CN208638085U - Electric inspection process robot power supply system - Google Patents
Electric inspection process robot power supply system Download PDFInfo
- Publication number
- CN208638085U CN208638085U CN201821040417.0U CN201821040417U CN208638085U CN 208638085 U CN208638085 U CN 208638085U CN 201821040417 U CN201821040417 U CN 201821040417U CN 208638085 U CN208638085 U CN 208638085U
- Authority
- CN
- China
- Prior art keywords
- laser
- inspection process
- electric inspection
- process robot
- tracking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model provides a kind of electric inspection process robot power supply system.The electric inspection process robot power supply system includes: tracking device, laser energy emitter, the photoelectric conversion device and energy storage device being arranged in electric inspection process robot.Tracking device is used for the position of tracing detection electric inspection process robot, sends tracking information to laser energy emitter；Laser energy emitter is electrically connected with tracking device, for according to tracking information, the photoelectric replacement device in electric inspection process robot to emit laser；Photoelectric conversion device is electrically connected with energy storage device, for receiving the laser of laser energy emitter transmitting, is converted electric energy for laser energy and is transmitted to energy storage device；Energy storage device is used to be electrically connected the feeder ear of electric inspection process robot.The uninterrupted power supply for guaranteeing electric inspection process robot, allows the long-time long range operation of electric inspection process robot.
Description
Technical field
The utility model relates to electric power to energize technical field, more particularly to electric inspection process robot power supply system.
Background technique
For the personal safety for ensureing electric inspection process personnel, inspection human cost is reduced, many substations have begun gradually
The inspection work of transmission line of electricity is carried out using electric inspection process robot.At present using it is more be wheeled crusing robot, when
Wheeled inspection machine man-hour, its two column wheels are hung on the ground wire of transmission line of electricity, with transmission line of electricity concurrent movement inspection.
Existing wheeled crusing robot is energized by self-contained battery, this makes the operation of wheeled crusing robot
Duration is shorter, needs manually to manage charge condition and periodic replacement battery, cannot execute the patrol task of long-time long range.
Utility model content
Based on this, it is necessary to be directed to the wheeled shorter problem of crusing robot operation duration, provide a kind of electric inspection process machine
People's power supply system.
The utility model embodiment provides a kind of electric inspection process robot power supply system, comprising: laser energy emitter,
Tracking device, the photoelectric conversion device and energy storage device being arranged in electric inspection process robot.
Tracking device is used for the position of tracing detection electric inspection process robot, sends tracking information to laser energy and emits dress
It sets；
Laser energy emitter is electrically connected with tracking device, is used for according to tracking information, in electric inspection process robot
Photoelectric replacement device emit laser；
Photoelectric conversion device is electrically connected with energy storage device, for receiving the laser of laser energy emitter transmitting, will be swashed
Light energy is converted into electric energy and is transmitted to energy storage device；Energy storage device is used to be electrically connected the feeder ear of electric inspection process robot.
It in one of the embodiments, further include laser reflecting device, tracking device is laser tracker；
Laser reflecting device is arranged in electric inspection process robot, is used for reflection tracking laser；
Laser tracker tracks electric inspection process robot for emitting tracking laser, and according to the tracking laser of reflection,
Tracking information is generated and sent to laser energy emitter.
Laser energy emitter includes: laser emitter, angular transformation module, first in one of the embodiments,
Control module,
First control module is electrically connected laser emitter, angular transformation module and laser tracker, is used for basis
Tracking information, transmission angle control signal to angular transformation module, and for sending emissioning controling signal to laser emitter；
Laser emitter is arranged in angular transformation module, and angular transformation module controls signal, adjustment for receiving angle
The Laser emission angle of laser emitter；
Laser emitter emits laser for receiving emissioning controling signal.
It in one of the embodiments, further include electric power controller,
Electric power controller is arranged in electric inspection process robot；Electric power controller is electrically connected with energy storage device, is used for
When the output voltage of energy storage device is lower than first threshold, charging signals are sent to the first control module.
Electric power controller includes: that voltage detection module, the second control module and first are logical in one of the embodiments,
Believe module.
Voltage detection module is electrically connected energy storage device and the second control module, for detecting the output electricity of energy storage device
Pressure, output detection signal to the second control module；
Second control module be used for according to detection signal, judge whether the output voltage of energy storage device is less than first threshold,
When the output voltage of energy storage device is less than first threshold, output charging signals to first communication module；
First communication device receives charging signals and is sent to the first control module.
Laser energy emitter further includes second communication module in one of the embodiments,
Second communication module is electrically connected first control device, for receiving charging signals and being sent to first control device；
First control device is also used to export emissioning controling signal to laser emitter according to charging signals.
