CN110138073A - Electric inspection process robot solar energy autonomous mixed charged device and method online - Google Patents
Electric inspection process robot solar energy autonomous mixed charged device and method online Download PDFInfo
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- CN110138073A CN110138073A CN201910602099.5A CN201910602099A CN110138073A CN 110138073 A CN110138073 A CN 110138073A CN 201910602099 A CN201910602099 A CN 201910602099A CN 110138073 A CN110138073 A CN 110138073A
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000007689 inspection Methods 0.000 title claims abstract description 48
- 230000008569 process Effects 0.000 title claims abstract description 34
- 230000009466 transformation Effects 0.000 claims abstract description 21
- 230000005693 optoelectronics Effects 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 238000006243 chemical reaction Methods 0.000 claims description 11
- 238000003032 molecular docking Methods 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000002360 preparation method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000005389 magnetism Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 6
- 239000013589 supplement Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000003760 hair shine Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000001932 seasonal effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
- Y02E10/56—Power conversion systems, e.g. maximum power point trackers
Abstract
Electric inspection process robot solar energy autonomous mixed charged device and method online, it is related to electric inspection process robot field, including pylon and solar electric power supply system, solar electric power supply system includes battery, controller, solar energy sailboard, wired power-supplying interface module, voltage sensor, current sensor, photosensitive sensor, infrared encoder and optoelectronic switch, controller includes the DC/DC voltage transformation module A for being respectively used to photovoltaic voltage and being converted to battery charging voltage, battery output voltage is converted to the DC/DC voltage transformation module B of robot charging voltage, communication module, locating module, kernel control module based on DSP；Controller is installed on pylon and battery, solar energy sailboard are fixed on the mounting bracket, is connected with the wired power-supplying interface module of direct current and direct current wireless power interface module on DC/DC voltage transformation module B output end；The present invention charges to robot using wired or wireless mode, improves inspection machine task efficiency.
Description
Technical field
The present invention relates to electric inspection process robot fields, autonomous online with solar energy more particularly, to electric inspection process robot
Mixed charged device and method.
Background technique
Well known, electric inspection process robot provides the energy using rechargeable battery, carries out inspection along power circuit, electricity is worked as
After pond energy reduces to a certain extent, robot just needs to carry out the supplement of the energy.And traditional inspection device, mostly use greatly from
Line charge method for electrically carries out charging operations after needing robot offline, lacks the design of recharging, this is significantly increased manually
The workload of auxiliary influences inspection machine task efficiency and intelligent level.
Summary of the invention
In order to overcome the shortcomings in the background art, the invention discloses electric inspection process robots is independently mixed online with solar energy
Close charging unit and method.
In order to realize the goal of the invention, the present invention adopts the following technical scheme:
Electric inspection process robot solar energy autonomous mixed charged device, including pylon and solar electric power supply system online, the sun
Energy power supply system includes battery, controller, solar energy sailboard, the wired power-supplying interface module of direct current, direct current wireless power interface
Module, voltage sensor, current sensor, photosensitive sensor, infrared encoder and optoelectronic switch, wherein controller includes difference
The DC/DC voltage transformation module A of battery charging voltage is converted to for photovoltaic voltage, turns battery output voltage
It is changed to the DC/DC voltage transformation module B to robot charging voltage, communication module, locating module, the core control based on DSP
Module；It is respectively equipped with the controller and battery installed by cabinet on the tower body of pylon, is equipped on the angle steel of pylon
Motor, motor are driven by driver and are connect with the input terminal of gear-box, and the output end and mounting bracket of gear-box are fixed to be connected
It connects, solar energy sailboard is fixed on the mounting bracket, and controller passes through route and solar energy sailboard, the wired power supply interface of direct current respectively
Module, direct current wireless power interface module, voltage sensor, current sensor, photosensitive sensor, infrared encoder and photoelectricity are opened
It closes, motor connection, is connected with the wired power-supplying interface module of direct current on DC/DC voltage transformation module B output end and direct current is wireless
Power-supplying interface module, the wired power-supplying interface module of direct current and direct current wireless power interface module are respectively separated and are mounted on power supply interface
On panel, power supply interface panel is fixed on the top of displacement platform by connecting plate, and displacement platform is arranged on linear motor, straight-line electric
Machine is fixed on the top of pylon by mounting rack.
Electric inspection process robot solar energy autonomous mixed charged device online, sets between gear-box and pylon
There is support frame, one end of support frame is fixed on the lower part of gear-box, and the other end of support frame is fixedly connected with pylon, in gear-box
The gear shaft of interior one of gear and the output shaft of motor are connected by shaft coupling, and the gear shaft of another gear passes through shaft coupling
It is fixedly connected with mounting bracket, two gear intermeshing settings.
With solar energy, autonomous mixed charged device, the connecting plate are set as L shape online for the electric inspection process robot,
The outer end side surface of connecting plate is arranged in power supply interface panel.
