connected to the control unit, the source is connected to the battery module, and the drain is connected to the charging interface.

[0021] Optionally, the control unit is connected to the battery module via an RS485 bus.

[0022] The utility model also discloses a charging pile, which comprises:

[0023] A second wireless communication unit, a processing unit and a power output module;

[0024] The processing unit is connected to the second wireless communication unit and the power output module respectively;

[0025] The second wireless communication unit is used to establish a wireless connection with the first wireless communication unit, receive output information of the first wireless communication unit, and output it to the processing unit;

[0026] The processing unit is configured to output a corresponding charging signal to the power output module upon receiving an output signal from the second wireless communication unit;

[0027] The power output module is used to output a corresponding charging voltage and / or charging current to the charging interface circuit when receiving the charging signal from the processing unit.

[0028] Optionally, the power output module includes:

[0029] Power interface, used to connect to an external power source;

[0030] A voltage-current conversion circuit, the input end of which is connected to the power interface, and the control end of which is connected to the processing unit; the output end of the voltage-current conversion circuit is used to be connected to the charging interface circuit;

[0031] The processing unit is further used to control the voltage-current conversion circuit to convert the electric energy output by the external power supply into a corresponding charging voltage and / or charging current for output according to the output signal of the second wireless communication unit.

[0032] The utility model also discloses a robot charging system, which comprises the robot and the charging pile.

[0033] Optionally, the second wireless communication unit and the first wireless communication unit have the same type of communication modules.

[0034] The utility model discloses a robot, a charging pile and a robot charging system, wherein the robot includes: a control unit, a battery module, a first wireless communication unit and a charging interface circuit; the first end of the charging interface circuit is connected to the battery module; the second end of the charging interface circuit is used to connect to the charging pile; the control unit is respectively connected to the battery module and the first wireless communication unit, and is used to output the charging voltage and / or charging current required by the battery pack to the charging pile through the first wireless communication unit, so that the charging pile outputs the corresponding charging voltage and / or charging current through the charging interface circuit to charge the battery module. The utility model uses the control unit to obtain battery information, and outputs the charging voltage and / or charging current information required by the battery to the charging pile through the first wireless communication unit, so that the charging pile outputs the corresponding charging voltage and / or charging current to charge the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0036] Figure 1 This is a schematic diagram of the structure of an embodiment of the robot of the utility model;

[0037] Figure 2 This is a schematic structural diagram of an embodiment of the robot charging system of the utility model;

[0038] Figure 3 This is a schematic structural diagram of another embodiment of the robot charging system of the utility model.

[0039] Description of Figure Numbers:

[0040]

[0041]

[0042] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0044] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In addition, in the present utility model, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0047] With the development of the application of robot 10 in various industries, the autonomous charging function of robot 10 has been widely used, but the traditional autonomous charging of robot 10 generally has only two charging contacts connected to the charging pile 20, and there is no additional communication interface between the charging pile 20 and the battery or robot 10. The charging pile 20 is not controlled, and the charging pile 20 cannot obtain the current remaining capacity, temperature and other information of the battery. The charging pile 20 is generally in an active blind charging mode. However, because the charging pile 20 is not controlled, the normal contact is not safe to output with electricity, and it is easy to short-circuit and other problems; during the charging process, the charging pile 20 uses a constant fixed voltage or current to charge the robot 10, or the charging pile 20 simply adjusts the charging current according to the voltage of the battery detected on the contact. There is no information exchange between the charging pile 20 and the robot 10; the charging pile 20 cannot make a comprehensive decision to output a suitable charging voltage and current based on the current voltage, remaining power, temperature and other information of the battery; especially when the battery temperature is very high, the charging pile 20 cannot cut off or reduce the charging current in time. This design and application of the prior art is not only unsafe but also not conducive to the life of the battery.

