CN104821644B - A kind of robot wireless charging method - Google Patents

Abstract

The invention belongs to the field of electrical technology, and relates to a wireless charging method for a robot. First, a charging tracking signal is sent to a robot with insufficient power, so that the robot starts to move to the power supply of the transmitting end, and at the same time wakes up the power supply of the transmitting end to enter a working state; Trickle pre-charging, then constant current positive and negative pulse charging, then negative pulse discharge, and finally constant voltage charging. When the charging current drops to the set value, the drive signal is blocked to indicate that the charging is complete, and the wireless automatic control of the robot is realized. Charging: The whole circuit structure of the charging device used is novel and simple, with high charging efficiency and easy control. Under the same power, the circuit cost is low, the volume is small, and zero-voltage soft switching technology is realized to reduce switching loss and increase system reliability.

Description

A wireless charging method for a robot

Technical field:

The invention belongs to the technical field of electricity, and relates to a wireless charging method for a robot, in particular to a method for realizing wireless charging of a robot by using a single switching tube to invert.

Background technique:

The birth of robots has promoted the rapid development of human beings in industry, military and other aspects. It not only plays a pivotal role in dangerous industries such as marine, oil exploration and power maintenance, but also has gradually entered people's lives. The traditional robot battery is charged by an external wire. When the robot is low in power, it needs human assistance to charge or automatically complete the charging connection action without human participation. Chinese patent 201410856365.4 discloses a robot charging method, device and system , the method sends a pulse signal according to the detected remaining power of the robot; according to the received pulse signal, a charging instruction is issued; according to the obtained charging instruction, the robot can find a charging station for charging in time, and can charge the battery that needs to be charged. The robot is managed in an orderly manner; when the positioning signal is sent as a pulse signal, the robot can be positioned through the pulse signal; Chinese patent 201410718161.4 discloses a robot charging method, the robot sends a charging request to the charging device through wireless communication, After the charging device is allowed to charge, obtain the location of the charging device; the robot determines the route to travel according to its own position and the position of the charging device, and moves to the position of the charging device to dock with the charging device for the charging device to connect the robot charging; these methods of automatically completing charging without human participation have stricter requirements on the robot’s cruise positioning and plugging and unplugging of the socket, the charging connection is difficult, and there may be frequent misoperation; in addition, the charging plug has been plugged in many times. After unplugging, it is easy to cause poor contact due to mechanical wear and tear, resulting in unreliability of power transmission. In addition, in the existing wireless charging method for robots, in order to ensure a certain transmission power, half-bridge, full-bridge and other multi-switch tubes are often used. circuit, which not only increases the cost but also increases the volume of the charging system, and the control is complicated.

Invention content:

The purpose of the present invention is to overcome the shortcomings of the prior art, seek to design and provide a wireless charging method for a robot, and use a single switching tube to invert to realize the wireless charging of the robot.

In order to achieve the above object, the present invention realizes charging in the robot wireless charging device, and its specific process includes the following steps:

(1), turn on the power supply, initialize the single-chip microcomputer on the first single-chip microcomputer control circuit and the second single-chip microcomputer control circuit, when the robot has insufficient power or receives a signal from the remote control, judge whether to complete the current work, if the current work is not completed Complete, then continue to complete the current work; if the current work has been completed, the second single-chip microcomputer control circuit sends a charging tracking signal, and the robot starts to move to the transmitter power supply with the assistance of the external positioning system;

(2), the first wireless communication circuit detects the information sent by the second wireless communication circuit, if the first wireless communication circuit fails to receive the information, the robot will not work if it is not close to the transmitter power supply; if the first wireless communication circuit receives information, the robot is close to the transmitter power supply, the first wireless communication circuit receives the start signal sent by the second wireless communication circuit, wakes up the transmitter power supply and enters the working state;

(3) After the transmitter power supply starts to work, first perform trickle pre-charging, and set the trickle charging time at the same time. If the detected charging trickle does not reach the set value, adjust the first switch through the first single-chip control circuit The switching frequency of the tube, when the charging trickle reaches the set value, 1μs before the single-chip microcomputer on the first single-chip microcomputer control circuit sends out the driving signal, judge whether the withstand voltage of the first switching tube is 0 through the soft switch detection circuit, if not If it is 0, then adjust the duty ratio of the switch tube until its withstand voltage is 0, the transmitting end transfers energy to the receiving end to start charging, and the first stage of charging is completed after the pre-charging time is reached, no discharge is required at this stage, the second single-chip microcomputer control circuit No conduction signal is sent to the third switch tube of the discharge circuit, the third switch tube is in the off state, and the drive signal of the second switch tube is opposite to that of the third switch tube, and the second switch tube is always in the conduction state ;

