CN108565956A - Electric inspection process robot solar energy autonomous mixed charged device and method online - Google Patents
Electric inspection process robot solar energy autonomous mixed charged device and method online Download PDFInfo
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- CN108565956A CN108565956A CN201810734533.0A CN201810734533A CN108565956A CN 108565956 A CN108565956 A CN 108565956A CN 201810734533 A CN201810734533 A CN 201810734533A CN 108565956 A CN108565956 A CN 108565956A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000007689 inspection Methods 0.000 title claims abstract description 46
- 230000008569 process Effects 0.000 title claims abstract description 34
- 238000006073 displacement reaction Methods 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 11
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 5
- 239000010959 steel Substances 0.000 claims abstract description 5
- 230000005693 optoelectronics Effects 0.000 claims description 13
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- 230000003287 optical effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
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- 230000005622 photoelectricity Effects 0.000 claims 1
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- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000001932 seasonal effect Effects 0.000 description 2
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- 230000005540 biological transmission Effects 0.000 description 1
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
- Y02E10/56—Power conversion systems, e.g. maximum power point trackers
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
Electric inspection process robot solar energy autonomous mixed charged device and method online,It is related to electric inspection process robot field,Including pylon and solar electric power supply system,Solar electric power supply system includes controller,Accumulator,Solar energy sailboard,Communication module,BD/GPS locating modules,Voltage sensor,Current sensor,Infrared sensor,Transformer,Controller and accumulator are equipped on the tower body of pylon,Motor is installed on the angle steel of pylon,Motor is fixedly connected by gear-box with mounting bracket,Solar energy sailboard is fixed in mounting bracket,The wired power supply interface of direct current and direct current wireless power interface are connected on transformer output end,The wired power supply interface of direct current and direct current wireless power interface are installed on power supply interface panel,Power supply interface panel is fixed on the top of displacement platform,Displacement platform is arranged on the linear motor on pylon top；The present invention carries out mixed charged to crusing robot, increases inspection machine task efficiency and intelligent level.
Description
Technical field
The present invention relates to electric inspection process robot fields, autonomous online with solar energy more particularly, to electric inspection process robot
Mixed charged device and method.
Background technology
Well known, electric inspection process robot provides the energy using rechargeable battery, carries out inspection along power circuit, electricity is worked as
After pond energy reduces to a certain extent, robot just needs to carry out the supplement of the energy.And traditional inspection device, mostly use greatly from
Micro USB method for electrically carries out charging operations after needing robot offline, lacks the design of recharging, this is significantly increased manually
The workload of auxiliary influences inspection machine task efficiency and intelligent level.
Invention content
In order to overcome the shortcomings of in background technology, the invention discloses electric inspection process robots independently to be mixed online with solar energy
Close charging unit and method.
In order to realize that the goal of the invention, the present invention adopt the following technical scheme that：
Electric inspection process robot solar energy autonomous mixed charged device, including pylon and solar electric power supply system online, the sun
Energy power supply system includes controller, accumulator, solar energy sailboard, communication module, BD/GPS locating modules, voltage sensor, electricity
Flow sensor, infrared sensor, transformer are respectively equipped with the controller installed by babinet and electric power storage on the tower body of pylon
Pond is equipped with motor on the angle steel of pylon, and motor is fixedly connected by gear-box with mounting bracket, and the solar energy sailboard is solid
It is scheduled in mounting bracket, the controller passes through circuit and solar energy sailboard, communication module, BD/GPS locating modules, storage respectively
Battery, voltage sensor, current sensor, infrared sensor are connected with transformer, and direct current is connected on transformer output end
Wired power supply interface and direct current wireless power interface, the wired power supply interface of the direct current and direct current wireless power interface are respectively separated
On power supply interface panel, power supply interface panel is fixed on the top of displacement platform by connecting plate, and displacement platform is arranged straight
On line motor, linear motor is fixed on the top of pylon by mounting bracket.
Electric inspection process robot solar energy autonomous mixed charged device online, sets between gear-box and pylon
There are supporting rack, one end of supporting rack to be fixed on the lower part of gear-box, the other end of supporting rack is fixedly connected with pylon, in gear-box
The gear shaft of interior one of gear and the output shaft of motor are connected by shaft coupling, and the gear shaft of another gear passes through shaft coupling
It is fixedly connected with mounting bracket, two gear intermeshing settings.