[0048] In order to solve the above problems, the utility model provides a robot 10, a charging pile 20 and a robot system capable of information exchange. It should be understood that in the prior art, there is a charging pile 20 that communicates with the device to be charged; however, the charging pile 20 is generally used in the automotive field to charge electric vehicles. And the existing charging pile 20 is charged after matching the charging gun and the charging port on the electric vehicle; the charging gun and the charging port have signal lines specifically used for communication, among which the AC charging gun has a CC signal line and a CP signal line; the DC charging gun has a charging communication line (S+, S-).

[0049] However, the charging method in the automotive field is not suitable for the robot 10 field. The size of electric vehicles is large enough, with enough space to place charging ports and set up multiple signal lines; but the size of the robot 10 is generally much smaller than that of a car, and the work of the robot 10 generally involves physical movements. How to install the wiring harness for the newly added signal line so that it does not affect the physical movements of the robot 10 when working is a difficult problem. And it is easy to think that if multiple contacts are used to achieve interactive charging with communication, for example: 2 charging contacts and 2 communication contacts. The communication contacts at the charging pile end need to be energized all the time, which is easy to short-circuit and pose a safety hazard. In order to solve the safety problem of the communication contacts at the charging pile end, a complex structure needs to be used for protection. In addition, compared with the charging of electric vehicles, the charging of the robot 10 is generally performed by the robot moving autonomously to the charging pile 20 to charge the relevant contacts; adding communication contacts will increase the difficulty of the robot alignment process. In summary, there are the above difficulties in setting up signal lines for the robot 10, and the charging scheme in the automotive field is not suitable for charging the robot 10.

[0050] In addition, the robot 10 is not suitable for power line carrier communication. First, the robot 10 generally uses batteries and other components for energy storage. The battery needs to be charged with direct current; if the robot 10 is connected to alternating current, it is necessary to install a rectifier in the robot 10, which will increase the weight of the robot 10 and affect the movement of the robot 10. However, the robot 10 currently pays attention to the weight index, because the greater the mass of the battery-powered robot 10, the shorter the battery life of the robot 10. Second, even if the robot 10 is connected to alternating current, power line carrier communication is not applicable; load changes and noise on the power line may interfere with signal transmission and affect communication quality; and the transmission rate of power line carrier communication may be unstable.

[0051] In order to solve the above problems, the utility model discloses a robot 10. In a first embodiment of the utility model, the robot 10 includes:

[0052] A control unit 110, a battery module 120, a first wireless communication unit 130 and a charging interface circuit 140;

[0053] The first end of the charging interface circuit 140 is connected to the battery module 120; the second end of the charging interface circuit 140 is used to connect to the charging pile 20;

[0054] The control unit 110 is respectively connected to the battery module 120 and the first wireless communication unit 130, and is used to output the charging voltage and / or charging current required by the battery pack to the charging pile 20 through the first wireless communication unit 130, so that the charging pile 20 outputs the corresponding charging voltage and / or charging current through the charging interface circuit 140 to charge the battery module 120.

[0055] In this embodiment, one end of the charging interface circuit 140 is connected to the charging pile 20, and the other end is connected to the battery module 120; the charging pile 20 provides DC charging for the battery module 120 through the charging interface circuit 140. The battery module 120 is internally provided with a battery management system, which can collect, process, and store important information of the battery in real time, such as voltage, current, temperature, SOC, SOH, etc., exchange information with external devices, prevent overcharging and overdischarging of the battery, extend battery life, and ensure safe and reliable operation of the battery. The control unit 110 can be connected to the battery management system in the battery module 120 to obtain battery information, and determine the charging voltage and / or charging current required for the battery pack according to the battery information; it is easy to understand that the charging voltage and / or charging current depends on the state information of the battery at the current moment. The battery module 120 can be selected from lithium batteries, lithium iron phosphate batteries, ternary lithium batteries, solid-state batteries or semi-solid-state batteries.

