Charging battery through relais and arduino

arduinobattery-chargingcharger

I'm designing a charger system for my lawn mower robot.

The idea that I had is based on a relay. As soon as the robot reaches the charging station, with "Volt Sense" pin it detects a charging voltage, so enables the "enable charge" output.
In this way the the relay coil is turned on and so the battery switches from the normal circuitery to the charging one. I didn't put the charging part of the system, but that one is quite easy, since I have a lead acid battery.

The enable charge pin is there also to control the charging of the battery. When it's fully charged, the pin is switched off, so the battery can go back to normal functioning mode.

I will add a current measurement IC, so when the current drop to very low values, the battery is considered charged.

I'm not sure if the following schematic is ok, could you please tell me your opinion?
Thanks

EDIT: I added the charge measurement pin.

schematic

simulate this circuit – Schematic created using CircuitLab

Best Answer

Charging a lead-acid battery is a bit more complicated than your on-off switching logic, if you want to do it right. You'll have to provide constant current first, then constant voltage, and finally a pulsed charge in the end.

The main issue you may face with your schematic is when you start charging the battery after a deep discharge. Since you charge with constant voltage, that may result in high charge current, which may damage the battery itself, the relay and D2.