CN109347159A - A kind of full-automatic tour sweeping robot automatic charging system - Google Patents
A kind of full-automatic tour sweeping robot automatic charging system Download PDFInfo
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- CN109347159A CN109347159A CN201811244177.0A CN201811244177A CN109347159A CN 109347159 A CN109347159 A CN 109347159A CN 201811244177 A CN201811244177 A CN 201811244177A CN 109347159 A CN109347159 A CN 109347159A
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- 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
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
-
- 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
- H02J7/342—The other DC source being a battery actively interacting with the first one, i.e. battery to battery 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
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/60—Network streaming of media packets
- H04L65/65—Network streaming protocols, e.g. real-time transport protocol [RTP] or real-time control protocol [RTCP]
-
- 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
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/40—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries adapted for charging from various sources, e.g. AC, DC or multivoltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention belongs to automatic charging technical fields, disclose a kind of full-automatic tour sweeping robot automatic charging system, comprising: power supply module, for providing electric energy required for robot；It is wirelessly connected with power supply module, for wireless receiving, the wireless communication module of transmitting signal；It is connect with wireless communication module, the battery module of the power supply for storing extraneous charging module；It is connected with battery module, for the Voltage stabilizing module of burning voltage, the location identification module of charge position and the remote terminal that can be remotely operated for identification.The present invention has many advantages, such as that stability is good, dynamic response time is short, charging rate is fast, high-efficient, shortens the charging time, is not limited by charge position, can wireless power, practicability is stronger.
Description
Technical field
The invention belongs to automatic charging technical fields, more particularly to a kind of full-automatic tour sweeping robot automatic charging system
System.
Background technique
With the development of artificial intelligence technology, the application range of robot by traditional machinery, electronics, petroleum, automobile,
The industries such as electric power are expanded to fields such as ocean exploration, space flight and aviation, health care, sports and amusement, food and beverage sevices.With automatic
The development of change and years of researches, domestic there are many companies to be proposed reliable automatic tour sweeping robot, and more
It comes into operation at the scene of a substation.The cleaning of substation field automatically makes an inspection tour sweeping robot automatically to environment in substation
It is maked an inspection tour, more basis is set for automatic cleaning.Substation is 24 hours unremitting workplaces, needs the company of robot
Continuous property, high-intensitive work, so the charging system to robot is more demanding.Existing robot charging system needs to reach
Single specified charge position and charging base charge, and limit the charging space of robot, and the charging time is longer, leads
The decline of working efficiency is caused.
In conclusion problem of the existing technology is:
(1) existing robot charging system needs to reach single specified charge position and charging base charges,
The charging space of robot is limited, and the charging time is longer, results in the decline of working efficiency.
(2) the additional loss of voltage is generated there are euqalizing current, tandem reactor, voltage level and power supply capacity are unstable
It is fixed.
(3) wireless communication is easy to be disturbed and generate safety problem, and transmission rate is low.
(4) common lead-acid battery group has some inherent defects currently on the market, and the service life is short, security performance is difficult to reach and want
Ask, flash-over characteristic it is poor.
Existing remote terminal shared data effect is poor.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of full-automatic tour sweeping robot automatic charging systems
System.
The invention is realized in this way
A kind of full-automatic tour sweeping robot automatic charging system, the full-automatic tour sweeping robot automatic charging
System includes:
Power supply module, for providing electric energy required for robot, using two-side feeding technology；Adjust euqalizing current, string
Connect the extra voltage loss of reactor generation；
It is wirelessly connected with power supply module, for wireless receiving, the wireless communication module of transmitting signal；
It is connect with wireless communication module, the battery module of the power supply for storing extraneous charging module；
It is connected with battery module, for the Voltage stabilizing module of burning voltage, the position of charge position identifies mould for identification
Block；
It is connected with battery module, the remote terminal for remote operation；The integrated sharing module of remote terminal carries out remote
Number of passes according to Compliance control,
Obtain sharing request；
According to the sharing request, a streaming media service is called, and determines first data for sharing；
Based on the streaming media service, first data are converted into stream medium data and generation one passes through Streaming Media
Agreement can obtain the address information of the stream medium data；
The address information is sent to full-automatic sweeping robot of making an inspection tour；Wherein, the address information is described complete for making
Automatic sweeping robot of making an inspection tour is according to the address information acquisition stream medium data；
Based on the streaming media service, after receiving the full-automatic confirmation message for making an inspection tour sweeping robot, to institute
It states full-automatic sweeping robot of making an inspection tour and exports the stream medium data；
Determine that the first data for sharing include: according to the sharing request
If believing from the file for getting any data file stored on first electronic equipment in the sharing request
Breath, it is determined that any data file is the first data for sharing；
It is if in any data file handling procedure, receiving sharing request, then currently processed any data file is true
It is set to the first data for sharing；
Before exporting the stream medium data to the full-automatic tour sweeping robot, further comprise:
Control information is sent to the full-automatic tour sweeping robot, and the control information is used to making described automatically to patrol
It is determined depending on sweeping robot according to the control information and executes the stream medium data application program；
In any data file handling procedure, the sharing request is received, is used for according to sharing request determination
The first data shared, and first data are converted to stream medium data and generate one can be obtained by stream media protocol
The address information of the stream medium data includes:
Currently processed any data file is determined as to the first data for being used to share；
The currently processed location information of any data file is obtained, and will be untreated in any data file
The address information of the stream medium data can be obtained by stream media protocol by being partially converted to stream medium data and generation one；
In any data file handling procedure, the sharing request is received, which is characterized in that ask according to the sharing
The first data determined for sharing are sought, and first data are converted to stream medium data and generate one and pass through Streaming Media
The address information that agreement can obtain the stream medium data includes:
Currently processed any data file is determined as to the first data for being used to share；
Institute can be obtained by stream media protocol by being converted to stream medium data and generate one any data file
State the address information of stream medium data；
Obtain any data file currently processed location information and parameter information, and by the location information and parameter
Information is added in the files in stream media, makes the full-automatic tour sweeping robot according to the location information and parameter information
Video file described in continued broadcasting；
Obtaining sharing request includes:
If detecting that user executes the operation information of setting operation, sharing request is generated according to the operation information；
It is described when receive it is described it is full-automatic make an inspection tour sweeping robot confirmation message after, may further comprise: terminate institute
State the process flow of any data file；
After obtaining the sharing request, further comprise:
Using the data inputted in real time as the first data, input in real time first is counted based on the calling streaming media service
According to being converted into stream medium data.
