CN114465317A

Movatterモバイル変換

Info

Publication number: CN114465317A
Application number: CN202210150983.1A
Authority: CN
Inventors: 韦安; 张世界; 胡少鹏
Original assignee: Candela Shenzhen Technology Innovations Co Ltd
Current assignee: Candela Shenzhen Technology Innovations Co Ltd
Priority date: 2022-02-18
Filing date: 2022-02-18
Publication date: 2022-05-10

Abstract

The application discloses controlling means and electric pile that fills of manual charging and automatic charging, first detection module send first detected signal when detecting that manual charging port connects the manual output port that charges, and second detection module sends the second detected signal when detecting that the regional area that automatic charging port is located contacts with the regional area that automatic charging output port is located. The processor enables the robot to only perform manual charging when receiving the first detection signal, and enables the robot to only perform automatic charging when receiving the second detection signal, so that damage caused by overlarge charging current possibly caused by simultaneous manual charging and automatic charging is avoided; meanwhile, the processor can distinguish manual charging from automatic charging through the first detection signal and the second detection signal, so that the robot can freely move when automatically charging is carried out, multi-scene use of the robot is met, and user experience is improved; the risk that the line is torn due to the fact that the line moves when the robot is charged manually can be avoided.

Description

Control device for manual charging and automatic charging and charging pile

Technical Field

The invention relates to the technical field of charging control, in particular to a control device for manual charging and automatic charging and a charging pile.

Background

The unmanned robot is an unmanned ground carrier for transporting power, is widely applied to the technical fields of catering, welcoming, takeaway delivery, medical delivery and the like at present, and realizes the diversity and convenience of robot charging modes including automatic charging and manual charging. The automatic charging of the robot means that the robot is automatically in wireless connection with a charger to charge; the manual charging means that the robot is manually connected with a charger in a wired manner for charging; when manual charging and automatic charging are performed simultaneously, the charging current may be too large, causing damage to devices of the robot, and further causing malfunction of the robot.

Meanwhile, for manual charging and automatic charging, the robot has different control logics, for example, the robot can leave the charger automatically to execute an emergency task if receiving the emergency task during automatic charging, so that the multi-scene use of the robot is met, and the user experience is improved; when the robot is charged manually, the robot is in wired connection with the charger and cannot move, so that damage to a manual charging port and a charging circuit is avoided; however, in the prior art, manual charging and automatic charging are not distinguished, and thus the control logic and the corresponding beneficial effects cannot be realized.

Disclosure of Invention

The technical scheme includes that the processor enables the robot to only perform manual charging when receiving a first detection signal, and enables the robot to only perform automatic charging when receiving a second detection signal, so that damage caused by overlarge charging current due to simultaneous manual charging and automatic charging is avoided; meanwhile, the processor can distinguish manual charging from automatic charging through the first detection signal and the second detection signal, so that the robot can freely move when automatically charging is carried out, multi-scene use of the robot is met, and user experience is improved; the risk that the line is torn due to the fact that the line moves when the robot is charged manually can be avoided.

In order to solve the technical problem, the application provides a control device for manual charging and automatic charging, which comprises a processor, a first controllable switch module, a second controllable switch module, a first detection module and a second detection module;

the first end of the first controllable switch module is connected with a charger, and the second end of the first controllable switch module is connected with a manual charging output port; the first end of the second controllable switch module is connected with the charger, and the second end of the second controllable switch module is connected with the automatic charging output port; the manual charging output port is connected with the input end of the first detection module; the processor is respectively connected with the control end of the first controllable switch module, the control end of the second controllable switch module, the output end of the first detection module and the output end of the second detection module;

the first detection module is used for sending a first detection signal to the processor when detecting that a manual charging port of the robot is connected with the manual charging output port;

the second detection module is used for sending a second detection signal to the processor when detecting that the area where the automatic charging port of the robot is located is in contact with the area where the automatic charging output port is located;

the processor is used for controlling the first controllable switch module to be closed and the second controllable switch module to be opened when the first detection signal is received firstly, and controlling the second controllable switch module to be closed and the first controllable switch module to be opened when the second detection signal is received firstly.

Preferably, the first detection module includes a first connector, a first resistor, a second resistor, and a first optocoupler;

a first pin of the first connector is connected with a first power supply, and a second pin of the first connector is connected with one end of the first resistor; the anode of the light emitting tube of the first optical coupler is connected with the other end of the first resistor, the cathode of the light emitting tube of the first optical coupler is grounded, the collector of the light receiving tube of the first optical coupler is connected with one end of the second resistor, the connected public end serves as the output end of the first detection module, and the emitter of the light receiving tube of the first optical coupler is grounded; the other end of the second resistor is connected with a second power supply;

when the manual charging port of the robot is connected with the manual charging output port, the first pin and the second pin of the first connector are connected, and when the manual charging port of the robot is not connected with the manual charging output port, the first pin and the second pin of the first connector are disconnected.

