CN107834534A - A kind of intelligent inspection robot power supply management system and its management method - Google Patents
A kind of intelligent inspection robot power supply management system and its management method Download PDFInfo
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- CN107834534A CN107834534A CN201711374330.7A CN201711374330A CN107834534A CN 107834534 A CN107834534 A CN 107834534A CN 201711374330 A CN201711374330 A CN 201711374330A CN 107834534 A CN107834534 A CN 107834534A
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- 238000007726 management method Methods 0.000 title claims abstract description 35
- 238000007689 inspection Methods 0.000 title claims abstract description 30
- 238000002955 isolation Methods 0.000 claims description 37
- 230000003287 optical effect Effects 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 21
- 230000003321 amplification Effects 0.000 claims description 12
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 7
- 235000011389 fruit/vegetable juice Nutrition 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 4
- 238000011022 operating instruction Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000003331 infrared imaging Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000004297 night vision Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 239000000779 smoke Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 230000008439 repair process Effects 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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/14—Balancing the load in a network
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of intelligent inspection robot power supply management system and its management method, belong to robot administrative skill apparatus field.Main circuit includes battery, positive voltage bus, negative voltage busbar, dc bus contactor, core load and two groups of assistant loads, negative voltage busbar and is connected respectively with DC load output end and GND；Positive voltage bus includes core bus and two auxiliary bus bars, core bus are connected with core load input and anode respectively, and two auxiliary bus bars are connected with two groups of assistant load inputs respectively；Control circuit includes master controller and drive circuit, and master controller is connected with two inputs of drive circuit respectively by two output ports, and two output ends of drive circuit connect the coil of two dc bus contactors respectively；Core bus is connected by two dc bus contactor normally opened contacts with two auxiliary bus bars respectively.The present invention realizes the differentiated control of crusing robot DC load, improves cruising time and circuit redundancy.
Description
Technical field
A kind of intelligent inspection robot power supply management system and its management method, belong to robot administrative skill equipment neck
Domain.
Background technology
Intelligent inspection robot need to assemble some DC loads, including master controller and its circuit board integrated original when working
Part, motor, motor driver, navigation type sensor, Intelligent Measurement module, wireless communication module, video monitoring module, man-machine friendship
Mutual module, broadcast and alarm module and lighting module etc..
In the case of battery electric quantity abundance, the whole load of crusing robot all should normal work, but work as inspection machine
When people detects battery electric quantity deficiency, then need the juice point of autonomous return to origin to charge, but often due to crusing robot away from
From too long-range guided missile causes it to be shut down in way is returned to regard to power shortage with a distance from juice point.There is hair when this phenomenon is in large-scale workshop and electric substation
Raw, after analogue occurs, staff usually requires to take a significant amount of time artificial searching robot and carried to recharge electricity
Place, will so make troubles to crusing robot application unit, while can be because crusing robot shuts down in normal inspection
And inspection is influenceed, cause certain potential safety hazard.
In the prior art, the counter-measure for the use that solves the above problems mainly includes：A. the early warning of battery electric quantity is improved
Threshold value, such as just allow when electricity also has 30% ~ 40% robot to make a return voyage charging, prevent robot from returning to power shortage in way.B. exist
Multiple charging piles are set on robot ambulation route.C. staff is sought by browsing the monitoring video of crusing robot transmission
Robot power shortage position is looked for, and carries portable charging apparatus and goes to power shortage place to charge robot battery.On although
The mode of stating can preferably solve the problem, but largely sacrifice manpower, financial resources and robot cruising time.For existing
There is the deficiency of technology, be badly in need of technical scheme a kind of cost-effective and that crusing robot cruising time can be ensured at present.
The content of the invention
The technical problem to be solved in the present invention is：Overcome the deficiencies in the prior art, there is provided one kind is by crusing robot
DC load carries out the mode of differentiated control, cost-effective to realize, improves the Intelligent inspection machine in crusing robot cruising time
Device people is with power supply management system and its management method.
