CN102170146A - A battery intelligent management system used for a patrol robot in a transformer substation - Google Patents
A battery intelligent management system used for a patrol robot in a transformer substation Download PDFInfo
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- CN102170146A CN102170146A CN2010105766019A CN201010576601A CN102170146A CN 102170146 A CN102170146 A CN 102170146A CN 2010105766019 A CN2010105766019 A CN 2010105766019A CN 201010576601 A CN201010576601 A CN 201010576601A CN 102170146 A CN102170146 A CN 102170146A
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Abstract
The invention relates to a battery intelligent management system used for a patrol robot in a transformer substation. The battery management system has functions of storage battery box temperature controlling, real-time battery electric quantity monitoring, low electric quantity alarming, self navigating for jointing with a charging interface in a base station of the substation, and intelligent charging. A storage battery of a robot dolly is disposed in a sealed temperature control box and the temperature in the temperature control box is maintained in a range of rated working temperature of the storage battery. When the robot dolly is patrolling and the battery is running low, an alarm is sent to the battery management system and then the robot dolly is forced to return to the base station of the substation for being charged. Then the robot dolly is employing an infrared ray tracking method or guided by an infrared range-measurement system to joint with the charging interface for being charged. In the charging process, if the robot dolly receives a patrolling order, the battery electric quantity should be checked firstly. If the electric quantity is sufficient, the temperature control device starts preheating or cooling to make the robot dolly separate from the base station for the patrolling mission, or the patrolling order is delayed to be executed until the storage battery is charged to be full.
Description
Technical field
The present invention relates to a kind of battery intelligent management system, the battery intelligent management system of robot is maked an inspection tour by a kind of specifically transformer station that is applicable to.
Background technology
For a long time, the substation equipment manual inspection operating type that China's power industry is continued to use, not only big under high pressure, ultra-high voltage environment to hazard to person, and electric power netting safe running brought certain hidden danger.Substation equipment is maked an inspection tour the tour work that robot can replace manually finishing substation equipment, and making an inspection tour robot can be according to predefined assignment instructions or staff's remote operation, and self-navigation location and path planning are maked an inspection tour equipment.Information such as the real time data that the staff only needs to receive by the backstage base station computer, image can be understood the working condition of substation equipment.The battery system of inspecting substation equipment robot is one of key technology that realizes equipment routing inspection work as its main power capacity source.
Battery-operated is in certain temperature range, and the working temperature of overshoot will cause the battery capacity minimizing and the reduction in useful life.Especially in the northern area of China, temperature in four seasons changes greatly, and day and night temperature is big, and transformer station makes an inspection tour the battery operated reliability and stability of robot and is subjected to very big influence, therefore, strict demand has been proposed temperature monitoring, the temperature control system of making an inspection tour the robot Vehicular accumulator cell.Accumulator cell charging and discharging is very frequent, and China transformer station progressively is modified into unattended operation transformer station, can not dependence manually finish charge in batteries.Make an inspection tour that robot battery electric quantity monitoring, low electric weight are reported to the police, base station charging and supporting base station charging system are returned in navigation certainly, become transformer station and make an inspection tour emphasis and difficult point in the robot development work.
Summary of the invention
The present invention has proposed a kind of accumulator box temperature control, real-time battery electric quantity monitoring, has hanged down the electric weight warning, has navigated certainly and finish the battery intelligent management system of tour robot of transformer station of docking, realize intelligent charge with the base station charging inlet in order to overcome the defective of prior art existence.
Technical scheme of the present invention is: transformer station makes an inspection tour battery intelligent management system of robot and comprises robot car battery system and base station charging system, wherein, the robot car battery system is by single chip machine controlling circuit, attemperating unit, battery electric quantity checking device, compositions such as distance detection device; The base station charging system comprises single chip machine controlling circuit, electromagnet sucker etc.Distance detection device comprises infrared ray tracking device and infrared distance measurement device.
The robot car Vehicular accumulator cell is contained in the sealing temperature control box, and installing semiconductor refrigerating heat-producing machine is filled warming asbestos, the inside and outside temperature sensor of installing respectively of temperature control box in the temperature control box.The temperature inside the box transducer feeds back to robot car battery control single chip computer with temperature value, and heat-producing machine heating of control semiconductor refrigerating or cooling guarantee that storage battery is in the nominal operation temperature range.Detect battery electric quantity in real time, when residual electric quantity is lower than a certain charge value of setting, report to the police, force robot car to stop tour work, return transformer station's base station charging to the robot car battery control system.