Electric inspection process robot solar energy autonomous mixed charged device online, the power supply interface panel is mixed
Charging panel is closed, the wired power-supplying interface module of direct current is equipped on the top of power supply interface panel, in the lower part of power supply interface panel
Equipped with direct current wireless power interface module, it is equipped with threaded hole in the side of power supply interface panel, passes through the outer of bolt and connecting plate
End side arm is fixedly connected.
Electric inspection process robot solar energy autonomous mixed charged device online, in the wired power supply interface mould of direct current
Outside in the middle part of block is equipped with conical surface power supply terminal, spring is equipped in the wired power-supplying interface module of direct current, after conical surface power supply terminal
Portion is equipped with positive and negative anodes insulating layer A, and the front end of conical surface power supply terminal is equipped with tapered electrode cathode B, on the conical surface of conical surface power supply terminal
Equipped with tapered electrode anode B, it is connected separately with power cable, ground wire A on positive and negative anodes insulating layer A, ground wire A, power cable
Rear end sequentially passes through the wired power-supplying interface module of direct current and connecting plate, respectively ground connection and power supply, after conical surface power supply terminal
Portion is equipped with magnetic plate A, top outside the wired power-supplying interface module of direct current, lower part two sides be respectively equipped with two optoelectronic switches and two
A infrared encoder is arranged in robot with the charging end interface panel that the wired power-supplying interface module of direct current is correspondingly connected with,
Including shell, it is equipped with the conical surface charging terminal being recessed inwardly in the interior Middle face of shell, the conical surface charging terminal and the conical surface supply
The shape of electric terminal is disposed as tapered surface, and the setting that cooperates, and is equipped with magnetic plate B, magnetic force at conical surface charging terminal rear portion
Piece B and magnetic plate A magnetism are attracting, are respectively equipped with and two optoelectronic switches, two infrared in the two sides on shell inner face top, lower part
Corresponding two light emitting diodes of encoder, two infrared coding receiver A, on the inner face of conical surface charging terminal in the past extremely
After be successively arranged tapered electrode anode A, positive and negative anodes insulating layer B and tapered electrode cathode A, connect respectively on positive and negative anodes insulating layer B
It is connected to cable and ground wire B, the outer end of cable and ground wire B both pass through shell, and cable is connect with battery, ground wire B ground connection.
Electric inspection process robot solar energy autonomous mixed charged device online, direct current wireless power interface module
The middle part of panel is equipped with feeder ear interface coil, is equipped with infrared coding hair in the quadrangle of direct current wireless power interface module panel
Emitter, the receiving end interface coil being correspondingly connected with feeder ear interface coil are arranged in crusing robot receiving panel, receive
The quadrangle of the receiving panel of end interface coil is respectively equipped with the infrared coding receiver B for receiving infrared coding emitter signal,
Integrated circuit controller is equipped in the panel of direct current wireless power interface module panel and receiving end interface coil.
Electric inspection process robot solar energy autonomous mixed charged device online, the controller respectively with it is infrared
Coded transmitter, optoelectronic switch, infrared encoder are connected by signal.
Electric inspection process robot solar energy autonomous mixed charged method online, specifically includes the following steps:
(1), start motor, power is transmitted so as to adjust the light angle of solar energy sailboard by gear-box, is converted light energy into
Photovoltaic voltage is converted to the charging voltage of battery by electric energy, DC/DC voltage transformation module A, controls mould by the core based on DSP
Block is managed battery, and the electric energy after accumulators store conversion passes through DC/DC voltage when crusing robot docking is charged
Conversion module B carries out the transformation of voltage, and battery output voltage is converted to the suitable charging voltage of crusing robot and electric current,
Wired power-supplying interface module on power supply interface panel, preparation charge to crusing robot；
(2), the relative position for the infrared encoder detection crusing robot being arranged on power supply interface panel, crusing robot are close
Before power supply interface panel is not docked with electrical interface panel power supply interface, by the collection in direct current wireless power interface module
Alternating signal is generated at circuit controller, is the battery of crusing robot after receiving end interface coil improves electric signal
Charge, by infrared coding emitter detect crusing robot and wireless power end relative position, crusing robot into
When entering certain distance range, determines whether crusing robot needs to charge according to communications status, started by feeder ear interface coil
Wireless charging function；
(3), previous step is connect, the infrared encoder transmitter of two sides issues different coding signal, inspection on power supply interface panel
The infrared coding receiver B of two sides receives the difference of infrared encoder transmitter transmitting respectively in robot charging end receiving panel
Encoded signal, determines the left and right base position of the wired power supply interface of power supply interface panel direct current, and crusing robot has close to direct current
Line power supply interface；
(4), previous step is connect, starting linear motor drive displacement platform generates displacement, power supply interface panel is extend out to survey monitor
Device people, power supply interface panel end magnetic plate A and crusing robot charging end housing on magnetic plate B sucking action, absorption cone
The pop-up of face power supply terminal, conical surface charging terminal are docked with conical surface power supply terminal, realize the wired power supply interface of direct current and inspection machine
People's progress is wired for electrical connection, and charging modes are switched to wired charging method；
(5), previous step is connect, after docking successfully, the lumination of light emitting diode that crusing robot charges in end housing, power supply interface
After optoelectronic switch on panel receives optical signal, stop the movement of linear motor, crusing robot closes hair after charging
The luminous signal of optical diode, starting linear motor retreats, by springs return conical surface power supply terminal, after power supply interface panel
It moves back, linear motor stop motion, the wired power supply interface of direct current is restored to standby mode, waits powered operation next time.