Further, the power supply module includes solar energy power accumulating system and grid power supply system；The solar energy power accumulating system
System is made of solar cell module, charging-discharging controller and lead-acid accumulator；Charging-discharging controller is used to carry out battery
Overcharge/discharge prevention and temperature-compensating.
Further, the wireless communication module includes wireless charging receiving portion and wireless charging emitting portion；The nothing
Line charge electricity transmit circuit pass through coil between electromagnetic induction to receive circuit；The wireless charging receiving portion includes voltage output portion
Point and charging detection part.
Further, the power supply module is further integrated with Fuzzy Adaptive PID adjusting submodule, for charging system
Carry out PID control；Specifically have: establishing the dynamic model of system, using the series connection of capacitor and resistance；It is obtained according to system dynamic model
To the transmission function of Voltage loop and electric current loop；
Charging system uses two closed-loop controls of electric current loop and Voltage loop, and all uses Fuzzy Adaptive PID Control；Electricity
Stream ring and Voltage loop are respectively used to constant-current charge control and constant-voltage charge control；
The power supply module is also integrated with single-chip microcontroller, the battery-end electricity that the acquisition system according to power supply module connection obtains
Pressure, charging current, battery temperature parameter determine the charging stage locating for battery, determine starting voltage regulator or current regulator
It is controlled.
Further, the location identification module includes image recognizer, is used for:
Scale space extremum extracting；
It is each key point assigned direction parameter using the gradient distribution of key point field pixel, so that operator has
Invariable rotary property,
SIFT feature vector is generated, reference axis is rotated to characteristic point direction, makes rotational invariance, each key point is made
It is total to seed point description with 4*4, multiple data are generated for a key point, forms the SIFT feature vector of dimension, is i.e. feature describes
Symbol；
Feature Points Matching is found the corresponding relationship of characteristic point between image, is generallyd use most after finding out the characteristic point of image
Nearly neck method, searches each characteristic point in the nearest field of another phasor.
Further,
The battery module includes the input filter unit being connected with cell input terminal, with input filter unit output end phase
PFC unit even, the voltage transformation module being connected with PCF unit output end；The output being connected with voltage transformation module output end
Unit；
The output unit is sequentially connected with EMI filter unit, DC converting unit, switch conversion unit, and is connected to
The output end of current stabilization battery output unit, switch conversion unit connects driving switch power supply unit, driving switch power supply unit
Output is separately connected independent loops control unit, analog photoelectricity isolated location, current stabilization control unit, pulsewidth modulation light and adjusts list
The output end of member, analog photoelectricity isolated location passes through independent loops control unit connection switch converting unit, pulsewidth modulation light tune
It saves unit and current stabilization battery output unit is connected to by current stabilization control unit；
Battery module further includes temperature detecting unit and C-V characteristic detection unit；The temperature detecting unit includes setting
Temperature-detecting device on the cooling fin of battery, the temperature data which will test feed back to remote terminal；
The C-V characteristic detection unit will test the C-V characteristic data feedback of battery to remote terminal.
Further, remote terminal is integrated with controller, and controller is used for:
Set a under-voltage critical value；
Judge that a maximum can handle load capacity according to under-voltage critical value；
Multiple first tasks are combined into one first continuous work task according to platform power administrative skill is collected；
Judge whether a load capacity of the first continuous work task is greater than maximum and can handle load capacity；
It, will be in the first continuous work task when the load capacity of the first continuous work task, which is greater than maximum, to handle load capacity
One of overload part the first task remove the first continuous work task；
When receiving the first continuous work task, controller is switched into an operation mode by a suspend mode, and
Handle the first continuous work task；And after the completion of the processing of the first continuous work task, controller is set as suspend mode；
The operating frequency of controller has a normal operating frequency under general operation:
One first operating frequency is determined according to the load capacity of the first continuous work task and under-voltage critical value；
And when controller switches to operation mode, the operating frequency of controller is promoted to by normal operating frequency
One operating frequency, and the first continuous work task is handled by the first operating frequency；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
After the processing of the first continuous work task is completed and controller enters suspend mode, according to collecting platform power pipe
First task of multiple second tasks and part of overloading is combined into one second continuous work task by reason technology；
When receiving the second continuous work task, controller is switched into operation mode by suspend mode；
The operating frequency of controller is promoted to one second operating frequency by normal operating frequency, passes through the second operating frequency
Handle the second continuous work task；And after the completion of the processing of the second continuous work task, controller is set as suspend mode；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
First continuous work task is handled the time point completed and initially received by controller using the first operating frequency
There is one first interval time between the time point of second continuous work task, and normal frequency is used to appoint the first continuous work
Business processing, which is completed and received, had for one second interval time between the second continuous work task, wherein the first interval time was less than
Second interval time.