Second control device includes voltage comparator in one of the embodiments,
The negative input of voltage comparator connects voltage detection module, the positive input connection first of voltage comparator
The output end of threshold reference voltage, voltage comparator connects first communication module.
Second control device is single-chip microcontroller in one of the embodiments,.
Laser tracking module is laser tracker in one of the embodiments,.
Photoelectric conversion module is photovoltaic receiver in one of the embodiments,.
Above-mentioned electric inspection process robot power supply system, the position of electric inspection process robot is determined by tracking device, from
And laser energy emitter is made to emit laser to photoelectric conversion device, photoelectric conversion device switched laser energy is electric energy, and
Electric energy is stored in energy storage device, is powered for electric inspection process robot.It ensure that the uninterrupted power supply of electric inspection process robot,
Allow the long-time long range operation of electric inspection process robot, and does not delay the inspection work of electric inspection process robot.And
Make electric inspection process robot while charging, moreover it is possible to carry out patrol task.
Detailed description of the invention
Fig. 1 is the structural block diagram of electric inspection process robot power supply system in an embodiment；
Fig. 2 is the structural schematic diagram of electric inspection process robot power supply system in another embodiment；
Fig. 3 is the structural block diagram of electric inspection process robot power supply system in another embodiment；
Fig. 4 is the structural block diagram of electric inspection process robot power supply system in another embodiment.
Specific embodiment
The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model,
It states.The preferred embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms in fact
It is existing, however it is not limited to embodiment described herein.On the contrary, purpose of providing these embodiments is makes public affairs to the utility model
It is more thorough and comprehensive to open content.
It should be noted that it can be directly to separately when an element is considered as " connection " another element
One element and it is in combination be integrated, or may be simultaneously present centering elements.Term as used herein " installation ", " one
End ", " other end " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein includes
Any and all combinations of one or more related listed items.
As shown in Figure 1, the utility model embodiment provides a kind of electric inspection process robot power supply system, comprising: tracking dress
Set 10, laser energy emitter 20, the photoelectric conversion device 30 being arranged in electric inspection process robot and energy storage device 40.
Tracking device 10 is used for the position of tracing detection electric inspection process robot, sends tracking information and emits to laser energy
Device 20.Laser energy emitter 20 is for the photoelectric conversion device 30 according to tracking information, in electric inspection process robot
Emit laser.Photoelectric conversion device 30 is electrically connected with energy storage device 40, for receiving swashing for the transmitting of laser energy emitter 20
Light converts electric energy for laser energy and is transmitted to energy storage device 40.Energy storage device 40 is for being electrically connected electric inspection process robot
Feeder ear.
Specifically, laser energy emitter 20 and tracking device 10 can be set in electric inspection process robot inspection route
Around facility on.Tracking device 10 is electrically connected with laser energy emitter 20, is used for tracing detection electric inspection process machine
The position of people, the tracking information that will test are sent to laser energy emitter 20.Laser energy emitter 20 according to
Track information determines the position of photoelectric conversion device 30, adjusts the target point of Laser emission, to setting in electric inspection process robot
Photoelectric conversion device 30 emit laser.Photoelectric conversion device 30 receives laser, and is translated into electric energy, output electric energy to storage
It can device 40.Energy storage device 40 is the power supply of electric inspection process robot.Wherein, tracking information is 10 detecting and tracking of tracking device to electricity
The information exported after power crusing robot.
Based on this, electric inspection process robot provided in this embodiment power supply system determines that electric power patrols by tracking device 10
The position of robot is examined, so that laser energy emitter 20 be made to emit laser to photoelectric replacement device, guarantees electric inspection process machine
The uninterrupted power supply of device people allows the long-time long range operation of electric inspection process robot, and does not delay electric inspection process machine
The inspection of people works.And make electric inspection process robot while charging, moreover it is possible to carry out patrol task.
In one embodiment, the transmission of electricity near inspection route is arranged in laser energy emitter 20 and tracking device 10
On shaft tower, the top of electric inspection process robot is arranged in photoelectric conversion device 30, facilitates the laser energy transmitting dress for receiving eminence
20 transmitting laser are set to photoelectric conversion device 30.
In one embodiment, as shown in Fig. 2, further including laser reflecting device 50, tracking device 10 is laser tracking dress
Set 11.
Laser reflecting device is arranged in electric inspection process robot, is used for reflection tracking laser.Laser tracker 11 is used
Laser is tracked in transmitting, and according to the tracking laser of reflection, tracks electric inspection process robot, generates and sends tracking information to swashing
Light energy emitter 20.