With solar energy, autonomous mixed charged device, the connecting plate are set as L-shaped online for the electric inspection process robot,
The outer end side surface in connecting plate is arranged in power supply interface panel.
Electric inspection process robot solar energy autonomous mixed charged device online, the power supply interface panel is mixed
Charging panel is closed, the wired power supply interface of direct current is equipped on the top of power supply interface panel, is equipped in the lower part of power supply interface panel
Direct current wireless power interface is surrounded by multiple infrared sensors, in power supply interface panel in direct current wireless power interface
Side is equipped with threaded hole, is fixedly connected with the outer end side arm of connecting plate by bolt.
Electric inspection process robot solar energy autonomous mixed charged device online, in the wired power supply interface of direct current
The middle part of outside is equipped with recess, and spring is equipped in recess, and positive and negative anodes insulating layer A is connected in the outer end of spring, spring it is another
One end connects ground wire A, is connected with power cable on positive and negative anodes insulating layer A, ground wire A, power cable rear end sequentially pass through
Concave face and connecting plate are equipped with magnetic plate A in positive and negative anodes insulating layer, and conical surface feeder ear is equipped in the outside of positive and negative anodes insulating layer
Son is respectively equipped with infrared encoder and optoelectronic switch in the outside both sides of the wired power supply interface of direct current, is connect with the wired power supply of direct current
The charging interface port that mouth is correspondingly connected with is arranged in robot comprising shell is equipped with positive and negative anodes in the interior Middle face of shell
Insulating layer B, is equipped with the conical surface charging terminal being recessed inwardly on positive and negative anodes insulating layer B, and the conical surface charging terminal is supplied with the conical surface
The shape of electric terminal is disposed as taper surface, and the setting that cooperates, and magnetic plate B, the magnetic are equipped on conical surface charging terminal
Power piece B and magnetic plate A is mutually attracted setting, is respectively equipped in the both sides of shell inner face opposite with infrared encoder, optoelectronic switch
Infrared coding receiver, the light emitting diode answered are connected separately with cable and ground wire B, cable at the rear portion of positive and negative anodes insulating layer B
Shell is both passed through with the outer end of ground wire B, cable is connect with battery, ground wire B ground connection.
Electric inspection process robot solar energy autonomous mixed charged device online, in direct current wireless power interface
Middle panel is equipped with feeder ear interface coil, infrared sensor is equipped in the panel quadrangle of direct current wireless power interface, with confession
The receiving terminal interface coil that electric end interface coil is correspondingly connected with is arranged in robot, in the panel quadrangle of receiving terminal interface coil
It is respectively equipped with infrared sensor, integrated electricity is equipped in the panel of direct current wireless power interface panel and receiving terminal interface coil
Road controller.
Electric inspection process robot solar energy autonomous mixed charged device online, the controller respectively with it is infrared
Sensor, optoelectronic switch, infrared encoder are connected by signal.
Electric inspection process robot solar energy autonomous mixed charged method online, specifically includes following steps：
（1）, start motor converted light energy by gear-box passing power so as to adjust the light angle of solar energy sailboard
Electric energy, by accumulators store electric energy, controller converts voltage to electric energy management, and by transformer, provides and fills for crusing robot
Piezoelectric voltage and electric current, by the direct current wireless power interface and the wired power supply interface of direct current on power supply interface panel, preparation is to patrolling
Inspection robot charges；
（2）, the relative position of infrared sensor detection crusing robot that is arranged on power supply interface panel, crusing robot is close
Before power supply interface panel is not docked with the wired power supply interface of direct current, by the integrated circuit in direct current wireless power interface
Controller emits wireless signal, and the integrated circuit controller in crusing robot receiving terminal interface coil panel receives wireless communication
Number, start wireless charging function；
（3）, connect previous step, the infrared encoder on the wired power supply interface panel of direct current sends out encoded signal, indicates that direct current has
The left and right reference position of line power supply interface, the infrared coding receiver that is arranged receives coding letter in crusing robot charging end housing
Number, determine the accurate location of the wired power supply interface of direct current, crusing robot is close to the wired power supply interface of direct current；
（4）, connect previous step, start linear motor drive displacement platform and generate displacement, power supply interface panel is extend out to survey monitor
Device people is made by the attraction of magnetic plate B in magnetic plate A and crusing robot the charging end housing at the wired power supply interface end of direct current
With, absorption conical surface power supply terminal pop-up, the conical surface charging terminal dock with conical surface power supply terminal, the realization wired power supply interface of direct current and
Crusing robot progress is wired to close wireless signal for electrical connection, and charging modes are switched to wired charging method；
（5）, connect previous step, after docking successfully, the lumination of light emitting diode that crusing robot charges in end housing, direct current is wired
After optoelectronic switch on power supply interface panel receives optical signal, stop the movement of linear motor, inspection machine after charging
People closes the luminous signal of light emitting diode, starts linear motor and retreats, passes through springs return conical surface power supply terminal, power supply interface
Panel retreats, linear motor stop motion, and the wired power supply interface of direct current is restored to standby mode, waits for powered operation next time.