To achieve these goals, the technical solution adopted in the present invention is：The intelligent inspection robot power supply management
System, including main circuit and control circuit, main circuit are connected with control circuit, it is characterised in that：Described main circuit includes electricity
Pond, DC load, positive voltage bus, negative voltage busbar and dc bus contactor；DC load includes core load and auxiliary
Load, core load include master controller, motor, motor driver, navigation type sensor and wireless communication module, assistant load
Including first group of assistant load and second group of assistant load, dc bus contactor includes the first dc bus contactor and second
Dc bus contactor；Negative voltage busbar is connected with the output end and GND of DC load respectively；Positive voltage bus includes
Core bus A, auxiliary bus bar B1 and auxiliary bus bar B2, core bus A are connected with core load input and anode respectively,
The input of auxiliary bus bar B1, auxiliary bus bar B2 respectively with first group of assistant load, second group of assistant load is connected, core bus
A respectively by the first dc bus contactor normally opened contact and the second dc bus contactor normally opened contact and auxiliary bus bar B1,
Auxiliary bus bar B2 is connected；Described control circuit includes master controller and optical couple isolation drive circuit, and master controller passes through defeated
The second of the connection of the first input end of exit port P1 and optical couple isolation drive circuit, output port P2 and optical couple isolation drive circuit
Input connects, and the first output end of optical couple isolation drive circuit connects the first dc bus contactor coil, the second output end
Connect the second dc bus contactor coil.
Preferably, described navigation type sensor is included in laser navigation sensor, magnetic navigation sensor and GPS sensor
At least one；The motor includes at least one of brush direct current motor, permagnetic synchronous motor and DC brushless motor.
Preferably, described wireless communication module is included in 4g communication modules, bluetooth communication module and WIFI communication module
At least one.
Preferably, first group of described assistant load, second group of assistant load include Intelligent Measurement module respectively, video is supervised
Control module, human-computer interaction module, broadcast and at least one of alarm module and lighting module and different.
Further, described Intelligent Measurement module is included in infrared sensor, temperature sensor and Smoke Sensor
It is at least one.
Or described video monitoring module is included in visible light camera, thermal infrared imaging camera and night vision device
It is at least one.
Or described human-computer interaction module is included in sound identification module, face recognition module, operator control panel and button
It is at least one.
Preferably, connection sets power supply breaker between the output end of described battery and core bus A.
It is a kind of realize described in intelligent inspection robot power supply management system management method, it is characterised in that：It is described
Crusing robot power supply management method the step of be：
Step 1：The threshold value of warning and alarm threshold value related to battery electric quantity, early warning are set by software in the host controller in advance
Threshold value is more than alarm threshold value, into step 2；
Step 2：Battery is powered for core bus A, core load normal work, and master controller carries out self-test, and judges that core is born
Carry whether normal work, if exist it is abnormal if master controller seek to examine to application unit alarm by described wireless communication module
Repair, if master controller detection it is without exception and receive using unit send operating instruction after, according to setting track traveling, enter
Step 3；
Step 3：Master controller persistently detects battery electric quantity, and the early warning described in by battery electric quantity and step 1 in the process of moving
Threshold value is compared, when master controller detects that battery electric quantity is higher than threshold value of warning, into step 4；When battery electric quantity is equal to
Or during less than threshold value of warning, into step 5；
Step 4：Master controller output port P1 output low level signal, the signal by optical couple isolation drive circuit carry out every
From controlling the first dc bus contactor coil to be powered after amplification, and then its corresponding first dc bus contactor normally opened contact
Closure, auxiliary bus bar B1 are powered, first group of assistant load normal work, into step 6；
Step 5：Master controller controls crusing robot to make a return voyage automatically by motor, while the output end P1 of master controller is defeated
Go out high level signal, the signal controls the first dc bus contactor line after optical couple isolation drive circuit carries out isolation amplification
