CN110071582A - Charging mechanism and its method for transmission line polling robot - Google Patents
Charging mechanism and its method for transmission line polling robot Download PDFInfo
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- CN110071582A CN110071582A CN201910398265.4A CN201910398265A CN110071582A CN 110071582 A CN110071582 A CN 110071582A CN 201910398265 A CN201910398265 A CN 201910398265A CN 110071582 A CN110071582 A CN 110071582A
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- human body
- transmission line
- inspection machine
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- 230000007246 mechanism Effects 0.000 title claims abstract description 127
- 230000005540 biological transmission Effects 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000007689 inspection Methods 0.000 claims abstract description 110
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 24
- 230000005611 electricity Effects 0.000 claims abstract description 20
- 229910052742 iron Inorganic materials 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 25
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 10
- 239000004615 ingredient Substances 0.000 description 9
- 238000010892 electric spark Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 239000000047 product Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 238000005265 energy consumption Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
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- 238000007667 floating Methods 0.000 description 1
- 238000002789 length control Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
-
- 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
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- H02J7/025—
Abstract
The invention discloses a kind of charging mechanisms and its method for transmission line polling robot, it is related to charging field, include: the inspection machine human body that can carry out inspection along the ground wire on iron tower of power transmission line, wireless charging receiving terminal coil, motor code-disc, infrared detecting device and driving wheel are installed on inspection machine human body；Charging unit comprising: boost module, positioning mechanism baffle, wireless charging transmitting terminal coil；Boost module is mutually electrically connected with wireless charging transmitting terminal coil, and be used to be boosted the electricity of input is conveyed to wireless charging transmitting terminal coil again, and wireless charging transmitting terminal coil wirelessly can convey electric energy to wireless charging receiving terminal coil；Motor code-disc is arranged on the drive wheel to measure driving wheel turnning circle, and infrared detecting device is mutually electrically connected with motor code-disc.The application can ensure accuracy, reliability and the charge stability positioned during transmission line polling robot automatic charging.
Description
Technical field
The present invention relates to charging field, in particular to a kind of charging mechanisms and its side for transmission line polling robot
Method.
Background technique
Manual patrol is relied primarily on for the inspection of transmission line of electricity operation conditions under traditional mode, working efficiency is low, labor
Fatigue resistance is big, cannot achieve round-the-clock 24 hours and makes an inspection tour in real time.Recently as the swift and violent construction of UHV TRANSMISSION LINES IN CHINA
And the continuous maturation of robot technology, different types of crusing robot are widely used in the Daily Round Check of smart grid
In.Wherein, transmission line polling robot can carry different detection devices, thus instead of manually carrying out certainly to transmission line of electricity
Dynamic inspection, so can not only mitigate the labor intensity of patrol officer significantly, reduce routing inspection cost, but also route can be improved
The quality and efficiency of inspection operation, it is ensured that the safe and stable operation of transmission line of electricity.
Currently, electric inspection process robot on the transmission line operation when generally use lithium battery as electrical source of power, work as electricity
Power crusing robot on the transmission line operation when, since its needs walks and carries various detection devices on ground wire, electricity
Energy consumption is larger, therefore, requires to carry out battery on automatic charging or replacement battery after every inspection a distance, to guarantee electric power
Crusing robot continues working steadily in the long term.The mode for traditionally frequently replacing lithium battery, greatly reduces the work of line data-logging
Make efficiency, seriously restrict the fast development of transmission line polling robot, is no longer satisfied practical inspection operation to electric power
Inspection machine Man's Demands.According to charging mode to electric inspection process robot electric energy supplement, but existing charging mechanism is deposited
Electric spark, positioning is inaccurate, structure is complicated heavy, safety coefficient are also easy to produce in problems, such as when charging not enough etc..Cause
This, the online charging problems of transmission line polling robot become to become increasingly conspicuous, to guarantee that crusing robot can for a long time not
It is interrupted inspection, the recharging mechanism of robot is one of critical issue of urgent need to resolve.
Summary of the invention
In order to overcome the drawbacks described above of the prior art, the technical problem to be solved is that provide one kind for the embodiment of the present invention
For the charging mechanism and its method of transmission line polling robot, transmission line polling robot automatic charging can be ensured
Accuracy, reliability and the charge stability positioned in the process.