When returning the base station charging, robot car adopts infrared ray tracking mode or the range-measurement infrared system guiding by installing on robot car and the base station charging system, and is involutory with charging inlet near the base station charger, charges.In charging process, the command instruction that the real-time testing personnel of robot car send, when receiving when beginning to make an inspection tour instruction, measure the charge in batteries electric weight, if sufficient, attemperating unit is connected base station power, preheat or lower the temperature, battery the temperature inside the box is improved or be reduced in the storage battery nominal operation temperature range, robot car breaks away from the base station, carries out the tour task; Otherwise dolly postpones to carry out makes an inspection tour instruction, is full of until storage battery.
Description of drawings
Fig. 1 is the structured flowchart that battery intelligent management system of robot is maked an inspection tour by transformer station of the present invention.
Embodiment
Structured flowchart of the present invention as shown in Figure 1, the robot car Vehicular accumulator cell is contained in the sealing temperature control box, installing sensor for measuring temperature, semiconductor refrigerating heat-producing machine in the temperature control box, fills warming asbestos, case sensor for measuring temperature is housed outward.The temperature inside the box transducer feeds back to single-chip microcomputer in real time with temperature value, and heating of Single-chip Controlling semiconductor refrigerating heat-producing machine or cooling make the interior temperature maintenance of temperature control box in storage battery nominal operation temperature range.
Battery electric quantity checking device is monitored battery electric quantity in real time, when dump energy is lower than a certain charge value of setting, sends alarm signal to single chip circuit.Robot car is ended tour work, forces to return transformer station's base station charging.
When robot car returns the base station charging, it is involutory to adopt dual mode accurately to control charging inlet, and a kind of is by infrared ray tracking mode, the sign line that dolly delimited along ground, close to charger, when detecting the ground specific identifier, single chip machine controlling circuit is by wireless transport module, and charging system sends signal to the base station, after the base station single chip circuit receives signal, control electromagnet sucker circuit closed, with robot car and base station charger adhesive, robot car begins charging; Second kind is to install the infrared distance measurement module respectively on robot car vehicle body and base station charging station, dolly single-chip microcomputer and base station single-chip microcomputer pass through wireless transport module, the real-time exchange range information, in robot enters the charging scope, base station Single-chip Controlling electromagnet sucker circuit closed, with robot car and base station charger adhesive, robot car begins charging.
In charging process, the command instruction that the real-time monitoring personnel of robot car single-chip microcomputer send, when receiving when beginning to make an inspection tour instruction, detect the storage battery current electric quantity, if sufficient, the robot car single chip machine controlling circuit sends signal by wireless transport module to the base station charging system, and the base station charging system disconnects electromagnet sucker loop, dolly stops charging, carries out the tour task; When storage battery was not full of, dolly postpones to carry out maked an inspection tour instruction, is full of until storage battery.
Robot car receives in the transformer station base station when making an inspection tour instruction, the outer temperature detection sensor of Battery case is measured local temperature, connect attemperating unit, utilize base station power to heat or lower the temperature, storage battery temperature control the temperature inside the box is controlled in the storage battery nominal operation temperature range, reduces robot car and break away from accumulator electric-quantity consumption behind the base station.
Claims (6)
1. battery intelligent management system of robot is maked an inspection tour by transformer station, comprise robot car battery system and base station charging system, it is characterized in that: described robot car battery system comprises single chip machine controlling circuit, attemperating unit, battery electric quantity checking device, distance detection device etc.; Described base station charging system comprises single chip machine controlling circuit, electromagnet sucker etc.; Described distance detection device comprises infrared ray tracking device and infrared distance measurement device.
2. battery intelligent management system of robot is maked an inspection tour by transformer station according to claim 1, it is characterized in that: the robot car Vehicular accumulator cell is contained in the sealing temperature control box, installing semiconductor refrigerating heat-producing machine is filled warming asbestos, the inside and outside sensor for measuring temperature that is equipped with respectively of case in the temperature control box.
3. battery intelligent management system of robot is maked an inspection tour by transformer station according to claim 1, it is characterized in that: when dump energy is lower than a certain charge value of setting, report to the police to battery control system, robot car is ended tour work, forces to return transformer station's base station charging.
4. battery intelligent management system of robot is maked an inspection tour by transformer station according to claim 1, it is characterized in that: when robot car returns the base station charging, it is involutory to adopt dual mode accurately to control charging inlet, and a kind of is by infrared ray tracking mode, and another kind is to guide by infrared distance measuring.Dolly enters in the charging scope, the loop conducting of electromagnet sucker, charging inlet inhale and, begin charging.