The full-automatic tour sweeping robot automatic charging system is realized another object of the present invention is to provide a kind of
The computer program of operation logic.
The full-automatic tour sweeping robot automatic charging system is realized another object of the present invention is to provide a kind of
The information data processing terminal of operation logic.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation, so that computer executes the full-automatic tour sweeping robot automatic charging system operation logic.
Advantages of the present invention and good effect are as follows:
The present invention carries out quick charge using fuzzy-adjustable PID algorithm, the good, dynamic response time with stability
Short, the advantages that charging rate is fast, high-efficient, shorten the charging time；Using solar energy power accumulating system and grid power supply system two
Luminous energy, can be stored in battery module by kind power supply mode under illumination condition, then give robot to power by battery module；Using
Power supply module is connected by wireless communication module with battery module, and contactless charge gets rid of the constraint of previous electric wire and then solve
The incompatible problem of electronic product charging interface；The present invention has the advantages that charging rate is fast, is not limited by charge position, energy
The different charging modes of robot are enough adapted to, practicability is stronger.
The integrated sharing module of remote terminal of the present invention carries out teledata Compliance control,
Obtain sharing request；
According to the sharing request, a streaming media service is called, and determines first data for sharing；
Based on the streaming media service, first data are converted into stream medium data and generation one passes through Streaming Media
Agreement can obtain the address information of the stream medium data；
The address information is sent to full-automatic sweeping robot of making an inspection tour；Wherein, the address information is described complete for making
Automatic sweeping robot of making an inspection tour is according to the address information acquisition stream medium data；
Based on the streaming media service, after receiving the full-automatic confirmation message for making an inspection tour sweeping robot, to institute
It states full-automatic sweeping robot of making an inspection tour and exports the stream medium data；
Remote terminal of the present invention also provides a kind of remote controlled manner, and above-mentioned control realizes the intelligence of automatic charging
Demand.
Detailed description of the invention
Fig. 1 is the full-automatic structure chart for making an inspection tour sweeping robot automatic charging system provided in an embodiment of the present invention；
Fig. 2 is the full-automatic photovoltaic storage circuit for making an inspection tour sweeping robot automatic charging system provided in an embodiment of the present invention
Figure；
Fig. 3 is the full-automatic wireless charging transmitting for making an inspection tour sweeping robot automatic charging system provided in an embodiment of the present invention
Circuit diagram；
Fig. 4 is that the full-automatic wireless charging for making an inspection tour sweeping robot automatic charging system provided in an embodiment of the present invention receives
Circuit diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Full-automatic tour sweeping robot automatic charging system provided in an embodiment of the present invention, remote terminal is integrated to be shared
Module carries out teledata Compliance control,
Obtain sharing request；
According to the sharing request, a streaming media service is called, and determines first data for sharing；
Based on the streaming media service, first data are converted into stream medium data and generation one passes through Streaming Media
Agreement can obtain the address information of the stream medium data；
The address information is sent to full-automatic sweeping robot of making an inspection tour；Wherein, the address information is described complete for making
Automatic sweeping robot of making an inspection tour is according to the address information acquisition stream medium data；
Based on the streaming media service, after receiving the full-automatic confirmation message for making an inspection tour sweeping robot, to institute
It states full-automatic sweeping robot of making an inspection tour and exports the stream medium data；
Determine that the first data for sharing include: according to the sharing request
If believing from the file for getting any data file stored on first electronic equipment in the sharing request
Breath, it is determined that any data file is the first data for sharing；
It is if in any data file handling procedure, receiving sharing request, then currently processed any data file is true
It is set to the first data for sharing；
Before exporting the stream medium data to the full-automatic tour sweeping robot, further comprise:
Control information is sent to the full-automatic tour sweeping robot, and the control information is used to making described automatically to patrol
It is determined depending on sweeping robot according to the control information and executes the stream medium data application program；
In any data file handling procedure, the sharing request is received, is used for according to sharing request determination
The first data shared, and first data are converted to stream medium data and generate one can be obtained by stream media protocol
The address information of the stream medium data includes:
Currently processed any data file is determined as to the first data for being used to share；
The currently processed location information of any data file is obtained, and will be untreated in any data file
The address information of the stream medium data can be obtained by stream media protocol by being partially converted to stream medium data and generation one；
In any data file handling procedure, the sharing request is received, which is characterized in that ask according to the sharing
The first data determined for sharing are sought, and first data are converted to stream medium data and generate one and pass through Streaming Media
The address information that agreement can obtain the stream medium data includes:
Currently processed any data file is determined as to the first data for being used to share；
Institute can be obtained by stream media protocol by being converted to stream medium data and generate one any data file
State the address information of stream medium data；
Obtain any data file currently processed location information and parameter information, and by the location information and parameter
Information is added in the files in stream media, makes the full-automatic tour sweeping robot according to the location information and parameter information
Video file described in continued broadcasting；
Obtaining sharing request includes:
If detecting that user executes the operation information of setting operation, sharing request is generated according to the operation information；
It is described when receive it is described it is full-automatic make an inspection tour sweeping robot confirmation message after, may further comprise: terminate institute
State the process flow of any data file；
After obtaining the sharing request, further comprise:
Using the data inputted in real time as the first data, input in real time first is counted based on the calling streaming media service
According to being converted into stream medium data.