The specific technical solution of the embodiment of the present invention is:
A kind of charging mechanism for transmission line polling robot, the charging for transmission line polling robot
Mechanism includes:
It can be along the inspection machine human body of the progress inspection of the ground wire on iron tower of power transmission line, the inspection machine human body
Wireless charging receiving terminal coil, motor code-disc, infrared detecting device and driving wheel are installed；
Charging unit, the charging unit include: boost module, positioning mechanism baffle, wireless charging transmitting terminal coil；
The boost module is mutually electrically connected with the wireless charging transmitting terminal coil, and the boost module will be for that will input
Electricity boosted and be conveyed to the wireless charging transmitting terminal coil again, the wireless charging transmitting terminal coil can be by wireless
Mode to wireless charging receiving terminal coil convey electric energy；The motor code-disc setting is on the drive wheel to measure driving wheel rotation
Enclose number, the infrared detecting device is mutually electrically connected with the motor code-disc, moved to as the inspection machine human body described in
When positioning mechanism baffle, the infrared detecting device is able to detect whether the inspection machine human body passes through positioning mechanism gear
Plate, the motor code-disc can calculate driving wheel turnning circle under the result detected based on the infrared detecting device to obtain
The length of the positioning mechanism baffle, so that the inspection machine human body be made to move to the default position of the positioning mechanism baffle
It sets, so that phase standard is able to carry out electric power biography between the wireless charging receiving terminal coil and the wireless charging transmitting terminal coil
It is defeated.
In a preferred embodiment, it is also equipped with voltage detection module on the inspection machine human body, works as institute
When stating voltage detection module and detecting that the voltage of wireless charging transmitting terminal coil output meets preset threshold, the survey monitor
Device human body starts to charge.
In a preferred embodiment, the reception wireless charging is also equipped on the inspection machine human body to connect
The rechargeable battery of the electric energy of receiving end coil, when the voltage detection module detects the voltage of the rechargeable battery, to reach highest pre-
If when threshold value, the inspection machine human body stops charging.
In a preferred embodiment, the charging unit further include: guard mechanism comprising be arranged described fixed
Shutter above position mechanism baffle and the wireless charging transmitting terminal coil, the shutter horizontally descend direction to extend.
In a preferred embodiment, it is described to detect that inspection machine human body moves to for the infrared detecting device
When positioning mechanism baffle, the pulse data of the motor code-disc start recording motor at this time, when infrared detecting device can't detect
When positioning mechanism baffle, the motor code-disc re-records the pulse data of motor, and driving is calculated according to pulse data twice
The circle number for taking turns rotation, to calculate the length of the positioning mechanism baffle.
In a preferred embodiment, the predeterminated position is the middle part of the positioning mechanism baffle, according to described
The length of positioning mechanism baffle controls the distance of the inspection machine human body movement, so that the inspection machine human body be made to transport
Move the middle part of the positioning mechanism baffle.
In a preferred embodiment, the wireless charging receiving terminal coil is located at the inspection machine human body's
Top, the wireless charging transmitting terminal coil are located at the inside of the positioning mechanism baffle.
In a preferred embodiment, when the inspection machine human body moves to the pre- of the positioning mechanism baffle
If when position, vertical range between the wireless charging receiving terminal coil and the wireless charging transmitting terminal coil 20mm extremely
Between 50mm.
In a preferred embodiment, it is provided with charging input socket on the boost module, charging input is inserted
Seat is aviation socket, is used to be controlled to a power supply.
A kind of charging method using the charging mechanism for transmission line polling robot as described in any of the above-described, institute
State the charging method for transmission line polling robot the following steps are included:
Before the inspection machine human body will enter the charging unit, the infrared detecting device is opened；
When the inspection machine human body moves to the positioning mechanism baffle, the infrared detecting device detects institute
Positioning mechanism baffle is stated, at this point, the pulse data of motor code-disc record motor；
When the inspection machine human body moves from the positioning mechanism baffle, the infrared detecting device detection is not
To the positioning mechanism baffle, at this point, the motor code-disc records the pulse data of motor again；
The pulse data recorded twice according to the motor code-disc calculates the circle number of driving wheel rotation, so obtain it is described fixed
The length of position mechanism baffle；
The inspection machine human body, which is controlled, according to the length of the positioning mechanism baffle moves to the positioning mechanism gear
The predeterminated position of plate, so that phase standard can be between the wireless charging receiving terminal coil and the wireless charging transmitting terminal coil
Row power transmission.
In a preferred embodiment, voltage detection module and installation are also equipped on the inspection machine human body
There are the rechargeable battery for the electric energy for receiving the wireless charging receiving terminal coil, the charging for transmission line polling robot
Method is further comprising the steps of:
After the inspection machine human body moves to the predeterminated position of the positioning mechanism baffle, when the voltage detecting
When module detects that the voltage of the wireless charging transmitting terminal coil output meets preset threshold, the inspection machine human body is opened
Beginning charges；
When the voltage detection module detects that the voltage of the rechargeable battery reaches highest preset threshold, the inspection
Robot body stopping is charged.
