阅读说明：本技术 一种充电对接装置及充电对接方法 (Charging butt joint device and charging butt joint method ) 是由 王元彬 许少强 陈兆先 于 2021-11-11 设计创作，主要内容包括：本发明提供了一种充电对接装置及充电对接方法,装置使用了较少的电极,能够在电极短路、充电装置断电情况下检测到状态异常,防止对接无反馈、导致设备损坏。在优化充电装置与待充电设备之间通讯问题的同时,降低了装置的故障率,优化了通信能力。此外,装置加入了电极识别功能,既增强了对接的可靠性,又弥补了传统装置的缺陷,使不同型号的机器人与充电桩能够相应适配,有助于机器人与充电桩的标准化和广泛适用性的推进。(The invention provides a charging docking device and a charging docking method. The communication problem between the charging device and the equipment to be charged is optimized, meanwhile, the failure rate of the device is reduced, and the communication capacity is optimized. In addition, the device adds the electrode recognition function, has both strengthened the reliability of butt joint, has compensatied the defect of traditional device again, makes the robot of different models and fills electric pile can corresponding adaptation, helps the standardization of robot and the promotion of the wide suitability of filling electric pile.)

1. A charging dock, the charging dock comprising:

the charging device is provided with a feedback circuit, a first charging electrode assembly and a first controller, wherein the feedback circuit comprises a first detection electrode, and the first detection electrode is electrically connected with the first charging electrode assembly;

the device to be charged is provided with an electrode detection and identification circuit, a second charging electrode assembly and a second controller, the second charging electrode assembly is used for being in butt joint with the first charging electrode assembly, the electrode detection and identification circuit comprises a second detection electrode, and the second detection electrode is electrically connected with the second charging electrode assembly;

the first controller is used for receiving the voltage signal of the first detection electrode and judging the butt joint state of the end of the charging device and the equipment to be charged according to the voltage signal fed back by the first detection electrode;

the second controller is used for receiving the voltage signal of the second detection electrode and judging the butt joint state of the end of the equipment to be charged and the charging device according to the voltage signal fed back by the second detection electrode.

2. The charging docking device of claim 1, wherein the feedback circuit further comprises a diode D1, a power resistor R1, and a feedback electrode, the feedback electrode is connected to the anode of the charging device through the diode D1, the first detection electrode is directly connected to the anode of the charging device, the diode D1 and the first detection electrode are connected to the cathode of the charging device through the power resistor R1, and the cathode of the charging device is grounded;

the first charging electrode assembly comprises at least two electrodes, the positive electrode of the charging device is connected with one electrode of the first charging electrode assembly, and the negative electrode of the charging device is connected with the other electrode of the first charging electrode assembly;

the first controller receives the voltage variation detected by the first detection electrode, sets a corresponding preset variation value, and judges that the charging device is abnormal if the voltage variation is different from the preset variation value.

3. The charging docking device of claim 2, wherein the electrode detection recognition circuit further comprises a diode D2, a power resistor R2, and a preset voltage VCC, the preset voltage VCC is connected to the diode D2, the diode D2 is connected to the second detection electrode through the power resistor R2, and the voltage of the preset voltage VCC is different from the feedback voltage of the feedback circuit;

the number of the electrodes of the second charging electrode assembly is the same as that of the first charging electrode assembly, the positive electrode of the battery of the device to be charged is connected with one electrode of the second charging electrode assembly, and the negative electrode of the battery of the device to be charged is connected with the other electrode of the second charging electrode assembly;

the second controller receives the voltage variation detected by the second detection electrode, sets a corresponding preset variation value, and judges that the equipment to be charged is abnormal if the voltage variation is different from the preset variation value;

the second controller receives the feedback voltage of the feedback circuit detected by the second detection electrode, and when the charging device is in butt joint with the equipment to be charged, if the second detection electrode does not detect the feedback voltage, the charging device is judged to be powered off.

