CN110299749A - A kind of diversification power supply system for underground pipe gallery robot - Google Patents
A kind of diversification power supply system for underground pipe gallery robot Download PDFInfo
- Publication number
- CN110299749A CN110299749A CN201910727473.4A CN201910727473A CN110299749A CN 110299749 A CN110299749 A CN 110299749A CN 201910727473 A CN201910727473 A CN 201910727473A CN 110299749 A CN110299749 A CN 110299749A
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- China
- Prior art keywords
- module
- charging
- pipe gallery
- underground pipe
- crusing robot
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- 238000007689 inspection Methods 0.000 claims abstract description 30
- 238000009826 distribution Methods 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 31
- 230000005611 electricity Effects 0.000 claims description 26
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- H02J7/0027—
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
- H01M10/4257—Smart batteries, e.g. electronic circuits inside the housing of the cells or batteries
Abstract
The invention discloses a kind of diversification power supply systems for underground pipe gallery robot, including the track, crusing robot and several distributed charging piles being distributed in underground pipe gallery, for several distributed charging piles along the orbit distribution and spaced apart, distributed charging pile includes distribution box and the charging circuit interconnected, operation detecting circuit, controller circuitry, alarm module and the coordinate interrelation module one that are arranged in distribution box；Charging circuit end is connected with outlet line, outlet line stretches out out of distribution box and is connected with structure of contact terminal, the position that the charging end that structure of contact terminal extends to crusing robot on mobile track in orbit can directly contact and the contact charging that crusing robot is realized with this；Crusing robot is moved along track, and the inspection to carry out preset term to underground pipe gallery.
Description
Technical field
The present invention relates to underground pipe gallery robot field, specially a kind of diversification for underground pipe gallery robot is powered
System.
Background technique
The monitoring of Urban Underground piping lane project management system at present is generally based on artificial mode or piping lane machine
Come what is carried out, artificial monitoring needs that a large amount of personnel is constantly arranged to inquire underground pipe gallery people, and is come in a manner of manual
Filling in for data is carried out, the subsequent data for also needing will fill in are reported, in this way, first inefficiency, higher cost；Second
The data generated of monitoring management cannot be implemented to report, and the time of processing is caused to have larger delay, and the inefficiency handled,
It is unable to satisfy the monitoring needs of existing underground pipe gallery；For artificial monitoring, patrolled by the way of piping lane robot
Monitoring is looked into, the real-time report of automatic monitoring and data is realized, reduces manpower demand, improve efficiency, sufficiently meet buried pipe
The monitoring of corridor needs.
The movement and execution operation of piping lane crusing robot require electricity consumption, currently, crusing robot is using chargeable
Power supply unit crusing robot is powered, but be typically necessary it is artificial carry out plug-in type charging, sometimes can be because of
Charging not in time, so that the crusing robot of not enough power supply has a power failure in the way, causes inspection work that can not be normally carried out, influences
Piping lane routing inspection efficiency.
Summary of the invention
It is above-mentioned to solve the purpose of the present invention is to provide a kind of diversification power supply system for underground pipe gallery robot
The problem of being proposed in background technique.
To achieve the above object, the invention provides the following technical scheme: a kind of diversification for underground pipe gallery robot
Power supply system, including the track, crusing robot and several distributed charging piles being distributed in underground pipe gallery, several distributions
Along the orbit distribution and spaced apart, distributed charging pile includes distribution box and is arranged in distribution box formula charging pile
Charging circuit, operation detecting circuit, controller circuitry, alarm module and coordinate interrelation module one interconnected；The charging
Circuit end is connected with outlet line, and outlet line stretches out out of distribution box and be connected with structure of contact terminal, and structure of contact terminal extends to shifting
It moves the position that the charging end of crusing robot on track in orbit can directly contact and crusing robot is realized with this
Contact charging；The crusing robot is moved along track, and the inspection to carry out preset term to underground pipe gallery, survey monitor
Device people has sensor module, inspection drive module, battery module, electric power detection module, control module, coordinate interrelation module
Two and warning module, inspection drive module connect with battery module, control module, be used to drive crusing robot along track
It is mobile.
