CN106058982A - Automatic charging method for transformer substation robot, transformer substation robot and charging system thereof - Google Patents
Automatic charging method for transformer substation robot, transformer substation robot and charging system thereof Download PDFInfo
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- CN106058982A CN106058982A CN201610514951.XA CN201610514951A CN106058982A CN 106058982 A CN106058982 A CN 106058982A CN 201610514951 A CN201610514951 A CN 201610514951A CN 106058982 A CN106058982 A CN 106058982A
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- robot
- image
- target object
- charging device
- charging
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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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
-
- 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
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides an automatic charging method for a transformer substation robot, wherein the transformer substation robot can move to a charging device for being charged. The charging device is provided with a target object. The charging method comprises the steps of acquiring the image of the target object through imaging acquiring equipment in the moving process of the robot to the charging device; detecting a target characteristic from the image of the target object; determining an offset angle of the robot from the charging device based on the offset distance of the target characteristic from a preset reference in the image; and adjusting the moving direction of the robot according to the angle for making the robot move to the charging device for being charged. According to the automatic charging method for the transformer substation robot, the transformer substation robot and the charging system, the moving direction of the transformer substation robot can be adjusted in real time based on the target object arranged on the charging device, thereby realizing accurate alignment with the charging device for charging.
Description
Technical field
The present invention relates to charging technique field, particularly relate to the automatic recharging method of a kind of transformer substation robot, robot
And charging system.
Background technology
Along with the development of robotics, increasing robot has occurred on robot product market, and has opened
Begin gradually by concern and the acceptance of people.
In order to ensure that robot is preferably continued a journey ability to work, robot generally uses storage battery power supply, in order to logical
Cross a recharging base mated with robot it is charged repeatedly, thus realize the circulation continuation of the journey work of robot.
But, in prior art, robot relies on manual operation charging mostly, easily causes the charging problem such as not in time, with
Time also add user use trouble, affect experience.Therefore, how to be realized charging device side by simple technology
The identification of position makes robot automatic charging be the problem needing to solve.
Summary of the invention
In view of this, the invention provides the automatic recharging method of a kind of transformer substation robot, robot and charging system,
To realize the identification in charging device orientation is made robot automatic charging by simple technology, its technical scheme is as follows:
The automatic recharging method of a kind of transformer substation robot, is applied to a robot, and described robot is movable to charging
Device is charged, and described charging device is provided with target object, and described method includes:
In described robot during described charging device moves, gather described object by image capture device
The image of body；
Target characteristic is detected from the image of described target object；
The distance deviateing preset reference based on described target characteristic in described image determines that the deviation of described robot is described
The angle of charging device；
According to the moving direction of robot described in described angle adjustment so that described robot moves to described charging device
It is charged.
Preferably, described target object is shaft or bar；
From the image of described target object, described target characteristic is detected described in then, particularly as follows:
The image of described target object is carried out straight-line detection, it is thus achieved that target line；
Accordingly, the described distance deviateing preset reference based on described target characteristic in described image determines described machine
People deviates the angle of described charging device, particularly as follows:
The distance deviateing preset reference line based on described target line in described image determines that described robot deviates institute
State the angle of charging device.
Wherein, the described image to described target object carries out straight-line detection, it is thus achieved that target line, particularly as follows:
Utilize Hough transform algorithm that the image of described target object is carried out straight-line detection, it is thus achieved that described target line.
A kind of transformer substation robot, described robot is movable to charging device and is charged, and described charging device is arranged
Have and there is target object；
Described robot includes: image capture device and processing equipment；
Described image capture device, is used for, in described robot during described charging device moves, gathering
The image of described target object, and the image of described target object is supplied to described processing equipment；
Described processing equipment, for detecting target characteristic, based on described target characteristic from the image of described target object
The distance deviateing preset reference in described image determines that described robot deviates the angle of described charging device, and according to described
The moving direction of robot described in angle adjustment is so that described robot moves to described charging device is charged.