4. The charging docking device according to claim 3, further comprising a docking verification device, wherein the docking verification device is configured to trigger a in-place signal when the charging device is docked in place with the device to be charged;

and/or, the charging device is also provided with a first communication pole, the equipment to be charged is also provided with a second communication pole, and the second communication pole is used for being in butt joint with the first communication pole.

5. A charging dock according to claim 3, wherein the electrode connected to the positive pole of the charging dock is adapted to dock with the electrode connected to the positive pole of the battery of the device to be charged;

the electrode is connected with the negative electrode of the charging device and is used for being butted with the electrode connected with the negative electrode of the battery of the equipment to be charged;

the electrode connected with the positive electrode of the battery of the equipment to be charged is connected with the positive electrode of the battery of the equipment to be charged through a relay, one end of the relay is connected with the positive electrode of the battery of the equipment to be charged, and the positive electrode of the battery of the equipment to be charged, the power resistor R2 and the second detection electrode are connected with the other end of the relay;

the negative pole of the charging device is grounded, and the negative pole of the battery of the equipment to be charged is grounded.

6. A charging docking method, wherein the charging docking method is implemented by the charging docking apparatus according to claim 1, and the method comprises:

setting a VCC preset voltage;

detecting whether the charging device and/or the equipment to be charged have abnormal states;

if the abnormal state does not exist, the equipment to be charged is butted with the charging device, and whether the equipment to be charged is in contact with the electrode of the charging device or not is judged;

if the electrodes are in contact, judging whether the equipment to be charged is successfully butted with the charging device;

if the butt joint is successful, the equipment to be charged continues to compress the electrode until the in-place signal triggers or the compression stroke exceeds the limit, and the equipment to be charged stops to finish the butt joint;

the charging device charges the equipment to be charged.

7. The charging docking method as claimed in claim 6, wherein the feedback circuit further comprises a diode D1, a power resistor R1, and a feedback electrode, the feedback electrode is connected to the anode of the charging device through the diode D1, the first detection electrode is directly connected to the anode of the charging device, the diode D1 and the first detection electrode are connected to the cathode of the charging device through the power resistor R1, and the cathode of the charging device is grounded;

the electrode detection identification circuit comprises a diode D2, a power resistor R2 and a preset voltage VCC, wherein the preset voltage VCC is connected with the diode D2, and the diode D2 is connected with the second detection electrode through the power resistor R2;

the first charging electrode assembly comprises at least two electrodes, the positive electrode of the charging device is connected with one electrode, and the negative electrode of the charging device is connected with the other electrode;

the second charging electrode component comprises at least two electrodes, the positive electrode of the device to be charged is connected with one electrode, and the negative electrode of the device to be charged is connected with the other electrode;

the judging whether the equipment to be charged contacts with the electrode of the charging device comprises the following steps:

when the equipment to be charged is in butt joint with a charging device, the voltage of the first detection electrode and the voltage of the second detection electrode are changed into VCC R1/(R1+ R2) through a voltage division circuit formed by the power resistors R1 and R2 to the negative electrode;

the charging device detects the effective voltage through the first detection electrode and judges that the second charging electrode component at the end of the equipment to be charged is in contact with the first charging electrode component of the charging device;

and the device to be charged detects the effective voltage through the second detection electrode, and judges that the first charging electrode assembly at the end of the charging device is in contact with the second charging electrode assembly of the device to be charged.

8. The charging docking method according to claim 7, wherein the determining whether the device to be charged is successfully docked with the charging device comprises:

the charging device feeds back a given voltage signal larger than the preset voltage through a feedback electrode of the feedback circuit, and if the second detection electrode detects effective feedback, the charging device and the charging device are successfully butted and are in a normal state.

9. The charging and docking method as claimed in claim 6, wherein the charging device is further provided with a docking pole, and the docking pole is used for triggering a docking signal when the charging device is docked with the equipment to be charged;

the charging device is also provided with a first communication electrode, the equipment to be charged is also provided with a second communication electrode, and the second communication electrode is used for being in butt joint with the first communication electrode;

the contact sequence of the device to be charged when the electrode is compressed is as follows:

the first charging electrode assembly is in contact with the second charging electrode assembly;

the first communication pole is in contact with the second communication pole;

the in-place pressure is triggered into place.

