CN-121984179-A - Multi-mode intelligent charging pile of mobile robot

CN121984179ACN 121984179 ACN121984179 ACN 121984179ACN-121984179-A

Abstract

The multi-mode intelligent charging pile for the mobile robot comprises a power supply module, an automatic charging module, a manual charging module, an emergency charging module, a communication module and a control module, wherein the power supply module provides a stable power supply for each module and the mobile robot for charging, the automatic charging module, the manual charging module and the emergency charging module respectively correspond to the automatic charging mode, the manual charging mode and the emergency charging mode, the communication module realizes signal interaction between the charging pile and the mobile robot, the control module is responsible for signal receiving, mode switching and charging state monitoring, the three charging modes are integrated by adopting the above technology, intelligent switching and independent operation are realized, multiple charging modes of the mobile robot are adapted, charging automation, convenience and reliability are improved, and the risk of robot shutdown caused by single-mode faults is effectively avoided.

Inventors

LIN GUIDONG
Xie Shangcang
LIU RUIBIN
CHEN YONGHANG

Assignees

福建汉特云智能科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260202

Claims (10)

1. Multimode intelligent charging stake of mobile robot, its characterized in that includes: A power supply module for supplying power; the automatic charging module corresponds to an automatic charging mode and comprises an automatic charging interface and an automatic charging in-place switch; the manual charging module corresponds to a manual charging mode and comprises a manual charging interface and a manual charging switch; The emergency charging module corresponds to an emergency charging mode and comprises an emergency charging interface; the communication module is used for establishing communication connection with the mobile robot and receiving various signals transmitted by the mobile robot in real time; the control module is used for receiving various signals transmitted by the mobile robot, controlling the switching of the charging modes and monitoring the charging state; the control module is connected with the corresponding automatic charging interface and manual charging interface through the automatic relay and the manual relay respectively; The charging mode switching performs the steps of: whether the control module receives a signal sent by the manual charging switch or not; If the control module does not receive the signal sent by the manual charging switch and the control module receives the signal which is in communication connection with the mobile robot and the automatic charging in-place signal, the control module controls the automatic relay to be switched into an automatic charging mode, and the power output by the power supply module is transmitted to the automatic charging interface through the control module and the automatic relay to charge the mobile robot; If the control module receives a signal sent by the manual charging switch and the control module receives a signal which is in communication connection with the mobile robot, the control module controls the manual relay to be attracted and switched into a manual charging mode, and the power output by the power supply module is transmitted to the manual charging interface through the control module and the manual relay to charge the mobile robot; If the automatic charging mode and/or the manual charging mode cannot be executed, and the emergency charging interface receives a signal which is in communication connection with the mobile robot, the mobile robot is switched to the emergency charging mode, and the power output by the power supply module is charged for the mobile robot through the emergency charging interface.
2. The mobile robot multi-mode intelligent charging stake of claim 1, wherein the emergency charging interface receives a signal that has been communicatively connected to the mobile robot as a handshaking signal.
3. The multi-mode intelligent charging stake of the mobile robot as recited in claim 1, further comprising monitoring whether a preset charging condition is met after the charging mode is switched, and if not, exiting a current charging mode.
4. A multi-mode intelligent charging stake for a mobile robot as claimed in claim 3, wherein the preset charging conditions include any one or more of: the communication connection with the mobile robot is effective, and various signals transmitted by the mobile robot are received in real time; The battery of the mobile robot is in a chargeable state; the charging loop of the current charging mode is normal; The charging duration exceeds a preset time.
5. The multi-mode intelligent charging stake of the mobile robot of claim 1, wherein after the charging mode is switched, the control module controls charging by monitoring a state of charge; controlling charging by monitoring a state of charge in the manual charging mode or the automatic charging mode, comprising the steps of: the control module monitors the SOC variation in real time; at the pre-filling stage: If the SOC is smaller than 100% of electric quantity, the control module keeps the corresponding relay on-state to charge the mobile robot; if the SOC is equal to 100% of electric quantity, the control module controls the corresponding relay to be disconnected, and the mobile robot is stopped to be charged; At the post-filling stage: If the SOC is smaller than or equal to the preset electric quantity, the control module controls the corresponding relay to be attracted to charge the mobile robot; controlling charging by monitoring a state of charge in the emergency charging mode, comprising the steps of: The charger monitors charging current and battery voltage change in real time; at the pre-filling stage: If the emergency charging interface receives that the current drops to the preset current and the battery voltage is larger than the preset first voltage, the emergency charging interface automatically turns off an internal power supply loop to stop charging the mobile robot; At the post-filling stage: If the voltage of the battery received by the emergency charging interface is lower than the preset second voltage, the emergency charging interface automatically conducts the power supply loop to charge the mobile robot.
6. The multi-mode intelligent charging stake for a mobile robot as set forth in claim 1, wherein when two or more mobile robots are docked simultaneously, the charging mode priority order is emergency charging mode > manual charging mode > automatic charging mode.
7. The multi-mode intelligent charging stake of the mobile robot as recited in claim 6, wherein the charging mode priority order execution includes the steps of: Whether an emergency charging request is received; if the power is received, the control module controls the automatic relay and the manual relay to be disconnected and switched into an emergency charging mode; otherwise, judging whether a signal sent by the manual charging switch is received or not; if the signal sent by the manual charging switch is not received, the control module controls the automatic relay to be attracted and the manual relay to be disconnected, the automatic charging mode is switched into, and the power output by the power supply module is transmitted to the automatic charging interface through the control module and the automatic relay to charge the mobile robot; If a signal sent by the manual charging switch is received and the control module receives a signal which is in communication connection with the mobile robot, the control module controls the manual relay to be attracted and the automatic relay to be disconnected, the manual charging mode is switched into, and the power output by the power supply module is transmitted to the manual charging interface through the control module and the relay to charge the mobile robot.
8. The multi-mode intelligent charging pile of the mobile robot according to claim 1, wherein the control module acquires charging state parameters in real time, and when the charging state parameters meet preset abnormal conditions, the charging protection action is triggered to enter a hiccup protection state, and after the abnormal conditions are removed, the charging protection action automatically exits the hiccup protection state and returns to a normal working state; the preset abnormal condition comprises any one or more of the following: the charging current exceeds a preset percentage of rated output current; The charging voltage is lower than a rated output voltage of a preset percentage; the operating temperature exceeds a preset temperature.
9. The multi-mode intelligent charging stake of the mobile robot of claim 1, characterized in that a self-resetting fuse is connected between the power supply module and the control module, the self-resetting fuse over-current protecting the control module.
10. The multi-mode intelligent charging pile of the mobile robot according to claim 1, further comprising a charging pile housing, wherein the bottom of the charging pile housing is provided with a ground leg; The automatic charging interface is arranged on a first side surface, and a positioning unit and a ranging unit for enabling the mobile robot to butt against the automatic charging interface are further arranged on the first side surface; The first side face is provided with a first mounting face, a second mounting face, a first cover plate and a second cover plate, wherein the first cover plate and the second cover plate are used for correspondingly covering the first mounting face and the second mounting face; The third side face is provided with a third installation face and a cover plate used for covering the third installation face, and the control module, the communication module and the manual charging switch are arranged on the third installation face.