Wherein, described target object is shaft or bar；
The most described processing equipment, specifically for the image of described target object is carried out straight-line detection, it is thus achieved that target line,
The distance deviateing preset reference line based on described target line in described image determines described robot deviation described charging dress
The angle put.
Wherein, described processing equipment, specifically for utilizing Hough transform algorithm to carry out the image of described target object directly
Line detects.
A kind of charging system, including robot be the charging device of described robot charging, described robot is removable
It is charged to described charging device, the transformer substation robot that described machine is artificially described.
Wherein, described target object is to be arranged at above charging main body and shaft perpendicular to the ground or bar.
Wherein, target object is provided with light-emitting device；
Described light-emitting device, for providing light when current light is unsatisfactory for pre-conditioned for described image collecting device
Source.
Wherein, described light-emitting device is infrared diode.
Technique scheme has the advantages that
The automatic recharging method of transformer substation robot, robot and the charging system that the present invention provides, can be from passing through image
The image of the target object of collecting device collection detects target characteristic, and the most inclined based on the target characteristic detected
Distance from preset reference determines the angle of robot deviation charging device, and then adjusts the movement of robot according to deviation angle
Direction is so that robot moves to charging device is charged.The present invention provide transformer substation robot automatic recharging method,
Robot and charging system make robot can adjust moving direction in real time based on the target object arranged on charging device, thus
Can accurately be directed at charging device to be charged.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
The schematic flow sheet of the automatic recharging method of the transformer substation robot that Fig. 1 provides for the embodiment of the present invention；
Automatic recharging method one instantiation of the transformer substation robot that Fig. 2 provides for the embodiment of the present invention realize process
Schematic flow sheet；
The structural representation of the transformer substation robot that Fig. 3 provides for the embodiment of the present invention；
The structural representation of the charging system that Fig. 4 provides for the embodiment of the present invention；
Charge on the charging main body of the charging device that Fig. 5 provides for the embodiment of the present invention schematic shapes in face.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Embodiments providing the automatic recharging method of a kind of transformer substation robot, this robot is movable to charging
Device is charged, and charging device is provided with target object, and the automatic recharging method of this transformer substation robot includes:
Step S101: in robot during charging device moves, gathers target object by image capture device
Image.
Step S102: detect target characteristic from the image of target object.
Step S103: the distance deviateing preset reference based on the target characteristic detected in the picture determines that robot deviates
The angle of charging device.
It is understood that robot just to charging device when,
Step S104: according to the moving direction of angle adjustment robot so that robot moves to charging device fills
Electricity.
In a kind of possible implementation, robot and charger use contact charging modes to be charged, and show
Example, robot arranges charging plug, charger arranges charging slot, charging plug is inserted charging and sets by robot
Standby jack is charged.In alternatively possible implementation, robot uses contactless charging with charger
Mode is charged, exemplary, and robot moves near charger, and robot is charged by charger, at this
In kind of mode, robot and charger are also not connected to, but realize charging by modes such as electromagnetic induction, microwave, magnetic resonance.
The automatic recharging method of the transformer substation robot that the embodiment of the present invention provides, can gather from by image capture device
Target object image in detect target characteristic, and deviate preset reference in the picture based on the target characteristic detected
Distance determines the angle of robot deviation charging device, and then adjusts the moving direction of robot so that machine according to deviation angle
People moves to charging device and is charged.The automatic recharging method of the transformer substation robot that the embodiment of the present invention provides makes machine
People can adjust moving direction in real time based on arranging target object on charging device such that it is able to accurately alignment charging device fills
Electricity.
In the above-described embodiments, target object can be shaft or bar.In the preferred implementation of one, bar
Shape thing or bar are positioned at the top of charging main body, and perpendicular to the ground.With the target object arranged on charging device it is below
As a example by shaft perpendicular to the ground, provide the realization of the automatic recharging method of the transformer substation robot that the embodiment of the present invention provides
Process, refers to Fig. 2, it is shown that this realizes the schematic flow sheet of process, and this realizes process and may include that
Step S201: in robot during charging device moves, gathers shaft by image capture device
Image.