10. The charge docking method of claim 6, wherein the distance over which the compression stroke is exceeded is calculated by identifying that the first charge electrode assembly is in contact with the second charge electrode assembly.

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a charging butt joint device and a charging butt joint method.

Background

The robot is a new species which walks into people's life in recent years, various services have been realized to improve people's life experience, common robot for sweeping the floor, intelligent home robot, commercial service robot, food delivery robot, some tool operation robots such as fork truck, cleaning robot, logistics robot, AGV and the like, the robot is a complex technology combination, but robot self-charging is always a hot topic in the robot industry.

Let the robot realize independently charging, the most crucial is robot and charging device's butt joint, and current butt joint device that charges has the pressfitting volume of electrode butt joint mode not enough, the position deviation appears, bad contact problem all appears in the circumstances such as oxidation corrosion easily, and the quantity of electrode is more the fault rate is higher, also has to connect unstable problem simultaneously, and the interference can lead to the increase of fault rate seriously under the scene of industry class especially partially, and the real-time also can't be ensured.

In addition, under the condition of charging pile faults, any feedback of the charging pile cannot be obtained during butt joint, excessive retreat can be caused, the risk of damaging equipment is brought, the condition that short circuit occurs due to the existence of foreign matters or water between electrodes cannot be identified and processed, and the safety risk of charging opening is very high if the condition is adopted.

Disclosure of Invention

In order to overcome the above-mentioned drawbacks of the prior art, the present invention provides a charging docking device, including:

the charging device is provided with a feedback circuit, a first charging electrode assembly and a first controller, wherein the feedback circuit comprises a first detection electrode, and the first detection electrode is electrically connected with the first charging electrode assembly;

the device to be charged is provided with an electrode detection and identification circuit, a second charging electrode assembly and a second controller, the second charging electrode assembly is used for being in butt joint with the first charging electrode assembly, the electrode detection and identification circuit comprises a second detection electrode, and the second detection electrode is electrically connected with the second charging electrode assembly;

the first controller is used for receiving the voltage signal of the first detection electrode and judging the butt joint state of the end of the charging device and the equipment to be charged according to the voltage signal fed back by the first detection electrode;

the second controller is used for receiving the voltage signal of the second detection electrode and judging the butt joint state of the end of the equipment to be charged and the charging device according to the voltage signal fed back by the second detection electrode.

Specifically, the feedback circuit further includes a diode D1, a power resistor R1, and a feedback electrode, the feedback electrode is connected to the anode of the charging device through the diode D1, the first detection electrode is directly connected to the anode of the charging device, the diode D1, and the first detection electrode are connected to the cathode of the charging device through the power resistor R1, and the cathode of the charging device is grounded;

the first charging electrode assembly comprises at least two electrodes, the positive electrode of the charging device is connected with one electrode of the first charging electrode assembly, and the negative electrode of the charging device is connected with the other electrode of the first charging electrode assembly;

the first controller receives a voltage variation used for detection by the first detection electrode, sets a corresponding preset variation value, and judges that the charging device is abnormal if the voltage variation is different from the preset variation value.

The electrode detection and identification circuit further comprises a diode D2, a power resistor R2 and a preset voltage VCC, wherein the preset voltage VCC is connected with the diode D2, the diode D2 is connected with the second detection electrode through the power resistor R2, and the voltage of the preset voltage VCC is different from the feedback voltage of the feedback circuit in size;

the number of the electrodes of the second charging electrode assembly is the same as that of the first charging electrode assembly, the positive electrode of the battery of the device to be charged is connected with one electrode of the second charging electrode assembly, and the negative electrode of the battery of the device to be charged is connected with the other electrode of the second charging electrode assembly;

the second controller receives the voltage variation detected by the second detection electrode, sets a corresponding preset variation value, and judges that the equipment to be charged is abnormal if the voltage variation is different from the preset variation value;

the second controller receives the feedback voltage of the feedback circuit detected by the second detection electrode, and when the charging device is in butt joint with the equipment to be charged, if the second detection electrode does not detect the feedback voltage, the charging device is judged to be powered off.