Preferably, the second detection module includes a first travel switch, a second travel switch, a first output module and a second output module, an output end of the second detection module includes a first output end and a second output end, and the second detection signal includes a positive contact signal and a negative contact signal;

the first travel switch is arranged at a preset position of the positive electrode of the automatic charging output port, a first movable contact of the first travel switch is connected with a first input end of the first output module, a second movable contact of the first travel switch is connected with a second input end of the first output module, the first movable contact is connected with the second movable contact when an area where the positive electrode of the automatic charging port of the robot is located is in contact with an area where the positive electrode of the automatic charging output port is located, and the first movable contact is disconnected with the second movable contact when the area where the positive electrode of the automatic charging port of the robot is located is not in contact with the area where the positive electrode of the automatic charging output port is located;

the output end of the first output module is used as the first output end of the second detection module and is used for sending the positive contact signal to the processor when the first dynamic contact is connected with the second dynamic contact;

the second travel switch is arranged at a preset position of the negative electrode of the automatic charging output port, a third movable contact of the second travel switch is connected with a first input end of the second output module, a fourth movable contact of the second travel switch is connected with a second input end of the second output module, the third movable contact is connected with the fourth movable contact when an area where the negative electrode of the automatic charging port of the robot is located is in contact with an area where the negative electrode of the automatic charging output port is located, and the third movable contact is disconnected with the fourth movable contact when the area where the negative electrode of the automatic charging port of the robot is located is not in contact with the area where the negative electrode of the automatic charging output port is located;

and the output end of the second output module is used as the second output end of the second detection module and is used for sending the negative contact signal to the processor when the third dynamic contact is connected with the fourth dynamic contact.

Preferably, the second detection module further comprises a hall switch and a third output module, a magnet is arranged at an automatic charging port of the robot, the output end of the second detection module further comprises a third output end, and the second detection signal further comprises a proximity signal;

the Hall switch is arranged at the automatic charging output port, the first end of the Hall switch is connected with the first input end of the third output module, the second end of the Hall switch is connected with the second input end of the third output module, and the Hall switch is used for being closed when the distance between the automatic charging port of the robot and the automatic charging output port is smaller than a preset distance, or being disconnected;

and the output end of the third output module is used as the third output end of the second detection module and is used for sending the approach signal to the processor when the Hall switch is closed.

Preferably, the first output module includes a second connector, a third resistor, a fourth resistor, and a second optocoupler;

a first pin of the second connector is used as a first input end of the first output module, a second pin of the second connector is used as a second input end of the first output module, the first pin of the second connector is grounded, the second pin of the second connector is connected with a cathode of a light emitting tube of the second optocoupler, and a third pin of the second connector is respectively connected with a third power supply and one end of the third resistor; the anode of the light emitting tube of the second optical coupler is connected with the other end of the third resistor, the collector of the light receiving tube of the second optical coupler is connected with one end of the fourth resistor, the connected public end serves as the output end of the first output module, and the emitter of the light receiving tube of the second optical coupler is grounded; the other end of the fourth resistor is connected with a fourth power supply;

and when the first movable contact is connected with the second movable contact, the first pin of the second connector is connected with the second pin.

Preferably, the first controllable switch module comprises a driving module and a MOS transistor;

the input end of the driving module is used as the control end of the first controllable switch module, and the output end of the driving module is connected with the grid electrode of the MOS tube; the source electrode of the MOS tube is used as the first end of the first controllable switch module, and the drain electrode of the MOS tube is used as the second end of the first controllable switch module;

the driving module is used for driving the MOS tube to be closed according to the control of the processor when the processor receives the first detection signal firstly.

Preferably, when the MOS transistor is a PMOS transistor, the driving module includes a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, and an NPN-type triode;

one end of the fifth resistor is used as an input end of the driving module, the other end of the fifth resistor is respectively connected with one end of the sixth resistor and the base electrode of the NPN type triode, and the other end of the sixth resistor is grounded; an emitting electrode of the NPN type triode is grounded, a collector electrode of the NPN type triode is connected with one end of the seventh resistor, the other end of the seventh resistor is connected with one end of the eighth resistor, a public end of the seventh resistor, which is connected with one end of the eighth resistor, serves as an output end of the driving module, and the other end of the eighth resistor is connected with a source electrode of the PMOS tube;

the NPN type triode is used for being closed according to the control of the processor when the processor receives the first detection signal firstly.