By adopting the above-described technical solution, the present invention has the advantages that：
1, electric inspection process robot of the present invention solar energy autonomous mixed charged device and method online, by using too
Positive energy windsurfing realizes conversion of the luminous energy to electric energy, using the transformed electric energy of accumulators store, passes through transformer and carries out voltage
Transformation, provides suitable charging voltage and electric current, using wired and wireless two kinds of power supply interfaces, to survey monitor for crusing robot
Device people carries out mixed charged, effectively reduces labor workload, increases inspection machine task efficiency and intelligent level.
2, controller and accumulator are fixed on by babinet on pylon by the present invention, and solar energy sailboard is fixed on installation towards south
On holder, the motor of control solar energy sailboard light angle is fixed on the angle steel of pylon, is driven and is installed using gear-box
There is the mounting bracket of solar energy sailboard to rotate, the transmission of power can be carried out by gear-box can control motor speed again, utilize
The light angle of motor adjustment solar energy sailboard improves solar power generation to track the incident angle of sun Various Seasonal
Utilization rate.
3, the present invention drives displacement platform linear motion using linear motor, convenient for adjusting power supply interface panel and inspection machine
The distance of people is equipped with infrared encoder transmitter on power supply interface panel and moves to power supply when crusing robot needs charging
Near interface panel, controller can measure crusing robot at a distance from for electric installation according to infrared sensor, command displacement
Platform generates displacement, the position stretching of power supply interface panel is realized, using wired or wireless power supply mode, to survey monitor
Device people is powered, and effectively increases inspection machine task efficiency.
4, the present invention uses mixed charged panel, and wired and wireless charging method is combined, can be according to crusing robot
Working condition carry out the switchings of charging modes, improve charge efficiency and energy utilization rate.When crusing robot connects close to power supply
Within the scope of mouthful panel certain distance, before not yet being docked with the wired power supply interface of direct current, direct current wireless power interface can be with
Wireless charging is carried out to crusing robot, electricity supplement is carried out to crusing robot, avoids the machine caused by unpredictable element
Device people's electricity exhausts, and can not drive the case where completing recharging.When the charging of direct current wired power supply interface and crusing robot
After interface port docking, charging system is switched to wired charging method, improves the efficiency and energy utilization rate of charging.Work as survey monitor
When device people's wired charging interface breaks down, wireless power state is can switch to, crusing robot is continued as and energy is provided.
Description of the drawings
Fig. 1 is the structural schematic diagram of solar electric power supply system of the present invention；
Fig. 2 is the connection diagram of solar energy sailboard of the present invention；
Fig. 3 is the attachment structure schematic diagram of power supply interface panel and displacement platform of the present invention；
Fig. 4 is the structural schematic diagram of power supply interface panel of the present invention；
Fig. 5 is the structural schematic diagram of the wired power supply interface of direct current of the present invention；
Fig. 6 is the structural schematic diagram of direct current wireless power interface of the present invention；
In figure：1, pylon；2, accumulator；3, controller；4, motor；5, gear-box；6, mounting bracket；7, solar energy sailboard；8、
Connecting plate；9, linear motor；10, displacement platform；11, mounting bracket；12, power supply interface panel；13, the wired power supply interface of direct current；14、
Infrared sensor；15, direct current wireless power interface；16, optoelectronic switch；17, conical surface power supply terminal；18, spring；19, ground wire A；
20, power cable；21, magnetic plate A；22, positive and negative anodes insulating layer A；23, infrared encoder；24, infrared coding receiver；25, magnetic
Power piece B；26, cable；27, battery；28, ground wire B；29, conical surface charging terminal；30, positive and negative anodes insulating layer B；31, shell；32, it sends out
Optical diode；33, receiving terminal interface coil；34, feeder ear interface coil.