The battery module includes the input filter unit being connected with cell input terminal, with input filter unit output end phase
PFC unit even, the voltage transformation module being connected with PCF unit output end；The output being connected with voltage transformation module output end
Unit；
The output unit is sequentially connected with EMI filter unit, DC converting unit, switch conversion unit, and is connected to
The output end of current stabilization battery output unit, switch conversion unit connects driving switch power supply unit, driving switch power supply unit
Output is separately connected independent loops control unit, analog photoelectricity isolated location, current stabilization control unit, pulsewidth modulation light and adjusts list
The output end of member, analog photoelectricity isolated location passes through independent loops control unit connection switch converting unit, pulsewidth modulation light tune
It saves unit and current stabilization battery output unit is connected to by current stabilization control unit；
Battery module further includes temperature detecting unit and C-V characteristic detection unit；The temperature detecting unit includes setting
Temperature-detecting device on the cooling fin of battery, the temperature data which will test feed back to remote terminal；
The C-V characteristic detection unit will test the C-V characteristic data feedback of battery to remote terminal.
Remote terminal is integrated with controller, and controller is used for:
Set a under-voltage critical value；
Judge that a maximum can handle load capacity according to under-voltage critical value；
Multiple first tasks are combined into one first continuous work task according to platform power administrative skill is collected；
Judge whether a load capacity of the first continuous work task is greater than maximum and can handle load capacity；
It, will be in the first continuous work task when the load capacity of the first continuous work task, which is greater than maximum, to handle load capacity
One of overload part the first task remove the first continuous work task；
When receiving the first continuous work task, controller is switched into an operation mode by a suspend mode, and
Handle the first continuous work task；And after the completion of the processing of the first continuous work task, controller is set as suspend mode；
The operating frequency of controller has a normal operating frequency under general operation:
One first operating frequency is determined according to the load capacity of the first continuous work task and under-voltage critical value；
And when controller switches to operation mode, the operating frequency of controller is promoted to by normal operating frequency
One operating frequency, and the first continuous work task is handled by the first operating frequency；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
After the processing of the first continuous work task is completed and controller enters suspend mode, according to collecting platform power pipe
First task of multiple second tasks and part of overloading is combined into one second continuous work task by reason technology；
When receiving the second continuous work task, controller is switched into operation mode by suspend mode；
The operating frequency of controller is promoted to one second operating frequency by normal operating frequency, passes through the second operating frequency
Handle the second continuous work task；And after the completion of the processing of the second continuous work task, controller is set as suspend mode；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
First continuous work task is handled the time point completed and initially received by controller using the first operating frequency
There is one first interval time between the time point of second continuous work task, and normal frequency is used to appoint the first continuous work
Business processing, which is completed and received, had for one second interval time between the second continuous work task, wherein the first interval time was less than
Second interval time.
With reference to the accompanying drawing and specific embodiment is further described application principle of the invention.
As shown in Figure 1, automatically tour sweeping robot automatic charging system includes:
Power supply module 1, for providing electric energy required for robot；
Power factor isThe loss of voltage Δ U that is generated by impedance Z=R+jX of load I, be impedance Z head end electricity
The modulus value arithmetical difference of pressure and terminal voltage, expression formula are
In formula: U1 is traction busbar voltage, takes 27.5kV；R is the resistance of tractive transformer；X=XT+XL=(1+k) XT,
XT is tractive transformer leakage reactance, and XL is tandem reactor reactance.Design object I is with sweeping robot power factorThe traction substation loss of voltage Δ U0=730V of (lag) declared working condition is as permissible value.Design mesh
Mark II uses for reference general fast railway power factor(lag) declared working condition traction substation loss of voltage Δ U0=2
012V is as sweeping robot permissible value.I.e.
The bilateral confession of direct-furnish 27.5kV is used using binary fission conducting wire and tractive power supply system in 220kV electric system power transmission line
When electric, the reactance value of tandem reactor takes 3.92 times of tractive transformer leakage reactances that can make euqalizing current≤1%；Meanwhile changing negative
Lotus power factor 0.993 (lag) is 0.973 (advanced), then traction substation would not be generated higher than former power under rated load
The corresponding loss of voltage 730V of factor 0.993 (lag), at this point, the capacitive reactive power changed in afterload accounts for 23.0%, this
It is extremely harsh.Meanwhile changing load power factor 0.993 (lag) is 0.989 (advanced), then draws and become under rated load
Electricity, which would not be generated, hands over the corresponding loss of voltage under straight load power factor 0.8 (lag) declared working condition higher than general fast railway
2012V only accounts for 14.8%, it is easier to realize at this point, the capacitive reactive power changed in afterload greatly reduces.Further,
Take up an area to reduce, the high-leakage impedance transformer that structure can be caused more compact tractive transformer and tandem reactor combination system.