Preferably, the robot further comprises a manual indication module connected with a manual charging port of the robot, wherein an output end of the manual indication module is connected with the processor of the robot and used for outputting a manual charging indication signal when the manual charging port of the robot is connected with the manual charging output port, so that the processor of the robot controls the robot to keep a static state when receiving the manual charging indication signal.

Preferably, the automatic charging system further comprises an automatic indicating module connected with the automatic charging port of the robot, wherein an output end of the automatic indicating module is connected with the processor of the robot and used for outputting an automatic charging indicating signal when the area where the automatic charging port of the robot is located is in contact with the area where the automatic charging output port is located, so that after the processor of the robot receives the automatic charging indicating signal, if a control instruction is received again, the robot is controlled to perform an operation corresponding to the control instruction.

For solving the technical problem, the application also provides a charging pile, including charger, manual output port and the automatic output port that charges, still include manual charge and the automatic controlling means who charges, the charger manual charge and the automatic controlling means who charges the manual output port that charges with the automatic output port that charges connect gradually.

The application provides a control device for manual charging and automatic charging and a charging pile, wherein in the scheme, a first detection module sends a first detection signal to a processor when detecting that a manual charging port of a robot is connected with a manual charging output port; the second detection module sends a second detection signal to the processor when detecting that the area where the automatic charging port of the robot is located is in contact with the area where the automatic charging output port is located; the processor controls the first controllable switch module to be closed and controls the second controllable switch module to be opened when receiving the first detection signal, and controls the second controllable switch module to be closed and controls the first controllable switch module to be opened when receiving the second detection signal. In the scheme, the processor only carries out manual charging on the robot when receiving the first detection signal firstly, and only carries out automatic charging on the robot when receiving the second detection signal firstly, so that the phenomenon that the charging current is too large due to the fact that the manual charging and the automatic charging are carried out simultaneously and the robot is damaged and the function abnormality of the robot is caused is avoided. Meanwhile, the processor realizes accurate judgment of manual charging and automatic charging through the first detection signal and the second detection signal, so that the robot can freely move during automatic charging, multi-scene use of the robot is met, and user experience is improved; for example, damage to a manual charging port and a charging circuit caused by movement of a belt line when the robot carries out flashlight charging can be avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the prior art and the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a control device for manual charging and automatic charging according to the present disclosure;

fig. 2 is a schematic structural diagram of a first detection module provided in the present application;

fig. 3 is a schematic structural diagram of a second detection module provided in the present application;

FIG. 4 is a schematic structural diagram of another second detection module provided in the present application;

fig. 5 is a schematic structural diagram of a first output module provided in the present application;

fig. 6 is a schematic structural diagram of a first controllable switch module provided in the present application;

fig. 7 is a schematic structural diagram of a charging pile provided in the present application.

Detailed Description

The core of the application is to provide a control device for manual charging and automatic charging and a charging pile, in the scheme, a processor enables a robot to only perform manual charging when first receiving a first detection signal, and enables the robot to only perform automatic charging when first receiving a second detection signal, so that damage caused by overlarge charging current possibly caused by simultaneous manual charging and automatic charging is avoided; meanwhile, the processor can distinguish manual charging from automatic charging through the first detection signal and the second detection signal, so that the robot can freely move when automatically charging is carried out, multi-scene use of the robot is met, and user experience is improved; the risk that the line is torn due to the fact that the line moves when the robot is charged manually can be avoided.

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a schematic structural diagram of a control device for manual charging and automatic charging provided by the present application, including aprocessor 1, a firstcontrollable switch module 2, a secondcontrollable switch module 3, afirst detection module 4, and asecond detection module 5;

the first end of the firstcontrollable switch module 2 is connected with the charger, and the second end of the firstcontrollable switch module 2 is connected with the manual charging output port; a first end of the secondcontrollable switch module 3 is connected with the charger, and a second end of the secondcontrollable switch module 3 is connected with the automatic charging output port; the manual charging output port is connected with the input end of thefirst detection module 4; theprocessor 1 is respectively connected with the control end of the firstcontrollable switch module 2, the control end of the secondcontrollable switch module 3, the output end of thefirst detection module 4 and the output end of thesecond detection module 5;

thefirst detection module 4 is configured to send a first detection signal to theprocessor 1 when detecting that the manual charging port of the robot is connected to the manual charging output port;

thesecond detection module 5 is used for sending a second detection signal to theprocessor 1 when detecting that the area where the automatic charging port of the robot is located is in contact with the area where the automatic charging output port is located;

theprocessor 1 is configured to control the firstcontrollable switch module 2 to be turned on and control the secondcontrollable switch module 3 to be turned off when the first detection signal is received first, and control the secondcontrollable switch module 3 to be turned on and control the firstcontrollable switch module 2 to be turned off when the second detection signal is received first.