Step S202: the image of shaft is carried out straight-line detection, it is thus achieved that target line.
In the present embodiment, available Hough transform algorithm carries out straight-line detection to the image of target object, it is thus achieved that target
Straight line.Concrete, the first image to target object carries out binary conversion treatment, is then passed through by the image that binary conversion treatment obtains
P=x*cos θ+y*sin θ is transformed into parameter space by image space, then is detected by the method finding out peak value from parameter space
Straight line.
Hough transform is a kind of parameter estimation techniques using voting principle.Its principle is to utilize image space and Hough
The point of parameter space-line duality, is transformed into parameter space the test problems in image space.By entering in parameter space
The simple cumulative statistics of row, then finds the method detection of straight lines of accumulator peak value at Hough parameter space.
Hough transform thought is: one in parameter coordinate system that point under coordinates of original image coordinates system is corresponding straight
Line, a point under the straight line of same parameter coordinate system is corresponding coordinates of original image coordinates system, then, coordinates of original image coordinates system
Under present the institute of straight line a little, their slope and intercept are identical, thus they under parameter coordinate system corresponding to same
Individual point.So after by under each spot projection under coordinates of original image coordinates system to parameter coordinate system, see and have under parameter coordinate system
There is no accumulation point, the straight line under original coordinate system that such accumulation point is the most corresponding.
In actual applications, the linear equation of y=k*x+b form has no idea to represent the straight line of x=c form (at this time,
The slope of straight line is infinitely great).So in actual application, being to use parametric equation p=x*cos θ+y*sin θ.
Step S203: determine that target line deviates the distance of preset reference line in the picture.
Step S204: the distance being deviateed preset reference line by target line in the picture determines robot deviation charging dress
The angle put.
Concrete, by the most calibrated focal distance f and target line skew L in the picture, machine can be calculated
It is arctan (L/f) that device people deviates the angle of charging device.About calibrated focal distance f, it refers to image capture device such as camera
Camera lens to the distance of pixel, it should be noted that in order to make the focal length of camera be employed preparatively, it usually needs carry out artificial
Demarcate.
Step S204: according to the moving direction of angle adjustment robot so that robot moves to charging device fills
Electricity.
The automatic recharging method of the transformer substation robot that the embodiment of the present invention provides, can gather from by image capture device
Shaft image in detect target line, and deviate preset reference straight line in the picture based on the target line detected
Distance determine the angle of robot deviation charging device, and then adjust the moving direction of robot so that machine according to deviation angle
Device people moves to charging device and is charged.The automatic recharging method of the transformer substation robot that the embodiment of the present invention provides makes machine
Device people can adjust moving direction in real time based on the shaft arranged on charging device such that it is able to accurately alignment charging device is carried out
Charging.
The embodiment of the present invention additionally provides a kind of transformer substation robot, and this robot is movable to charging device and fills
Electricity, charging device is provided with the target object with target characteristic.
Referring to Fig. 3, it is shown that the structural representation of this transformer substation robot, this robot may include that image acquisition
Equipment 301 and processing equipment 302.
Image capture device 301, is used for, in robot during charging device moves, gathering the figure of target object
Picture, and the image of target object is supplied to processing equipment 302.
Processing equipment 302, for detecting target characteristic from the image of target object, the most inclined based on target characteristic
Distance from preset reference determine robot deviation charging device angle, and according to angle adjustment robot moving direction with
Make robot move to charging device to be charged.
The transformer substation robot that the embodiment of the present invention provides, can be from the figure of the target object gathered by image capture device
Detect target characteristic in Xiang, and deviate the distance of preset reference in the picture based on the target characteristic detected and determine robot
The angle of deviation charging device, and then adjust the moving direction of robot according to deviation angle so that robot moves to charging dress
Put and be charged.The robot that the embodiment of the present invention provides can be based on the object with target characteristic arranged on charging device
Body adjusts moving direction in real time such that it is able to accurately alignment charging device is charged.