Preferably, electric power detection module is connect with battery module, control module, obtains the electricity inspection of battery module
Electric power detection data are simultaneously transmitted to control module by measured data.
Preferably, multiple threshold intervals are arranged in control module, carry out assignment to each threshold interval, control module, which obtains, to be stored
The electricity data of battery judges threshold interval where electricity data, and is sentenced according to the assignment of threshold interval where electricity data
Disconnected current electric quantity grade.
Preferably, control module is connect with warning module, coordinate interrelation module two, and control module is based on current electric quantity grade
Whether control warning module, coordinate interrelation module two work and whether control inspection drive module stops current patrol task.
Preferably, coordinate interrelation module two when crusing robot current electric quantity grade is lower with one phase of coordinate interrelation module
Mutually cooperation and positioning associated, coordinate interrelation module two, which obtains the position of coordinate interrelation module one and sends position to control module, to be believed
Breath, control module are based on location information control inspection drive module and move along track to the position.
Preferably, sensor module is for being acquired monitoring to environment in piping lane comprising video monitor unit, humidity
Sensor unit, temperature sensor unit and gas sensor unit, control module crusing robot current electric quantity grade compared with
Sensor module is controlled when low to stop working.
Preferably, operation detecting circuit is used to carry out charging circuit operation detection and obtains detection data, operation detection
Circuit is connect with controller circuitry, be will test data and is sent to controller circuitry, controller circuitry is based on detection data to defeated
Route and coordinate interrelation module one carry out on-off control out, and whether control alarm module and worked.
Preferably, it is respectively connected with feedback line on the charging end of crusing robot and the structure of contact terminal of distributed charging pile,
Feedback line feeds back to controller circuitry and control module when charging end and structure of contact terminal contact respectively.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is arranged several distributed charging piles in piping lane, distributed charging pile along orbit distribution and spaced apart,
Since crusing robot is along track travel, by the way that structure of contact terminal, contact knot are arranged outside the distribution box of distributed charging pile
Structure extends to the position that the charging end of crusing robot on mobile track in orbit can directly contact, and realizes survey monitor with this
The contact of device people charges, to realize automation charging, while crusing robot has electric power detection and warning function, control
Multiple threshold intervals are arranged in module, carry out assignment to each threshold interval, control module obtains the electricity data of battery, sentences
Threshold interval where disconnected electricity data, and current electric quantity grade is judged according to the assignment of threshold interval where electricity data, work as electricity
When measuring grade lower than predetermined level, control module control warning module, coordinate interrelation module two, which work, simultaneously controls inspection driving mould
Block stops current patrol task, and the coordinate interrelation module one in coordinate interrelation module two and distributed charging pile cooperates and determines
Position association, coordinate interrelation module two obtain the position of coordinate interrelation module one and send location information to control module, control mould
Block is based on distance optimal selection control inspection drive module and moves along track to the position, guarantees being normally carried out for inspection work,
Simultaneously charge level be lower than predetermined level when, control module also controls sensor module and stops working, with retain electric power come into
The driving of row inspection drive module operates；Operation detecting circuit on distributed charging pile is for carrying out operation inspection to charging circuit
Detection data is surveyed and obtains, operation detecting circuit is connect with controller circuitry, be will test data and is sent to controller circuitry, is controlled
Device circuit processed is based on detection data and carries out on-off control to outlet line and coordinate interrelation module one, when controller circuitry analyzes
When detection data exception, control outlet line and coordinate interrelation module one are disconnected, while controlling alarm module work, coordinate interrelation
Module one disconnects, and is not associated with the cooperation of coordinate interrelation module two, therefore crusing robot will not select to carry out with the charging pile
Contact charging, ensure that the safety of crusing robot.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the modular structure schematic diagram of crusing robot of the present invention and distributed charging pile.