Preferably, the charging device is further provided with a docking verification device, and the docking verification device is used for triggering a in-place signal when the charging device is docked in place with the equipment to be charged;

and/or, the charging device is also provided with a first communication pole, the equipment to be charged is also provided with a second communication pole, and the second communication pole is used for being in butt joint with the first communication pole.

Further, the electrode connected with the positive pole of the charging device is used for being butted with the electrode connected with the positive pole of the battery of the equipment to be charged;

the electrode is connected with the negative electrode of the charging device and is used for being butted with the electrode connected with the negative electrode of the battery of the equipment to be charged;

the electrode connected with the positive electrode of the battery of the equipment to be charged is connected with the positive electrode of the battery of the equipment to be charged through a relay, one end of the relay is connected with the positive electrode of the battery of the equipment to be charged, and the positive electrode of the battery of the equipment to be charged, the power resistor R2 and the second detection electrode are connected with the other end of the relay;

the negative pole of the charging device is grounded, and the negative pole of the battery of the equipment to be charged is grounded.

Corresponding to the charging device provided by the invention, the invention also provides a charging docking method, which is realized by the charging docking device, and the method comprises the following steps:

setting a VCC preset voltage;

detecting whether the charging device and/or the equipment to be charged have abnormal states;

if the abnormal state does not exist, the equipment to be charged is butted with the charging device, and whether the equipment to be charged is in contact with the electrode of the charging device or not is judged;

if the electrodes are in contact, judging whether the equipment to be charged is successfully butted with the charging device;

if the butt joint is successful, the equipment to be charged continues to compress the electrode until the in-place signal triggers or the compression stroke exceeds the limit, and the equipment to be charged stops to finish the butt joint;

the charging device charges the equipment to be charged.

Specifically, the determining whether the device to be charged is in contact with an electrode of the charging device includes:

when the equipment to be charged is in butt joint with a charging device, the voltage of the first detection electrode and the voltage of the second detection electrode are changed into VCC R1/(R1+ R2) through a voltage division circuit formed by the power resistors R1 and R2 to the negative electrode;

the charging device detects the effective voltage through the first detection electrode and judges that the second charging electrode component at the end of the equipment to be charged is in contact with the first charging electrode component of the charging device;

and the device to be charged detects the effective voltage through the second detection electrode, and judges that the first charging electrode assembly at the end of the charging device is in contact with the second charging electrode assembly of the device to be charged.

Further, the determining whether the device to be charged is successfully docked with the charging device includes:

the charging device feeds back a given voltage signal larger than the preset voltage through a feedback electrode of the feedback circuit, and if the device to be charged detects effective feedback, the device to be charged is successfully butted with the charging device and is in a normal state.

Specifically, the aforementioned docking verification device is a positioning electrode, and the contact sequence of the device to be charged when the electrode is compressed is as follows:

the first charging electrode assembly is in contact with the second charging electrode assembly;

the first communication pole is in contact with the second communication pole;

the in-place pressure is triggered into place.

Specifically, the distance that the compression stroke is over-limited is calculated starting from the time when the first charge electrode assembly is identified as being in contact with the second charge electrode assembly.

The invention has at least the following beneficial effects:

1. the number of used electrodes is small, so that the failure rate is reduced;

2. the abnormal state can be detected under the conditions of short circuit of the electrodes and power failure of the charging device, and the damage of equipment caused by no feedback during butt joint is prevented;

3. the electrode recognition function is provided, and the scheme that equipment to be charged with different models are matched with the same charging device and charging devices with different models are matched with the same equipment to be charged can be expanded;

4. the electrode compression stroke can be accurately known by starting from effective contact of the electrode and combining with movement displacement, the effectiveness judgment and controllability are extremely high, and the safety of butt joint and charging can be ensured.