Circle power-off, and then its corresponding first dc bus contactor normally opened contact disconnects, auxiliary bus bar B1 power-off, first group of auxiliary is born
Load is stopped, into step 6；
Step 6：Master controller persistently detects battery electric quantity, and the alarm described in by battery electric quantity and step 1 during making a return voyage
Threshold value is compared, when master controller detection battery electric quantity is higher than alarm threshold value, into step 7；Be equal to when battery electric quantity or
During less than alarm threshold value, into step 8；
Step 7：Master controller output port P2 output low level signal, the signal by optical couple isolation drive circuit carry out every
From controlling the second dc bus contactor coil to be powered after amplification, and then its corresponding second dc bus contactor normally opened contact
Closure, auxiliary bus bar B2 are powered, second group of assistant load normal work, into step 9；
Step 8：The output port P2 of master controller exports low high level signal, and the signal is carried out by optical couple isolation drive circuit
The second dc bus contactor coil is controlled to power off after isolation amplification, and then its corresponding second dc bus contactor is normally opened tactile
Point disconnects, and auxiliary bus bar B2 power-off, second group of assistant load is stopped, while master controller passes through described wireless telecommunications mould
Block continues to send the positional information of crusing robot to application unit, into step 9；
Step 9：Crusing robot continues automatic make a return voyage until juice point.
Preferably, described battery electric quantity includes at least one of battery voltage value and SOC value of battery.
Compared with prior art, beneficial effect possessed by the present invention is：
1st, a kind of intelligent inspection robot power supply management system and its management method, have and save manpower, financial resources, can ensure
The beneficial effect in crusing robot cruising time.
2nd, the present invention is classified as core according to the significance level and power consumption size of intelligent inspection robot DC load and born
Carry and assistant load, and power supply management system positive voltage bus is divided into it is a plurality of, in the case that there is low battery in battery, inspection
Robot can disconnect the power supply of unnecessary DC load automatically, it is ensured that the normal work of core load, so as to ensure that inspection
Robot can smoothly be back to juice point charging.The present invention realizes inspection machine by the differentiated control to DC load
The energy consumption of people and dynamically associating for battery electric quantity, solve the problems, such as the easy power shortage of crusing robot well, have save electric energy,
Extend the beneficial effect in robot cruising time.
3rd, the size in place can be run according to robot, passes through change using the present invention, intelligent inspection robot application unit
The form of more software sets electricity threshold value of warning and alarm threshold value in robot master controller.Robot master controller can be according to electricity
In stage residing for the electricity of pond, different DC loads is disconnected, reduce the unnecessary consumption of battery electric quantity, prevent battery from low electricity occur
Amount, the situation of high discharge current, there is the beneficial effect for the potential safety hazard for improving battery life, reduction battery bulge or blast.
4th, the present invention is provided with a plurality of positive voltage bus, when short circuit or ground connection occur in single equipment or single positive voltage bus
During failure, the power supply of positive voltage bus, can reach where crusing robot can automatically cut off faulty equipment by master controller
Shielding failure and the purpose for preventing failure propagation；The design substantially increases the redundancy of crusing robot power supply module and reliable
Property, and facilitate later stage technical staff to overhaul.
5th, the present invention can continue to send out to robot application unit control room after crusing robot electricity drops to alarm threshold value
The positional information of robot is sent, applies unit ignorant after preventing power shortage or can not find the generation of the situation of robot location.
6th, built the present invention relates to power supply management module software by way of hardware is combined, with other inspection machines
People's power management module is compared, and has the advantages of intelligence degree is high, simple in construction, logic is reasonable, and circuit reliability is high.
Brief description of the drawings
Fig. 1 is the main circuit structure block diagram of intelligent inspection robot power supply management system in the present invention.
Fig. 2 is the controling circuit structure block diagram of intelligent inspection robot power supply management system in the present invention.