By adopting the above-described technical solution, the invention has the following beneficial effects:
1, electric inspection process robot of the present invention solar energy autonomous mixed charged device and method online, utilizes DC/DC
Photovoltaic voltage is converted to the charging voltage of battery by voltage transformation module A, is charged by core controller to battery, storage
Standby energy；Electric energy after accumulators store conversion carries out electricity by DC/DC voltage transformation module B when robot, which docks, to charge
Battery output voltage is converted to the suitable charging voltage of crusing robot and electric current, utilization is wired and wireless by the transformation of pressure
Two kinds of power supply interfaces carry out mixed charged to crusing robot, effectively reduce labor workload, increase crusing robot
Working efficiency and intelligent level.
2, controller and battery are fixed on pylon by the present invention by cabinet, and solar energy sailboard is fixed on installation towards south
On bracket, the motor of control solar energy sailboard light angle is fixed on the angle steel of pylon, and controller is according to light sensor
The signal of device drives the mounting bracket for being equipped with solar energy sailboard to rotate, both can be carried out power by gear-box using gear-box
Transmitting can control motor speed again, using the light angle of motor adjustment solar energy sailboard, to track sun Various Seasonal
Incident angle, improve the utilization rate of solar power generation.
3, the present invention drives displacement platform linear motion using linear motor, convenient for adjusting power supply interface panel and inspection machine
The distance of people when crusing robot needs to charge, moves to power supply interface nearby panels, controller can according to infrared sensor come
Crusing robot is measured at a distance from power supply unit, control bit moving stage generates displacement, realizes that the position of power supply interface panel is flexible
Transformation, using wired or wireless power supply mode, is powered crusing robot, effectively increases the work of crusing robot
Make efficiency.
4, the present invention uses mixed charged panel, and wired and wireless charging method is combined, can be according to crusing robot
Working condition carry out the switchings of charging modes, improve charge efficiency and energy utilization rate.When crusing robot connects close to power supply
Within the scope of mouth panel certain distance, before not yet being docked with the wired power-supplying interface module of direct current, direct current wireless power interface
Module can carry out wireless charging to crusing robot, carry out electricity supplement to crusing robot, avoid because of unpredictable element
Caused robot electric quantity exhausts, and can not drive the case where completing recharging.When the wired power-supplying interface module of direct current and inspection
After the charging interface port docking of robot, charging system is switched to wired charging method, improves the efficiency and energy benefit of charging
With rate.When operation irregularity occurs in crusing robot wired charging interface, it can switch to wireless power state, continue as survey monitor
Device people provides energy.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of solar electric power supply system of the present invention；
Fig. 2 is the connection schematic diagram of solar energy sailboard of the present invention；
Fig. 3 is the attachment structure schematic diagram of power supply interface panel and displacement platform of the present invention；
Fig. 4 is the structural schematic diagram of power supply interface panel of the present invention；
Fig. 5 is the structural schematic diagram of the wired power-supplying interface module of direct current of the present invention；
Fig. 6 is the structural schematic diagram of direct current wireless power interface module of the present invention；
In figure: 1, pylon；2, battery；3, controller；4, motor；5, gear-box；6, mounting bracket；7, solar energy sailboard；8,
Photosensitive sensor；9, connecting plate；10, linear motor；11, displacement platform；12, mounting rack；13, power supply interface panel；14, direct current has
Line power-supplying interface module；15, infrared coding emitter；16, direct current wireless power interface module；17, optoelectronic switch；18, the conical surface
Power supply terminal；19, spring；20, ground wire A；21, power cable；22, magnetic plate A；23, positive and negative anodes insulating layer A；24, infrared coding
Device；25, infrared coding receiver A；26, magnetic plate B；27, cable；28, battery；29, ground wire B；30, conical surface charging terminal；31,
Positive and negative anodes insulating layer B；32, shell；33, light emitting diode；34, receiving end interface coil；35, feeder ear interface coil；36, it bores
Shape Electrode Negative B；37, tapered electrode anode B；38, tapered electrode cathode A；39, tapered electrode anode A；40, receiving panel；
41, infrared coding receiver B.