Therefore, the charging butt joint device and the charging butt joint method provided by the invention have the advantages that the electrode recognition function is added while the communication problem between the charging device and the equipment to be charged is optimized, the butt joint reliability is enhanced, the defects of the traditional device are overcome, the failure rate of the device is reduced, the communication capability is optimized, and the standardization and wide applicability promotion of the robot and the charging pile are facilitated.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings related to the present application 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 based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a charging docking device according to the present invention;

fig. 2 is a schematic flow chart of a charging docking method according to the present invention;

FIG. 3 is a schematic flow chart of the contact sequence when the device to be charged compresses the electrodes;

fig. 4 is a schematic flow chart illustrating a charging device charging a device to be charged.

Reference numerals:

111-a first charging electrode assembly; 112-a first communication pole; 113-to-bit pole; 121-a second charging electrode assembly; 122-second communication electrode.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.

The invention provides a charging docking device, which is added with an electrode recognition function while optimizing the communication problem between a charging pile and a robot, so as to meet the docking and charging requirements of the robot in a severe scene. Referring to fig. 1, the charging docking apparatus includes:

a charging device provided with a feedback circuit including a first detection electrode electrically connected to the first charging electrode assembly 111, a first charging electrode assembly 111, and a first controller;

the device to be charged is provided with an electrode detection and identification circuit, a second charging electrode assembly 121 and a second controller, wherein the second charging electrode assembly 121 is used for being in butt joint with the first charging electrode assembly 111, the electrode detection and identification circuit comprises a second detection electrode, and the second detection electrode is electrically connected with the second charging electrode assembly 121;

the first controller is used for receiving the voltage signal of the first detection electrode and judging the butt joint state of the end of the charging device and the equipment to be charged according to the voltage signal fed back by the first detection electrode;

the second controller is used for receiving the voltage signal of the second detection electrode and judging the butt joint state of the end of the equipment to be charged and the charging device according to the voltage signal fed back by the second detection electrode.

Specifically, the method comprises the following steps:

the first controller is capable of determining whether the charging device is abnormal, specifically: the first controller receives the voltage variation detected by the first detection electrode, sets a corresponding preset variation value, and judges that the charging device is abnormal if the voltage variation is different from the preset variation value.

The abnormal condition of the charging device includes a short circuit and a damage of the charging device, and when the voltage variation is different from the preset variation value, if the voltage becomes zero or approaches zero, the first charging electrode assembly 111 is judged to be in a short circuit;

and when the voltage variation is different from the preset variation, if the voltage is changed to be non-zero, too large or too small, judging that the charging device is damaged.

The second controller can determine whether the device to be charged is abnormal and whether the charging device is powered off, specifically: and the second controller receives the voltage variation detected by the second detection electrode, sets a corresponding preset variation value, and judges that the equipment to be charged is abnormal if the voltage variation is different from the preset variation value.

The abnormal condition of the device to be charged comprises short circuit and damage of the device to be charged, and when the voltage variation is different from the preset variation value, if the voltage becomes zero or approaches zero, the second charging electrode assembly 121 is judged to be short-circuited;

and when the voltage variation is different from the preset variation, if the voltage becomes nonzero and becomes too large or too small, judging that the equipment to be charged is damaged.

The second controller receives the feedback voltage of the feedback circuit detected by the second detection electrode, and when the charging device is in butt joint with the equipment to be charged, if the second detection electrode does not detect the feedback voltage, the charging device is judged to be powered off.

It should be noted that the short circuit of the first charging electrode assembly 111 and the second charging electrode assembly 121 is a short circuit between electrodes caused when an accident occurs in the charging device or the device to be charged.

Specifically, the short circuit of the first and second charging electrode assemblies 111 and 121 includes various conditions:

if the short circuit is sustained, the first charging electrode assembly 111 or the second charging electrode assembly 121 is actually short-circuited;

in the case of an intermittent short circuit, the first charging electrode assembly 111 or the second charging electrode assembly 121 may be flooded.