Technical solution of the present invention have it is following significant the utility model has the advantages that
The application calculates motor turnning circle by motor code-disc, and then calculates the length of positioning mechanism baffle, from
And the predetermined position for accurately stopping at positioning mechanism baffle is allowed the robot to, crusing robot when can so ensure to charge
Wireless charging transmitting terminal coil in alignment, the alignment of the wireless charging receiving terminal coil and charging unit of ontology, when guaranteeing to charge
Optimum efficiency.In addition, the application by the way of wireless charging, solves, contact charging terminal is easy to wear, service life is short
Problem and charging terminal Contact generate electric spark problem, simplify the design of product automatic charging mode, effectively
Improve the safety and stability performance of charging system.
Referring to following description and accompanying drawings, only certain exemplary embodiments of this invention is disclosed in detail, specifies original of the invention
Reason can be in a manner of adopted.It should be understood that embodiments of the present invention are not so limited in range.In appended power
In the range of the spirit and terms that benefit requires, embodiments of the present invention include many changes, modifications and are equal.For a kind of reality
The feature that the mode of applying is described and/or shown can be made in one or more other embodiments in a manner of same or similar
With, be combined with the feature in other embodiment, or substitution other embodiment in feature.
Detailed description of the invention
Attached drawing described here is only used for task of explanation, and is not intended to limit model disclosed by the invention in any way
It encloses.In addition, shape and proportional sizes of each component in figure etc. are only schematical, it is used to help the understanding of the present invention, and
It is not the specific shape and proportional sizes for limiting each component of the present invention.Those skilled in the art under the teachings of the present invention, can
Implement the present invention to select various possible shapes and proportional sizes as the case may be.
Fig. 1 is the structural schematic diagram of charging unit in the embodiment of the present invention；
Fig. 2 is in the embodiment of the present invention for the signal in the charging mechanism charging process of transmission line polling robot
Figure；
Fig. 3 is the enlarged drawing in Fig. 2 at A；
Fig. 4 is the schematic diagram in the embodiment of the present invention for the charging process of transmission line polling robot；
Fig. 5 is the flow chart in the embodiment of the present invention for the charging method of transmission line polling robot.
The appended drawing reference of the figures above:
10, boost module；11, charging input socket；12, guard mechanism；13, wireless charging transmitting terminal coil；14, it positions
Mechanism baffle；20, iron tower of power transmission line；21, ground wire；22, wireless charging receiving terminal coil；23, voltage detection module；24, electric
Machine code-disc；25, infrared detecting device；26, inspection machine human body；27, charging unit.
Specific embodiment
With reference to the drawings and the description of the specific embodiments of the present invention, details of the invention can clearly be understood.But
It is the specific embodiment of invention described herein, purpose for explaining only the invention, and cannot understand in any way
At being limitation of the present invention.Under the teachings of the present invention, technical staff is contemplated that based on any possible change of the invention
Shape, these are regarded as belonging to the scope of the present invention.It should be noted that when element is referred to as " being set to " another yuan
Part, it can directly on the other element or there may also be elements placed in the middle.When an element is considered as " connection "
Another element, it can be directly to another element or may be simultaneously present centering elements.Term " installation ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, are also possible to inside two elements
Connection, can be directly connected, can also indirectly connected through an intermediary, for the ordinary skill in the art,
The concrete meaning of above-mentioned term can be understood as the case may be.Term as used herein " vertical ", " horizontal ",
"upper", "lower", "left", "right" and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.Term as used herein "and/or" includes one or more
Any and all combinations of relevant listed item.
There is a kind of Intelligent Mobile Robot automatic charging mechanism in the prior art comprising electric pushrod and charging
Device, although solving the problems, such as the automatic power of Intelligent Mobile Robot, there is also subproblems, for example, the charging
System uses electrical hardware contact to be directly connected to robot charging receiving end, and contact is easy to produce electric spark, Yi Fa when charging
Raw security risk；Every time when charging, charging contact device can all generate contact friction, may cause contact contact for a long time not
It is good, it is therefore desirable to regularly replace charging contact device, therefore later maintenance cost is higher.Meanwhile there is also a kind of electric power tunnels
The automatic charge device and method of crusing robot, the automatic charge device itself includes brush group, horizontally moving device, vertical
Mobile device and charging slot, which solve brush when charging and charging slot contact problems between the two, and floating brush can be complete
Voluntarily adjusting position state under the pressure of the spring guarantees that contact is good when charging, but there is also partially ask for the charging unit
Topic leads to complicated in mechanical structure, charge position inaccurate, not can guarantee for example, it uses pure mechanic structure without control device
Contact contact when robot charges is good；If charging when there is short trouble, system can not detect, be easy to happen burn,
Damage robot.