Specific implementation mode
By the following examples can the detailed explanation present invention, the open purpose of the present invention is intended to protect model of the present invention
Enclose all interior technological improvements.
Electric inspection process robot solar energy autonomous mixed charged device, including pylon 1 online in conjunction with described in attached drawing 1-6
And solar electric power supply system, solar electric power supply system include controller 3, accumulator 2, solar energy sailboard 7, communication module, BD/
GPS positioning module, voltage sensor, current sensor, infrared sensor 14 and transformer, set respectively on the tower body of pylon 1
Have the controller 3 installed by babinet and accumulator 2, motor 4 be installed on the angle steel of pylon 1, motor 4 by gear-box with
Mounting bracket 6 is fixedly connected, and the solar energy sailboard 7 is fixed in mounting bracket 6, the controller 3 respectively by circuit with
Solar energy sailboard 7, communication module, BD/GPS locating modules, accumulator 2, voltage sensor, current sensor, infrared sensor
14 connect with transformer, are connected with the wired power supply interface 13 of direct current and direct current wireless power interface 15 on the transformer, described straight
It flows wired power supply interface 13 and direct current wireless power interface 15 is respectively separated on power supply interface panel 12, power supply interface face
Plate 12 is fixed on the top of displacement platform 10 by connecting plate 8, and displacement platform 10 is arranged on linear motor 9, and linear motor 9 passes through peace
Shelve 11 tops for being fixed on pylon 1.
Electric inspection process robot solar energy autonomous mixed charged device online, between gear-box 5 and pylon 1
Equipped with supporting rack, one end of supporting rack is fixed on the lower part of gear-box 5, and the other end of supporting rack is fixedly connected with pylon 1, in tooth
The gear shaft of one of gear is connect with the output shaft of motor 4 by shaft coupling in roller box 5, and the gear shaft of another gear passes through
Shaft coupling is fixedly connected with mounting bracket 6.Two gear intermeshing settings.
With solar energy, autonomous mixed charged device, the connecting plate 8 are set as L online for the electric inspection process robot
The outer end side surface in connecting plate 8 is arranged in shape, power supply interface panel 12.
With solar energy, autonomous mixed charged device, the power supply interface panel 12 are online for the electric inspection process robot
Mixed charged panel is equipped with the wired power supply interface 13 of direct current, in power supply interface panel 12 on the top of power supply interface panel 12
Lower part is equipped with direct current wireless power interface 15, and multiple infrared sensors 14 are surrounded by direct current wireless power interface 15,
The side of power supply interface panel 12 is equipped with threaded hole, is fixedly connected with the outer end side arm of connecting plate 8 by bolt.
Electric inspection process robot solar energy autonomous mixed charged device online, in the wired power supply interface of direct current 13
Outside middle part be equipped with recess, recess in be equipped with spring 18, be connected with positive and negative anodes insulating layer A22 in the outer end of spring 18,
The other end of spring 18 connects ground wire A19, and power cable 20, ground wire A19, supply lines are connected on positive and negative anodes insulating layer A22
The rear end of cable 20 sequentially passes through concave face and connecting plate 8, magnetic plate A21 is equipped in positive and negative anodes insulating layer 22, in positive and negative anodes
The outside of insulating layer 22 is equipped with conical surface power supply terminal 17, and infrared volume is respectively equipped in the outside both sides of the wired power supply interface of direct current 13
Code device 23 and optoelectronic switch 16, the charging interface port being correspondingly connected with the wired power supply interface of direct current 13 are arranged in robot,
It includes shell 31, shell 31 interior Middle face be equipped with positive and negative anodes insulating layer B30, on positive and negative anodes insulating layer B30 be equipped with to
The conical surface charging terminal 29 of sunken inside, the conical surface charging terminal 29 and the shape of conical surface power supply terminal 17 are disposed as taper
Face, and the setting that cooperates, are equipped with magnetic plate B25, the magnetic plate B25 and magnetic plate A21 phases on conical surface charging terminal 29
It is mutually attracted setting, infrared volume corresponding with infrared encoder 23, optoelectronic switch 16 is respectively equipped in the both sides of 31 inner face of shell
Code receiver 24, light emitting diode 32, cable 26 and ground wire B28, cable are connected separately at the rear portion of positive and negative anodes insulating layer B30
The outer end of 26 and ground wire B28 both passes through shell 31, and cable 26 is connect with battery 27, ground wire B28 ground connection.