[0056] Specifically, the control unit 110 may include a controller such as an MCU and a SOC, and a control program is stored in the controller for determining a charging strategy and a charging voltage and / or charging current required for the battery pack according to battery information. It should be noted that the control program is generated by R&D personnel, including a battery charging strategy, such as a suitable charging voltage and current curve to achieve optimal slow charging or fast charging.

[0057] The control unit 110 determines the charging voltage and / or charging current required by the battery based on the current battery information. Among them, the stability of the voltage plays a vital role in charging safety. If the voltage is too high, it may cause the battery to be overcharged, increasing the risk of battery damage; if the voltage is too low, it may cause the battery to be unable to be fully charged, affecting the cruising range. The charging current determines the charging rate and efficiency. The type of signal output by the control unit 110 depends on the battery information.

[0058] This solution provides two methods for the interaction between the robot 10 and the charging pile 20.

[0059] First, the control unit 110 determines the charging voltage and charging current required by the battery based on the current battery information, and outputs it to the charging pile 20. The charging pile 20 outputs the corresponding charging voltage and charging current to the robot 10, thereby meeting the needs of safely and quickly charging the battery pack and avoiding overcharging of the battery pack. It is easy to understand that when the robot 10 is charged using a universal charging pile 20 or a charging pile 20 of a different brand, the charging pile 20 does not store the voltage information and capacity information of the battery pack of the robot 10 in advance, which may cause the battery pack of the robot 10 to overcharge during charging. Using this method can avoid the problem of overcharging the battery pack of the robot 10.

[0060] Secondly, the output end of the charging pile 20 is connected to the charging contacts of the robot 10, and the battery module of the charging pile 20 is electrically connected to the charging contacts. When the charging pile 20 charges the robot 10, the charging pile 20 can detect the voltage at its output end to obtain the voltage value of the battery module 120. The charging pile 20 can adjust the output voltage according to the detected current voltage value of the battery module 120. The size of the charging current determines the charging rate of the robot 10; the robot 10 obtains the required charging current based on the battery information and the charging strategy, and outputs the required charging current to the charging pile 20, so that the charging pile 20 outputs the corresponding charging current. This method is suitable for scenarios where the battery voltage information of the robot 10 is pre-stored in the charging pile 20. For example: the robot 10 is charged using a charging pile 20 of the same brand.

[0061] It is easy to understand that the charging current is determined by the robot 10. In this method, the most critical factor in the charging process is the size of the charging current. It cannot be too large or too small. Specifically, the charging current cannot be too large when the battery is very low or almost full, otherwise it will easily affect the battery life; if the charging current is too large during the charging process, it will easily cause the battery to overheat, and if it is too small, the charging efficiency will be too low. Therefore, the dynamic change of the charging current requires the robot 10 to make a decision based on the current state of the battery.

[0062] During the charging process, the robot 10 can flexibly and autonomously decide various dynamic fast charging or slow charging strategies according to the real-time status of the battery and the application scenario. This can fully guarantee the safety of high-current charging and adapt to the fast charging or slow charging requirements in various application scenarios.

[0063] The control unit 110 is connected to the first wireless communication unit 130. The first wireless communication unit 130 is used to establish a wireless communication connection with the charging pile 20, and is used to output the charging voltage and / or charging current required by the battery pack to the charging pile 20. The first communication unit may include communication modules such as a Bluetooth module, a WiFi module or a Star Flash module. It is easy to imagine that the establishment of wireless communication between the robot 10 and the charging pile 20 can not only avoid the installation and wiring problems caused by the physical communication line, but also save costs. The first wireless communication unit 130 can be used to communicate with the control device on the user side and receive instructions from the user, and can also transmit battery information and the charging voltage and / or charging current required by the battery pack when the robot 10 is charging.

[0064] It should be noted that the charging interface circuit 140 at least has a charging interface 1420 for connecting to the charging pile 20 to transmit electric energy. The type, model, manufacturer or connection method of the charging interface 1420 is not limited in the present invention.