In order to ensure the accuracy, reliability and the charging that position during transmission line polling robot automatic charging
Stability, proposes a kind of charging mechanism for transmission line polling robot in this application, and Fig. 1 is the embodiment of the present invention
The structural schematic diagram of middle charging unit, Fig. 2 are that the charging mechanism in the embodiment of the present invention for transmission line polling robot fills
Schematic diagram in electric process, Fig. 3 are the enlarged drawing in Fig. 2 at A, and as shown in Figure 1, Figure 2 and Figure 3, this is used for polling transmission line
The charging mechanism of robot includes: the inspection machine human body 26 that inspection can be carried out along the ground wire 21 on iron tower of power transmission line 20,
Wireless charging receiving terminal coil 22, motor code-disc 24, infrared detecting device 25 and driving are installed on inspection machine human body 26
Wheel；Charging unit 27, charging unit 27 include: boost module 10, positioning mechanism baffle 14, wireless charging transmitting terminal coil 13；
Boost module 10 is electrically connected with 13 phase of wireless charging transmitting terminal coil, and boost module 10 is for being boosted again the electricity of input
It is conveyed to wireless charging transmitting terminal coil 13, wireless charging transmitting terminal coil 13 can wirelessly connect wireless charging
Receiving end coil 22 conveys electric energy；Motor code-disc 24 is arranged on the drive wheel to measure driving wheel turnning circle, infrared detecting device
25 are electrically connected with 24 phase of motor code-disc, when inspection machine human body 26 moves to positioning mechanism baffle 14, infrared detection dress
It sets 25 and whether is able to detect inspection machine human body 26 by positioning mechanism baffle 14, motor code-disc 24 is filled based on infrared detection
Driving wheel turnning circle can be calculated to obtain the length of positioning mechanism baffle 14, to make survey monitor by setting under the result of 25 detections
Device human body 26 moves to the predeterminated position of positioning mechanism baffle 14, so that wireless charging receiving terminal coil 22 and wireless charging are sent out
It penetrates phase standard between end-coil 13 and is able to carry out power transmission.
When inspection machine human body 26 charges, the ground wire 21 on iron tower of power transmission line 20 is needed to move
It charges at the charging unit 27 being mounted on iron tower of power transmission line 20.Inspection machine is detected by infrared detecting device 25
Human body 26 enters and leaves positioning mechanism baffle 14, so that motor code-disc 24 is being detected based on infrared detecting device 25
As a result lower to calculate driving wheel turnning circle to obtain the length of positioning mechanism baffle 14, then according to known positioning mechanism
The predeterminated position of baffle 14, so that inspection machine human body 26 moves to the predeterminated position of positioning mechanism baffle 14, at this
Phase standard is able to carry out power transmission between wireless charging receiving terminal coil 22 and wireless charging transmitting terminal coil 13 under predeterminated position.
Then boost module 10 is boosted the electricity of input is conveyed to wireless charging transmitting terminal coil 13 again, wireless charging transmitting terminal line
Circle 13 wirelessly conveys electric energy to wireless charging receiving terminal coil 22, and wireless charging receiving terminal coil 22 will receive
Electric energy for charging to inspection machine human body 26.
The application calculates motor turnning circle by motor code-disc 24, and then calculates the length of positioning mechanism baffle 14
Degree can so ensure to patrol when charging to allow the robot to the predetermined position for accurately stopping at positioning mechanism baffle 14
The wireless charging transmitting terminal coil 13 of the wireless charging receiving terminal coil 22 and charging unit 27 of examining robot body 26 is aligned, is right
Standard guarantees optimum efficiency when charging.In addition, by the way of wireless charging, to solve contact charging terminal easy by the application
The short problem of abrasion, service life and charging terminal Contact generate the problem of electric spark, simplify product automatic charging
The design of mode effectively increases the safety and stability performance of charging system.
It, below will be right in order to be better understood by the charging mechanism for transmission line polling robot in the application
It is further explained and illustrates.As shown in Fig. 2, the charging mechanism for transmission line polling robot includes: can be along transmission of electricity
Ground wire 21 on line steel tower 20 carries out the inspection machine human body 26 of inspection；The charging dress being mounted on iron tower of power transmission line 20
Set 27.Ground wire 21 is erected on iron tower of power transmission line 20, and inspection machine human body 26 is then mounted on ground wire 21, can be along
Ground wire 21 is moved, to complete the inspection operation to ground wire 21.