5. battery intelligent management system of robot is maked an inspection tour by transformer station according to claim 1, it is characterized in that: in the charging process, receive when beginning to make an inspection tour instruction, measure the storage battery current electric quantity,, disconnect electromagnet sucker loop if sufficient, dolly stops charging, carries out the tour task; Otherwise, postpone to carry out and make an inspection tour instruction, be full of until storage battery.
6. battery intelligent management system of robot is maked an inspection tour by transformer station according to claim 1, it is characterized in that: receive when making an inspection tour instruction, utilize base station power to battery case heating or cooling, reduce accumulator electric-quantity consumption.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105766019A CN102170146A (en) | 2010-12-07 | 2010-12-07 | A battery intelligent management system used for a patrol robot in a transformer substation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105766019A CN102170146A (en) | 2010-12-07 | 2010-12-07 | A battery intelligent management system used for a patrol robot in a transformer substation |
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| CN102170146A true CN102170146A (en) | 2011-08-31 |
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| CN2010105766019A Pending CN102170146A (en) | 2010-12-07 | 2010-12-07 | A battery intelligent management system used for a patrol robot in a transformer substation |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102637037A (en) * | 2012-05-10 | 2012-08-15 | 宁夏电力公司吴忠供电局 | Monitoring method of inspection robot power supply |
| CN104300607A (en) * | 2014-10-09 | 2015-01-21 | 中国矿业大学 | Charging system and method of belt conveyer inspection system |
| CN104808666A (en) * | 2015-04-22 | 2015-07-29 | 深圳市视晶无线技术有限公司 | Method for increasing movement distance of automatic movement device |
| CN105930922A (en) * | 2016-04-14 | 2016-09-07 | 武汉大学 | Continuation mileage prediction method for tour inspection robot of high tension transmission line |
| CN106356915A (en) * | 2016-08-30 | 2017-01-25 | 宇龙计算机通信科技(深圳)有限公司 | Temperature control device, temperature compensation method, temperature compensation device and terminal |
| CN106697701A (en) * | 2017-03-13 | 2017-05-24 | 上海龙腾科技股份有限公司 | Transmission control system |
| CN106774350A (en) * | 2017-03-20 | 2017-05-31 | 广东大仓机器人科技有限公司 | The robot of double infrared accurate calibration robots and charging platform docking angle |
| CN107838919A (en) * | 2017-11-30 | 2018-03-27 | 国网辽宁省电力有限公司电力科学研究院 | Intelligent Mobile Robot intelligent electric management system |
| CN108664014A (en) * | 2017-03-29 | 2018-10-16 | 苏州宝时得电动工具有限公司 | A kind of automatic running device returns the control method and device of charging |
| CN109048839A (en) * | 2018-09-04 | 2018-12-21 | 南京理工大学 | A kind of Intelligent Mobile Robot with double-manipulator |
| CN109048840A (en) * | 2018-09-04 | 2018-12-21 | 南京理工大学 | A kind of Intelligent Mobile Robot with manipulator |
| CN110060443A (en) * | 2019-03-05 | 2019-07-26 | 威特龙消防安全集团股份公司 | A kind of unmanned warehouse fire preventing control method and its system using safe house |
| CN110549873A (en) * | 2019-10-12 | 2019-12-10 | 广东电网有限责任公司 | Inspection robot for transformer substation |
| CN110712204A (en) * | 2019-09-27 | 2020-01-21 | 深圳乐动机器人有限公司 | Robot working method and robot |
| CN111525317A (en) * | 2020-04-27 | 2020-08-11 | 中科开创（广州）智能科技发展有限公司 | Track type intelligent inspection robot charging device and charging method thereof |
| CN111884328A (en) * | 2020-06-12 | 2020-11-03 | 广东电网有限责任公司 | Power supply self-adaptive system based on multi-source fusion and working method thereof |
| US20210313634A1 (en) * | 2020-04-01 | 2021-10-07 | Global Graphene Group, Inc. | Graphene-enabled battery fast-charging and cooling system and method of operating same |
| CN114821852A (en) * | 2022-06-07 | 2022-07-29 | 国网安徽省电力有限公司宣城供电公司 | Power grid defect depth identification inspection robot control system based on characteristic pyramid |