Specifically, wheel is hung on the ground wire of transmission line of electricity when the inspection of electric inspection process robot, its inspection route is phase
To fixed.The transmitting tracking laser scanning inspection route of laser tracker 11, it is sharp in electric inspection process robot when detecting
After the reflected tracking laser of light emitting devices 50, electric inspection process robot is persistently tracked, the tracking detected is persistently sent
Information is to laser energy emitter 20.Wherein, location information, the electric power that tracking information includes at least electric inspection process robot patrol
Examine the range information of robot and tracking device 10, the tracking angle information of tracking device 10.Swash in one of the embodiments,
Optrack 11 is laser tracker.
Traditional positioning method has GPS positioning, base station location etc., and all there is a certain error for these localization methods, cannot
The precise positioning of electric inspection process robot is realized well.Electric inspection process machine is detected using laser tracker 11 in the present embodiment
The position of device people can be realized the precise positioning to electric inspection process robot.
In one embodiment, as shown in figure 3, laser energy emitter 20 includes: laser emitter 21, angular transformation
Module 22, the first control module 23,
First control module 23 is electrically connected laser emitter 21, angular transformation module 22 and laser tracker 11,
For according to tracking information, sending angle control signal to angular transformation module 22, and for sending emissioning controling signal to swashing
Optical transmitting set 21.Laser emitter 21 is arranged in angular transformation module 22, and angular transformation module 22 is controlled for receiving angle
Signal adjusts the Laser emission angle of laser emitter 21.Laser emitter 21 receives emissioning controling signal, emits laser.
Specifically, the first control module 23 receives the tracking information that laser tracker 11 exports, it is defeated according to tracking information
Angle control signal makes 22 rotary laser transmitter 21 of angular transformation module alignment photoelectric conversion dress to angular transformation module 22 out
Set 30；Output emit a control signal to laser emitter 21, and control laser emitter 21 emits laser.Track electric inspection process machine
The position of people adjusts the launch angle of laser emitter 21 in real time, makes electric inspection process robot can be steady during inspection
Fixed acquisition electric energy.
First control device calculates laser hair according to the position of electric inspection process robot in one of the embodiments,
The charging launch angle of injection device 50 generates and sends angle control signal to angular transformation module 22, makes laser beam emitting device
50 rotate to charging launch angle.
Preferably, laser reflecting device and photoelectric conversion device 30 correspond respectively to laser tracker 11 and laser energy
Emitter 20 is arranged, for example, laser reflecting device and photoelectric conversion device 30 are before and after electric inspection process robot direction of advance
The top of electric inspection process robot is set, is divided on corresponding laser tracker 11 and laser energy emitter 20 are vertical
It sets on transmission tower.First control module 23 of laser energy emitter 20 is according to the tracking angle of laser tracker 11
Information sends angle control instruction to angular transformation module 22, makes the angle and laser tracker 11 of angular transformation module 22
Tracking angle it is identical, laser beam emitting device 50 can be made to emit laser to photoelectric conversion device 30, alignment is completed and charge.This
Embodiment simplifies the work of first control device, and laser can be made to send out by the positional relationship of setting R-T unit accordingly
Injection device 50 more accurately emits laser to photoelectric conversion device 30.
In one embodiment, angular transformation module 22 be can respectively in the motor drive mechanism of horizontal and vertical upper rotation,
It upper can be rotated by 360 ° horizontal and vertical.Laser emitter 21 can swash without dead angle, comprehensive emit to its surrounding
Light.In some embodiments, energy storage device 40 can be battery, lithium battery or super capacitor.In some embodiments, photoelectricity
Conversion equipment 30 is photovoltaic receiver.
It in one embodiment, further include electric power controller 60, electric power controller 60 is arranged in electric inspection process machine
On people, electric power controller 60 is electrically connected with energy storage device 40, is lower than first threshold for the output voltage when energy storage device 40
When, charging signals are sent to the first control module 23.
Wherein, first threshold is preset voltage value, when the output voltage of energy storage device 40 is lower than first threshold, then it represents that storage
The electricity of energy unit is lower.Specifically, electric power controller 60 detects the output voltage of energy storage device 40, and according to output electricity
Pressure, judges the electricity in energy storage device 40, when the output voltage of energy storage device 40 is lower than first threshold, illustrates energy storage device 40
Electricity it is lower, charge, at this moment send charging signals to the first control module 23, swash the transmitting of laser emitter 21
Light is the charging of energy storage device 40.Laser energy emitter 20 does not need to send always laser energy to photoelectricity in the present embodiment
Converter device, it is energy saving, save system operation cost.