As shown in Figures 2 and 3, wireless charging receiving terminal coil 22, motor code-disc are installed on inspection machine human body 26
24, infrared detecting device 25, driving wheel and rechargeable battery.Rechargeable battery is used to be powered to inspection machine human body 26,
So that inspection machine human body 26 is able to carry out inspection operation.It is powered for example, rechargeable battery is used to driving wheel, with
Rotate driving wheel, under the action of driving wheel, inspection machine human body 26 walks on ground wire 21.Driving wheel may include master
Driving wheel and driven wheel enable to inspection machine human body 26 steady on ground wire 21 by driving wheel and driven wheel synergistic effect
Sliding.Meanwhile rechargeable battery is electrically connected with 22 phase of wireless charging receiving terminal coil, to receive wireless charging receiving terminal line
The electric energy of circle 22.Wireless charging receiving terminal coil 22 is mounted on the top of inspection machine human body 26, and upward, in this way,
When inspection machine human body 26 moves at charging unit 27, wireless charging transmitting terminal that can efficiently with charging unit 27
Coil 13 is opposite.Motor code-disc 24 is arranged on the drive wheel to measure driving wheel turnning circle, and motor code-disc 24 can be set
On driving wheel, also it can be set on the driven wheel.Infrared detecting device 25 is electrically connected with 24 phase of motor code-disc, works as inspection machine
When human body 26 has just moved to positioning mechanism baffle 14, infrared detecting device 25 is able to detect the entrance of inspection machine human body 26
Positioning mechanism baffle 14, at this point, motor code-disc 24 records the pulse data of motor.Determine when inspection machine human body 26 moves from
When the mechanism baffle 14 of position, infrared detecting device 25 can't detect positioning mechanism baffle 14, at this point, motor code-disc 24 records electricity again
The pulse data of machine.Crusing robot is calculated by positioning mechanism baffle 14 according to the pulse data that motor code-disc 24 records twice
When driving wheel rotation circle number, due to driving wheel rotation one circle inspection machine human body 26 advance distance be it is known, so
Just the length of positioning mechanism baffle 14 is obtained.It, can be with after the length of 26 known locations mechanism baffle 14 of inspection machine human body
Back movement a certain distance reaches the arbitrary predeterminated position of positioning mechanism baffle 14, and the distance back moved can pass through drive
The circle number of wheel rotation is controlled.The predeterminated position can be the middle position of positioning mechanism baffle 14, according to positioning mechanism
The distance that the length control inspection machine human body 26 of baffle 14 moves, so that inspection machine human body 26 be made to move to localization machine
The middle part of structure baffle 14, certain predeterminated position are also possible to other known any position, such as Distance positioning mechanism baffle 14
The position of 14 length of position or 14 one end one third positioning mechanism baffle of Distance positioning mechanism baffle under the preset length of one end
Set etc..Wireless charging transmitting terminal coil 13 can be set on the predeterminated position of the positioning mechanism baffle 14, in this way, survey monitor
The wireless charging receiving terminal coil 22 of device human body 26 can be quasi- with the wireless charging transmitting terminal coil 13 of positioning mechanism baffle 14
True is opposite, to guarantee optimum efficiency when charging.
As shown in Figure 1, charging unit 27 may include: boost module 10, positioning mechanism baffle 14, wireless charging transmitting terminal
Coil 13.Boost module 10 and 13 phase of wireless charging transmitting terminal coil are electrically connected, boost module 10 be used to input it is electric into
Row boosting is conveyed to wireless charging transmitting terminal coil 13 again, and boost module 10 may be mounted at tray interior, to avoid rainwater
Etc. influence of the extraneous factors to boost module 10.Wireless charging transmitting terminal coil 13 can be wirelessly to wireless charging
It receives end-coil 22 and conveys electric energy, wireless charging transmitting terminal coil 13 can be located at the inside of positioning mechanism baffle 14.Work as inspection
When robot body 26 moves to the predeterminated position of positioning mechanism baffle 14, wireless charging receiving terminal coil 22 and wireless charging are sent out
Vertical range between end-coil 13 is penetrated in 20mm between 50mm, under the vertical range, wireless charging receiving terminal coil 22
Optimal electric energy efficiency of transmission can be kept between wireless charging transmitting terminal coil 13.Positioning mechanism baffle 14 can be set
The lower section of boost module 10, can be set regulating mechanism between positioning mechanism baffle 14 and boost module 10, regulating mechanism is used
In adjusting the distance between positioning mechanism baffle 14 and boost module 10, it so can control and adjust nothing in positioning mechanism baffle 14
Line charge electricity emits the distance between the wireless charging receiving terminal coil 22 of end-coil 13 and inspection machine human body 26, so that
The distance between wireless charging receiving terminal coil 22 and wireless charging transmitting terminal coil 13 are maintained at optimum distance.At the same time,
Use the mode of wireless charging solve the problems, such as contact charging terminal is easy to wear in normal charge technology, service life it is short with
And charging terminal Contact leads to the problem of electric spark, without precisely aligning charge position when wireless charging, so expands
The range of charge point, allows a certain range of location error, thus can simplify the design of product automatic charging mode, effectively
Improve the safety and stability of charging unit 27.