It should be noted that, if the device is charged with a large current and continues to work under abnormal conditions, high risk hazards and accidents may be caused. Therefore, the device provided by the invention is correspondingly added with the function of abnormality detection, and when any abnormality occurs, the subsequent action to be performed can be rejected until the normal state is recovered.

The equipment to be charged comprises a floor washing machine.

Specifically, the feedback circuit further includes a diode D1, a power resistor R1, and a feedback electrode, the feedback electrode is connected to the anode of the charging device through the diode D1, the first detection electrode is directly connected to the anode of the charging device, the diode D1, and the first detection electrode are connected to the cathode of the charging device through the power resistor R1, and the cathode of the charging device is grounded;

the electrode detection and identification circuit further comprises a diode D2, a power resistor R2 and a preset voltage VCC, wherein the preset voltage VCC is connected with the diode D2, and the diode D2 is connected with the second detection electrode through the power resistor R2.

The first charging electrode assembly 111 comprises at least two electrodes, the positive electrode of the charging device is connected with one electrode of the first charging electrode assembly 111, and the negative electrode of the charging device is connected with the other electrode of the first charging electrode assembly 111;

the number of the electrodes of the second charging electrode assembly 121 is the same as that of the first charging electrode assembly 111, the positive electrode of the battery of the device to be charged is connected with one electrode of the second charging electrode assembly 121, and the negative electrode of the battery of the device to be charged is connected with the other electrode of the second charging electrode assembly 121;

the charging device is further provided with a docking verification device, the docking verification device is used for triggering a in-place signal when the charging device is docked in place with the equipment to be charged, and prompting that the docking of the charging device and the equipment to be charged is completed, and the docking verification device is an in-place electrode 113 in the embodiment;

the charging device is further provided with a first communication electrode 112, and the device to be charged is further provided with a second communication electrode 122, wherein the second communication electrode 122 is used for being in butt joint with the first communication electrode 112.

Specifically, the electrode is connected with the positive pole of the charging device and is used for being butted with the electrode connected with the positive pole of the battery of the equipment to be charged;

the electrode is connected with the negative electrode of the charging device and is used for being butted with the electrode connected with the negative electrode of the battery of the equipment to be charged;

the electrode connected with the positive electrode of the battery of the equipment to be charged is connected with the positive electrode of the battery of the equipment to be charged through a relay, one end of the relay is connected with the positive electrode of the battery of the equipment to be charged, and the positive electrode of the battery of the equipment to be charged, the power resistor R2 and the second detection electrode are connected with the other end of the relay;

the negative pole of the charging device is grounded, and the negative pole of the battery of the equipment to be charged is grounded.

It should be noted that, the logic implemented by the charging docking device needs to be adapted in the actual device according to the relative position relationship of the contact electrodes.

Preferably, the magnitude of the voltage of the preset voltage VCC of the device to be charged is different from the magnitude of the feedback voltage of the charging device, so that the charging voltage of the device to be charged can be identified, and the output voltage of the charging device can be identified, so as to expand the devices to be charged, which are adapted to different working voltages by the same charging device. In addition, the same device to be charged may also attempt to be charged by different charging means.

As shown in fig. 2, the present invention further provides a charging docking method, which can be implemented by the charging docking apparatus provided in the present invention. The method comprises the following steps:

s201: a VCC preset voltage is given.

Under normal conditions, the device to be charged is in an initial state before the device to be charged and the charging device start to be docked, a preset voltage needs to be given to VCC, and meanwhile, the voltage change condition is continuously detected through the detection machine.

When docking is not started, the preset voltage may default to 0V.

S202: whether an abnormal state exists in the charging device and/or the equipment to be charged is detected.