In figure: 1, crusing robot；11, sensor module；12, inspection drive module；13, battery module；14, electricity
Detection module；15, control module；16, coordinate interrelation module two；17, warning module；2, distributed charging pile；21, charging electricity
Road；22, operation detecting circuit；23, controller circuitry；24, alarm module；25, coordinate interrelation module one.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the orientation of the instructions such as term "vertical", "upper", "lower", "horizontal"
Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, and
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore
It is not considered as limiting the invention.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, it can manage as the case may be
Solve the concrete meaning of above-mentioned term in the present invention.
The present invention provides a kind of technical solution referring to FIG. 1-2: a kind of diversification power supply for underground pipe gallery robot
System, including the track, crusing robot 1 and several distributed charging piles 2 being distributed in underground pipe gallery, several distributions
Along the orbit distribution and spaced apart, distributed charging pile 2 includes distribution box and is arranged in distribution box charging pile 2
Charging circuit 21, operation detecting circuit 22, controller circuitry 23, alarm module 24 and coordinate interrelation module one interconnected
25；21 end of charging circuit is connected with outlet line, and outlet line stretches out out of distribution box and be connected with structure of contact terminal, touching
What the charging end that header structure extends to battery module 13 on crusing robot 1 on mobile track in orbit can directly contact
Position and the contact charging that crusing robot 1 is realized with this；The crusing robot 1 is moved along track, and to underground
Piping lane carries out the inspection of preset term, and crusing robot 1 has sensor module 11, inspection drive module 12, battery module
13, electric power detection module 14, control module 15, coordinate interrelation module 2 16 and warning module 17, inspection drive module 12 and storage
Battery module 13, control module 15 connect, and are used to that crusing robot 1 to be driven to move along track.
Electric power detection module 14 is connect with battery module 13, control module 15, obtains the electricity of battery module 13
Electric power detection data are simultaneously transmitted to control module 15 by detection data.
Multiple threshold intervals are arranged in control module 15, carry out assignment to each threshold interval, control module 15 obtains electric power storage
The electricity data in pond judges threshold interval where electricity data, and is judged according to the assignment of threshold interval where electricity data
Current electric quantity grade.
Control module 15 is connect with warning module 17, coordinate interrelation module 2 16, and control module 15 is based on current electric quantity etc.
Whether grade control warning module 17, coordinate interrelation module 2 16 work and whether control inspection drive module 12 stops current inspection
Task.
Coordinate interrelation module 2 16 is mutual with coordinate interrelation module 1 when 1 current electric quantity grade of crusing robot is lower
Cooperation and positioning associated, coordinate interrelation module 2 16 obtain the position of coordinate interrelation module 1 and send position to control module 15
Confidence breath, control module 15 are based on location information control inspection drive module 12 and move along track to the position.
Sensor module 11 is for being acquired monitoring to environment in piping lane comprising video monitor unit, humidity sensor
Device unit, temperature sensor unit and gas sensor unit, control module 15 are lower in 1 current electric quantity grade of crusing robot
When control sensor module 11 stop working.
Operation detecting circuit 22 is used to carry out charging circuit 21 operation detection and obtains detection data, operation detecting circuit
22 connect with controller circuitry 23, will test data and are sent to controller circuitry 23, controller circuitry 23 is based on detection data
Whether carrying out on-off control to outlet line and coordinate interrelation module 1, and control alarm module 24 and worked.
Feedback line, feedback line are respectively connected on the charging end of crusing robot 1 and the structure of contact terminal of distributed charging pile 2
Road feeds back to control module 15 and controller circuitry 23 when charging end and structure of contact terminal contact respectively.