Specific embodiment
By the following examples can the detailed explanation present invention, the open purpose of the present invention is intended to protect model of the present invention
Enclose all interior technological improvements.
The solar energy autonomous mixed charged device, including pylon 1 online of the electric inspection process robot in conjunction with described in attached drawing 1-6
And solar electric power supply system, solar electric power supply system include that battery 2, controller 3, solar energy sailboard 7, the wired power supply of direct current connect
Mouth mold block 14, direct current wireless power interface module 16, voltage sensor, current sensor, photosensitive sensor 8, infrared encoder
24 and optoelectronic switch 17, wherein controller 3 includes being respectively used to the DC/ that photovoltaic voltage is converted to battery charging voltage
D/C voltage conversion module A, the DC/DC voltage transformation module B be converted to battery output voltage to robot charging voltage, lead to
Believe module, locating module, the kernel control module based on DSP；The control installed by cabinet is respectively equipped on the tower body of pylon 1
Device 3 and battery 2 processed, are equipped with motor 4 on the angle steel of pylon 1, and motor 4 is driven and defeated with gear-box 5 by driver
Enter end connection, the output end of gear-box 5 is fixedly connected with mounting bracket 6, and solar energy sailboard 7 is fixed in mounting bracket 6, control
Device 3 passes through route and solar energy sailboard 7, the wired power-supplying interface module 14 of direct current, direct current wireless power interface module 16, electricity respectively
Pressure sensor, current sensor, photosensitive sensor 8, infrared encoder and optoelectronic switch 17, motor 4 connect, in DC/DC voltage
The wired power-supplying interface module 14 of direct current and direct current wireless power interface module 16 are connected on conversion module B output end, direct current has
Line power-supplying interface module 14 and direct current wireless power interface module 16 are respectively separated and are mounted on power supply interface panel 13, and power supply connects
Mouth panel 13 is fixed on the top of displacement platform 11 by connecting plate 9, and displacement platform 11 is arranged on linear motor 10, linear motor 10
The top of pylon 1 is fixed on by mounting rack 12.
Electric inspection process robot solar energy autonomous mixed charged device online, between gear-box 5 and pylon 1
Equipped with support frame, one end of support frame is fixed on the lower part of gear-box 5, and the other end of support frame is fixedly connected with pylon 1, in tooth
The gear shaft of one of gear is connect with the output shaft of motor 4 by shaft coupling in roller box 5, and the gear shaft of another gear passes through
Shaft coupling is fixedly connected with mounting bracket 6, two gear intermeshing settings.
With solar energy, autonomous mixed charged device, the connecting plate 9 are set as L online for the electric inspection process robot
The outer end side surface of connecting plate 9 is arranged in shape, power supply interface panel 13.
With solar energy, autonomous mixed charged device, the power supply interface panel 13 are online for the electric inspection process robot
Mixed charged panel is equipped with the wired power-supplying interface module 14 of direct current on the top of power supply interface panel 13, in power supply interface panel
13 lower part is equipped with direct current wireless power interface module 16, is equipped with threaded hole in the side of power supply interface panel 13, passes through bolt
It is fixedly connected with the outer end side arm of connecting plate 9.
Electric inspection process robot solar energy autonomous mixed charged device online, in the wired power supply interface mould of direct current
The outside at 14 middle part of block is equipped with conical surface power supply terminal 18, is equipped with spring 19 in the wired power-supplying interface module 14 of direct current, supplies in the conical surface
18 rear portion of electric terminal is equipped with positive and negative anodes insulating layer A23, and the front end of conical surface power supply terminal 18 is equipped with tapered electrode cathode B36, the conical surface
The conical surface of power supply terminal 18 is equipped with tapered electrode anode B37, is connected separately with power cable on positive and negative anodes insulating layer A23
21, ground wire A20, ground wire A20, power cable 21 rear end sequentially pass through the wired power-supplying interface module 14 of direct current and connecting plate 9,
Ground connection and power supply respectively are equipped with magnetic plate A22, wired 14 outside of power-supplying interface module of direct current at the rear portion of conical surface power supply terminal 18
Top, lower part two sides be respectively equipped with two optoelectronic switches 17 and two infrared encoders 24, with the wired power supply interface mould of direct current
The charging end interface panel that block 14 is correspondingly connected with is arranged in robot comprising shell 32 is set in the interior Middle face of shell 32
There is the conical surface charging terminal 30 being recessed inwardly, the shape of the conical surface charging terminal 30 and conical surface power supply terminal 18 is disposed as boring
Shape face, and the setting that cooperates are equipped with magnetic plate B26, magnetic plate B26 and magnetic plate A22 magnetic at 30 rear portion of conical surface charging terminal
Property is attracting, is respectively equipped with and two optoelectronic switches, 17, two 24 phases of infrared encoder in the two sides on 32 inner face top of shell, lower part
33, two infrared coding receiver A25 of corresponding two light emitting diodes, on the inner face of conical surface charging terminal 30 from front to back
It is successively arranged tapered electrode anode A39, positive and negative anodes insulating layer B31 and tapered electrode cathode A38, on positive and negative anodes insulating layer B31
It is connected separately with cable 27 and ground wire B29, the outer end of cable 27 and ground wire B29 both pass through shell 32, and cable 27 and battery 28 connect
It connects, ground wire B29 ground connection.