The unmanned robot is an unmanned ground carrier for transportation power, and is widely applied to the technical fields of catering, welcoming, takeaway delivery, medical delivery and the like at present. In recent years, unmanned robots have been developed more rapidly based on their advantages of high work efficiency and being unweary. Unmanned driving depends on the cooperative work of artificial intelligence, computational vision, radar, a monitoring device and a global positioning system, so that the robot can automatically and safely operate without any active operation of human beings.

In the prior art, the charging mode of the robot comprises automatic charging and manual charging, so that the diversity and convenience of the charging mode of the robot are realized, and the automatic charging of the robot means that the robot is automatically wirelessly connected with a charger to charge; the manual charging means that the robot is manually connected with a charger in a wired manner for charging. However, when manual charging and automatic charging are performed simultaneously, the charging current may be too large, which may cause damage to devices of the robot and cause malfunction of the robot; meanwhile, for manual charging and automatic charging, the robot has different control logics, for example, the robot can leave the charger automatically to execute an emergency task if receiving the emergency task during automatic charging, so that the multi-scene use of the robot is met, and the user experience is improved; when the robot is charged manually, the robot is in wired connection with the charger and cannot move, so that damage to a manual charging port and a charging circuit is avoided; however, in the prior art, manual charging and automatic charging are not distinguished, and thus the control logic and the corresponding beneficial effects cannot be realized.

Aiming at the defects, the robot is only charged manually or automatically through the cooperation of theprocessor 1, the firstcontrollable switch module 2, the secondcontrollable switch module 3, thefirst detection module 4 and thesecond detection module 5, the simultaneous implementation of manual charging and automatic charging is avoided, and the safety and the reliability of robot charging are improved.

Specifically, thefirst detection module 4 outputs a first detection signal to theprocessor 1 when an operator connects a manual charging port of the robot to the manual charging output port, and when theprocessor 1 receives the first detection signal first, the processor controls the firstcontrollable switch module 2 to be closed and controls the secondcontrollable switch module 3 to be opened according to the first detection signal, and at this time, the charger needs to manually charge the robot and does not automatically charge the robot; meanwhile, thesecond detection module 5 outputs a second detection signal to theprocessor 1 when the area where the automatic charging port of the robot is located is in contact with the area where the automatic charging output port is located, when theprocessor 1 receives the second detection signal first, the secondcontrollable switch module 3 is controlled to be closed and the firstcontrollable switch module 2 is controlled to be opened according to the second detection signal, and at the moment, the charger needs to automatically charge the robot and does not need to manually charge the robot; wherein, theprocessor 1 may be an MCU, and is not particularly limited herein; the output of the charger may be the mains voltage.

The manual charging of the robot may be performed under manual active intervention, for example, in some special scenes, for example, the electric quantity of the robot is not low enough, but the robot needs to perform a long time of work after being fully charged, and at this time, the wired connection between the robot and the charger needs to be manually implemented, so that the robot is fully charged to perform a long time of work; the robot can automatically return to the charger to automatically charge by the aid of active or subjective triggering of a user, for example, through internal preset conditions such as low electric quantity, or the robot can automatically charge by the aid of control of the user through a remote controller.

In addition, theprocessor 1 can also accurately identify whether the robot is performing manual charging or automatic charging through the first detection signal and the second detection signal, so that on one hand, for example, the phenomenon that the robot is pulled by a belt line under manual charging is avoided, and damage to a manual charging port and a charging line is prevented; on the other hand, for example, the robot can move freely when receiving an emergency task under automatic charging, so that multi-scene use of the robot is met, and user experience is improved. Wherein, in this scheme, can report the cloud platform with the current mode of charging of robot, the platform monitoring of being convenient for to do not receive urgent task under manual charging, receive urgent task and control the robot trip under automatic charging.

In summary, the present application provides a control apparatus for manual charging and automatic charging, in the scheme, afirst detection module 4 sends a first detection signal to aprocessor 1 when detecting that a manual charging port of a robot is connected to a manual charging output port; thesecond detection module 5 sends a second detection signal to theprocessor 1 when detecting that the area where the automatic charging port of the robot is located is in contact with the area where the automatic charging output port is located; theprocessor 1 controls the firstcontrollable switch module 2 to be closed and controls the secondcontrollable switch module 3 to be opened when first receiving the first detection signal, and controls the secondcontrollable switch module 3 to be closed and controls the firstcontrollable switch module 2 to be opened when first receiving the second detection signal. In the scheme, theprocessor 1 only charges the robot manually when receiving the first detection signal firstly, and only charges the robot automatically when receiving the second detection signal firstly, so that the phenomenon that the charging current is too large due to the fact that the manual charging and the automatic charging are carried out simultaneously is avoided, and the phenomenon that devices of the robot are damaged and the function of the robot is abnormal is avoided; meanwhile, theprocessor 1 can distinguish manual charging from automatic charging through the first detection signal and the second detection signal, so that the robot can freely move during automatic charging, multi-scene use of the robot is met, and user experience is improved; the risk that the line is torn to damage due to the fact that the line moves when the robot is charged manually can be avoided.