(4), then carry out constant current positive and negative pulse charging, first set the time of the constant current positive pulse segment, if the detected charging current does not reach the set value, then adjust the switch of the first switching tube through the first single-chip microcomputer control circuit Frequency, when the charging current reaches the set value, 1 μs before the single-chip microcomputer on the first single-chip microcomputer control circuit sends a driving signal, judge whether the withstand voltage of the first off switch is 0 through the soft switch detection circuit, if not 0, Then adjust the duty cycle of the first switching tube until its withstand voltage is 0, the transmitting end transfers energy to the receiving end to start charging, and enters the negative pulse discharging stage after reaching the positive pulse charging time, and the second switching tube is always in the conduction stage during the positive pulse stage. In the on state, the third switch tube is always in the off state;

(5), before the negative pulse discharge starts, first store the duty ratio and switching frequency of the first switching tube at this time in the single-chip microcomputer of the first single-chip microcomputer control circuit, block the driving signal of the first switching tube, and set the negative pulse During the discharge time, the third switch tube is turned on, the second switch tube is turned off, and the negative pulse discharge starts. After the negative pulse discharge time is reached, the terminal voltage of the battery pack is detected. The microcontroller reads the stored duty cycle and switching frequency of the first switching tube, and continues charging with constant current positive and negative pulses; if the set value is reached, the second stage of charging is completed;

(6), carry out constant voltage charging at last, if the charging voltage that detects does not reach setting value, then adjust the switching frequency of the first switching tube by the first single-chip microcomputer control circuit, when charging voltage reaches setting value, in the first 1 μs before the single-chip microcomputer on the single-chip microcomputer control circuit sends out the driving signal, judge whether the withstand voltage of the first switch tube is 0 through the soft switch detection circuit, if it is not 0, then adjust the duty cycle of the first switch tube to its withstand voltage of 0, the transmitting end transmits energy to the receiving end to start charging, the second switch tube is always in the on state during the constant voltage charging stage, and the third switch tube is always in the off state, when the charging current naturally drops to the set value, the drive signal is blocked , indicating that the charging is complete, realizing wireless automatic charging of the robot.