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| CN1876336A (en) * | 2005-06-07 | 2006-12-13 | Lg电子株式会社 | System and method for automatically returning self-moving robot to charger |
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| CN1706601A (en) * | 2004-06-04 | 2005-12-14 | 山东鲁能智能技术有限公司 | Intelligent autonomous power plant equipment round inspecting robot |
| CN1876336A (en) * | 2005-06-07 | 2006-12-13 | Lg电子株式会社 | System and method for automatically returning self-moving robot to charger |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102637037A (en) * | 2012-05-10 | 2012-08-15 | 宁夏电力公司吴忠供电局 | Monitoring method of inspection robot power supply |
| CN102637037B (en) * | 2012-05-10 | 2017-07-21 | 宁夏电力公司吴忠供电局 | A kind of monitoring method of inspection robot power supply |
| CN104300607A (en) * | 2014-10-09 | 2015-01-21 | 中国矿业大学 | Charging system and method of belt conveyer inspection system |
| CN104300607B (en) * | 2014-10-09 | 2016-08-03 | 中国矿业大学 | The charging system of a kind of ribbon conveyer cruising inspection system and method |
| CN104808666A (en) * | 2015-04-22 | 2015-07-29 | 深圳市视晶无线技术有限公司 | Method for increasing movement distance of automatic movement device |
| CN105930922A (en) * | 2016-04-14 | 2016-09-07 | 武汉大学 | Continuation mileage prediction method for tour inspection robot of high tension transmission line |
| CN106356915A (en) * | 2016-08-30 | 2017-01-25 | 宇龙计算机通信科技(深圳)有限公司 | Temperature control device, temperature compensation method, temperature compensation device and terminal |
| CN106697701A (en) * | 2017-03-13 | 2017-05-24 | 上海龙腾科技股份有限公司 | Transmission control system |
| CN106774350A (en) * | 2017-03-20 | 2017-05-31 | 广东大仓机器人科技有限公司 | The robot of double infrared accurate calibration robots and charging platform docking angle |
| CN108664014A (en) * | 2017-03-29 | 2018-10-16 | 苏州宝时得电动工具有限公司 | A kind of automatic running device returns the control method and device of charging |
| CN107838919A (en) * | 2017-11-30 | 2018-03-27 | 国网辽宁省电力有限公司电力科学研究院 | Intelligent Mobile Robot intelligent electric management system |
| CN107838919B (en) * | 2017-11-30 | 2024-04-02 | 国网辽宁省电力有限公司电力科学研究院 | Intelligent power management system for substation inspection robot |
| CN109048840A (en) * | 2018-09-04 | 2018-12-21 | 南京理工大学 | A kind of Intelligent Mobile Robot with manipulator |
| CN109048839A (en) * | 2018-09-04 | 2018-12-21 | 南京理工大学 | A kind of Intelligent Mobile Robot with double-manipulator |
| CN110060443A (en) * | 2019-03-05 | 2019-07-26 | 威特龙消防安全集团股份公司 | A kind of unmanned warehouse fire preventing control method and its system using safe house |
| CN110712204A (en) * | 2019-09-27 | 2020-01-21 | 深圳乐动机器人有限公司 | Robot working method and robot |
| CN110549873A (en) * | 2019-10-12 | 2019-12-10 | 广东电网有限责任公司 | Inspection robot for transformer substation |
| CN110549873B (en) * | 2019-10-12 | 2024-04-19 | 广东电网有限责任公司 | Substation inspection robot |
| US20210313634A1 (en) * | 2020-04-01 | 2021-10-07 | Global Graphene Group, Inc. | Graphene-enabled battery fast-charging and cooling system and method of operating same |
| US11958382B2 (en) * | 2020-04-01 | 2024-04-16 | Honeycomb Battery Company | Graphene-enabled battery fast-charging and cooling system and method of operating same |
| CN111525317A (en) * | 2020-04-27 | 2020-08-11 | 中科开创（广州）智能科技发展有限公司 | Track type intelligent inspection robot charging device and charging method thereof |
| CN111525317B (en) * | 2020-04-27 | 2021-07-23 | 中科开创（广州）智能科技发展有限公司 | Track type intelligent inspection robot charging device and charging method thereof |
| CN111884328A (en) * | 2020-06-12 | 2020-11-03 | 广东电网有限责任公司 | Power supply self-adaptive system based on multi-source fusion and working method thereof |
| CN114821852A (en) * | 2022-06-07 | 2022-07-29 | 国网安徽省电力有限公司宣城供电公司 | Power grid defect depth identification inspection robot control system based on characteristic pyramid |
| CN114821852B (en) * | 2022-06-07 | 2023-11-21 | 国网安徽省电力有限公司宣城供电公司 | Power grid defect depth identification inspection robot control system based on feature pyramid |
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Application publication date: 20110831 |