Description

Multi-mode intelligent charging pile of mobile robot Technical Field The application relates to the technical field of charging equipment, in particular to a multi-mode intelligent charging pile of a mobile robot. Background Along with the rapid development of mobile robot technology, equipment such as AGVs, AMRs, cleaning robots, service robots and the like are widely applied to the fields of industrial production, commercial service, intelligent home furnishing and the like. Such mobile robots typically rely on battery packs for power, with endurance and charging convenience directly affecting the operating efficiency and use experience of the device. The existing mobile robot charging pile has the following defects that firstly, a charging mode is single, a fixed charging interface is usually only provided for a robot, and automatic charging or manual charging, such as a contact electrode or a wireless charging transmitting end, and basic constant voltage/constant current charging logic are supported. The working mode is passive, the robot is required to be accurately aligned and automatically connected, and the robot cannot adapt to diversified working states and emergency requirements of the robot. Secondly, the robot can not cope with the charging requirements under special scenes such as the fault of a charging pile control module, an emergency task and the like, and when the robot is in low electric quantity and needs to execute the emergency task or a charging interface can not be automatically connected due to the fault, the robot lacks an effective manual intervention or emergency power supply means, so that the operation is interrupted, and the system robustness is poor. The intelligent charging and discharging control system has the advantages that the intelligent charging and discharging control system is not provided with an effective priority scheduling mechanism, a plurality of robots are easy to conflict when charging is needed simultaneously, execution of emergency tasks is affected, the protection function is not comprehensive enough, equipment damage or potential safety hazards can be caused due to insufficient protection capability under abnormal conditions such as overcurrent, overload and overtemperature, and the service life of a battery is affected due to the fact that charging state monitoring is not accurate enough. Disclosure of Invention In view of the problems, the application provides a multi-mode intelligent charging pile for a mobile robot, which solves the problems of single charging mode and insufficient suitability of the existing mobile robot. To achieve the above object, the present inventors provide a multi-mode intelligent charging stake for a mobile robot, comprising: A power supply module for supplying power; the automatic charging module corresponds to an automatic charging mode and comprises an automatic charging interface and an automatic charging in-place switch; the manual charging module corresponds to a manual charging mode and comprises a manual charging interface and a manual charging switch; The emergency charging module corresponds to an emergency charging mode and comprises an emergency charging interface; the communication module is used for establishing communication connection with the mobile robot and receiving various signals transmitted by the mobile robot in real time; the control module is used for receiving various signals transmitted by the mobile robot, controlling the switching of the charging modes and monitoring the charging state; the control module is connected with the corresponding automatic charging interface and manual charging interface through the automatic relay and the manual relay respectively; The charging mode switching performs the steps of: whether the control module receives a signal sent by the manual charging switch or not; If the control module does not receive the signal sent by the manual charging switch and the control module receives the signal which is in communication connection with the mobile robot and the automatic charging in-place signal, the control module controls the automatic relay to be switched into an automatic charging mode, and the power output by the power supply module is transmitted to the automatic charging interface through the control module and the automatic relay to charge the mobile robot; If the control module receives a signal sent by the manual charging switch and the control module receives a signal which is in communication connection with the mobile robot, the control module controls the manual relay to be attracted and switched into a manual charging mode, and the power output by the power supply module is transmitted to the manual charging interface through the control module and the manual relay to charge the mobile robot; If the automatic charging mode and/or the manual charging mode cannot be executed, and the emergency charging interface receives a signal which is in communication