The main structure of the robot wireless charging device of the present invention includes an EMI filter circuit, a first rectifier bridge, a first LC filter circuit, a resonant coupling network, a first switch tube, a diode, a voltage detection circuit, a current transformer, a protection circuit, a standby Wake-up circuit, first microcontroller control circuit, first drive circuit, first wireless communication circuit, first auxiliary power supply, soft switch detection circuit, second rectifier bridge, second LC filter circuit, battery pack BMS management unit, second switch tube, the second single-chip microcomputer control circuit, the second drive circuit, the second wireless communication circuit, the remote controller, the second auxiliary power supply, the discharge circuit and the battery pack; the input end of the EMI filter circuit is connected to the external 220V AC power supply, and the 220V AC power supply is connected in turn After passing through the EMI filter circuit, the first rectifier bridge, the first LC filter circuit, the resonant coupling network, the second rectifier bridge, the second LC filter circuit and the second switch tube, it becomes a stable direct current to charge the battery pack, and the EMI filter circuit To filter out electromagnetic interference, the first rectifier bridge converts alternating current into direct current, and the first LC filter circuit filters the direct current rectified by the first rectifier bridge; the first LC filter circuit is composed of a first inductor and a first capacitor connected in series, and the first The smaller the value of the capacitor, the higher the power factor of the circuit; the resonant coupling network is composed of the compensation capacitor at the transmitting end, the transmitting coil at the transmitting end, the receiving coil at the receiving end and the compensation capacitor at the receiving end according to the electrical principle. The resonant coupling network and the first switch The tubes are electrically connected, so that the first switch tube works in a soft switching state, and can always transfer energy when the first switch tube is on and off, realizing single-tube inverter; the voltage detection circuit is composed of the first resistor and the second resistor, and the protection The circuit is electrically connected with the voltage detection circuit, the current transformer and the first single-chip microcomputer control circuit respectively, so as to prevent overvoltage or over-current at the transmitting end; the standby wake-up circuit is respectively connected with the first single-chip microcomputer control circuit, the first wireless communication circuit and the first auxiliary power supply Connect to release the sleep mode when the single-chip microcomputer of the first single-chip microcomputer control circuit sleeps or wakes up; the first wireless communication circuit is electrically connected with the first single-chip microcomputer control circuit and the first auxiliary power supply respectively, and is used to receive various information from the receiving end; The soft switch detection circuit is arranged between the coupling resonant network and the first switch tube, and is used to detect the withstand voltage value of the first switch tube; The information sent by the communication circuit outputs a PWM driving signal to the first switching tube, and the PWM driving signal is amplified by the first driving circuit to drive the first switching tube, so that the first switching tube works in a soft switching state; the first switching tube and The diode is electrically connected; the input terminal of the second rectifier bridge is electrically connected with the coupling resonant network, and the high-frequency alternating current is converted into the direct current required for charging the battery pack; the input of the second LC filter circuit composed of the second inductor and the second capacitor connected in series The terminal is electrically connected to the output terminal of the second rectifier bridge, and the direct current rectified by the second rectifier bridge is filtered; the input terminal of the second switch tube is electrically connected to the output terminal of the second LC filter circuit, and the battery pack is turned on when charging , the battery pack is turned off when the negative pulse is discharged, and the first The input end of the discharge circuit composed of the three switch tubes and the discharge resistor is electrically connected to the output end of the second switch tube, and the output end is electrically connected to the battery pack, so that the battery pack can perform negative pulse discharge; the remote controller sends a charging signal to the robot, and the second The drive circuit is electrically connected to the second switch tube and the third switch tube, and the second drive circuit contains an interlock circuit, which makes one of the second switch tube or the third switch tube conduct at the same time, and the other one turns off, and the second switch tube The driving circuit is used to amplify the driving signals of the second switching tube and the third switching tube; the second single-chip microcomputer control circuit is respectively connected with the second wireless communication circuit, the second auxiliary power supply, the second driving circuit and the battery pack BMS management unit for electrical information, The second single-chip microcomputer control circuit controls the second drive circuit and the second wireless communication circuit according to the charging button signal sent by the received remote controller and the information given by the battery pack BMS management unit; the battery pack BMS management unit communicates with the battery pack and the first battery pack respectively The second auxiliary power supply is electrically connected to detect the voltage, current, temperature and SOC parameters of the battery pack to prevent output overvoltage, overcurrent and overheating; the battery pack BMS management unit transmits the detected voltage and current information to the first through the second wireless communication circuit. After the wireless communication circuit outputs a PWM drive signal to the first switch tube through the first single-chip microcomputer control circuit, the PWM drive signal is amplified by the first drive circuit to drive the first switch tube, so that the battery pack can be selected according to the state of the battery when charging Different charging methods realize wireless charging for the battery pack in the robot. The transmitter includes an EMI filter circuit, a first rectifier bridge, a first LC filter circuit, a resonant coupling network, a voltage detection circuit, a current transformer, and a protection circuit , standby wake-up circuit, first single-chip microcomputer control circuit, first drive circuit, first wireless communication circuit, first auxiliary power supply and soft switch detection circuit; receiving end includes second rectifier bridge, second LC filter circuit, battery pack BMS management unit, a second single-chip microcomputer control circuit, a second drive circuit, a second wireless communication circuit, a remote controller, a second auxiliary power supply, a discharge circuit and a battery pack.

Compared with the prior art, the present invention achieves energy transmission during the on and off periods of the switch tube through the inversion of a single switch tube, thereby improving the power factor and transmission efficiency of the entire ICPT transmission system, completing higher power output, and adopting frequency conversion The whole circuit structure is novel and simple, the charging efficiency is high, and the control is easy. Under the same power, the circuit cost is low, the volume is small, and the zero-voltage soft switching technology is realized, which reduces switching losses and increases system reliability.

Description of drawings:

Fig. 1 is a schematic diagram of the electrical principle structure of the robot wireless charging device of the present invention.

Fig. 2 is a waveform diagram of a charging scheme in the charging process of the present invention.

Fig. 3 is a working waveform diagram of the charging process of the present invention.

Fig. 4 is a schematic block diagram of the workflow of the wireless charging method for a robot according to the present invention.

detailed description:

The present invention will be described in further detail below through the embodiments and in conjunction with the accompanying drawings.

Example:

In this embodiment, charging is implemented in the robot wireless charging device, and the specific process includes the following steps:

(1), switch on the power supply, initialize the single-chip microcomputer on the first single-chip microcomputer control circuit 9 and the second single-chip microcomputer control circuit 17, when the robot electric quantity is insufficient or when receiving the signal that remote controller 20 sends, judge whether to finish current work, if The current work is not completed, then continue to complete the current work; if the current work is completed, the second single-chip microcomputer control circuit 17 sends a charging tracking signal, and the robot begins to move to the transmitter power supply with the assistance of the external positioning system;

(2), the first wireless communication circuit 11 detects the information that the second wireless communication circuit 19 sends, if the first wireless communication circuit 11 fails to receive the information, then the robot will not work if it is not close to the transmitter power supply; When the circuit 11 receives the information, the robot is close to the transmitter power supply, and the first wireless communication circuit 11 receives the start signal sent by the second wireless communication circuit 19, wakes up the transmitter power supply and enters the working state;