Wherein：1st, battery 2,3, first groups of core load, 4, second groups of assistant load assistant load 5, the first direct current are female
Linear contact lay device normally opened contact 6, the second dc bus contactor normally opened contact 7, master controller 8, optical couple isolation drive circuit
9th, battery electric quantity 10, operating instruction 11, the 13, first dc bus contactor coil of circuit state 12, communication and alarm
14th, the second dc bus contactor coil.
Embodiment
Fig. 1 ~ 2 are highly preferred embodiment of the present invention, and 1 ~ 2 the present invention will be further described below in conjunction with the accompanying drawings.
The present embodiment includes main circuit and control circuit, as shown in figure 1, main circuit includes battery 1, DC load, just
Voltage bus, negative voltage busbar and dc bus contactor；DC load includes core load 2 and assistant load, core load 2
Including master controller 7, motor, motor driver, navigation type sensor and wireless communication module, assistant load is auxiliary including first group
Load 3 and second group of assistant load 4 are helped, dc bus contactor includes the first dc bus contactor and the second dc bus connects
Tentaculum；Negative voltage busbar is connected with the output end and the negative pole of battery 1 of DC load respectively；Positive voltage bus include core bus A,
Auxiliary bus bar B1 and auxiliary bus bar B2, core bus A are connected with the input of core load 2 and the positive pole of battery 1 respectively, auxiliary bus bar
The input of B1, auxiliary bus bar B2 respectively with first group of assistant load, 3, second groups of assistant loads 4 is connected；First in the present embodiment
Dc bus contactor is BATCK1, and the second dc bus contactor is BATCK2；Core bus A is connect by the first dc bus
Tentaculum normally opened contact 5 is connected with auxiliary bus bar B1, is connected by the second dc bus contactor normally opened contact 6 and auxiliary bus bar B2
Connect.
Navigation type sensor is included in laser navigation sensor, magnetic navigation sensor and GPS sensor in the present embodiment
It is at least one；Motor includes at least one of brush direct current motor, permagnetic synchronous motor and DC brushless motor；Wireless telecommunications
Module includes at least one of 4g communication modules, bluetooth communication module and WIFI communication module；In the present embodiment first group it is auxiliary
Load 3 is helped to include Intelligent Measurement module and broadcast and alarm module, second group of assistant load 4 includes video monitoring module, man-machine
Interactive module and lighting module.
Wherein Intelligent Measurement module includes at least one of infrared sensor, temperature sensor and Smoke Sensor, depending on
Frequency monitoring module includes at least one of visible light camera, thermal infrared imaging camera and night vision device, human-computer interaction module
Including at least one of sound identification module, face recognition module, operator control panel and button, the output end and core of battery 1 are female
Connection sets power supply breaker BATN between line A.
As shown in Fig. 2 control circuit includes master controller 7 and optical couple isolation drive circuit 8, wherein light-coupled isolation driving electricity
Road 8 includes photoelectric coupled circuit, triode and auxiliary reclay, and three is sequentially connected, and optical couple isolation drive circuit 8 is set in the present embodiment
Put two inputs and two output ends；The first input that master controller 7 passes through output port P1 and optical couple isolation drive circuit 8
End connection, output port P2 are connected with the second input of optical couple isolation drive circuit 8, and the first of optical couple isolation drive circuit 8
Output end connects the first dc bus contactor coil 13, and the second output end connects the second dc bus contactor coil 14.
Master controller 7 detects battery electric quantity 9 in the present embodiment, and control wireless communication module receives operating instruction 10, detection
Circuit state 11 inside crusing robot, and communicated and alarmed 12 according to corresponding testing result.