Working principle: several distributed charging piles 2 are arranged in the present invention in piping lane, and distributed charging pile 2 is along orbit distribution
And it is spaced apart, since crusing robot 1 is to pass through the distribution box peripheral hardware in distributed charging pile 2 along track travel
Structure of contact terminal is set, what the charging end that structure of contact terminal extends to crusing robot 1 on mobile track in orbit can directly contact
Position, the contact charging of crusing robot 1 is realized with this, to realize automation charging, while crusing robot 1 has electricity
Multiple threshold intervals are arranged in amount detection and warning function, control module 15, carry out assignment, control module 15 to each threshold interval
The electricity data for obtaining battery judges threshold interval where electricity data, and according to threshold interval where electricity data
Assignment judges current electric quantity grade, and when charge level is lower than predetermined level, control module 15 controls warning module 17, association is determined
Position module 2 16, which works and controls inspection drive module 12, stops current patrol task, and coordinate interrelation module 2 16 is filled with distribution
Coordinate interrelation module 1 in electric stake cooperates and positioning associated, and coordinate interrelation module 2 16 obtains coordinate interrelation module one
25 position simultaneously sends location information to control module 15, and control module 15 is based on distance optimal selection and controls inspection drive module
It is moved along track to the position, guarantees being normally carried out for inspection work, while when charge level is lower than predetermined level, controlling mould
Block also controls sensor module and stops working, and carries out the driving of inspection drive module 12 operating to retain electric power；Distribution is filled
Operation detecting circuit 22 in electric stake 2 is used to carry out charging circuit 21 operation detection and obtains detection data, operation detection electricity
Road 22 is connect with controller circuitry 23, be will test data and is sent to controller circuitry 23, controller circuitry 23 is based on testing number
On-off control is carried out according to outlet line and coordinate interrelation module 1, when controller circuitry 23 analyzes detection data exception
When, control outlet line and coordinate interrelation module 1 disconnect, while controlling the work of alarm module 24, coordinate interrelation module one
25 disconnect, and are not associated with the cooperation of coordinate interrelation module 2 16, therefore crusing robot 1 will not select to be connect with the charging pile
Touch charging, ensure that the safety of crusing robot 1.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of diversification power supply system for underground pipe gallery robot, which is characterized in that including being distributed in underground pipe gallery
Track, crusing robot (1) and several distributed charging piles (2), several distributed charging piles (2) are along the track point
Cloth is simultaneously spaced apart, and distributed charging pile (2) includes distribution box and the charging interconnected being arranged in distribution box electricity
Road (21), operation detecting circuit (22), controller circuitry (23), alarm module (24) and coordinate interrelation module one (25)；It is described
Charging circuit (21) end is connected with outlet line, and outlet line stretches out out of distribution box and be connected with structure of contact terminal, contact knot
Position that the charging end that structure extends to crusing robot (1) on mobile track in orbit can directly contact and being realized with this is patrolled
Examine the contact charging of robot (1)；The crusing robot (1) is moved along track, and to preset to underground pipe gallery
The inspection of project, crusing robot (1) have sensor module (11), inspection drive module (12), battery module (13), electricity
Measure detection module (14), control module (15), coordinate interrelation module two (16) and warning module (17), inspection drive module (12)
It is connect with battery module (13), control module (15), is used to that crusing robot (1) to be driven to move along track.
2. a kind of diversification power supply system for underground pipe gallery robot according to claim 1, it is characterised in that: institute
It states electric power detection module (14) to connect with battery module (13), control module (15), obtains the electricity of battery module (13)
Electric power detection data are simultaneously transmitted to control module (15) by amount detection data.
3. a kind of diversification power supply system for underground pipe gallery robot according to claim 2, it is characterised in that: institute
It states control module (15) and multiple threshold intervals is set, assignment is carried out to each threshold interval, control module (15) obtains battery
Electricity data, judge threshold interval where electricity data, and work as according to the judgement of the assignment of threshold interval where electricity data
Preceding charge level.