On the basis of the above-described embodiment:

referring to fig. 2, fig. 2 is a schematic structural diagram of a first detection module provided in the present application.

As a preferred embodiment, thefirst detection module 4 includes a first connector P1, a first resistor R1, a second resistor R2, and a first optocoupler U1;

a first pin of the first connector P1 is connected with a first power supply VCC1, and a second pin of the first connector P1 is connected with one end of a first resistor R1; the anode of a light emitting tube of the first optical coupler U1 is connected with the other end of the first resistor R1, the cathode of the light emitting tube of the first optical coupler U1 is grounded, the collector of a light receiving tube of the first optical coupler U1 is connected with one end of the second resistor R2, the connected public end serves as the output end of thefirst detection module 4, and the emitter of the light receiving tube of the first optical coupler U1 is grounded; the other end of the second resistor R2 is connected with a secondpower supply VCC 2;

the first pin and the second pin of the first connector P1 are connected when the manual charging port of the robot is connected to the manual charging output port, and the first pin and the second pin of the first connector P1 are disconnected when the manual charging port of the robot is not connected to the manual charging output port.

In this embodiment, whether the manual charging port of the robot is connected to the manual charging output port is detected by whether the first pin and the second pin of the first connector P1 are connected.

Specifically, when the manual charging port of the robot is connected to the manual charging output port, the first pin and the second pin of the first connector P1 may be short-circuited by the circuit at the robot end, for example, the circuit at the robot end may be a wire, and two ends of the wire are respectively butted against the pins connected to the first pin and the second pin of the first connector P1 on the manual charging output port. The first power supply VCC1 is further communicated with the anode of the light-emitting tube of the first optocoupler U1, the light-emitting tube of the first optocoupler U1 is conducted at the moment, the light-emitting tube emits light after being conducted to conduct the light-receiving tube, the second power supply VCC2 is further grounded, and a low level is output as a first detection signal; when the manual charging port of the robot is not connected with the manual charging output port, the first pin and the second pin of the first connector P1 are in an open circuit state, so that the first power supply VCC1 is not communicated with the anode of the light-emitting tube of the first optocoupler U1, at the moment, the light-emitting tube of the first optocoupler U1 is not conducted, the light-emitting tube is not conducted, so that the light-receiving tube cannot be conducted, and then the second power supply VCC2 outputs a high level. The output voltage of the first power source VCC1 may be 12V.

In addition, thefirst detection module 4 may further include a first diode D1 for performing overvoltage protection on a light emitting tube on the primary side of the first optocoupler U1, so as to prevent the first optocoupler U1 from being damaged due to an excessive voltage; thefirst detection module 4 may further include a first capacitor C1 for filtering to reduce interference.

In summary, whether the first pin and the second pin of the first connector P1 are connected or not realizes simple judgment on whether the manual charging port of the robot is connected with the manual charging output port or not, and the circuit structure is simple.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a second detection module provided in the present application.

As a preferred embodiment, thesecond detection module 5 includes afirst travel switch 51, asecond travel switch 52, afirst output module 53 and asecond output module 54, the output terminal of thesecond detection module 5 includes a first output terminal and a second output terminal, and the second detection signal includes a positive contact signal and a negative contact signal;

thefirst travel switch 51 is arranged at a preset position of the anode of the automatic charging output port, a first movable contact of thefirst travel switch 51 is connected with a first input end of thefirst output module 53, a second movable contact of thefirst travel switch 51 is connected with a second input end of thefirst output module 53, the first movable contact is connected with the second movable contact when an area where the anode of the automatic charging port of the robot is located is contacted with an area where the anode of the automatic charging output port is located, and the first movable contact is disconnected with the second movable contact when the area where the anode of the automatic charging port of the robot is located is not contacted with the area where the anode of the automatic charging output port is located;

the output end of thefirst output module 53 is used as the first output end of thesecond detection module 5, and is used for sending a positive contact signal to theprocessor 1 when the first moving contact and the second moving contact are connected;

thesecond travel switch 52 is arranged at a preset position of the negative electrode of the automatic charging output port, a third movable contact of thesecond travel switch 52 is connected with a first input end of thesecond output module 54, a fourth movable contact of thesecond travel switch 52 is connected with a second input end of thesecond output module 54, the third movable contact is connected with the fourth movable contact when an area where the negative electrode of the automatic charging port of the robot is located is contacted with an area where the negative electrode of the automatic charging output port is located, and the third movable contact is disconnected with the fourth movable contact when the area where the negative electrode of the automatic charging port of the robot is located is not contacted with the area where the negative electrode of the automatic charging output port is located;

the output end of thesecond output module 54 serves as a second output end of thesecond detection module 5, and is used for sending a negative contact signal to theprocessor 1 when the third dynamic contact is connected with the fourth dynamic contact.