[0065] The utility model discloses a robot 10, which includes: a control unit 110, a battery module 120, a first wireless communication unit 130 and a charging interface circuit 140; the first end of the charging interface circuit 140 is connected to the battery module 120; the second end of the charging interface circuit 140 is used to connect to a charging pile 20; the control unit 110 is connected to the battery module 120 and the first wireless communication unit 130 respectively, and is used to output the charging voltage and / or charging current required by the battery pack to the charging pile 20 through the first wireless communication unit 130, so that the charging pile 20 outputs the corresponding charging voltage and / or charging current through the charging interface circuit 140 to charge the battery module 120. The utility model uses the control unit 110 to obtain battery information, and outputs the charging voltage and / or charging current information required by the battery to the charging pile 20 through the first wireless communication unit 130, so that the charging pile 20 outputs the corresponding charging voltage and / or charging current to charge the robot 10.

[0066] In the second embodiment of the present utility model, the charging interface circuit 140 includes:

[0067] A first switch unit 1410 and a charging interface 1420;

[0068] The first switch unit 1410 is disposed in a passage between the battery module 120 and a first end of the charging interface 1420 ; a second end of the charging interface 1420 is used to connect to the charging pile 20 ;

[0069] The control end of the first switch unit 1410 is connected to the control unit 110;

[0070] The first switch unit 1410 is used to conduct the path between the battery module 120 and the charging interface 1420 when receiving the conduction signal output by the control unit 110;

[0071] The first switch unit 1410 is further configured to shut down the path between the battery module 120 and the charging interface 1420 after receiving a shut-down signal output by the control unit 110 .

[0072] In this embodiment, the charging interface 1420 is used to connect to the charging pile 20; the first switch unit 1410 is set in the path between the battery module 120 and the charging interface 1420, and can be used to turn on or off the path. The control end of the first switch unit 1410 is connected to the control unit 110. It is easy to understand that the charging interface 1420 can be connected to the battery in the battery module 120; if the first switch unit 1410 does not exist in the path between the two, when the robot 10 is not charged, there is a voltage at the charging interface 1420; when the animal touches it by mistake, there is a risk of electric shock; and if the charging interface 1420 is short-circuited, the battery will be short-circuited and damaged. Therefore, the first switch unit 1410 can be set between the path of the battery module 120 and the charging interface 1420; the first switch unit 1410 acts according to the output signal of the control unit 110. The first switch unit 1410 can protect relays, MOS tubes, IGBT tubes or thyristors, etc. If the first switch unit 1410 includes a relay, the moving contact of the relay may be connected to the battery module 120, the static contact may be connected to the charging interface 1420, and the coil may be connected to the control unit 110. If the first switch unit 1410 includes a MOS transistor, the gate of the MOS transistor is connected to the control unit 110, the source is connected to the battery module 120, and the drain is connected to the charging interface 1420.

[0073] The first wireless communication unit 130 includes:

[0074] Bluetooth module, WiFi module or Star Flash module;

[0075] The Bluetooth module, WiFi module or Star Flash module is connected to the control unit 110; the control unit 110 transmits data with the charging pile 20 through the Bluetooth module, WiFi module or Star Flash module.

[0076] It should be noted that the first wireless communication unit 130 includes a communication module for data transmission with the charging pile 20. Specifically, the first wireless communication unit 130 has the same communication module as that in the charging pile 20 to facilitate communication. In particular, the first wireless communication unit 130 may include a Bluetooth module, a low-power Bluetooth module, a ZigBee module, a WiFi module or a star flash module. It should be noted that the communication module is divided according to the wireless communication technology used; the first wireless communication unit 130 may not be limited to using a specific communication module. In one embodiment, the Bluetooth module is connected to the control unit 110, and the control unit 110 transmits data to the charging pile 20 through the Bluetooth module. In another embodiment, the WiFi module is connected to the control unit 110, and the control unit 110 transmits data to the charging pile 20 through the WiFi module. In another embodiment, the star flash module is connected to the control unit 110, and the control unit 110 transmits data to the charging pile 20 through the star flash module.