In one embodiment, as shown in figure 3, electric power controller 60 includes: that voltage detection module 61, second controls mould
Block 62 and first communication module 63.
Voltage detection module 61 is electrically connected energy storage device 40 and the second control module 62, for detecting energy storage device 40
Output voltage, output detection signal is to the second control module 62.Second control module 62 judges that energy storage fills according to detection signal
Whether the output voltage for setting 40 is less than first threshold, when the output voltage of energy storage device 40 is less than first threshold, output charging
Signal is to first communication module 63.First communication device receives charging signals and is sent to the first control module 23.
Specifically, voltage detection module 61 detects the output voltage of energy storage device 40, output detection signal to the second control
Module 62, detection signal can be analog electrical signal and be also possible to digital electric signal.Second control module, 62 recognition detection signal,
Judge whether the size of the output voltage of energy storage device 40 is less than first threshold, when determine output voltage be less than first threshold, then
Charging signals are sent to first communication module 63, charging signals are sent to by the first control module by first communication module 63
23。
In one embodiment, as shown in figure 3, laser energy emitter 20 further includes second communication module 24,
Second communication module 24 is electrically connected first control device, for receiving charging signals and being sent to the first control dress
It sets.First control device is also used to export emissioning controling signal to laser emitter 21 according to charging signals.
Specifically, laser tracker 11 continues the electric inspection process robot within the scope of tracing detection, first control device
According to the location information of electric inspection process robot, output angle control instruction to angle conversion device makes laser beam emitting device 50
It is directed at photoelectric conversion device 30.Second communication module 24 receives the charge request that first communication module 63 is sent, by charge request
Charging signals are decoded, and are exported to first control device.After first control device receives charging signals, emissioning controling signal is exported
To laser beam emitting device 50, so that laser beam emitting device 50 emits laser to photoelectric conversion device 30.
In one embodiment, as shown in figure 4, the second control module 62 includes voltage comparator 621.
The negative input of voltage comparator 621 is electrically connected voltage detection module 61, the positive input of voltage comparator 621
End connection first threshold reference voltage Vr, the output end of voltage comparator 621 are electrically connected first communication module 63.
Wherein, the size of first threshold reference voltage is corresponding to first threshold.When the inspection of the output of voltage detection module 61
When surveying signal and being greater than first threshold reference voltage, voltage comparator 621 exports low level signal, the not work of first communication module 63
Make, when the detection signal that voltage detection module 61 exports, which is less than first threshold, makes a misstep voltage, voltage comparator 621 exports high electricity
Ordinary mail number, first communication device work, sends charging signals.
In one embodiment, the second control module 62 is single-chip microcontroller.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of electric inspection process robot power supply system characterized by comprising tracking device, is set laser energy emitter
Set photoelectric conversion device and energy storage device in electric inspection process robot；
The tracking device is used for the position of tracing detection electric inspection process robot, sends tracking information and sends out to the laser energy
Injection device；
The laser energy emitter is electrically connected with the tracking device, is used for according to tracking information, to electric inspection process machine
Photoelectric replacement device on people emits laser；
The photoelectric conversion device is electrically connected with the energy storage device, for receiving swashing for the laser energy emitter transmitting
Light converts electric energy for laser energy and is transmitted to the energy storage device；The energy storage device is for being electrically connected electric inspection process machine
The feeder ear of device people.
2. electric inspection process robot according to claim 1 power supply system, which is characterized in that further include laser reflection dress
It sets, the tracking device is laser tracker；
The laser reflecting device is arranged in electric inspection process robot, is used for reflection tracking laser；
The laser tracker tracks electric inspection process robot for emitting tracking laser, and according to the tracking laser of reflection,
The tracking information is generated and sent to the laser energy emitter.
3. electric inspection process robot according to claim 2 power supply system, which is characterized in that the laser energy transmitting dress
Setting includes: laser emitter, angular transformation module, the first control module,
First control module is electrically connected the laser emitter, the angular transformation module and laser tracking dress
It sets, is used for according to the tracking information, transmission angle control signal to the angular transformation module, and for sending emission control
Signal is to the laser emitter；
The laser emitter is arranged in the angular transformation module, and the angular transformation module is for receiving the angle control
Signal processed adjusts the Laser emission angle of the laser emitter；
The laser emitter emits laser for receiving emissioning controling signal.
4. electric inspection process robot according to claim 3 power supply system, which is characterized in that further include power management dress
It sets,
The electric power controller is arranged in electric inspection process robot；The electric power controller is electrically connected with energy storage device,
For sending charging signals to first control module when the output voltage of the energy storage device is lower than first threshold.