Electric inspection process robot solar energy autonomous mixed charged device online, direct current wireless power interface module
The middle part of 16 panels is equipped with feeder ear interface coil 35, is equipped in the quadrangle of 16 panel of direct current wireless power interface module infrared
Coded transmitter 15, the setting of receiving end interface coil 34 being correspondingly connected with feeder ear interface coil 35 are received in crusing robot
On panel 40, the quadrangle of the receiving panel 40 of receiving end interface coil 34, which is respectively equipped with, receives 15 signal of infrared coding emitter
Infrared coding receiver B41 is all provided in the panel of 16 panel of direct current wireless power interface module and receiving end interface coil 34
There is integrated circuit controller.
Electric inspection process robot solar energy autonomous mixed charged device online, the controller 3 respectively with it is red
Outer coding transmitter 15, optoelectronic switch 17, infrared encoder 24 are connected by signal.
Electric inspection process robot solar energy autonomous mixed charged method online, specifically includes the following steps:
(1), start motor 4, power is transmitted so as to adjust the light angle of solar energy sailboard 7 by gear-box 5, luminous energy is converted
For electric energy, photovoltaic voltage is converted to the charging voltage of battery 2 by DC/DC voltage transformation module A, by the core control based on DSP
Molding block is managed battery 2, and battery 2 stores the electric energy after conversion and passes through DC/ when crusing robot docking is charged
D/C voltage conversion module B carries out the transformation of voltage, and 2 output voltage of battery is converted to the suitable charging voltage of crusing robot
And electric current, wired power-supplying interface module on power supply interface panel 13, preparation charge to crusing robot；
(2), the infrared encoder 24 being arranged on power supply interface panel 13 detects the relative position of crusing robot, crusing robot
Before not docked with 13 power supply interface of electrical interface panel close to power supply interface panel 13, by direct current wireless power interface mould
Integrated circuit controller in block 16 generates alternating signal, is inspection after receiving end interface coil 34 improves electric signal
The battery of robot charges, and the opposite position of crusing robot and wireless power end is detected by infrared coding emitter 15
It sets, when crusing robot enters certain distance range, determines whether crusing robot needs to charge according to communications status, by powering
End interface coil 35 starts wireless charging function；
(3), previous step is connect, the infrared encoder transmitter 15 of two sides issues different coding signal on power supply interface panel 13,
The infrared coding receiver B41 of two sides receives infrared encoder transmitter 15 respectively in crusing robot charging end receiving panel 40
The different coding signal of transmitting determines the left and right base position of the wired power supply interface of 13 direct current of power supply interface panel, inspection machine
People is close to the wired power supply interface of direct current；
(4), previous step is connect, starting 10 drive displacement platform 11 of linear motor generates displacement, power supply interface panel 13 is extend out to
Crusing robot, 13 end of power supply interface panel magnetic plate A22 and crusing robot charging end housing 33 on magnetic plate B26 suction
The effect of drawing, absorption conical surface power supply terminal 18 pop up, and conical surface charging terminal 30 is docked with conical surface power supply terminal 18, realize that direct current is wired
Power supply interface and crusing robot progress are wired for being electrically connected, and charging modes are switched to wired charging method；
(5), previous step is connect, after docking successfully, the light emitting diode 33 that crusing robot charges in end housing 32 shines, power supply
After optoelectronic switch 17 on interface panel 13 receives optical signal, stop the movement of linear motor 10, survey monitor after charging
Device people closes the luminous signal of light emitting diode 33, and starting linear motor 10 retreats, and retracts conical surface power supply terminal by spring 19
18, power supply interface panel 13 retreats, and 10 stop motion of linear motor, the wired power supply interface of direct current is restored to standby mode, waits
Powered operation next time.