The leakage reactance value (Xk) of high-leakage impedance transformer=original tractive transformer leakage reactance value (XTk)+reactor reactance value (XLk), such as exists
In design above, the short-circuit impedance of high-leakage impedance transformer is 51.66%.Compared with single side feeding, two-side feeding voltage level
Height, power supply capacity is big, and power loss is small, but the disadvantage is that there are euqalizing current (penetrations).Two-side feeding cancellation subregion
Split-phase reduces euqalizing current.Analysis shows in tractive feeder tandem reactor and by changing load power factor, Ke Yiyou
The extra voltage loss that effect ground inhibits euqalizing current, reduces or eliminates tandem reactor generation, it is ensured that voltage level and for electric energy
Power.In traction substation feeder line tandem reactor, it can also make the traction load of Traction networks in new impedance ratio in each traction
It is distributed in electric substation, and the capacity of traction substation along preferably arrangement can be distributed according to power system capacity, improve traction
Transformer load rate, while Traction networks short circuit current can be reduced, mitigate short circuit current to elements such as tractive transformer, breakers
Impact, be conducive to the type selecting and disengagement failure of breaker, improve functional reliability.
It is wirelessly connected with power supply module 1, for wireless receiving, the wireless communication module 2 of transmitting signal；
60GHz frequency belongs to millimeter wave scope, and the transmission of transmission characteristic and low frequency signal has apparent difference so that
60GHz wireless communication has the characteristics that anti-interference, high security, high transfer rate.The free space loss of transmission path exists
60GHz nearby frequency when about 15dB/km, and, the barriers such as wall are very big to the decaying of millimeter wave, this make 60GHz without
Line communication, there are advantageous advantage, is conducive to closely small model in the security performance of short haul connection and interference free performance
Enclose networking.
Absorption of the oxygen to 60GHz wireless signal so that will not phase between adjacent space multiple groups 60GHz wireless network
Mutually interference, while the security performance of the 60GHz wireless network of adjacent space is also improved.
The energy of 60GHz wireless signal has the directionality of height, and 99.9% wave beam concentrates within the scope of 4.7 degree, this
Wireless frequency is suitble to requirement of the point-to-point wireless communication to High-directivity antenna.Fixed antenna size in this frequency band, antenna
Radiation energy concentrates in very narrow beam angle, therefore the interference between different 60GHz wireless signals is very weak.With 60GHz
In comparison, 2.4GHz wireless communication is similar to omnidirection communication system.60GHz cordless communication network has with roomy, fair
The inherent characteristics such as maximum transmission power height perhaps can satisfy the demand of High Bit-rate Wireless Data Communication (> 1Gbps).60GHz frequency range
Frequency spectrum resource abundant makes it possible that the transmission of total Gigabit data is wirelessly connected.In comparison, 802.11n is all available
The total bandwidth of channel is about 660MHz, and the effective bandwidth of UWB is 1.5GHz.Further, the channel width of 60GHz wireless communication is
2500MHz, and UWB is 520MHz, 802.11n is only 40MHz.
Since 60GHz wave band is nearby oxygen absorption peak, transmission path free space loss is high, therefore, Europe, the United States, day
Provide 60GHz wave band wireless communication equivalent isotropic radiated power (EIRP) on this wave band) it is 10W~100W.
By Shannon's law: channel capacity limit=channel width × log (power/noise), it is easily concluded that channel capacity pole
Limit increases with the increase of channel width and effective transimission power.As can be seen from Table 2, the pole of 60GHz wave band wireless communication
Limit data transmission rate is about 80 times, 20 times of UWB of 802.11n.
Wherein Pr, Pt are respectively reception power and transmission power, Gr, Gt are respectively the antenna gain of Receiver And Transmitter, and λ is electromagnetism
Wave wavelength, R are the distance between Receiver And Transmitter.
Antenna gain formula are as follows:Wherein A is antenna area.
By above formula it is found that for identical antenna area, receives power and increase with the raising of frequency.For example,
Assuming that 60GHz system uses the aerial array comprising 16 antennas, total antenna area is the corresponding 5GHz omnidirection system of phase
10%, it can be deduced that its receive power be higher than 5GHz system 3dB.
It is connect with wireless communication module 2, the battery module 3 of the power supply for storing extraneous charging module；
According to the definition of the circuit equation of battery model and SOC, it can be deduced that the discrete space state equation of battery model
And output equation:
Wk indicates that process noise, vk indicate system noise in formula, and covariance is respectively:
With
Definition:
Initialization:
Kalman filtering recycles recurrence calculation:
Time updates:
X (k | k-1)=Ax (k-1 | k-1)+Bik-1
Px(k | k-1)=APx(k-1|k-1)AT+Qk-1
Observation updates:
X (k | k)=x (k | k-1)+kg(k)·(y(k)-h(x(k|k-1),uk))
Px(k | k)=(I-kg(k)Ck)Px(k|k-1)
Double Kalman filtering algorithms, while On-line Estimation battery status and parameter are introduced, battery model is enable preferably to retouch
The dynamic characteristic for stating battery, is provided with well adapting to property, is improved the estimation precision of SOC.DEKF overall thought is to hand over
For carrying out estimating system state using model and reevaluate model parameter using system mode.Utilize two independent Kalmans
Filter, difference estimating system state and parameter.Using battery ohmic internal resistance R0 as parameter vector, and think that it is slowly varying
, available following separate manufacturing firms system equation and output observational equation:
Rk and nk indicates that error, covariance are respectively as follows: in formulaWith
According to Kalman filtering algorithm, enable:
In formula:Add initial term
It is connected with battery module 3, for the Voltage stabilizing module 4 of burning voltage, the position of charge position identifies for identification
Module 5 and the remote terminal 6 that can be remotely operated.
As the preferred embodiment of the present invention, the power supply module 1 includes solar energy power accumulating system and grid power supply system.