(3), after the transmitter power supply starts to work, first perform trickle pre-charging, and set the trickle charging time at the same time, if the detected charging trickle does not reach the set value, the first single-chip microcomputer control circuit 9 is used to adjust the first The switching frequency of the switching tube Q1, when the charging trickle reaches the set value, 1 μs before the single-chip microcomputer on the first single-chip microcomputer control circuit 9 sends out the driving signal, the soft switch detection circuit 13 is used to judge whether the withstand voltage of the first switching tube Q1 is If it is not 0, then adjust the duty cycle of the switch tube Q1 until its withstand voltage is 0, the transmitting end transfers energy to the receiving end to start charging, and the first stage of charging is completed after the pre-charging time is reached, because this stage does not need discharge, the second single-chip microcomputer control circuit 17 does not send a conduction signal to the third switching tube Q3 of the discharge circuit 22, so the third switching tube Q3 is in an off state, and the driving signal of the second switching tube Q2 is connected with the third switching tube Q3 The drive signal is opposite, so the second switch tube Q2 is always in the conduction state;

(4), then carry out constant current positive and negative pulse charging, first set the time of the constant current positive pulse segment, if the detected charging current does not reach the set value, then adjust the first switch tube Q1 through the first single-chip microcomputer control circuit 9 The switching frequency, when the charging current reaches the set value, 1 μs before the single-chip microcomputer on the first single-chip microcomputer control circuit 9 sends out the driving signal, judge whether the withstand voltage of the first off switch Q1 is 0 through the soft switch detection circuit 13, If it is not 0, then adjust the duty cycle of the first switching tube Q1 until its withstand voltage is 0, the transmitting end transfers energy to the receiving end to start charging, and enters the negative pulse discharge stage after the positive pulse charging time is reached, and the positive pulse stage first The second switch tube Q2 is always in the on state, and the third switch tube is always in the off state;

(5), before the negative pulse discharge starts, the duty ratio and the switching frequency of the first switching tube Q1 are stored in the single-chip microcomputer of the first single-chip microcomputer control circuit 9 at this time, and the driving signal of the first switching tube Q1 is blocked, and the setting Set the negative pulse discharge time, the third switch tube Q3 is turned on, the second switch tube Q2 is turned off, and the negative pulse discharge starts. After the negative pulse discharge time is reached, the terminal voltage of the battery pack 23 is detected. A single-chip microcomputer control circuit 9 reads the stored duty cycle and switching frequency of the first switching tube Q1, and continues to charge with constant current positive and negative pulses; if the set value is reached, the second stage of charging is completed;

(6), carry out constant voltage charging at last, if the charging voltage detected does not reach the set value, then adjust the switching frequency of the first switching tube Q1 by the first single-chip microcomputer control circuit 9, when the charging voltage reaches the set value, in 1 μs before the single-chip microcomputer on the first single-chip microcomputer control circuit 9 sends out the driving signal, judge whether the withstand voltage of the first switching tube Q1 is 0 through the soft switch detection circuit 13, if not 0, then adjust the duty of the first switching tube Q1 When the withstand voltage is 0, the transmitting end transfers energy to the receiving end to start charging. During the constant voltage charging stage, the second switch tube Q2 is always in the on state, and the third switch tube Q3 is always in the off state. When the charging current naturally drops to When the value is set, the drive signal is blocked, indicating that the charging is complete, and the wireless automatic charging of the robot is realized.