In the above-described embodiments, target object is shaft or bar, and target characteristic is straight line.
Then, the processing equipment in the transformer substation robot that above-described embodiment provides, specifically for the image to target object
Carrying out straight-line detection, it is thus achieved that target line, the distance deviateing preset reference line based on target line in the picture determines robot
The angle of deviation charging device.
Further, processing equipment utilizes Hough transform algorithm that the image of target object is carried out straight-line detection.
The embodiment of the present invention additionally provides a kind of charging system, refers to Fig. 4, it is shown that the structural representation of this charging system
Figure, this system can include robot 401 and charging device 402, and robot is movable to charging device and is charged, charging dress
Install and be equipped with the target object 4021 with target characteristic.
Concrete, robot can be the transformer substation robot that above-described embodiment provides, and its concrete structure and function can be found in
Above-described embodiment, therefore not to repeat here.
Preferably, target object is the shaft or bar being arranged on charging device, further, shaft or bar
Shape thing is arranged at the top of charging main body 4022 on charging device, and is perpendicular to bottom surface setting.
Preferably, target object is provided with light-emitting device 4023, this light-emitting device, pre-for being unsatisfactory at current light
If providing light source for image collecting device during condition.
Concrete, light-emitting device is infrared diode.The quantity of infrared diode can be multiple.Preferably, Duo Gehong
Outer diode is evenly distributed on target object.It is that as a example by the shaft being perpendicular to ground, infrared diode exists by target object
Vertically it is uniformly distributed on shaft.
It addition, in the present embodiment, before the charging main body of charging device, it is set to circular arc, as it is shown in figure 5, to ensure
Angle deviating centrage when, the plug of robot and the charging slot of charging device also can fully combine.
In the charging system that the embodiment of the present invention provides, robot can be from the target object gathered by image capture device
Image in detect target characteristic, and deviate the distance of preset reference in the picture based on the target characteristic detected and determine machine
Device people deviates the angle of charging device, and then adjusts the moving direction of robot so that robot moves to filling according to deviation angle
Electric installation is charged.In the charging system that the embodiment of the present invention provides, robot can be based on having of arranging on charging device
The target object of target characteristic adjusts moving direction in real time such that it is able to accurately alignment charging device is charged.It addition, at mesh
Arranging light-emitting device on mark object to make in the case of night or illumination deficiency, image collecting device also can collect quality relatively
Good image, and then target characteristic can be detected, the most by day or can accurately be charged by guided robot night.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment, identical similar portion sees mutually.
In several embodiments provided herein, it should be understood that disclosed method, device and equipment, permissible
Realize by another way.Such as, device embodiment described above is only schematically, such as, and described unit
Dividing, be only a kind of logic function and divide, actual can have other dividing mode, the most multiple unit or assembly when realizing
Can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown or
The coupling each other discussed or direct-coupling or communication connection can be by between some communication interfaces, device or unit
Connect coupling or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to be each
Unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
If described function is using the form realization of SFU software functional unit and as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is the most in other words
The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.
And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (10)
1. the automatic recharging method of a transformer substation robot, it is characterised in that described robot is movable to charging device and enters
Row charging, described charging device is provided with target object, and described method includes:
In described robot during described charging device moves, gather described target object by image capture device
Image；
Target characteristic is detected from the image of described target object；
The distance deviateing preset reference based on described target characteristic in described image determines that described robot deviates described charging
The angle of device；
According to the moving direction of robot described in described angle adjustment so that described robot moves to described charging device carries out
Charging.
Method the most according to claim 1, it is characterised in that described target object is shaft or bar；
From the image of described target object, described target characteristic is detected described in then, particularly as follows:
The image of described target object is carried out straight-line detection, it is thus achieved that target line；
Accordingly, the described distance deviateing preset reference based on described target characteristic in described image determines that described robot is inclined
From the angle of described charging device, particularly as follows:
The distance deviateing preset reference line based on described target line in described image determines that described robot fills described in deviateing
The angle of electric installation.