The step of power supply management method of described crusing robot is：
Step 1：The threshold value of warning and alarm threshold value related to battery electric quantity 9 are set in master controller 7 by software in advance, its
Middle threshold value of warning is set as 25%, and alarm threshold value is set as 20%, and threshold value of warning is more than alarm threshold value, into step 2；
Step 2：Closure power supply breaker BATN, battery 1 are powered for core bus A, the normal work of core load 2, master controller 7
Carry out self-test, and judge core load 2 whether normal work, if exist it is abnormal if master controller 7 pass through described wireless telecommunications
Module to application unit alarm seeks to overhaul, if master controller 7 detect it is without exception and receive using unit send operation refer to
After making 10, according to setting track traveling, into step 3；
Step 3：Master controller 7 in the process of moving persistently detect battery electric quantity 9, and by battery electric quantity 9 with it is pre- described in step 1
Alert threshold value is compared, when master controller 7 detects that battery electric quantity 9 is higher than threshold value of warning, into step 4；When battery electric quantity 9
During equal to or less than threshold value of warning, into step 5；
Step 4：The output port P1 output low level signals of master controller 7, the signal are carried out by optical couple isolation drive circuit 8
The first dc bus contactor coil 13 is controlled to be powered after isolation amplification, and then its corresponding first dc bus contactor is normally opened
Contact 5 closes, and auxiliary bus bar B1 is powered, first group of normal work of assistant load 3, into step 6；
Step 5：Master controller 7 controls crusing robot to make a return voyage automatically by motor, while the output end P1 of master controller 7
High level signal is exported, the signal controls the first dc bus to contact after optical couple isolation drive circuit 8 carries out isolation amplification
Device coil 13 powers off, and then its corresponding first dc bus contactor normally opened contact 5 disconnects, auxiliary bus bar B1 power-off, and first
Group assistant load 3 is stopped, into step 6；
Step 6：Master controller 7 persistently detects battery electric quantity 9, and the report described in by battery electric quantity 9 and step 1 during making a return voyage
Alert threshold value is compared, when master controller 7, which detects battery electric quantity 9, is higher than alarm threshold value, into step 7；When battery electric quantity 9 etc.
When alarm threshold value, into step 8；
Step 7：The output port P2 output low level signals of master controller 7, the signal are carried out by optical couple isolation drive circuit 8
The second dc bus contactor coil 14 is controlled to be powered after isolation amplification, and then its corresponding second dc bus contactor is normally opened
Contact closure, auxiliary bus bar B2 are powered, second group of normal work of assistant load 4, into step 9；
Step 8：The output port P2 output high level signals of master controller 7, the signal are carried out by optical couple isolation drive circuit 8
The second dc bus contactor coil 14 is controlled to power off after isolation amplification, and then its corresponding second dc bus contactor is normally opened
Contact disconnects, and auxiliary bus bar B2 power-off, second group of assistant load 4 is stopped, while master controller 7 passes through described channel radio
Interrogate module to continue to send the positional information of crusing robot to application unit, into step 9；
Step 9：Crusing robot continues automatic make a return voyage until juice point.
Battery electric quantity 9 includes at least one of battery voltage value and SOC value of battery in the present embodiment.In practical application
In, it can be determined according to the area and range size of crusing robot working environment.
In the present embodiment D.C. contactor BATCK1, BATCK2 except in the electricity of battery 1 less than the first alarm threshold value or the
Outside being acted in the case of two alarm threshold values, when crusing robot master controller detects that short circuit or earth fault occur for bus,
D.C. contactor BATCK1, BATCK2 electric shock can be equally disconnected, prevents fault impact to other bussed supplies.Main control simultaneously
Fault message can be preserved and be transferred to base station by network communication module by device, facilitate later stage work personnel to overhaul.
The above described is only a preferred embodiment of the present invention, being not the limitation for making other forms to the present invention, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But it is every without departing from technical solution of the present invention content, the technical spirit according to the present invention is to above example institute
Any simple modification, equivalent variations and the remodeling made, still fall within the protection domain of technical solution of the present invention.