In this embodiment, thesecond detection module 5 is composed of afirst travel switch 51, asecond travel switch 52, afirst output module 53 and asecond output module 54, and detects whether the positive electrode of the automatic charging port of the robot is in contact with the positive electrode of the automatic charging output port through thefirst travel switch 51, and thefirst output module 53 outputs a positive electrode contact signal when the positive electrode is in contact with the positive electrode; detecting whether the negative electrode of the automatic charging port of the robot is in contact with the negative electrode of the automatic charging output port through thesecond travel switch 52, and outputting a negative electrode contact signal through thesecond output module 54 when the negative electrode of the automatic charging port of the robot is in contact with the negative electrode of the automatic charging output port; theprocessor 1 determines that the second detection signal is received when the positive contact signal and the negative contact signal are received.

Specifically, thefirst travel switch 51 may be a direct-acting travel switch, and when the positive electrode of the automatic charging port of the robot contacts the positive electrode of the automatic charging output port, a push rod of the direct-acting travel switch arranged at a preset position of the positive electrode of the automatic charging output port is extruded, two moving contacts of the push rod are connected, and then a first input end and a second input end of thefirst output module 53 are connected to trigger thefirst output module 53 to output a positive electrode contact signal; likewise, thesecond travel switch 52 and thesecond output module 54 may be the same arrangement.

In summary, thefirst travel switch 51 and thesecond travel switch 52 determine that the robot is ready to be automatically charged at this time, and thefirst output module 53 and thesecond output module 54 notify theprocessor 1 to complete the detection of the automatic charging of the robot, so that the detection logic is simple and easy to implement.

Referring to fig. 4, fig. 4 is a schematic structural diagram of another second detection module provided in the present application.

As a preferred embodiment, thesecond detection module 5 further includes ahall switch 55 and athird output module 56, a magnet is disposed at an automatic charging port of the robot, the output end of thesecond detection module 5 further includes a third output end, and the second detection signal further includes a proximity signal;

theHall switch 55 is arranged at the automatic charging output port, a first end of theHall switch 55 is connected with a first input end of thethird output module 56, a second end of theHall switch 55 is connected with a second input end of thethird output module 56, and the Hall switch is used for being closed when the distance between the automatic charging port of the robot and the automatic charging output port is smaller than a preset distance, or being opened when the distance between the automatic charging port of the robot and the automatic charging output port is smaller than the preset distance;

an output of thethird output module 56 serves as a third output of thesecond detection module 5, and is used for sending an approach signal to theprocessor 1 when thehall switch 55 is closed.

In this embodiment, thesecond detection module 5 further includes ahall switch 55 and athird output module 56, specifically, after thefirst travel switch 51 and thesecond travel switch 52 are used to determine whether the automatic charging port of the robot is correctly contacted with the automatic charging output port, it may also be detected whether the robot is close to the automatic charging output port through thehall switch 55, at this time, a magnet is disposed at the automatic charging port of the robot, based on an electromagnetic induction phenomenon, when a distance between the magnet and thehall switch 55 is smaller than a preset distance, thehall switch 55 is turned on, at this time, the first input end of thethird output module 56 is communicated with the second input end, thethird output module 56 is triggered to output a close signal, at this time, theprocessor 1 determines to receive the second detection signal when receiving the positive contact signal, the negative contact signal and the close signal.

In conclusion, whether the robot is close to the automatic charging output port is judged through thehall switch 55, so that the condition that other objects are close to the automatic charging output port to trigger automatic charging is avoided, and the detection accuracy of thesecond detection module 5 is improved.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a first output module provided in the present application.

As a preferred embodiment, thefirst output module 53 includes a second connector P2, a third resistor R3, a fourth resistor R4, and a second optical coupler U2;

a first pin of a second connector P2 is used as a first input end of thefirst output module 53, a second pin of the second connector P2 is used as a second input end of thefirst output module 53, a first pin of the second connector P2 is grounded, a second pin of the second connector P2 is connected with a cathode of a light-emitting tube of the second optocoupler U2, and a third pin of the second connector P2 is connected with one end of a third power supply VCC3 and one end of a third resistor R3 respectively; the anode of a light emitting tube of the second optocoupler U2 is connected with the other end of the third resistor R3, the collector of a light receiving tube of the second optocoupler U2 is connected with one end of the fourth resistor R4, and the connected public end is used as the output end of thefirst output module 53, and the emitter of the light receiving tube of the second optocoupler U2 is grounded; the other end of the fourth resistor R4 is connected with a fourthpower supply VCC 4;

when the first movable contact is connected with the second movable contact, the first pin and the second pin of the second connector P2 are connected.