As the preferred embodiment of the present invention, the wireless communication module 2 includes wireless charging receiving portion and wireless charging
Electric emitting portion；The wireless charging transmit circuit pass through coil between electromagnetic induction to receive circuit, circuit diagram as indicated at 3,
The pulse signal that NE555D chip generates 168KHz makes transmitting coil generate magnetic field through power amplification, and receiving coil is close to emission lines
Induced current can be generated when circle, electric energy is transmitted from transmitting terminal to receiving end；The wireless charging receiving portion includes that voltage is defeated
Part and charging detection part out, circuit diagram as shown in figure 4, induction coil can generate induced current when close to transmitting coil,
By full-wave rectification and pressure stabilizing by power storage in battery module, LED1 is shinny；When battery module is full of, LED2 is shinny.
As the preferred embodiment of the present invention, the power supply module 1 uses fuzzy-adjustable PID algorithm, and process is as follows:
PID control is carried out to charging system, needs to establish system model first；By testing and calculating, the dynamic analog of system
Type uses the series connection of capacitor and resistance；Voltage loop is obtained according to system dynamic model and the transmission function of electric current loop is respectively
Charging system uses 2 closed-loop controls of electric current loop and Voltage loop, and all uses Fuzzy Adaptive PID Control；Electricity
Stream ring and Voltage loop are respectively used to constant-current charge control and constant-voltage charge control.
The parameters such as battery terminal voltage, charging current, the battery temperature that single-chip microcontroller is obtained according to acquisition system determine battery institute
The charging stage at place, so that it is determined that starting voltage regulator or current regulator are controlled.And with the error e of voltage or electric current
And input of the change rate ec of error as fuzzy controller, acquisition system constantly detects e and ec, according to fuzzy reasoning to Kp,
KI,KS3 parameters carry out on-line tuning, to meet the requirement under different operating conditions to parameter, stablize to guarantee that system has, is fast
The control performance of speed.
As the preferred embodiment of the present invention, the location identification module 5 uses the image recognition based on SIFT algorithm, packet
Include following steps:
(1) scale space extremum extracting
Indicate that L (x, y, δ) there can be image I (x, y) under the scale space under different scale for two-dimensional image I (x, y)
It is obtained with the convolution of Gaussian kernel G (x, y, δ).The DOG pyramid for establishing image is examined in 26 fields in DOG scale space
Extreme value is surveyed, G (x, y, δ) is the difference of two adjacent scale images, it may be assumed that
D (x, y, δ)=(G (x, y, l δ))-G (x, y, δ) * I (x, y)=L (x, y, l δ)-L (x, y, δ)
In formulaFor two-dimensional Gaussian function, wherein x, y indicate that the coordinate of electricity, δ represent
The variance of Gauss normal distribution；L (x, y, δ)=G (x, y, δ) * I (x, y)) be scale space definition.
If a point and eight points around and 18 field points of upper and lower level be maximum value in totally 26 fields with
Minimum value determines that the point is a characteristic point of the image under the scale；
It (2) is each key point assigned direction parameter using the gradient distribution of key point field pixel, so that operator
With invariable rotary property.
M (x, y) and θ (x, y) is the mold and direction formula of gradient at (x, y) in formula；Scale used in L is each in formula
Key point respectively where scale；
(3) SIFT feature vector is generated, reference axis is rotated to characteristic point direction, guarantees rotational invariance, to each pass
Key point using 4*4 is total to seed point to describe, and can produce a data for a key point in this way, formed the SIFT feature of dimension to
Amount, i.e. feature descriptor；
(4) Feature Points Matching refers to after finding out the characteristic point of image, finds the corresponding relationship of characteristic point between image, usually
Using nearest neck method, each characteristic point is searched in the nearest neck of another phasor, ideally phasor between two amplitude-phase diagrams
Partial characteristic point should have the feature description vectors of phasor, so the distance between they should be nearest.
As the preferred embodiment of the present invention, the solar energy power accumulating system is mainly by solar cell module, charge and discharge
Controller and lead-acid accumulator composition, as shown in Figure 2；Charging-discharging controller is used to overcharge to battery/discharge prevention and
Temperature-compensating.When illumination condition is good, the electric energy part of photovoltaic accumulating system conversion supplies load, partially fills to battery
Electricity；When illumination condition difference, photovoltaic panel generated energy lacks battery and discharges, and shares part or all of load.
As the preferred embodiment of the present invention, the setting of the Fuzzy Self-adaptive PID the following steps are included:
(1) it is blurred
During the charging process, the value of e and ec is positive, so ZE is selected, PS, PB, linguistic variable of the PL as e and ec, amount
Changing domain is { 0,6 }, output quantity K "p,K”i,K”dSelecting NB, NS, ZE, PS, PB is linguistic variable, and quantization domain is { -4 ,+4 }
(2) fuzzy control rule is established
Fuzzy control rule is that personal operating experience and the test data of accumulation are formed fuzzy condition statement set, is guaranteed
Controller output can make system export corresponding static and dynamic performance and reach best.Fuzzy Self-adaptive PID is according to e's and ec
Constantly variation, by fuzzy reasoning to Kp,KI,KSOn-line tuning is carried out, control rule is
1) proportional component mainly realizes the control to deviation signal.KpValue more large deviation signal reduction is faster, but system
Overshoot can also increase accordingly.In order to guarantee that system is with good stability, in the control later period, KpValue should take smaller；
2) control initial stage due to the deviation of signal that moment increases may make system occur differential supersaturation, so KiValue is answered
It is arranged smaller；The later period is controlled, K can be suitably increasedi, system can obtain better stability；
3) due to the presence of lag module, KdIt is worth the excessive system that easily causes to vibrate.Therefore, KdValue should be after control
Phase is gradually reduced, to guarantee that system is with good stability.