5. electric inspection process robot according to claim 4 power supply system, which is characterized in that the electric power controller packet
It includes: voltage detection module, the second control module and first communication module；
The voltage detection module is electrically connected the energy storage device and second control module, for detecting the energy storage
The output voltage of device, output detection signal to second control module；
Whether second control module is used to judge the output voltage of the energy storage device less than the first threshold according to detection signal
Value, when the output voltage of the energy storage device is less than the first threshold, output charging signals to the first communication module；
The first communication device receives the charging signals and is sent to first control module.
6. electric inspection process robot according to claim 5 power supply system, which is characterized in that the laser energy transmitting dress
Setting further includes second communication module,
The second communication module is electrically connected the first control device, for receiving the charging signals and being sent to described the
One control device；
The first control device is also used to export the emissioning controling signal to the Laser emission according to the charging signals
Device.
7. electric inspection process robot according to claim 5 or 6 power supply system, which is characterized in that the second control mould
Block includes voltage comparator,
The negative input of the voltage comparator connects the voltage detection module, the positive input of the voltage comparator
First threshold reference voltage is connected, the output end of the voltage comparator connects the first communication module.
8. electric inspection process robot according to claim 5 or 6 power supply system, which is characterized in that the second control mould
Block is single-chip microcontroller.
9. electric inspection process robot according to claim 8 power supply system, which is characterized in that the laser tracker is
Laser tracker.
10. electric inspection process robot power supply system, feature described according to claim 1 or 2 or 3 or 4 or 5 or 6 or 9 exist
In the photoelectric conversion device is photovoltaic receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821040417.0U CN208638085U (en) | 2018-07-03 | 2018-07-03 | Electric inspection process robot power supply system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821040417.0U CN208638085U (en) | 2018-07-03 | 2018-07-03 | Electric inspection process robot power supply system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208638085U true CN208638085U (en) | 2019-03-22 |
Family
ID=65736532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821040417.0U Active CN208638085U (en) | 2018-07-03 | 2018-07-03 | Electric inspection process robot power supply system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208638085U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108599355A (en) * | 2018-07-03 | 2018-09-28 | 广州供电局有限公司 | Electric inspection process robot power supply system |
-
2018
- 2018-07-03 CN CN201821040417.0U patent/CN208638085U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108599355A (en) * | 2018-07-03 | 2018-09-28 | 广州供电局有限公司 | Electric inspection process robot power supply system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103633924B (en) | A kind of laser energy transfer system | |
| CN108039780B (en) | Laser energy supply system for transformer substation | |
| CN106292718A (en) | A kind of method and system realizing robot autonomous charging based on ultrasonic intensity | |
| CN101378293A (en) | Method and apparatus for measuring network node of underwater sensor | |
| CN207328186U (en) | A kind of polling transmission line unmanned plane laser positioning charging system | |
| CN104953709A (en) | Intelligent patrol robot of transformer substation | |
| CN106444748A (en) | Method and system for automatic charging of robot | |
| CN206504737U (en) | Robot autonomous wireless charging system based on multistage complex navigation | |
| CN106877468A (en) | Unmanned plane charging method based on power-line patrolling | |
| CN205889197U (en) | Wireless automation is charged intelligence and is gone on patrol machine people | |
| CN208638085U (en) | Electric inspection process robot power supply system | |
| CN106451635A (en) | Intelligent recharging method and apparatus | |
| CN110082638A (en) | A kind of power matching network automatic inspection equipment and method | |
| CN108072546A (en) | A kind of hybrid power unmanned water acquisition vessel | |
| CN102983454A (en) | Artificial intelligence charging system | |
| CN206544183U (en) | A kind of crusing robot system communicated based on wide area Internet | |
| CN108910355A (en) | A kind of intelligent garbage recyclable device and control method | |
| CN207867336U (en) | A kind of service robot autonomous navigation chassis system | |
| CN106352799A (en) | Measuring instrument for power transmission line tower | |
| CN106681163A (en) | Robot system for controlling household appliances and control method | |
| CN203977289U (en) | A kind of bridge cables detection platform | |
| CN108599355A (en) | Electric inspection process robot power supply system | |
| CN112104091A (en) | Portable wireless charging system based on unmanned aerial vehicle is automatic to be cruised | |
| CN208433806U (en) | Power-line patrolling monitoring and positioning system | |
| CN208522497U (en) | Crusing robot charging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200930 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee before: GUANGZHOU POWER SUPPLY Co.,Ltd. |