Claims (10)
1. a kind of intelligent inspection robot power supply management system, including main circuit and control circuit, main circuit and control circuit
Connection, it is characterised in that：Described main circuit includes battery（1）, DC load, positive voltage bus, negative voltage busbar and direct current
Bus contactor；DC load includes core load（2）And assistant load, core load（2）Including master controller（7）, motor,
Motor driver, navigation type sensor and wireless communication module, assistant load include first group of assistant load（3）It is auxiliary with second group
Help load（4）, dc bus contactor includes the first dc bus contactor and the second dc bus contactor；Negative voltage busbar
Respectively with the output end and battery of DC load（1）Negative pole connects；Positive voltage bus include core bus A, auxiliary bus bar B1 and
Auxiliary bus bar B2, core bus A respectively with core load（2）Input and battery（1）Positive pole connects, auxiliary bus bar B1, auxiliary
Bus B2 respectively with first group of assistant load（3）, second group of assistant load（4）Input connection, core bus A passes through respectively
First dc bus contactor normally opened contact（5）With the second dc bus contactor normally opened contact（6）With auxiliary bus bar B1, auxiliary
Bus B2 is connected；Described control circuit includes master controller（7）And optical couple isolation drive circuit（8）, master controller（7）It is logical
Cross output port P1 and optical couple isolation drive circuit（8）First input end connection, output port P2 and light-coupled isolation driving electricity
Road（8）The second input connection, optical couple isolation drive circuit（8）The first output end connect the first dc bus contactor line
Circle（13）, the second output end the second dc bus contactor coil of connection（14）.
2. intelligent inspection robot power supply management system according to claim 1, it is characterised in that：Described navigation type passes
Sensor includes at least one of laser navigation sensor, magnetic navigation sensor and GPS sensor；The motor has including direct current
At least one of brush motor, permagnetic synchronous motor and DC brushless motor.
A kind of 3. intelligent inspection robot power supply management system according to claim 1, it is characterised in that：Described is wireless
Communication module includes at least one of 4g communication modules, bluetooth communication module and WIFI communication module.
A kind of 4. intelligent inspection robot power supply management system according to claim 1, it is characterised in that：Described first
Group assistant load（3）, second group of assistant load（4）Include Intelligent Measurement module, video monitoring module, man-machine interaction mould respectively
Block, broadcast and at least one of alarm module and lighting module and different.
A kind of 5. intelligent inspection robot power supply management system according to claim 4, it is characterised in that：Described intelligence
Detection module includes at least one of infrared sensor, temperature sensor and Smoke Sensor.
A kind of 6. intelligent inspection robot power supply management system according to claim 4, it is characterised in that：Described video
Monitoring module includes at least one of visible light camera, thermal infrared imaging camera and night vision device.
A kind of 7. intelligent inspection robot power supply management system according to claim 4, it is characterised in that：Described is man-machine
Interactive module includes at least one of sound identification module, face recognition module, operator control panel and button.
A kind of 8. intelligent inspection robot power supply management system according to claim 1, it is characterised in that：Described battery
（1）Output end and core bus A between connection set power supply breaker.