Electric inspection process robot solar energy autonomous mixed charged device online, in direct current wireless power interface 15
Middle panel be equipped with feeder ear interface coil 34, be equipped with infrared sensor in the panel quadrangle of direct current wireless power interface 15
14, the receiving terminal interface coil 33 being correspondingly connected with feeder ear interface coil 34 is arranged in robot, in receiving terminal interface line
The panel quadrangle of circle 33 is respectively equipped with infrared sensor 14, in 15 panel of direct current wireless power interface and receiving terminal interface coil 33
Panel in be equipped with integrated circuit controller.
Electric inspection process robot solar energy autonomous mixed charged device online, the controller 3 respectively with it is red
Outer sensor 14, optoelectronic switch 16, infrared encoder 23 are connected by signal.
Electric inspection process robot solar energy autonomous mixed charged method online, specifically includes following steps：
（1）, start motor 4 luminous energy is converted by 5 passing power of gear-box so as to adjust the light angle of solar energy sailboard 7
For electric energy, electric energy is stored by accumulator 2, controller 3 is converted voltage to electric energy management, and by transformer, carried for crusing robot
For charging voltage and electric current, pass through the direct current wireless power interface 15 and the wired power supply interface of direct current on power supply interface panel 12
13, preparation charges to crusing robot；
（2）, the infrared sensor 14 that is arranged on power supply interface panel 12 detect the relative position of crusing robot, crusing robot
Before not docked with the wired power supply interface of direct current 13 close to power supply interface panel 12, by direct current wireless power interface 15
Integrated circuit controller emit wireless signal, the integrated circuit controller in 33 panel of crusing robot receiving terminal interface coil
Wireless signal is received, wireless charging function is started；
（3）, connect previous step, the infrared encoder 23 on wired 13 panel of power supply interface of direct current sends out encoded signal, indicates straight
Flow the left and right reference position of wired power supply interface 13, the infrared coding receiver 24 being arranged in crusing robot charging end housing 31
Received encoded signal, determines the accurate location of the wired power supply interface of direct current 13, and crusing robot is close to the wired power supply interface of direct current
13；
（4）, connect previous step, start 9 drive displacement platform 10 of linear motor and generate displacement, power supply interface panel 12 is extend out to and is patrolled
Robot is examined, magnetic plate in magnetic plate A21 and crusing robot the charging end housing 31 at wired 13 end of power supply interface of direct current is passed through
The sucking action of B25, absorption conical surface power supply terminal 17 pop up, and conical surface charging terminal 29 is docked with conical surface power supply terminal 17, is realized
The wired power supply interface 13 of direct current is wired for being electrically connected with crusing robot progress, closes wireless signal, charging modes have been switched to
Line charging modes；
（5）, connect previous step, after docking successfully, crusing robot charge end housing 31 on light emitting diode 32 shine, direct current
After optoelectronic switch 16 on 13 panel of wired power supply interface receives optical signal, stop the movement of linear motor 9, after charging
Crusing robot closes the luminous signal of light emitting diode 32, starts linear motor 9 and retreats, and conical surface power supply is retracted by spring 18
Terminal 17, power supply interface panel 12 retreat, and 9 stop motion of linear motor, the wired power supply interface of direct current 13 is restored to standby mode,
Wait for powered operation next time.