The main structure of the robot wireless charging device described in this embodiment includes an EMI filter circuit 1, a first rectifier bridge 2, a first LC filter circuit 3, a resonant coupling network 4, a first switch tube Q1, a diode D1, a voltage detection circuit 5, Current transformer 6, protection circuit 7, standby wake-up circuit 8, first microcontroller control circuit 9, first drive circuit 10, first wireless communication circuit 11, first auxiliary power supply 12, soft switch detection circuit 13, second rectifier bridge 14. The second LC filter circuit 15, the battery pack BMS management unit 16, the second switch tube Q2, the second single-chip microcomputer control circuit 17, the second drive circuit 18, the second wireless communication circuit 19, the remote controller 20, and the second auxiliary power supply 21. The discharge circuit 22 and the battery pack 23; the input end of the EMI filter circuit 1 is connected to an external 220V AC power supply, and the 220V AC power passes through the EMI filter circuit 1, the first rectifier bridge 2, the first LC filter circuit 3, and the resonant coupling network in sequence 4. After the second rectifier bridge 14, the second LC filter circuit 15 and the second switch tube Q2 become stable direct current to charge the battery pack 23, the EMI filter circuit 1 filters out electromagnetic interference, and the first rectifier bridge 2 transforms the AC power into direct current, the first LC filter circuit 3 filters the direct current rectified by the first rectifier bridge 2; the first LC filter circuit 3 is composed of a first inductor L1 and a first capacitor C1 connected in series, and the smaller the value of the first capacitor C1 is , the power factor of the circuit is higher; the resonant coupling network 4 is composed of the transmitting end compensation capacitor Cp, the transmitting end transmitting coil Lp, the receiving end receiving coil Ls and the receiving end compensation capacitor Cs according to the electrical principle, and the resonant coupling network 4 is connected with the first switch The tube Q1 is electrically connected, so that the first switching tube Q1 works in a soft switching state, and can always transmit energy when the first switching tube Q1 is on and off, so as to realize single-tube inverter; the voltage detection circuit 5 is composed of the first resistor R1 and the second resistor R1 Composed of two resistors R2, the protection circuit 7 is electrically connected to the voltage detection circuit 5, the current transformer 6 and the first single-chip microcomputer control circuit 9 respectively to prevent overvoltage or overcurrent at the transmitting end; the standby wake-up circuit 8 is respectively connected to the first single-chip microcomputer control circuit 9 1. The first wireless communication circuit 11 is electrically connected with the first auxiliary power supply 12, so that the single-chip microcomputer of the first single-chip control circuit 9 is dormant or wakes up, and the sleep mode is released; the first wireless communication circuit 11 is connected with the first single-chip control circuit 9 and the first single-chip microcomputer respectively. The auxiliary power supply 11 is electrically connected to receive various information from the receiving end; the soft switch detection circuit 13 is arranged between the coupling resonant network 4 and the first switch tube Q1, and is used to detect the withstand voltage value of the first switch tube Q1 The first single-chip microcomputer control circuit 9 outputs a PWM drive signal to the first switching tube Q1 according to the information sent by the protection circuit 7, the soft switch detection circuit 13, the standby wake-up circuit 8 and the first wireless communication circuit 11, and the PWM drive signal passes through The first drive circuit 10 amplifies and drives the first switching tube Q1 to make the first switching tube Q1 work in a soft switching state; the first switching tube Q1 is electrically connected to the diode D1; the input end of the second rectifier bridge 14 is connected to the coupling resonant network 4 electrical connection , changing the high-frequency alternating current into the direct current required for charging the battery pack 23; the input end of the second LC filter circuit 15 composed of the second inductance L2 and the second capacitor C2 connected in series is electrically connected to the output end of the second rectifier bridge 14, The direct current rectified by the second rectifier bridge 14 is filtered; the input end of the second switching tube Q2 is electrically connected to the output end of the second LC filter circuit 15, and the storage battery pack 23 is turned on when charging, and when the storage battery pack 23 is discharging with a negative pulse turn off, the input end of the discharge circuit 22 composed of the third switch tube Q3 and the discharge resistor R3 is electrically connected to the output end of the second switch tube Q2, and the output end is electrically connected to the battery pack 23, so that the battery pack 23 performs negative pulse discharge The remote controller 20 sends a charging signal to the robot, and the second drive circuit 18 is electrically connected with the second switch tube Q2 and the third switch tube Q3, and contains an interlock circuit, so that the second switch tube Q2 or the third switch tube Q3 are electrically connected at the same time. One of them is turned on and the other is turned off, and the second driving circuit 18 is used to amplify the driving signals of the second switching tube Q2 and the third switching tube Q3; the second single-chip microcomputer control circuit 17 communicates with the second wireless communication circuit 19, the second Two auxiliary power sources 21, the second driving circuit 18 and the battery pack BMS management unit 16 are electrically connected, and the second single-chip microcomputer control circuit 17 sends out the charging button signal according to the received remote controller 20 and the information given by the battery pack BMS management unit 16. The second drive circuit 18 and the second wireless communication circuit 19 are controlled; the battery pack BMS management unit 16 is electrically connected to the battery pack 23 and the second auxiliary power supply 21 respectively, and is used to detect the voltage, current, temperature and SOC parameters of the battery pack 23 , to prevent output overvoltage, overcurrent and overheating; the battery pack BMS management unit 16 transmits the detected voltage and current information to the first wireless communication circuit 11 through the second wireless communication circuit 19, and then outputs one to the first switch through the first single-chip microcomputer control circuit 9 The PWM drive signal of the tube Q1, the PWM drive signal is amplified by the first drive circuit 10 and drives the first switch tube Q1, so that the battery pack 23 can select different charging methods according to the state of the battery when charging, and realize it as a battery pack in the robot 23 for wireless charging, the transmitter circuit includes an EMI filter circuit 1, a first rectifier bridge 2, a first LC filter circuit 3, a resonant coupling network 4, a voltage detection circuit 5, a current transformer 6, a protection circuit 7, and a standby wake-up Circuit 8, the first single-chip microcomputer control circuit 9, the first drive circuit 10, the first wireless communication circuit 11, the first auxiliary power supply 12 and the soft switch detection circuit 13; the receiving end circuit includes the second rectifier bridge 14, the second LC filter circuit 15. Battery pack BMS management unit 16, second single-chip microcomputer control circuit 17, second drive circuit 18, second wireless communication circuit 19, remote controller 20, second auxiliary power supply 21, discharge circuit 22 and battery pack 23.