In this embodiment, the second connector P2, the third resistor R3, the fourth resistor R4, and the second optical coupler U2 constitute thefirst output module 53. Specifically, when the first input end and the second input end of thefirst output module 53 are connected, that is, the first pin and the second pin of the second connector P2 are connected, the anode of the light emitting tube of the second optocoupler U2 is connected to the third power VCC3, the cathode of the light emitting tube of the second optocoupler U2 is grounded, and at this time, the light emitting tube of the second optocoupler U2 is turned on, so that the light receiving tube is turned on, and a low level is output to serve as an anode contact signal. The output voltage of the third power source VCC3 may be 12V.

In addition, as shown in fig. 5, thefirst output module 53 may further include a diode disposed on the primary side of the second optocoupler U2 to perform reverse clamping on the primary side of the second optocoupler U2, so as to prevent a reverse voltage caused by voltage fluctuation from breaking down the primary side of the light emitting tube; a capacitor may be provided at the output of thefirst output module 53 for filtering to reduce interference.

It should be noted that thesecond output module 54 and thethird output module 56 may both adopt the same circuit structure and devices as thefirst output module 53.

In summary, when the first pin and the second pin of the second connector P2 are connected, the positive contact signal is output, so that the automatic charging of the robot is easily determined, and the circuit structure is simple and easy to implement.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a first controllable switch module provided in the present application.

As a preferred embodiment, the firstcontrollable switch module 2 includes a drivingmodule 21 and a MOS transistor Q1;

the input end of the drivingmodule 21 is used as the control end of the firstcontrollable switch module 2, and the output end of the drivingmodule 21 is connected with the gate of the MOS transistor Q1; the source of the MOS transistor Q1 is used as the first end of the firstcontrollable switch module 2, and the drain of the MOS transistor Q1 is used as the second end of the firstcontrollable switch module 2;

the drivingmodule 21 is configured to drive the MOS transistor Q1 to close according to the control of theprocessor 1 when theprocessor 1 first receives the first detection signal.

In this embodiment, the firstcontrollable switch module 2 is composed of adriving module 21 and a MOS transistor Q1, and specifically, since the voltage of the signal output by theprocessor 1 is small and it is difficult to drive the MOS transistor Q1 to be turned on or off, the drivingmodule 21 needs to be arranged to increase the driving capability of theprocessor 1, so as to help theprocessor 1 drive the MOS transistor Q1, which is convenient for implementing the control of the MOS transistor Q1.

As a preferred embodiment, when the MOS transistor Q1 is a PMOS transistor, the drivingmodule 21 includes a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, and an NPN transistor Q2;

one end of the fifth resistor R5 is used as an input end of the drivingmodule 21, the other end of the fifth resistor R5 is connected to one end of the sixth resistor R6 and the base of the NPN transistor Q2, and the other end of the sixth resistor R6 is grounded; an emitter of the NPN type triode Q2 is grounded, a collector of the NPN type triode Q2 is connected to one end of the seventh resistor R7, the other end of the seventh resistor R7 is connected to one end of the eighth resistor R8, and a common end of the seventh resistor R7 is connected to the common end of the eighth resistor R8 and serves as an output end of the drivingmodule 21, and the other end of the eighth resistor R8 is connected to a source of the PMOS transistor;

the NPN transistor Q2 is configured to close according to the control of theprocessor 1 when theprocessor 1 first receives the first detection signal.

In this embodiment, when the MOS transistor Q1 is a PMOS transistor, the drivingmodule 21 is configured based on an NPN transistor Q2. Specifically, when receiving the first detection signal, theprocessor 1 may output a control signal to the input end of the drivingmodule 21 through the IO control pin, and the control signal is divided by the fifth resistor R5 and the sixth resistor R6 to turn on the NPN transistor Q2, so as to short-circuit the lower end of the seventh resistor R7 to ground. At this time, after the output voltage of the charger is divided by the eighth resistor R8 and the seventh resistor R7, the voltage between the gate and the source of the PMOS transistor is Ugs ═ Uin × R8/(R7+ R8), where Uin is the input voltage of the charger. The resistance values of the seventh resistor R7 and the eighth resistor R8 can be set to enable Ugs to satisfy the conduction condition of the PMOS transistor, so that the PMOS transistor is closed.