K " is obtained according to the above control rulep,K”i,K”dThe fuzzy control rule table of 3 parameters, as shown in Table 1 to Table 3.
1 K of table "pFuzzy control rule table
2 K of table "iFuzzy control rule table
3 K of table "dFuzzy control rule table
Fuzzy control rule table is looked into according to the state of input quantity, Fuzzy Control can be obtained using the calculating of minimax rationalistic method
Inquiry table processed, inquiry table is stored in single-chip microcontroller, and complicated fuzzy logic inference, which is converted into, simply tables look-up, and is met fast
The requirement of speed.
(3) anti fuzzy method
In fuzzy controller, input quantity and output quantity are all fuzzy quantities.And control signal it is desirable that exact value, just
Anti fuzzy method need to be carried out to the output quantity of fuzzy controller；Anti fuzzy method is carried out using gravity model appoach, output valve is pid parameter
Adjusted value K "p,K”i,K”d；
Kp=K'p+K”p
Ki=K'i+K”i
Kd=K'd+K”d
K' in formulap,K'i,K'dFor the setting parameter of PID.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of full-automatic tour sweeping robot automatic charging system, which is characterized in that the full-automatic tour sweeping machine
People's automatic charging system includes:
Power supply module, for providing electric energy required for robot, using two-side feeding technology；Adjust euqalizing current, concatenation electricity
The extra voltage loss that anti-device generates；
It is wirelessly connected with power supply module, for wireless receiving, the wireless communication module of transmitting signal；
It is connect with wireless communication module, the battery module of the power supply for storing extraneous charging module；
It is connected with battery module, for the Voltage stabilizing module of burning voltage, the location identification module of charge position for identification；
It is connected with battery module, the remote terminal for remote operation；The integrated sharing module of remote terminal is remotely counted
According to Compliance control,
Obtain sharing request；
According to the sharing request, a streaming media service is called, and determines first data for sharing；
Based on the streaming media service, first data are converted into stream medium data and generation one passes through stream media protocol
The address information of the stream medium data can be obtained；
The address information is sent to full-automatic sweeping robot of making an inspection tour；Wherein, the address information is described full-automatic for making
It makes an inspection tour sweeping robot and the stream medium data is obtained according to the address information；
Based on the streaming media service, after receiving the full-automatic confirmation message for making an inspection tour sweeping robot, to described complete
Automatic sweeping robot of making an inspection tour exports the stream medium data；
Determine that the first data for sharing include: according to the sharing request
If from the file information for getting any data file stored on first electronic equipment in the sharing request,
Determine that any data file is the first data for sharing；
If in any data file handling procedure, receiving sharing request, then currently processed any data file is determined as
The first data for sharing；
Before exporting the stream medium data to the full-automatic tour sweeping robot, further comprise:
Control information is sent to the full-automatic tour sweeping robot, the control information is clear for making the full-automatic tour
It sweeps robot and the execution stream medium data application program is determined according to the control information；
In any data file handling procedure, the sharing request is received, is determined according to the sharing request for sharing
The first data, and first data are converted to stream medium data and generate one institute can be obtained by stream media protocol
The address information for stating stream medium data includes:
Currently processed any data file is determined as to the first data for being used to share；
Obtain the currently processed location information of any data file, and by untreated part in any data file
The address information of the stream medium data can be obtained by stream media protocol by being converted to stream medium data and generating one；
In any data file handling procedure, the sharing request is received, which is characterized in that true according to the sharing request
Fixed the first data for sharing, and first data are converted to stream medium data and generate one and pass through stream media protocol
The address information that the stream medium data can be obtained includes:
Currently processed any data file is determined as to the first data for being used to share；
The stream can be obtained by stream media protocol by being converted to stream medium data and generate one any data file
The address information of media data；
Obtain any data file currently processed location information and parameter information, and by the location information and parameter information
It is added in the files in stream media, makes the full-automatic tour sweeping robot according to the location information and parameter information continued broadcasting
The video file；
Obtaining sharing request includes:
If detecting that user executes the operation information of setting operation, sharing request is generated according to the operation information；
It is described after receiving the full-automatic confirmation message for making an inspection tour sweeping robot, may further comprise: that termination is described and appoint
The process flow of one data file；
After obtaining the sharing request, further comprise:
Using the data inputted in real time as the first data, the first data that will be inputted in real time based on the calling streaming media service are turned
Turn to stream medium data.
2. full-automatic as described in claim 1 make an inspection tour sweeping robot automatic charging system, which is characterized in that the power supply module
Including solar energy power accumulating system and grid power supply system；The solar energy power accumulating system is automatically controlled by solar cell module, charge and discharge
Device and lead-acid accumulator composition processed；Charging-discharging controller is used to overcharge to battery/discharge prevention and temperature-compensating.
3. full-automatic as described in claim 1 make an inspection tour sweeping robot automatic charging system, which is characterized in that the wireless communication
Module includes wireless charging receiving portion and wireless charging emitting portion；The wireless charging transmit circuit passes through electromagnetism between coil
Incude to reception circuit；The wireless charging receiving portion includes voltage output part and charging detection part.