A kind of 9. management method for realizing intelligent inspection robot power supply management system described in claim 1, it is characterised in that：
The step of power supply management method of described crusing robot is：
Step 1：By software in advance in master controller（7）Middle setting and battery electric quantity（9）Related threshold value of warning and warning level
Value, threshold value of warning is more than alarm threshold value, into step 2；
Step 2：Battery（1）Powered for core bus A, core load（2）Normal work, master controller（7）Self-test is carried out, and is sentenced
Disconnected core load（2）Whether normal work, if exist it is abnormal if master controller（7）By described wireless communication module to application
Unit alarm is sought to overhaul, if master controller（7）Detect it is without exception and receive using unit send operating instruction（10）Afterwards,
According to setting track traveling, into step 3；
Step 3：Master controller（7）Battery electric quantity is persistently detected in the process of moving（9）, and by battery electric quantity（9）With step 1 institute
The threshold value of warning stated is compared, and works as master controller（7）Detect battery electric quantity（9）During higher than threshold value of warning, into step 4,
Work as battery electric quantity（9）During equal to or less than threshold value of warning, into step 5；
Step 4：Master controller（7）Output port P1 output low level signals, the signal passes through optical couple isolation drive circuit（8）
The first dc bus contactor coil is controlled after carrying out isolation amplification（13）It is powered, and then its corresponding first dc bus contact
Device normally opened contact（5）Closure, auxiliary bus bar B1 are powered, first group of assistant load（3）Normal work, into step 6；
Step 5：Master controller（7）Crusing robot is controlled to make a return voyage automatically by motor, while master controller（7）Output
P1 output high level signals are held, the signal passes through optical couple isolation drive circuit（8）Control the first direct current female after carrying out isolation amplification
Linear contact lay device coil（13）Power-off, and then its corresponding first dc bus contactor normally opened contact（5）Disconnect, auxiliary bus bar B1
Power-off, first group of assistant load（3）It is stopped, into step 6；
Step 6：Master controller（7）Battery electric quantity is persistently detected during making a return voyage（9）, and by battery electric quantity（9）With step 1 institute
The alarm threshold value stated is compared, and works as master controller（7）Detect battery electric quantity（9）During higher than alarm threshold value, into step 7, when
Battery electric quantity（9）During equal to or less than alarm threshold value, into step 8；
Step 7：Master controller（7）Output port P2 output low level signals, the signal passes through optical couple isolation drive circuit（8）
The second dc bus contactor coil is controlled after carrying out isolation amplification（14）It is powered, and then its corresponding second dc bus contact
Device normally opened contact（6）Closure, auxiliary bus bar B2 are powered, second group of assistant load（4）Normal work, into step 9；
Step 8：Master controller（7）Output port P2 output high level signals, the signal passes through optical couple isolation drive circuit（8）
The second dc bus contactor coil is controlled after carrying out isolation amplification（14）Power-off, and then its corresponding second dc bus contact
Device normally opened contact（6）Disconnect, auxiliary bus bar B2 power-off, second group of assistant load（4）It is stopped, while master controller（7）It is logical
Cross described wireless communication module to continue to send the positional information of crusing robot to application unit, into step 9；
Step 9：Crusing robot continues automatic make a return voyage until juice point.
10. a kind of management method of intelligent inspection robot power supply management system, its feature exist according to claim 9
In：Described battery electric quantity（9）Including at least one of battery voltage value and SOC value of battery.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711374330.7A CN107834534B (en) | 2017-12-19 | 2017-12-19 | Power supply management system for intelligent inspection robot and management method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711374330.7A CN107834534B (en) | 2017-12-19 | 2017-12-19 | Power supply management system for intelligent inspection robot and management method thereof |
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| CN107834534A true CN107834534A (en) | 2018-03-23 |
| CN107834534B CN107834534B (en) | 2023-12-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110750121A (en) * | 2019-12-03 | 2020-02-04 | 中北大学 | Overtemperature automatic power-off temperature-controllable heating system for shock tube heating |
| CN114378821A (en) * | 2022-01-19 | 2022-04-22 | 华能汕头海门发电有限责任公司 | Charging and discharging management method of inspection robot |
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| CN103248115A (en) * | 2013-05-27 | 2013-08-14 | 国家电网公司 | Power supply system for transformer substation inspection robot and charging method of power supply system |
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| CN103248115A (en) * | 2013-05-27 | 2013-08-14 | 国家电网公司 | Power supply system for transformer substation inspection robot and charging method of power supply system |
| CN103746592A (en) * | 2013-12-31 | 2014-04-23 | 华为技术有限公司 | Bidirectional inverting system and bidirectional inverting circuit |
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| CN114378821A (en) * | 2022-01-19 | 2022-04-22 | 华能汕头海门发电有限责任公司 | Charging and discharging management method of inspection robot |
| CN114378821B (en) * | 2022-01-19 | 2024-04-05 | 华能汕头海门发电有限责任公司 | Charging and discharging management method of inspection robot |
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