Method the most according to claim 2, it is characterised in that the described image to described target object carries out straight line inspection
Survey, it is thus achieved that target line, particularly as follows:
Utilize Hough transform algorithm that the image of described target object is carried out straight-line detection, it is thus achieved that described target line.
4. a transformer substation robot, it is characterised in that described robot is movable to charging device and is charged, described charging
Device is provided with has target object；
Described robot includes: image capture device and processing equipment；
Described image capture device, is used in described robot during described charging device moves, and gathers described
The image of target object, and the image of described target object is supplied to described processing equipment；
Described processing equipment, for detecting target characteristic, based on described target characteristic in institute from the image of described target object
State and image deviates the distance of preset reference determine that described robot deviates the angle of described charging device, and according to described angle
Adjust the moving direction of described robot so that described robot moves to described charging device is charged.
Robot the most according to claim 4, it is characterised in that described target object is shaft or bar；
The most described processing equipment, specifically for the image of described target object is carried out straight-line detection, it is thus achieved that target line, based on
Described target line deviates the distance of preset reference line in described image and determines that described robot deviates described charging device
Angle.
Robot the most according to claim 5, it is characterised in that described processing equipment, specifically for utilizing Hough transform
Algorithm carries out straight-line detection to the image of described target object.
7. a charging system, it is characterised in that include robot and the charging device for the charging of described robot, described machine
People is movable to described charging device and is charged, the artificially power transformation as described in any one in claim 4-6 of described machine
Stand robot.
System the most according to claim 7, it is characterised in that described target object for be arranged at above charging main body and with
Shaft that ground is vertical or bar.
9. according to the system described in claim 7 or 8, it is characterised in that be provided with light-emitting device on target object；
Described light-emitting device, for providing light source when current light is unsatisfactory for pre-conditioned for described image collecting device.
System the most according to claim 9, it is characterised in that described light-emitting device is infrared diode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610514951.XA CN106058982A (en) | 2016-06-30 | 2016-06-30 | Automatic charging method for transformer substation robot, transformer substation robot and charging system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610514951.XA CN106058982A (en) | 2016-06-30 | 2016-06-30 | Automatic charging method for transformer substation robot, transformer substation robot and charging system thereof |
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| CN201610514951.XA Pending CN106058982A (en) | 2016-06-30 | 2016-06-30 | Automatic charging method for transformer substation robot, transformer substation robot and charging system thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108255177A (en) * | 2018-01-17 | 2018-07-06 | 航天科工智能机器人有限责任公司 | Robot autonomous charging system |
| CN108818529A (en) * | 2018-06-01 | 2018-11-16 | 重庆锐纳达自动化技术有限公司 | A kind of robot charging pile visual guide method |
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| CN203233199U (en) * | 2013-04-19 | 2013-10-09 | 凯里供电局 | Substation routing inspection robot automatic charging system |
| KR20150138716A (en) * | 2014-06-02 | 2015-12-10 | 주식회사 로보테크 | a charge ststion for mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101832470A (en) * | 2010-05-19 | 2010-09-15 | 中国船舶重工集团公司第七〇二研究所 | Method and device for polling underwater lines based on light vision sensing |
| CN203233199U (en) * | 2013-04-19 | 2013-10-09 | 凯里供电局 | Substation routing inspection robot automatic charging system |
| KR20150138716A (en) * | 2014-06-02 | 2015-12-10 | 주식회사 로보테크 | a charge ststion for mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108255177A (en) * | 2018-01-17 | 2018-07-06 | 航天科工智能机器人有限责任公司 | Robot autonomous charging system |
| CN108818529A (en) * | 2018-06-01 | 2018-11-16 | 重庆锐纳达自动化技术有限公司 | A kind of robot charging pile visual guide method |
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Application publication date: 20161026 |
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