Implement electric inspection process robot of the present invention solar energy autonomous mixed charged device and method online, makes
Used time drives gear-box 5 by driver driving motor 4, to drive solar energy sailboard 7 and rotate, adjusts the sun by motor 4
Can windsurfing 7 light angle, the sun is tracked in the incident angle of Various Seasonal by photosensitive sensor 8 on solar energy sailboard 7,
Convenient for maximumlly improving the utilization rate of solar power generation, electric energy is converted by luminous energy, after the storage conversion of battery 2
Electric energy, controller 3 are the kernel control module based on DSP, so that the electric energy stored to battery 2 is managed, electric energy is by DC/
D/C voltage conversion module B carries out the transformation of voltage, provides suitable charging voltage and electric current for crusing robot, and pass through power supply
Direct current wireless power interface module 16 and the wired power-supplying interface module 14 of direct current on interface panel 13 carry out crusing robot
Mixed charged, and using voltage, voltage, the current information of current sensor monitoring power supply interface, utilize infrared sensor, photoelectricity
Switch 17 realizes the relative position detection of power supply interface panel 13 and crusing robot, is obtained using Beidou BD/GPS locating module
The location information of power supply unit itself realizes power supply system and survey monitor using the 3G/4G/5G communication module of mobile communications network
Device people, remote monitoring center information exchange, so that monitoring center and crusing robot are to the position of each solar charging device
It sets and is understood with charged state and controlled.Controller has necessary overload protection function, it is ensured that mistake under any circumstance
Operation, will not cause to damage, the method remotely controlled can also be used, close or restart problematic for Denso to robot
It sets.Keep power supply interface panel 13 elastic using 10 drive displacement platform 11 of linear motor, convenient for adjusting power supply interface panel 13
The distance between crusing robot is realized the stretching of 13 position of power supply interface panel, is powered to robot.
Power supply interface panel 13 uses hybrid power supply panel, i.e., direct current wireless power is respectively set on hybrid power supply panel
Interface module 16 and the wired power-supplying interface module 14 of direct current, when crusing robot is close to 13 certain distance range of power supply interface panel
Interior, before not yet being docked with the wired power-supplying interface module 14 of direct current, direct current wireless power interface module 16 can be to inspection
Robot carries out wireless charging, carries out electricity supplement to crusing robot, robot electricity caused by avoiding because of unpredictable element
Amount exhausts, and can not drive the case where completing recharging.When the charging of direct current wired power-supplying interface module 14 and crusing robot
After interface port docking, crusing robot charging system detects impedance variations using voltage and current sensor, judges charging
Whether mouth docks sufficiently, and well contacts, once wireline interface docking is good, charging system is cut by the control actuating of relay
It is changed to wired charging method, improves the efficiency and energy utilization rate of charging；Charging system monitors charging by impedance detection
The contact situation of mouth, while cooperating the voltage of robot interior, current sensor monitoring charge parameter, once there is wireline interface
Charging it is abnormal, crusing robot can switch to wireless power state, continues as crusing robot and provides energy；In inspection machine
Design has the receiving panel 40 of corresponding charging end interface and wireless charging on people, the charging end interface on crusing robot
Conical surface charging terminal 30 is set as tapered surface, opposite convenient for the conical surface power supply terminal 18 with the wired power-supplying interface module 14 of direct current
It answers, convenient for smoothly completing docking and separation, two infrared encoders 24 emit difference in the wired power-supplying interface module 14 of direct current
Encoded signal, (if left side infrared encoder 24 transmitting 111 coding, right side infrared encoder 24 transmitting 101 coding), table
Show the left-right position benchmark of the wired power-supplying interface module 14 of direct current, design has infrared volume on the shell 32 of crusing robot charging end
Code receiver A25 determines that the wired power supply of direct current connects according to encoding state after receiving the encoded signal that infrared encoder 24 emits
The position of mouth mold block 14 controls movement speed, close to power supply interface；When left and right ends are all aligned, driven by linear motor 10
Displacement platform 11 generates displacement, power supply interface panel 13 is stretched out, power supply interface panel 13 is close to crusing robot to certain distance
When, utilize magnetic plate B26 in magnetic plate A22 and crusing robot the charging end housing 32 at wired 14 end of power-supplying interface module of direct current
Sucking action, absorption conical surface power supply terminal 18 pops up, and conical surface charging terminal 30 docks with conical surface power supply terminal 18, dock successfully
Afterwards, charging docking pass signal is issued by robot, the light emitting diode 33 in driving robot charging end housing 32 shines, directly
It flows after the optoelectronic switch 17 in wired power-supplying interface module 14 receives optical signal, stops the movement of linear motor 10；It has charged
Finish, robot closes the optical signal of light emitting diode 33, and the wired power-supplying interface module 14 of direct current starts linear motor 10 and retreats, benefit
The conical surface power supply terminal 18 in the wired power-supplying interface module 14 of direct current is retracted with spring 19, when the wired power-supplying interface module 14 of direct current
After backing to certain distance, 10 stop motion of linear motor, the wired power-supplying interface module 14 of direct current is restored to standby mode, waits
Powered operation next time.