As shown in Figure 1, being provided with charging input socket 11 on boost module 10, which inserts for aviation
Seat, is used to be controlled to a power supply, power supply can be mounted in the energy-storage battery on iron tower of power transmission line 20.Using aviation socket
The leakproofness that can guarantee the junction between boost module 10 and connecting wire, prevents rainwater from causing short circuit.
As shown in Figures 2 and 3, voltage detection module 23, crusing robot sheet are also equipped on inspection machine human body 26
Body 26 moves to after the predeterminated position of positioning mechanism baffle 14, when voltage detection module 23 detects wireless charging transmitting terminal line
When the voltage of 13 output of circle meets preset threshold, inspection machine human body 26 starts to charge.When voltage detection module 23 is examined
When measuring the voltage of rechargeable battery and reaching highest preset threshold, at this point, rechargeable battery fills with, inspection machine human body 26 stops
Only charge.
In a preferred embodiment, as depicted in figs. 1 and 2, charging unit 27 further include: guard mechanism 12,
Shutter including positioning mechanism baffle 14 and the top of wireless charging transmitting terminal coil 13 is arranged in, shutter horizontally lower section
To extension.When inspection machine human body 26 moves to the predeterminated position of positioning mechanism baffle 14, at inspection machine human body 26
In the lower section of guard mechanism 12, guard mechanism 12 can guarantee to be not easily susceptible to shake when inspection machine human body 26 charges
Extraneous factors such as dynamic, strong wind, rainwater etc. influence.
In a preferred embodiment, between wireless charging receiving terminal coil 22 and wireless charging transmitting terminal coil 13
The power of transmission electric energy can be adjusted.Specifically, can according to the size of 22 power consumption of wireless charging receiving terminal coil,
The size for adjusting 13 transmission power of wireless charging transmitting terminal coil in real time, prevents wireless charging transmitting terminal coil 13 from sending energy mistake
Greatly, wireless charging transmitting terminal coil 13 is burnt.
In a preferred embodiment, positioning system and battery charging management system are also equipped on crusing robot
System.Positioning system is used to obtain the orientation of crusing robot, can obtain crusing robot by various global positioning systems
Accurate location.Battery charging management system then is used to monitor the state of rechargeable battery.Crusing robot also has respectively and fixed
The crusing robot control system that position system, battery charging management system are mutually electrically connected can obtain the side of crusing robot
Position, the state of power battery, charging unit 27 location information to judging whether crusing robot charges, in turn
Crusing robot is navigated at charging unit 27 and is charged.It, can be under crusing robot control system and positioning system
Cruise robot is enabled to have the function of independent navigation, the location information of the charging unit 27 on iron tower of power transmission line 20 is
It is pre-stored in crusing robot control system, therefore cruise robot being capable of state based on rechargeable battery, charging unit 27
Location information, crusing robot orientation accurately calculate when and where cruise robot charges, with ensure from
Own electricity oneself will be navigated at nearest charging unit 27 in enough situations and be charged.It is filled to crusing robot
When battery charges, battery charging management system can realize segmented charging, limited extension power according to battery charging curve
The service life of battery.
Fig. 4 is the schematic diagram in the embodiment of the present invention for the charging process of transmission line polling robot, such as Fig. 4 institute
Show, crusing robot is when the ground wire 21 on iron tower of power transmission line 20 carries out inspection, battery charging management system monitoring charging
The state of battery, when the not enough power supply of battery charging management system discovery rechargeable battery, crusing robot control system can
Obtain the orientation of crusing robot in positioning system, the state of power battery, charging unit 27 location information by inspection machine
People navigates at charging unit 27 and charges.After crusing robot reaches at charging unit 27, inspection machine human body 26
Mutually quasi- energy between wireless charging receiving terminal coil 22 and wireless charging transmitting terminal coil 13 is positioned such that with charging unit 27
Enough carry out power transmission.After positioning successfully, robot stop motion, by charging unit 27 in inspection machine human body 26
Rechargeable battery charge, when voltage detection module 23 detect wireless charging transmitting terminal coil 13 export voltage meet it is pre-
If when threshold value, inspection machine human body 26 continues to charge.When voltage detection module 23 detects that the voltage of rechargeable battery reaches
When to highest preset threshold, indicate that rechargeable battery expire, the stopping of inspection machine human body 26 is charged.In order to patrol
It is able to carry out accurate positionin between inspection robot body 26 and charging unit 27, also proposed in this application a kind of for transmitting electricity
The charging method of route inspecting robot, Fig. 5 are the charging method that transmission line polling robot is used in the embodiment of the present invention
Flow chart, as shown in figure 5, may comprise steps of for the charging method of transmission line polling robot: working as survey monitor
Before device human body 26 will enter charging unit 27, infrared detecting device 25 is opened；Determine when inspection machine human body 26 moves to
When the mechanism baffle 14 of position, infrared detecting device 25 detects positioning mechanism baffle 14, at this point, motor code-disc 24 records the arteries and veins of motor
Rush data；When inspection machine human body 26 moves from positioning mechanism baffle 14, infrared detecting device 25 can't detect positioning
Mechanism baffle 14, at this point, motor code-disc 24 records the pulse data of motor again；The pulse recorded twice according to motor code-disc 24
Data calculate the circle number of driving wheel rotation, and then obtain the length of positioning mechanism baffle 14；According to the length of positioning mechanism baffle 14
Degree control inspection machine human body 26 moves to the predeterminated position of positioning mechanism baffle 14, so that wireless charging receiving terminal coil 22
Phase standard is able to carry out power transmission between wireless charging transmitting terminal coil 13；Robot body 26 to be inspected moves to localization machine
After the predeterminated position of structure baffle 14, when the voltage that voltage detection module 23 detects that wireless charging transmitting terminal coil 13 exports meets
When preset threshold, inspection machine human body 26 starts to charge；When voltage detection module 23 detects the voltage of rechargeable battery
When reaching highest preset threshold, inspection machine human body 26 stops charging.