The entire charging process described in this embodiment is shown in Figure 2, which is divided into three stages. The first stage is trickle pre-charging, the second stage is constant current positive and negative pulse charging, and the third stage is constant voltage charging. Pre-charging is used to activate the battery pack 23, so that the battery pack 23 enters the charging state, and prevents the high current from impacting and damaging the battery pack 23 with insufficient electric energy; Discharge through the discharge circuit, the positive and negative pulses alternate, and the positive pulse time is much longer than the negative pulse time, which can eliminate the polarization phenomenon in the charging process, reduce the amount of gas evolution, increase the charging speed, and help to increase the service life of the battery pack 23 ; The third stage uses constant voltage charging to fully charge the battery pack 23 with remaining power.

In this embodiment, the inversion of a single switching tube is used to realize inductively coupled power transmission, which not only enables the switching tube to achieve zero-voltage turn-on and zero-voltage shutdown, but also enables the entire device to transmit energy during the switching-on and off periods of the switching tube. One switching cycle has Seven working stages, as shown in Figure 3:

(1) Stage 1 (t ₀ ~ t ₁ ): In this stage, the drive signal Ug changes from low level to high level. Since the inductor current _ip is negative, the diode D1 connected to the first switching tube Q1 conducts Pass;

(2) Stage 2 (t ₁ ~ t ₂ ): the inductor current i _p changes from negative to positive, the first switch tube Q1 is turned on, and the inductor current i _p flows through the first switch tube Q1, due to the compensation capacitor C _p at the transmitter The voltage U _Cp is equal to the input voltage, and the current i _Q1 of the first switching tube Q1 increases approximately linearly;

(3) Phase 3 (t ₂ ～t ₃ ): the driving signal U _g changes from high level to low level, the first switch tube Q1 is turned off, and the inductor current i _p is continuously flowed by the compensation capacitor C _p at the transmitting end. The voltage U _Cp of the compensation capacitor _Cp at the transmitting end drops slowly, and the withstand voltage U _Q1 of the first switch tube Q1 rises slowly. Therefore, the first switch tube Q1 is turned off at zero voltage. From time _t2 , the compensation capacitor Cp and The transmitting coil Lp of the transmitting end enters a resonant state;

(4) Stage 4 (t ₃ ~ t ₄ ): at time t ₃ , the voltage of the compensation capacitor C _p at the transmitter is discharged to 0, and the inductor current i _p reversely charges the compensation capacitor C _p at the transmitter, and at time t ₄ , the transmitter The terminal compensation capacitor _Cp voltage U _Cp resonates to the maximum value, and at this time the withstand voltage U _{Q1 of the first switch tube Q1} reaches the maximum value;

(5) Stage 5 (t ₄ ~ t ₅ ): at time t ₄ , the inductor current i _p changes direction, capacitor C _p begins to discharge, and the withstand voltage of the first switching tube Q1 decreases; at time t ₅ , the voltage U of capacitor C _{p Cp} is discharged to 0, and the inductor current i _p is still negative;

(6) Stage 6 (t ₅ ~ t ₆ ): after time t ₅ , the transmitter coil Lp charges the compensation capacitor C _p at the transmitter, and the voltage of the compensation capacitor C _p at the transmitter rises; at time t ₆ , the transmitter The voltage U _Cp of the compensation capacitor C _p rises to the input voltage and is clamped to this value. At this time, the withstand voltage drop U _Q1 of the first switch tube Q1 is 0. Since the inductor current i _p is still negative, the diode D1 is turned on;

(7) Stage 7 (t ₆ ~ t ₇ ): Diode D1 is turned on at t ₆ , and this stage is the dead time. At t ₇ , the drive signal U _{g arrives} again, because the inductor current ip is still negative, and The diode D1 has been turned on, so the zero-voltage turn-on of the first switching tube Q1 is realized, and a switching cycle is completed.