Direct current wireless power interface module 16 is designed using electromagnetic induction principle, by direct current wireless power interface module
Integrated circuit controller is set in 16 panels, and integrated circuit controller generates alternating signal, motivates built-in feeder ear interface line
Circle 35, crusing robot receiving end interface coil 34 generate induced potential under the excitation of 35 electromagnetic wave of feeder ear interface coil,
After receiving end interface coil 34 improves electric signal, charges for the battery of crusing robot, sent out by infrared coding
The relative position that emitter 15 detects crusing robot and wireless power end can when crusing robot enters certain distance range
According to communications status, determine whether crusing robot needs to charge, so that it may which wireless charging is started by feeder ear interface coil 35
Function；Two infrared coding emitters 15 and two, right side infrared coding of 16 upper left side of direct current wireless power interface module emit
Device 15 emits different encoded signals, (such as two, left side, 111 coding of the transmitting of infrared encoder 15, two, right side infrared encoder
15 transmitting, 101 coding), 40 upper left side of crusing robot charging end receiving panel, two infrared coding receiver B41 and right side two
A infrared coding receiver B41 receives 111 encoded signals and 101 encoded signals respectively, determines that direct current is wireless according to encoding state
The position of power-supplying interface module 16.
Part not in the detailed description of the invention is the prior art.
The embodiment selected herein to disclose goal of the invention of the invention, is presently considered to be suitable, still,
It is to be understood that the present invention is intended to include all changes and improvement that all belong to the embodiment in this design and invention scope.
Claims (8)
1. a kind of electric inspection process robot solar energy autonomous mixed charged device, including pylon and solar powered system online
System, it is characterized in that: solar electric power supply system include battery, controller, solar energy sailboard, the wired power-supplying interface module of direct current,
Direct current wireless power interface module, voltage sensor, current sensor, photosensitive sensor, infrared encoder and optoelectronic switch,
Middle controller includes being respectively used to photovoltaic voltage to be converted to the DC/DC voltage transformation module A of battery charging voltage, incite somebody to action
Battery output voltage is converted to DC/DC voltage transformation module B, communication module, the locating module, base of robot charging voltage
In the kernel control module of DSP；The controller and battery installed by cabinet are respectively equipped on the tower body of pylon, in pylon
Angle steel on motor is installed, motor is driven by driver and connect with the input terminal of gear-box, the output end of gear-box and
Mounting bracket is fixedly connected, and solar energy sailboard is fixed on the mounting bracket, and controller passes through route and solar energy sailboard, straight respectively
Flow wired power-supplying interface module, direct current wireless power interface module, voltage sensor, current sensor, photosensitive sensor, infrared
Encoder and optoelectronic switch, motor connection, are connected with the wired power supply interface of direct current on DC/DC voltage transformation module B output end
Module and direct current wireless power interface module, the wired power-supplying interface module of direct current and direct current wireless power interface module are respectively separated
It is mounted on power supply interface panel, power supply interface panel is fixed on the top of displacement platform by connecting plate, and displacement platform is arranged straight
On line motor, linear motor is fixed on the top of pylon by mounting rack.
2. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that:
Support frame is equipped between gear-box and pylon, one end of support frame is fixed on the lower part of gear-box, the other end of support frame with
Pylon is fixedly connected, and the output shaft of the gear shaft of one of gear and motor is connected by shaft coupling in gear-box, another
The gear shaft of gear is fixedly connected by shaft coupling with mounting bracket, two gear intermeshing settings.
3. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that:
The connecting plate is set as L shape, and the outer end side surface of connecting plate is arranged in power supply interface panel.
4. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that:
The power supply interface panel is mixed charged panel, is equipped with the wired power-supplying interface module of direct current on the top of power supply interface panel,
It is equipped with direct current wireless power interface module in the lower part of power supply interface panel, is equipped with threaded hole in the side of power supply interface panel,
It is fixedly connected by bolt with the outer end side arm of connecting plate.
5. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that:
Outside in the middle part of the wired power-supplying interface module of direct current is equipped with conical surface power supply terminal, is equipped with bullet in the wired power-supplying interface module of direct current
Spring is equipped with positive and negative anodes insulating layer A at conical surface power supply terminal rear portion, and the front end of conical surface power supply terminal is equipped with tapered electrode cathode B, cone
The conical surface of face power supply terminal is equipped with tapered electrode anode B, is connected separately with power cable, ground wire on positive and negative anodes insulating layer A
A, ground wire A, power cable rear end sequentially pass through the wired power-supplying interface module of direct current and connecting plate, respectively ground connection and power supply,
Be equipped with magnetic plate A at the rear portion of conical surface power supply terminal, top outside the wired power-supplying interface module of direct current, lower part two sides set respectively
There are two optoelectronic switch and two infrared encoders, the charging end interface panel being correspondingly connected with the wired power-supplying interface module of direct current
It is arranged in robot comprising shell is equipped with the conical surface charging terminal being recessed inwardly, the conical surface in the interior Middle face of shell
The shape of charging terminal and conical surface power supply terminal is disposed as tapered surface, and the setting that cooperates, at conical surface charging terminal rear portion
Equipped with magnetic plate B, magnetic plate B and magnetic plate A magnetism are attracting, are respectively equipped with and two in the two sides on shell inner face top, lower part
Corresponding two light emitting diodes of optoelectronic switch, two infrared encoders, two infrared coding receiver A charge in the conical surface
Tapered electrode anode A, positive and negative anodes insulating layer B and tapered electrode cathode A are successively arranged on the inner face of terminal from front to back, positive and negative
It is connected separately with cable and ground wire B on the insulating layer B of pole, the outer end of cable and ground wire B both pass through shell, and cable is connect with battery,
Ground wire B ground connection.
6. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that:
The middle part of direct current wireless power interface module panel is equipped with feeder ear interface coil, in direct current wireless power interface module panel
Quadrangle is equipped with infrared coding emitter, and the receiving end interface coil being correspondingly connected with feeder ear interface coil is arranged in survey monitor
In device people's receiving panel, the quadrangle of the receiving panel of receiving end interface coil, which is respectively equipped with, receives infrared coding emitter signal
Infrared coding receiver B is equipped with integrated in the panel of direct current wireless power interface module panel and receiving end interface coil
Circuit controller.
7. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that:
The controller is connect with infrared coding emitter, optoelectronic switch, infrared encoder by signal respectively.
8. electric inspection process robot solar energy described in any claim online independently fill by mixing in -7 according to claim 1
The method of electric installation, specifically includes the following steps:
(1), start motor, power is transmitted so as to adjust the light angle of solar energy sailboard by gear-box, is converted light energy into
Photovoltaic voltage is converted to the charging voltage of battery by electric energy, DC/DC voltage transformation module A, controls mould by the core based on DSP
Block is managed battery, and the electric energy after accumulators store conversion passes through DC/DC voltage when crusing robot docking is charged
Conversion module B carries out the transformation of voltage, and battery output voltage is converted to the suitable charging voltage of crusing robot and electric current,
Wired power-supplying interface module on power supply interface panel, preparation charge to crusing robot；
(2), the relative position for the infrared encoder detection crusing robot being arranged on power supply interface panel, crusing robot are close
Before power supply interface panel is not docked with electrical interface panel power supply interface, by the collection in direct current wireless power interface module
Alternating signal is generated at circuit controller, is the battery of crusing robot after receiving end interface coil improves electric signal
Charge, by infrared coding emitter detect crusing robot and wireless power end relative position, crusing robot into
When entering certain distance range, determines whether crusing robot needs to charge according to communications status, started by feeder ear interface coil
Wireless charging function；
(3), previous step is connect, the infrared encoder transmitter of two sides issues different coding signal, inspection on power supply interface panel
The infrared coding receiver B of two sides receives the difference of infrared encoder transmitter transmitting respectively in robot charging end receiving panel
Encoded signal, determines the left and right base position of the wired power supply interface of power supply interface panel direct current, and crusing robot has close to direct current
Line power supply interface；
(4), previous step is connect, starting linear motor drive displacement platform generates displacement, power supply interface panel is extend out to survey monitor
Device people, power supply interface panel end magnetic plate A and crusing robot charging end housing on magnetic plate B sucking action, absorption cone
The pop-up of face power supply terminal, conical surface charging terminal are docked with conical surface power supply terminal, realize the wired power supply interface of direct current and inspection machine
People's progress is wired for electrical connection, and charging modes are switched to wired charging method；
(5), previous step is connect, after docking successfully, the lumination of light emitting diode that crusing robot charges in end housing, power supply interface
After optoelectronic switch on panel receives optical signal, stop the movement of linear motor, crusing robot closes hair after charging
The luminous signal of optical diode, starting linear motor retreats, by springs return conical surface power supply terminal, after power supply interface panel
It moves back, linear motor stop motion, the wired power supply interface of direct current is restored to standby mode, waits powered operation next time.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018107345330 | 2018-07-06 | ||
| CN201810734533.0A CN108565956A (en) | 2018-07-06 | 2018-07-06 | Electric inspection process robot solar energy autonomous mixed charged device and method online |
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| Publication Number | Publication Date |
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| CN110138073A true CN110138073A (en) | 2019-08-16 |
| CN110138073B CN110138073B (en) | 2024-03-26 |
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| CN201910602099.5A Active CN110138073B (en) | 2018-07-06 | 2019-07-05 | Solar online autonomous hybrid charging device and method for electric power inspection robot |
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| CN110148993A (en) * | 2018-11-12 | 2019-08-20 | 浙江大学山东工业技术研究院 | A kind of outdoor moving robot charging system and charging method |
| CN110165748B (en) * | 2019-06-17 | 2024-05-07 | 国网福建省电力有限公司泉州供电公司 | On-line charging station of inspection robot |
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Also Published As
| Publication number | Publication date |
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| CN110138073B (en) | 2024-03-26 |
| CN108565956A (en) | 2018-09-21 |
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