4. full-automatic as described in claim 1 make an inspection tour sweeping robot automatic charging system, which is characterized in that the power supply module
It is further integrated with Fuzzy Adaptive PID adjusting submodule, for carrying out PID control to charging system；Specifically have: establishing system
Dynamic model, using the series connection of capacitor and resistance；The transmission function of Voltage loop and electric current loop is obtained according to system dynamic model；
Charging system uses two closed-loop controls of electric current loop and Voltage loop, and all uses Fuzzy Adaptive PID Control；Electric current loop
Constant-current charge control and constant-voltage charge control are respectively used to Voltage loop；
The power supply module is also integrated with single-chip microcontroller, and battery terminal voltage that the acquisition system according to power supply module connection obtains fills
Electric current, battery temperature parameter determine the charging stage locating for battery, determine that starting voltage regulator or current regulator carry out
Control.
5. full-automatic as described in claim 1 make an inspection tour sweeping robot automatic charging system, which is characterized in that the position identification
Module includes image recognizer, is used for:
Scale space extremum extracting；
Gradient distribution using key point field pixel is each key point assigned direction parameter, so that operator has rotation
Invariance,
SIFT feature vector is generated, reference axis is rotated to characteristic point direction, makes rotational invariance, 4* is used to each key point
4 seed point descriptions altogether, generate multiple data for a key point, form the SIFT feature vector of dimension, i.e. feature descriptor；
Feature Points Matching finds the corresponding relationship of characteristic point between image, generallys use nearest neck after finding out the characteristic point of image
Method searches each characteristic point in the nearest field of another phasor.
6. full-automatic as described in claim 1 make an inspection tour sweeping robot automatic charging system, which is characterized in that
The battery module includes the input filter unit being connected with cell input terminal, is connected with input filter unit output end
PFC unit, the voltage transformation module being connected with PCF unit output end；The output unit being connected with voltage transformation module output end；
The output unit is sequentially connected with EMI filter unit, DC converting unit, switch conversion unit, and is connected to current stabilization
The output end of battery output unit, switch conversion unit connects driving switch power supply unit, the output of driving switch power supply unit
It is separately connected independent loops control unit, analog photoelectricity isolated location, current stabilization control unit, pulsewidth modulation light and adjusts unit, mould
The output end of quasi- phototube coupling unit adjusts unit by independent loops control unit connection switch converting unit, pulsewidth modulation light
Current stabilization battery output unit is connected to by current stabilization control unit；
Battery module further includes temperature detecting unit and C-V characteristic detection unit；The temperature detecting unit includes being arranged in electricity
Temperature-detecting device on the cooling fin in pond, the temperature data which will test feed back to remote terminal；It is described
C-V characteristic detection unit will test the C-V characteristic data feedback of battery to remote terminal.
7. full-automatic as described in claim 1 make an inspection tour sweeping robot automatic charging system, which is characterized in that remote terminal is integrated
There is controller, controller is used for:
Set a under-voltage critical value；
Judge that a maximum can handle load capacity according to under-voltage critical value；
Multiple first tasks are combined into one first continuous work task according to platform power administrative skill is collected；
Judge whether a load capacity of the first continuous work task is greater than maximum and can handle load capacity；
When the load capacity of the first continuous work task, which is greater than maximum, to handle load capacity, by one of first continuous work task
First task of overload part removes the first continuous work task；
When receiving the first continuous work task, controller is switched into an operation mode, and processing by a suspend mode
First continuous work task；And after the completion of the processing of the first continuous work task, controller is set as suspend mode；
The operating frequency of controller has a normal operating frequency under general operation:
One first operating frequency is determined according to the load capacity of the first continuous work task and under-voltage critical value；
And when controller switches to operation mode, the operating frequency of controller is promoted to the first behaviour by normal operating frequency
Working frequency, and the first continuous work task is handled by the first operating frequency；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
After the processing of the first continuous work task is completed and controller enters suspend mode, skill is managed according to platform power is collected
First task of multiple second tasks and part of overloading is combined into one second continuous work task by art；
When receiving the second continuous work task, controller is switched into operation mode by suspend mode；
The operating frequency of controller is promoted to one second operating frequency by normal operating frequency, is handled by the second operating frequency
Second continuous work task；And after the completion of the processing of the second continuous work task, controller is set as suspend mode；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
Controller by the time point of the first continuous work task processing completion and initially receives second using the first operating frequency
There is one first interval time between the time point of continuous work task, and use normal frequency will be at the first continuous work task
Reason, which is completed and received, had for one second interval time between the second continuous work task, wherein the first interval time is less than second
Interval time.
8. it is former automatically to make an inspection tour the operation of sweeping robot automatic charging system described in a kind of realization claim 1~7 any one
The computer program of reason.
9. it is former automatically to make an inspection tour the operation of sweeping robot automatic charging system described in a kind of realization claim 1~7 any one
The information data processing terminal of reason.
10. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer executes such as
Sweeping robot automatic charging system operation logic is automatically maked an inspection tour described in claim 1-7 any one.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986584A (en) * | 2019-05-13 | 2019-07-09 | 招商局重庆交通科研设计院有限公司 | A kind of robot system for tunnel inspection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986584A (en) * | 2019-05-13 | 2019-07-09 | 招商局重庆交通科研设计院有限公司 | A kind of robot system for tunnel inspection |
| CN109986584B (en) * | 2019-05-13 | 2024-01-30 | 招商局重庆交通科研设计院有限公司 | Robot system for tunnel inspection |
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