Claims (2)

1. A robot wireless charging method is characterized in that charging is realized in a robot wireless charging device, and its specific process comprises the following steps: (1), turn on the power supply, initialize the single-chip microcomputer on the first single-chip microcomputer control circuit and the second single-chip microcomputer control circuit, when the robot has insufficient power or receives a signal from the remote control, judge whether to complete the current work, if the current work is not completed Complete, then continue to complete the current work; if the current work has been completed, the second single-chip microcomputer control circuit sends a charging tracking signal, and the robot starts to move to the transmitter power supply with the assistance of the external positioning system; (2), the first wireless communication circuit detects the information sent by the second wireless communication circuit, if the first wireless communication circuit fails to receive the information, the robot will not work if it is not close to the transmitter power supply; if the first wireless communication circuit receives information, the robot is close to the transmitter power supply, the first wireless communication circuit receives the start signal sent by the second wireless communication circuit, wakes up the transmitter power supply and enters the working state; (3) After the transmitter power supply starts to work, first perform trickle pre-charging, and set the trickle charging time at the same time. If the detected charging trickle does not reach the set value, adjust the first switch through the first single-chip control circuit The switching frequency of the tube, when the charging trickle reaches the set value, 1μs before the single-chip microcomputer on the first single-chip microcomputer control circuit sends out the driving signal, judge whether the withstand voltage of the first switching tube is 0 through the soft switch detection circuit, if not If it is 0, then adjust the duty ratio of the switch tube until its withstand voltage is 0, the transmitting end transfers energy to the receiving end to start charging, and the first stage of charging is completed after the pre-charging time is reached, no discharge is required at this stage, the second single-chip microcomputer control circuit No conduction signal is sent to the third switch tube of the discharge circuit, the third switch tube is in the off state, and the drive signal of the second switch tube is opposite to that of the third switch tube, and the second switch tube is always in the conduction state ; (4), then carry out constant current positive and negative pulse charging, first set the time of the constant current positive pulse segment, if the detected charging current does not reach the set value, then adjust the switch of the first switching tube through the first single-chip microcomputer control circuit Frequency, when the charging current reaches the set value, 1 μs before the single-chip microcomputer on the first single-chip microcomputer control circuit sends out the driving signal, judge whether the withstand voltage of the first switching tube is 0 through the soft switch detection circuit, if not 0, then Adjust the duty cycle of the first switching tube until its withstand voltage is 0, the transmitting end transfers energy to the receiving end to start charging, and enters the negative pulse discharging stage after reaching the positive pulse charging time, and the second switching tube is always on in the positive pulse stage state, the third switch tube is always in the off state; (5), before the negative pulse discharge starts, first store the duty cycle and switching frequency of the first switching tube in the single-chip microcomputer of the first single-chip microcomputer control circuit at this time, block the drive signal of the first switching tube, and set the negative pulse discharge Time, the third switch tube is turned on, the second switch tube is turned off, and the negative pulse discharge starts. After the negative pulse discharge time is reached, the terminal voltage of the battery pack is detected. If it does not reach the set value, the single chip computer of the first single chip microcomputer control circuit reads Take the stored duty ratio and switching frequency of the first switching tube, and continue charging with constant current positive and negative pulses; if the set value is reached, the second stage of charging is completed; (6), carry out constant voltage charging at last, if the charging voltage that detects does not reach setting value, then adjust the switching frequency of the first switching tube by the first single-chip microcomputer control circuit, when charging voltage reaches setting value, in the first 1 μs before the single-chip microcomputer on the single-chip microcomputer control circuit sends out the driving signal, judge whether the withstand voltage of the first switch tube is 0 through the soft switch detection circuit, if it is not 0, then adjust the duty cycle of the first switch tube to its withstand voltage of 0, the transmitting end transmits energy to the receiving end to start charging, the second switch tube is always in the on state during the constant voltage charging stage, and the third switch tube is always in the off state, when the charging current drops to the set value, the drive signal is blocked, It prompts that the charging is complete, and realizes the wireless automatic charging of the robot. 