The charging mechanism and its method for transmission line polling robot in the application can be improved crusing robot
Positioning accuracy, reliability and charge stability between ontology 26 and charging unit 27, will directly affect crusing robot
The efficiency of runing time, polling radius and line data-logging, meanwhile, deficiency existing for existing charging technique is overcome in the application
Place is charged reliable and stable using high-power wireless charging technique, and electric spark is also easy to produce when avoiding charging in the prior art, is risen
The safety accidents such as fire, short circuit.The application meets the demand for the electric inspection process robot real-time online charging walked along ground wire 21,
Crusing robot is realized along transmission line of electricity whole process, Quan Zizhu, long-time automatic running, this process is participated in without artificial, can be real
Existing autonomous operation, recharging mitigate the working strength of patrol officer, improve the intelligence of transmission line of electricity for reducing cost of labor
Inspection level can be changed to be of great significance.
All articles and reference disclosed, including patent application and publication, for various purposes by quoting knot
Together in this.Describing combined term " substantially by ... constitute " should include identified element, ingredient, component or step and reality
Other elements, ingredient, component or the step of the basic novel feature of the combination are not influenced in matter.Using term "comprising" or
" comprising " describes the combination of element here, ingredient, component or step it is also contemplated that substantially by these elements, ingredient, component
Or the embodiment that step is constituted.Here by using term " can with ", it is intended to illustrate that " can with " includes described any
Attribute is all optional.Multiple element, ingredient, component or step can be mentioned by single integrated component, ingredient, component or step
For.Alternatively, single integrated component, ingredient, component or step can be divided into multiple element, ingredient, component or the step of separation
Suddenly.For describe the open "a" or "an" of element, ingredient, component or step do not say in order to exclude other elements, at
Point, component or step.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.Above-described embodiment is only
Illustrate technical concepts and features of the invention, its object is to those skilled in the art can understand the contents of the present invention
And implement accordingly, it is not intended to limit the scope of the present invention.Equivalence changes made by all Spirit Essences according to the present invention
Or modification, it should be covered by the protection scope of the present invention.
Claims (11)
1. a kind of charging mechanism for transmission line polling robot, which is characterized in that described to be used for polling transmission line machine
The charging mechanism of device people includes:
The inspection machine human body of inspection can be carried out along the ground wire on iron tower of power transmission line, installed on the inspection machine human body
There are wireless charging receiving terminal coil, motor code-disc, infrared detecting device and driving wheel；
Charging unit, the charging unit include: boost module, positioning mechanism baffle, wireless charging transmitting terminal coil；
The boost module is mutually electrically connected with the wireless charging transmitting terminal coil, and the boost module is used for the electricity that will be inputted
It is boosted and is conveyed to the wireless charging transmitting terminal coil again, the wireless charging transmitting terminal coil can pass through wireless side
Formula conveys electric energy to wireless charging receiving terminal coil；The motor code-disc is arranged on the drive wheel to measure driving wheel turning collar
Number, the infrared detecting device is mutually electrically connected with the motor code-disc, when the inspection machine human body move to it is described fixed
When the mechanism baffle of position, the infrared detecting device is able to detect whether the inspection machine human body passes through positioning mechanism baffle,
The motor code-disc can calculate driving wheel turnning circle under the result detected based on the infrared detecting device to obtain
The length of positioning mechanism baffle is stated, so that the inspection machine human body be made to move to the default position of the positioning mechanism baffle
It sets, so that phase standard is able to carry out electric power biography between the wireless charging receiving terminal coil and the wireless charging transmitting terminal coil
It is defeated.