Implement electric inspection process robot of the present invention solar energy autonomous mixed charged device and method online, makes
Used time, solar energy sailboard 7 drive gear-box 5 to be driven by rotate by motor 4, and the light of solar energy sailboard 7 is adjusted by motor 4
Angle, the incident angle for having tracked the sun in Various Seasonal pass through light convenient for the maximized utilization rate for improving solar power generation
It can be converted into electric energy, deposit the transformed electric energy of 2 storages using accumulator, controller 3 is the controller based on DSP, to electric power storage
The electric energy that 2 storages are deposited in pond is managed, and electric energy is carried out the transformation of voltage by transformer, and suitable charging is provided for crusing robot
Voltage and current, and by the direct current wireless power interface 15 and the wired power supply interface 13 of direct current on power supply interface panel 12, it is right
Crusing robot carries out mixed charged, and using voltage, voltage, the current information of current sensor monitoring power supply interface, utilizes
Infrared sensor, optoelectronic switch 16 realize the relative position detection of power supply interface panel 12 and crusing robot, utilize Big Dipper BD/
GPS positioning module module obtains the location information for electric installation itself, utilizes the 3G/4G/5G communication modules of mobile communications network
The information exchange for realizing power supply system and crusing robot, remote monitoring center, so that monitoring center and crusing robot are to each
The position of a solar charging device and charged state are understood and are controlled.Controller has necessary overload protection function,
Ensure maloperation under any circumstance, robot will not be caused to damage, the method that remote control can also be used, close or
Restart problematic for electric installation.Keep power supply interface panel 12 elastic using 9 drive displacement platform 10 of linear motor, convenient for adjusting
The distance between power supply interface panel 12 and crusing robot are saved, the stretching of 12 position of power supply interface panel is realized, to machine
Device people is powered.
Power supply interface panel 12 uses hybrid power supply panel, i.e., direct current wireless power is respectively set on hybrid power supply panel
Interface 15 and the wired power supply interface 13 of direct current, when crusing robot is within the scope of 12 certain distance of power supply interface panel, not yet
Before being docked with the wired power supply interface of direct current 13, direct current wireless power interface 15 can carry out wireless charging to crusing robot
Electricity carries out electricity supplement to crusing robot, avoids the robot electric quantity caused by unpredictable element from exhausting, can not drive
The case where at recharging.After the wired power supply interface 13 of direct current is docked with the charging interface port of crusing robot, Charging
System is switched to wired charging method, improves the efficiency and energy utilization rate of charging；When crusing robot wired charging interface occurs
When failure, wireless power state is can switch to, crusing robot is continued as and energy is provided；It is designed on crusing robot opposite
The conical surface charging terminal 29 of the receiving terminal of the charging end interface and wireless charging answered, the charging end interface on crusing robot is arranged
For taper surface, convenient for corresponding with the conical surface power supply terminal 17 of the wired power supply interface of direct current 13, smoothly completed convenient for charging terminal
Docking and separation, the infrared encoder 23 on the wired power supply interface of direct current 13 emit different encoded signals, indicate that direct current is wired
The left and right position benchmark of power supply interface 13 is designed with infrared coding receiver 24 on the shell 31 of crusing robot charging end, connects
After the encoded signal for receiving the transmitting of infrared encoder 23, the position of the wired power supply interface of direct current 13, control are determined according to encoding state
Movement speed processed, close to power supply interface；When left and right ends are all aligned, displacement is generated by 9 drive displacement platform 10 of linear motor, it will
Power supply interface panel 12 stretch out, power supply interface panel 12 close to crusing robot to certain distance when, utilize the wired power supply of direct current
The sucking action of magnetic plate B25, absorption conical surface power supply in magnetic plate A21 and crusing robot the charging end housing 31 at 13 end of interface
Terminal 17 pops up, and conical surface charging terminal 29 is docked with conical surface power supply terminal 17, and after docking successfully, charging docking is sent out by robot
Pass signal, the light emitting diode 32 in driving robot charging end housing 31 shine, the light on the wired power supply interface of direct current 13
After electric switch 16 receives optical signal, stop the movement of linear motor 9；Charging finishes, and robot closes light emitting diode 32
Optical signal, the wired power supply interface 13 of direct current start linear motor 9 and retreat, and are retracted on the wired power supply interface of direct current 13 using spring 18
Conical surface power supply terminal 17, after the wired power supply interface of direct current 13 backs to certain distance, 9 stop motion of linear motor, direct current
Wired power supply interface 13 is restored to standby mode, waits for powered operation next time.