4. a kind of diversification power supply system for underground pipe gallery robot according to claim 3, it is characterised in that: institute
It states control module (15) to connect with warning module (17), coordinate interrelation module two (16), control module (15) is based on current electric quantity
Whether grade control warning module (17), coordinate interrelation module two (16) work and whether control inspection drive module (12) stops
Current patrol task.
5. a kind of diversification power supply system for underground pipe gallery robot according to claim 4, it is characterised in that: institute
It is mutual with coordinate interrelation module one (25) when crusing robot (1) current electric quantity grade is lower to state coordinate interrelation module two (16)
Cooperation and positioning associated, coordinate interrelation module two (16) obtain the position of coordinate interrelation module one (25) and to control module (15)
Location information is sent, control module (15) is based on location information control inspection drive module (12) and moves along track to the position.
6. a kind of diversification power supply system for underground pipe gallery robot according to claim 1, it is characterised in that: institute
Sensor module (11) are stated for being acquired monitoring to environment in piping lane comprising video monitor unit, humidity sensor list
Member, temperature sensor unit and gas sensor unit, control module (15) are lower in crusing robot (1) current electric quantity grade
When control sensor module (11) stop working.
7. a kind of diversification power supply system for underground pipe gallery robot according to claim 1, it is characterised in that: institute
Operation detecting circuit (22) are stated for carrying out operation detection to charging circuit (21) and obtaining detection data, operation detecting circuit
(22) it is connect with controller circuitry (23), will test data and be sent to controller circuitry (23), controller circuitry (23) is based on
Detection data carries out on-off control to outlet line and coordinate interrelation module one (25), and controls alarm module (24) and work
Whether.
8. a kind of diversification power supply system for underground pipe gallery robot according to claim 1, it is characterised in that: institute
It states and is respectively connected with feedback line, feedback line on the charging end of crusing robot (1) and the structure of contact terminal of distributed charging pile (2)
When charging end and structure of contact terminal contact, control module (15) and controller circuitry (23) are fed back to respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910727473.4A CN110299749A (en) | 2019-08-07 | 2019-08-07 | A kind of diversification power supply system for underground pipe gallery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910727473.4A CN110299749A (en) | 2019-08-07 | 2019-08-07 | A kind of diversification power supply system for underground pipe gallery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110299749A true CN110299749A (en) | 2019-10-01 |
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ID=68032789
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910727473.4A Pending CN110299749A (en) | 2019-08-07 | 2019-08-07 | A kind of diversification power supply system for underground pipe gallery robot |
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| Country | Link |
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| CN (1) | CN110299749A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113037044A (en) * | 2021-03-10 | 2021-06-25 | 北京华能新锐控制技术有限公司 | Inspection robot and wireless charging system thereof |
| CN114123399A (en) * | 2021-11-17 | 2022-03-01 | 北京华能新锐控制技术有限公司 | Charging control system for track robot |
-
2019
- 2019-08-07 CN CN201910727473.4A patent/CN110299749A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113037044A (en) * | 2021-03-10 | 2021-06-25 | 北京华能新锐控制技术有限公司 | Inspection robot and wireless charging system thereof |
| CN114123399A (en) * | 2021-11-17 | 2022-03-01 | 北京华能新锐控制技术有限公司 | Charging control system for track robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200312 Address after: 210000 Gulou District, Jiangsu, Zhongshan Road, No. 251, No. Applicant after: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. NANJING POWER SUPPLY BRANCH Applicant after: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. Applicant after: SHANGHAI GU YUAN ELECTRICAL TECHNOLOGY Co.,Ltd. Address before: 210000 Gulou District, Jiangsu, Zhongshan Road, No. 251, No. Applicant before: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. NANJING POWER SUPPLY BRANCH Applicant before: SHANGHAI GU YUAN ELECTRICAL TECHNOLOGY Co.,Ltd. |
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| TA01 | Transfer of patent application right | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191001 |
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| WD01 | Invention patent application deemed withdrawn after publication |