The abnormal state includes a short circuit, a device failure, and the like, and there may be a case where one of the charging device and the device to be charged is open or short-circuited, the charging device and the device to be charged are fully short-circuited or fully open-circuited, or the charging device and/or the device to be charged are damaged, for example, when water is present between electrodes of the charging device and the device to be charged, a short circuit may be caused.

If there is no abnormal state, go to step S203;

if the abnormal state exists, the butt joint is stopped.

S203: and butting the equipment to be charged with the charging device, and judging whether the equipment to be charged is in contact with the electrode of the charging device.

Specifically, when the device to be charged is docked with the charging device, the voltage of the first detection electrode and the voltage of the second detection electrode are changed to VCC R1/(R1+ R2) through the voltage division circuit formed by the power resistors R1 and R2 to the negative electrode, so as to judge that the device to be charged is in contact with the electrode of the charging device, that is:

the charging device detects the effective voltage through the first detection electrode, and judges that the second charging electrode assembly 121 at the end of the equipment to be charged is in contact with the first charging electrode assembly 111 of the charging device;

the device to be charged detects the effective voltage through the second detection electrode, and determines that the first charging electrode assembly 111 at the end of the charging device is in contact with the second charging electrode assembly 121 of the device to be charged.

It should be noted that, if the device to be charged is not in contact with the electrode of the charging device, the device to be charged will continue to try to dock, and the backward distance of the device to be charged is provided with an overrun protection. Specifically, the overrun protection is to be provided with a backward obstacle avoidance, backward distance overrun protection and recognition and positioning of the charging device for the equipment to be charged, so that the equipment to be charged is butted with the charging device and cannot be misaligned, and retry can be performed if the butt joint failure finally occurs.

If the device to be charged is in contact with the electrode of the charging device, step S204 is performed.

S204: and judging whether the equipment to be charged is successfully butted with the charging device or not.

The charging device feeds back a given voltage signal larger than the preset voltage through a feedback electrode of the feedback circuit, and if the device to be charged detects effective feedback, the device to be charged is successfully butted with the charging device and is in a normal state.

If the device to be charged is successfully docked with the charging device, performing step S205;

if the device to be charged is not successfully docked with the charging device, the device to be charged moves to the starting point where the charging operation is started to retry the docking, that is, the step S202 is performed again.

S205: and the equipment to be charged continues to compress the electrode until the in-place signal triggers or the compression stroke exceeds the limit, and the equipment to be charged stops to finish butt joint.

The device to be charged and the charging device can try to use the communication electrode to carry out communication handshake connection interaction data, the device to be charged continues to compress the electrode until the in-place switch signal triggers or the compression stroke exceeds the limit, and the device to be charged stops to complete the butt joint.

Note that the distance at which the compression stroke is exceeded is calculated from the time when the first charging electrode assembly is identified as being in contact with the second charging electrode assembly.

As shown in fig. 3, the contact sequence of the device to be charged when compressing the electrode is:

the first charging electrode assembly 111 is in contact with the second charging electrode assembly 121;

the first communication pole 112 is in contact with the second communication pole 122;

bit pole 113 compression triggers the bit.

S206: the charging device charges the equipment to be charged.

Specifically, the step of charging the device to be charged by the charging device is as follows:

the equipment to be charged opens the relay to charge;

after the charging is finished, the charging device closes the charging;

the equipment to be charged closes the relay;

and (4) the equipment to be charged leaves the charging device, the butt joint is finished, and the charging device and the equipment to be charged return to the initial state.

In summary, the present invention provides a charging docking apparatus and a charging docking method, which add an electrode identification function while optimizing the communication problem between the charging apparatus and the device to be charged, thereby enhancing the docking reliability, making up for the defects of the conventional apparatus, reducing the failure rate of the apparatus, and optimizing the communication capability. Different through the preset voltage of waiting to charge equipment and charging device's repayment voltage setting, the scheme that the same electric pile that fills goes the robot of different operating voltage of adaptation is expanded, and same robot also can try to fill electric pile through the difference and go to charge, more helps the robot and fill the propulsion of standardization and the extensive suitability of electric pile.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.