2. The robot wireless charging method according to claim 1, characterized in that the main structure of the robot wireless charging device includes an EMI filter circuit, a first rectifier bridge, a first LC filter circuit, a resonant coupling network, a first switch tube, Diode, voltage detection circuit, current transformer, protection circuit, standby wake-up circuit, first microcontroller control circuit, first drive circuit, first wireless communication circuit, first auxiliary power supply, soft switch detection circuit, second rectifier bridge, second Two LC filter circuits, battery pack BMS management unit, second switch tube, second single-chip microcomputer control circuit, second drive circuit, second wireless communication circuit, remote controller, second auxiliary power supply, discharge circuit and battery pack; EMI filter circuit The input end of the input terminal is connected to the external 220V AC power supply, and the 220V AC power passes through the EMI filter circuit, the first rectifier bridge, the first LC filter circuit, the resonant coupling network, the second rectifier bridge, the second LC filter circuit and the second switching tube in turn It becomes stable direct current to charge the battery pack, the EMI filter circuit filters electromagnetic interference, the first rectifier bridge converts alternating current into direct current, and the first LC filter circuit filters the direct current rectified by the first rectifier bridge; the first LC filter The circuit is composed of the first inductance and the first capacitor connected in series. The resonant coupling network is composed of the compensation capacitor at the transmitting end, the transmitting coil at the transmitting end, the receiving coil at the receiving end, and the compensation capacitor at the receiving end. The resonant coupling network is connected with the first switch tube connected, so that the first switching tube works in the soft switching state, and can always transfer energy when the first switching tube is on and off, realizing single-tube inverter; the voltage detection circuit is composed of the first resistor and the second resistor, and the protection circuit is respectively It is electrically connected with the voltage detection circuit, the current transformer and the first single-chip microcomputer control circuit to prevent overvoltage or overcurrent of the transmitting end; the standby wake-up circuit is respectively electrically connected with the first single-chip microcomputer control circuit, the first wireless communication circuit and the first auxiliary power supply, When the single-chip microcomputer of the first single-chip microcomputer control circuit sleeps or wakes up, the sleep mode is released; the first wireless communication circuit is electrically connected with the first single-chip microcomputer control circuit and the first auxiliary power supply, and is used to receive various information from the receiving end; the soft switch The detection circuit is arranged between the coupling resonant network and the first switch tube, and is used to detect the withstand voltage value of the first switch tube; The sent information outputs a PWM drive signal to the first switch tube, and the PWM drive signal is amplified by the first drive circuit to drive the first switch tube, so that the first switch tube works in a soft switching state; the first switch tube and the diode circuit connection; the input end of the second rectifier bridge is electrically connected with the coupling resonant network, and the alternating current is changed into the direct current required for charging the battery pack; the input end of the second LC filter circuit composed of the second inductance and the second capacitor in series is connected to the second The output terminal of the rectifier bridge is electrically connected to filter the DC rectified by the second rectifier bridge; the input terminal of the second switching tube is electrically connected to the output terminal of the second LC filter circuit, and the battery pack is turned on when charging, and the battery pack is charged pulse discharge during shutdown, by The input end of the discharge circuit composed of the third switch tube and the discharge resistor is electrically connected to the output end of the second switch tube, and the output end is electrically connected to the storage battery pack, so that the storage battery pack performs negative pulse discharge; the remote controller sends a charging signal to the robot, the second The second driving circuit is electrically connected with the second switching tube and the third switching tube, the second driving circuit contains an interlock circuit, and at the same time, one of the second switching tube or the third switching tube is turned on, and the other is turned off, and the second switching tube is turned off. The second driving circuit is used to amplify the driving signals of the second switching tube and the third switching tube; the second single-chip microcomputer control circuit is respectively electrically connected with the second wireless communication circuit, the second auxiliary power supply, the second driving circuit and the BMS management unit of the battery pack, The second single-chip microcomputer control circuit controls the second drive circuit and the second wireless communication circuit according to the charging button signal sent by the received remote controller and the information given by the battery pack BMS management unit; the battery pack BMS management unit communicates with the battery pack and the first battery pack respectively The second auxiliary power supply is electrically connected to detect the voltage, current, temperature and SOC parameters of the battery pack to prevent output overvoltage, overcurrent and overheating; the battery pack BMS management unit transmits the detected voltage and current information to the first through the second wireless communication circuit. After the wireless communication circuit outputs a PWM drive signal to the first switch tube through the first single-chip microcomputer control circuit, the PWM drive signal is amplified by the first drive circuit to drive the first switch tube, so that the battery pack can be selected according to the state of the battery when charging Different charging methods realize wireless charging for the battery pack in the robot. The transmitter includes an EMI filter circuit, a first rectifier bridge, a first LC filter circuit, a resonant coupling network, a voltage detection circuit, a current transformer, and a protection circuit , standby wake-up circuit, first single-chip microcomputer control circuit, first drive circuit, first wireless communication circuit, first auxiliary power supply and soft switch detection circuit; receiving end includes second rectifier bridge, second LC filter circuit, battery pack BMS management unit, a second single-chip microcomputer control circuit, a second drive circuit, a second wireless communication circuit, a remote controller, a second auxiliary power supply, a discharge circuit and a battery pack.