Direct current wireless power interface 15 is designed using electromagnetic induction principle, by 15 panel of direct current wireless power interface
Integrated circuit controller is set, and integrated circuit controller generates alternating signal, encourages built-in feeder ear interface coil 34, inspection
Robot receiving terminal interface coil 33 generates induced potential under the excitation of 34 electromagnetic wave of feeder ear interface coil, receives termination
It after mouth line circle 33 improves electric signal, charges for the battery of crusing robot, is patrolled by the measurement of infrared sensor 14
Examine robot and wireless power end relative position, when crusing robot enters certain distance range, can according to communications status,
Whether judgement crusing robot needs to charge, so that it may to start wireless charging function by feeder ear interface coil 34.
Part not in the detailed description of the invention is the prior art.
The embodiment selected herein for the goal of the invention of the open present invention, is presently considered to be suitable, still,
It is to be understood that belonging to all changes and the improvement of the embodiment in this design and invention scope the present invention is intended to include all.
Claims (8)
1. electric inspection process robot solar energy autonomous mixed charged device, including pylon and solar electric power supply system online,
It is characterized in：Solar electric power supply system includes controller, accumulator, solar energy sailboard, communication module, BD/GPS locating modules, electricity
Pressure sensor, current sensor, infrared sensor, transformer are respectively equipped with the control installed by babinet on the tower body of pylon
Device and accumulator processed are equipped with motor on the angle steel of pylon, and motor is fixedly connected by gear-box with mounting bracket, it is described too
Positive energy windsurfing is fixed in mounting bracket, and the controller is fixed by circuit and solar energy sailboard, communication module, BD/GPS respectively
Position module, accumulator, voltage sensor, current sensor, infrared sensor are connected with transformer, are connected on transformer output end
It is connected to the wired power supply interface of direct current and direct current wireless power interface, the wired power supply interface of the direct current and direct current wireless power interface
It is respectively separated on power supply interface panel, power supply interface panel is fixed on the top of displacement platform, displacement platform by connecting plate
It is arranged on linear motor, linear motor is fixed on the top of pylon by mounting bracket.
2. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that：
Be equipped with supporting rack between gear-box and pylon, one end of supporting rack is fixed on the lower part of gear-box, the other end of supporting rack with
Pylon is fixedly connected, and the gear shaft of one of gear and the output shaft of motor are connected by shaft coupling in gear-box, another
The gear shaft of gear is fixedly connected by shaft coupling with mounting bracket, two gear intermeshing settings.
3. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that：
The connecting plate is set as L-shaped, and the outer end side surface in connecting plate is arranged in power supply interface panel.
4. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that：
The power supply interface panel is mixed charged panel, is equipped with the wired power supply interface of direct current on the top of power supply interface panel, is supplying
The lower part of electrical interface panel is equipped with direct current wireless power interface, and multiple infrared sensings are surrounded by direct current wireless power interface
Device is equipped with threaded hole in the side of power supply interface panel, is fixedly connected with the outer end side arm of connecting plate by bolt.
5. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that：
It is equipped with recess at the middle part of the outside of the wired power supply interface of direct current, spring is equipped in recess, is connected with just in the outer end of spring
The other end of negative insulation layer A, spring connect ground wire A, and power cable, ground wire A, power supply are connected on positive and negative anodes insulating layer A
The rear end of cable sequentially passes through concave face and connecting plate, magnetic plate A is equipped in positive and negative anodes insulating layer, in positive and negative anodes insulating layer
Outside be equipped with conical surface power supply terminal, be respectively equipped with infrared encoder in the outside both sides of the wired power supply interface of direct current and photoelectricity opened
It closes, is arranged in robot with the charging interface port that the wired power supply interface of direct current is correspondingly connected with comprising shell, in shell
Interior Middle face is equipped with positive and negative anodes insulating layer B, and the conical surface charging terminal being recessed inwardly, the cone are equipped on positive and negative anodes insulating layer B
The shape of face charging terminal and conical surface power supply terminal is disposed as taper surface, and the setting that cooperates, on conical surface charging terminal
Equipped with magnetic plate B, the magnetic plate B and magnetic plate A is mutually attracted setting, is respectively equipped with and infrared volume in the both sides of shell inner face
Code device, the corresponding infrared coding receiver of optoelectronic switch, light emitting diode, are separately connected at the rear portion of positive and negative anodes insulating layer B
There are a cable and ground wire B, the outer end of cable and ground wire B both pass through shell, and cable is connect with battery, ground wire B ground connection.
6. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that：
It is equipped with feeder ear interface coil in the middle panel of direct current wireless power interface, it is equal in the panel quadrangle of direct current wireless power interface
Equipped with infrared sensor, the receiving terminal interface coil being correspondingly connected with feeder ear interface coil is arranged in robot, is receiving
The panel quadrangle of end interface coil is respectively equipped with infrared sensor, in direct current wireless power interface panel and receiving terminal interface coil
Panel in be equipped with integrated circuit controller.
7. electric inspection process robot according to claim 1 solar energy autonomous mixed charged device online, it is characterized in that：
The controller is connect with infrared sensor, optoelectronic switch, infrared encoder by signal respectively.
8. using the electric inspection process robot solar energy described in any claim in claim 1-7, independently mixing is filled online
The charging method of electric installation, specifically includes following steps：
（1）, start motor converted light energy by gear-box passing power so as to adjust the light angle of solar energy sailboard
Electric energy, by accumulators store electric energy, controller converts voltage to electric energy management, and by transformer, provides and fills for crusing robot
Piezoelectric voltage and electric current, by the direct current wireless power interface and the wired power supply interface of direct current on power supply interface panel, preparation is to patrolling
Inspection robot charges；
（2）, the relative position of infrared sensor detection crusing robot that is arranged on power supply interface panel, crusing robot is close
Before power supply interface panel is not docked with the wired power supply interface of direct current, by the integrated circuit in direct current wireless power interface
Controller emits wireless signal, and the integrated circuit controller in crusing robot receiving terminal interface coil panel receives wireless communication
Number, start wireless charging function；
（3）, connect previous step, the infrared encoder on the wired power supply interface panel of direct current sends out encoded signal, indicates that direct current has
The left and right reference position of line power supply interface, the infrared coding receiver that is arranged receives coding letter in crusing robot charging end housing
Number, determine the accurate location of the wired power supply interface of direct current, crusing robot is close to the wired power supply interface of direct current；
（4）, connect previous step, start linear motor drive displacement platform and generate displacement, power supply interface panel is extend out to survey monitor
Device people is made by the attraction of magnetic plate B in magnetic plate A and crusing robot the charging end housing at the wired power supply interface end of direct current
With, absorption conical surface power supply terminal pop-up, the conical surface charging terminal dock with conical surface power supply terminal, the realization wired power supply interface of direct current and
Crusing robot progress is wired to close wireless signal for electrical connection, and charging modes are switched to wired charging method；
（5）, connect previous step, after docking successfully, the lumination of light emitting diode that crusing robot charges in end housing, direct current is wired
After optoelectronic switch on power supply interface panel receives optical signal, stop the movement of linear motor, inspection machine after charging
People closes the luminous signal of light emitting diode, starts linear motor and retreats, passes through springs return conical surface power supply terminal, power supply interface
Panel retreats, linear motor stop motion, and the wired power supply interface of direct current is restored to standby mode, waits for powered operation next time.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810734533.0A CN108565956A (en) | 2018-07-06 | 2018-07-06 | Electric inspection process robot solar energy autonomous mixed charged device and method online |
| CN201910602099.5A CN110138073B (en) | 2018-07-06 | 2019-07-05 | Solar online autonomous hybrid charging device and method for electric power inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810734533.0A CN108565956A (en) | 2018-07-06 | 2018-07-06 | Electric inspection process robot solar energy autonomous mixed charged device and method online |
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| CN201910602099.5A Active CN110138073B (en) | 2018-07-06 | 2019-07-05 | Solar online autonomous hybrid charging device and method for electric power inspection robot |
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| CN110148993A (en) * | 2018-11-12 | 2019-08-20 | 浙江大学山东工业技术研究院 | A kind of outdoor moving robot charging system and charging method |
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| CN110224469A (en) * | 2019-07-01 | 2019-09-10 | 北京海益同展信息科技有限公司 | The control method and device and charging system of charging system |
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| CN110165748A (en) * | 2019-06-17 | 2019-08-23 | 国网福建省电力有限公司泉州供电公司 | Charging station on crusing robot line |
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Also Published As
| Publication number | Publication date |
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| CN110138073B (en) | 2024-03-26 |
| CN110138073A (en) | 2019-08-16 |
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