Besides the drivingmodule 21 and the PMOS transistor, the firstcontrollable switch module 2 can be provided with a fuse F to prevent the output current of the charger from being too large, so as to improve the safety and reliability; a second diode D2 is arranged to absorb surge voltage to prevent the damage of the rear-stage components caused by the overhigh voltage; a second capacitor C2, a third capacitor C3 and a fourth capacitor C4 are arranged to filter out signal interference of different frequency bands in the output voltage of the charger and play a role in energy storage; a third diode D3 and a fourth diode D4 are provided to prevent the voltage from exceeding the maximum value of the voltage between the gate and the source of the PMOS tube; a ninth resistor R9 and a tenth resistor R10 are arranged for voltage division and current limitation; a fifth capacitor C5 and an eleventh resistor R11 are arranged to absorb transient spike voltage which may occur; a sixth capacitor C6 and a seventh capacitor C7 are arranged to filter out signal interference of different frequency bands and play a role in energy storage; the fifth diode D5 is provided to absorb the surge voltage to prevent the excessive voltage from damaging the subsequent components.

It should also be noted that the secondcontrollable switch module 3 may adopt the same circuit structure and devices as the firstcontrollable switch module 2.

In summary, theprocessor 1 further facilitates controlling the opening and closing of the PMOS transistor through the drivingmodule 21.

As a preferred embodiment, the system further comprises a manual indication module connected to the manual charging port of the robot, wherein an output end of the manual indication module is connected to the processor of the robot, and is used for outputting a manual charging indication signal when the manual charging port of the robot is connected to the manual charging output port, so that the processor of the robot controls the robot to keep a static state when receiving the manual charging indication signal.

As a preferred embodiment, the automatic charging system further comprises an automatic indicating module connected to an automatic charging port of the robot, wherein an output end of the automatic indicating module is connected to a processor of the robot, and is configured to output an automatic charging indicating signal when an area where the automatic charging port of the robot is located is in contact with an area where the automatic charging output port is located, so that after receiving the automatic charging indicating signal, the processor of the robot controls the robot to perform an operation corresponding to the control instruction if receiving the control instruction again.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a charging pile provided in the present application, including acharger 6, a manualcharging output port 8, an automaticcharging output port 9, and a manual charging and automatic charging control device 7, where thecharger 6, the manual charging and automatic charging control device 7, the manualcharging output port 8, and the automaticcharging output port 9 are sequentially connected.

For the introduction of the control device 7 for manual charging and automatic charging in the charging pile provided by the present application, please refer to the above embodiments, which are not described herein again.

It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control device for manual charging and automatic charging is characterized by comprising a processor, a first controllable switch module, a second controllable switch module, a first detection module and a second detection module;

2. The manual charging and automatic charging control device according to claim 1, wherein the first detection module comprises a first connector, a first resistor, a second resistor and a first optocoupler;

3. The manual charging and automatic charging control device according to claim 1, wherein the second detection module comprises a first travel switch, a second travel switch, a first output module and a second output module, the output terminal of the second detection module comprises a first output terminal and a second output terminal, and the second detection signal comprises a positive contact signal and a negative contact signal;

4. The manual charging and automatic charging control device according to claim 3, wherein the second detection module further comprises a hall switch and a third output module, a magnet is disposed at the automatic charging port of the robot, the output end of the second detection module further comprises a third output end, and the second detection signal further comprises a proximity signal;

5. The manual charging and automatic charging control device according to claim 3, wherein the first output module comprises a second connector, a third resistor, a fourth resistor and a second optocoupler;

6. The manual charging and automatic charging control device according to claim 1, wherein the first controllable switch module comprises a driving module and a MOS transistor;

7. The manual charging and automatic charging control device according to claim 6, wherein when the MOS transistor is a PMOS transistor, the driving module includes a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, and an NPN transistor;

8. The manual charging and automatic charging control device according to any one of claims 1 to 7, further comprising a manual indication module connected to the manual charging port of the robot, wherein an output end of the manual indication module is connected to the processor of the robot for outputting a manual charging indication signal when the manual charging port of the robot is connected to the manual charging output port, so that the processor of the robot controls the robot to keep a static state when receiving the manual charging indication signal.

9. The manual charging and automatic charging control device according to any one of claims 1 to 7, further comprising an automatic indication module connected to an automatic charging port of the robot, wherein an output end of the automatic indication module is connected to the processor of the robot, and is configured to output an automatic charging indication signal when an area where the automatic charging port of the robot is located is in contact with an area where the automatic charging output port is located, so that the processor of the robot receives the automatic charging indication signal and then controls the robot to perform an operation corresponding to the control instruction if the processor of the robot receives the control instruction.

10. A charging pile is characterized by comprising a charger, a manual charging output port and an automatic charging output port, and further comprising a manual charging and automatic charging control device according to any one of claims 1 to 9, wherein the charger, the manual charging and automatic charging control device, the manual charging output port and the automatic charging output port are sequentially connected.