2. the charging mechanism according to claim 1 for transmission line polling robot, which is characterized in that the inspection
Voltage detection module is also equipped on robot body, when the voltage detection module detects the wireless charging transmitting terminal line
When the voltage of circle output meets preset threshold, the inspection machine human body starts to charge.
3. the charging mechanism according to claim 2 for transmission line polling robot, which is characterized in that the inspection
The rechargeable battery for receiving the electric energy of the wireless charging receiving terminal coil is also equipped on robot body, when the voltage detecting
When module detects that the voltage of the rechargeable battery reaches highest preset threshold, the inspection machine human body stops filling
Electricity.
4. the charging mechanism according to claim 1 for transmission line polling robot, which is characterized in that the charging
Device further include: guard mechanism comprising be arranged above the positioning mechanism baffle and the wireless charging transmitting terminal coil
Shutter, the shutter horizontally descend direction extend.
5. the charging mechanism according to claim 1 for transmission line polling robot, which is characterized in that described infrared
When detection device detects that inspection machine human body moves to the positioning mechanism baffle, the motor code-disc start recording at this time
The pulse data of motor, when infrared detecting device can't detect positioning mechanism baffle, the motor code-disc re-records motor
Pulse data the circle number of driving wheel rotation is calculated according to pulse data twice, to calculate the positioning mechanism baffle
Length.
6. the charging mechanism according to claim 5 for transmission line polling robot, which is characterized in that described default
Position is the middle part of the positioning mechanism baffle, controls the inspection machine human body according to the length of the positioning mechanism baffle
The distance of movement, so that the inspection machine human body be made to move to the middle part of the positioning mechanism baffle.
7. the charging mechanism according to claim 6 for transmission line polling robot, which is characterized in that described wireless
Charging receiving end coil is located at the top of the inspection machine human body, and the wireless charging transmitting terminal coil is located at the positioning
The inside of mechanism baffle.
8. the charging mechanism according to claim 1 for transmission line polling robot, which is characterized in that patrolled when described
When inspection robot body moves to the predeterminated position of the positioning mechanism baffle, the wireless charging receiving terminal coil and the nothing
Line charge electricity emits the vertical range between end-coil in 20mm between 50mm.
9. the charging mechanism according to claim 1 for transmission line polling robot, which is characterized in that the boosting
Charging input socket is provided in module, which is aviation socket, is used to be controlled to a power supply.
10. a kind of charging method using as described in claim 1 for the charging mechanism of transmission line polling robot,
Be characterized in that, the charging method for transmission line polling robot the following steps are included:
Before the inspection machine human body will enter the charging unit, the infrared detecting device is opened；
When the inspection machine human body moves to the positioning mechanism baffle, the infrared detecting device detects described fixed
Position mechanism baffle, at this point, the pulse data of motor code-disc record motor；
When the inspection machine human body moves from the positioning mechanism baffle, the infrared detecting device can't detect institute
Positioning mechanism baffle is stated, at this point, the motor code-disc records the pulse data of motor again；
The circle number of driving wheel rotation is calculated according to the pulse data that the motor code-disc records twice, and then obtains the localization machine
The length of structure baffle；
The inspection machine human body, which is controlled, according to the length of the positioning mechanism baffle moves to the positioning mechanism baffle
Predeterminated position, so that phase standard is able to carry out electricity between the wireless charging receiving terminal coil and the wireless charging transmitting terminal coil
Power transmission.
11. the charging method according to claim 10 for transmission line polling robot, which is characterized in that described to patrol
Voltage detection module is also equipped on inspection robot body and the electric energy for receiving the wireless charging receiving terminal coil is installed
Rechargeable battery, the charging method for transmission line polling robot are further comprising the steps of:
After the inspection machine human body moves to the predeterminated position of the positioning mechanism baffle, when the voltage detection module
When detecting that the voltage of wireless charging transmitting terminal coil output meets preset threshold, the inspection machine human body start into
Row charging；
When the voltage detection module detects that the voltage of the rechargeable battery reaches highest preset threshold, the inspection machine
Human body stops charging.
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| CN201910398265.4A CN110071582A (en) | 2019-05-14 | 2019-05-14 | Charging mechanism and its method for transmission line polling robot |
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| CN201910398265.4A CN110071582A (en) | 2019-05-14 | 2019-05-14 | Charging mechanism and its method for transmission line polling robot |
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| CN112162294A (en) * | 2020-10-10 | 2021-01-01 | 北京布科思科技有限公司 | Robot structure detection method based on laser sensor |
| CN112202105A (en) * | 2020-10-29 | 2021-01-08 | 国网河北省电力有限公司 | Control system and method for power transmission line inspection robot |
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