[0077] The control unit 110 is connected to the Bluetooth module via a UART bus, and the Bluetooth module has a UART interface. The control unit 110 is also connected to the battery module 120 via an RS485 bus. The RS485 bus allows multiple devices to be connected, enabling data exchange and control between devices; it allows the control unit 110 to control multiple access devices. In addition, RS485 has the advantages of strong anti-interference ability, fast transmission rate and not easy to be damaged.

[0078] The utility model also proposes a charging pile 20, and the charging pile 20 comprises:

[0079] A second wireless communication unit 210, a processing unit 220 and a power output module 230;

[0080] The processing unit 220 is connected to the second wireless communication unit 210 and the power output module 230 respectively;

[0081] The second wireless communication unit 210 is used to establish a wireless connection with the first wireless communication unit 130, receive output information of the first wireless communication unit 130, and output it to the processing unit 220;

[0082] The processing unit 220 is used to output a corresponding charging signal to the power output module 230 when receiving the output signal of the second wireless communication unit 210;

[0083] The power output module 230 is used to output a corresponding charging voltage and / or charging current to the charging interface circuit 140 when receiving a charging signal from the processing unit 220 .

[0084] It should be noted that the charging pile 20 uses the processing unit 220 to obtain the output information of the robot 10 through the second wireless communication unit 210, processes it, and outputs a corresponding charging signal to the power output module 230. After obtaining the required charging voltage and / or charging current of the battery pack output by the robot 10, the processing unit 220 outputs the corresponding charging information to the power output module 230 according to the obtained information, and adjusts the voltage and / or current output by the power output module 230; wherein the charging voltage and / or charging current output by the power output module 230 are equal to the charging voltage and / or charging current required by the battery pack.

[0085] It is easy to understand that the second wireless communication unit 210 may include a Bluetooth module, a WiFi module or a Star Flash module. The processing unit 220 may include a controller such as an MCU. The power output module 230 may be connected to direct current or alternating current.

[0086] In an embodiment of the utility model, the power output module 230 includes:

[0087] A power interface 2320, used to connect to an external power source;

[0088] A voltage-current conversion circuit 2310, whose input end is connected to the power interface 2320, and whose control end is connected to the processing unit 220; an output end of the voltage-current conversion circuit 2310 is used to connect to the charging interface circuit 140;

[0089] The processing unit 220 is further used to control the voltage-current conversion circuit 2310 to convert the voltage output by the external power supply into corresponding charging voltage and current for output according to the output signal of the second wireless communication unit 210.

[0090] In this embodiment, the external power supply may be an AC power supply, such as a mains power supply; or a DC power supply, such as a battery. In addition, the charging pile 20 may include a DC power supply interface 2320 and an AC power supply interface 2320. The AC power supply interface 2320 is connected to the mains power supply, and the voltage-current conversion circuit 2310 rectifies the mains power supply to a corresponding voltage and / or current and outputs it according to the charging signal output by the processing unit 220, and adjusts the output current. The voltage-current conversion circuit 2310 may include a PWM rectifier circuit, an adjustable voltage-regulated constant current power supply circuit, or a voltage-regulated multi-times voltage rectifier circuit.

[0091] The utility model also proposes a robot charging system, which includes the robot 10 and the charging pile 20.

[0092] The specific structures of the robot 10 and the charging pile 20 refer to the above embodiments. Since the robot charging system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0093] In one embodiment, the second wireless communication unit 210 and the first wireless communication unit 130 have the same type of communication module, so that the robot 10 can exchange information with the charging station 20 .

[0094] In another embodiment, before charging, the charging contacts of the robot 10 and the contacts of the charging pile 20 are controlled to be in a non-output or no-voltage safety state. After charging is started, the contacts of the charging pile 20 output voltage and current, and the contacts of the robot 10 are connected to the battery channel.

[0095] During the charging process, the robot control unit 110 communicates with the battery BMS to monitor the current temperature, voltage, capacity and other information of the battery in real time, makes corresponding charging strategies based on this information, and sends the charging strategies (adapted charging voltage and current information) to the charging pile 20 via Bluetooth wireless communication. The charging pile 20 outputs the charging voltage or current required by the robot control unit 110. This monitoring of the battery by the robot control unit 110 and the command to the charging pile 20 are executed dynamically and cyclically; the charging voltage and current of the battery are dynamically adjusted according to the real-time status information of the battery and the strategy of the control unit 110 until the charging is completed.

[0096] During the charging process, when the robot control unit 110 detects information such as the battery temperature is too high, it can issue a stop charging command or a low current charging instruction to the charging pile 20; after the battery temperature returns to below the safety threshold, the control unit 110 will resume the normal fast charging or slow charging strategy, so that the charging pile 20 can be safely shut down or intermittently paused during the charging process.

[0097] The above description is only an optional embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A robot, characterized in that: The robot comprises: A control unit, a battery module, a first wireless communication unit and a charging interface circuit; The first end of the charging interface circuit is connected to the battery module; the second end of the charging interface circuit is used to connect to the charging pile; The control unit is respectively connected to the battery module and the first wireless communication unit, and is used to output the charging voltage and / or charging current required by the battery pack to the charging pile through the first wireless communication unit, so that the charging pile outputs the corresponding charging voltage and / or charging current through the charging interface circuit to charge the battery module.

2. The robot according to claim 1, characterized in that: The charging interface circuit comprises: A first switch unit and a charging interface; The first switch unit is arranged in a passage between the battery module and the first end of the charging interface; the second end of the charging interface is used to connect to a charging pile; The control end of the first switch unit is connected to the control unit; The first switch unit is used to conduct the path between the battery module and the charging interface when receiving the conduction signal output by the control unit; The first switch unit is further used to shut down the path between the battery module and the charging interface after receiving a shutdown signal output by the control unit.

3. The robot according to claim 1, characterized in that: The first wireless communication unit comprises: Bluetooth module, WiFi module or Star Flash module; A Bluetooth module, a WiFi module or a Star Flash module is connected to the control unit; the control unit transmits data with the charging pile through the Bluetooth module, the WiFi module or the Star Flash module.

4. The robot according to claim 3, characterized in that: The control unit is connected to the Bluetooth module via a UART bus.

5. The robot according to claim 2, characterized in that: The first switch unit includes a MOS tube; The gate of the MOS tube is connected to the control unit, the source is connected to the battery module, and the drain is connected to the charging interface.

6. The robot according to claim 2, characterized in that: The control unit is connected to the battery module via an RS485 bus.

7. A charging pile, characterized in that: The charging pile comprises: A second wireless communication unit, a processing unit and a power output module; The processing unit is connected to the second wireless communication unit and the power output module respectively; The second wireless communication unit is used to establish a wireless connection with the first wireless communication unit, receive output information of the first wireless communication unit, and output it to the processing unit; The processing unit is configured to output a corresponding charging signal to the power output module upon receiving an output signal from the second wireless communication unit; The power output module is used to output a corresponding charging voltage and / or charging current to the charging interface circuit when receiving the charging signal from the processing unit.

8. The charging pile according to claim 7, characterized in that: The power output module comprises: Power interface, used to connect to an external power source; A voltage-current conversion circuit, the input end of which is connected to the power interface, and the control end of which is connected to the processing unit; the output end of the voltage-current conversion circuit is used to be connected to the charging interface circuit; The processing unit is further used to control the voltage-current conversion circuit to convert the electric energy output by the external power supply into a corresponding charging voltage and / or charging current for output according to the output signal of the second wireless communication unit.

9. A robot charging system, characterized in that: The robot charging system comprises the robot as described in any one of claims 1 to 6, and the charging pile as described in any one of claims 7 to 8.

10. The robot charging system according to claim 9, characterized in that: The second wireless communication unit and the first wireless communication unit have the same type of communication module.

Images