CN110707773A - Charging control method and device of inspection equipment and inspection equipment - Google Patents
Charging control method and device of inspection equipment and inspection equipment Download PDFInfo
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Abstract
The invention discloses a charging control method of inspection equipment, which comprises the following steps: detecting the residual electric quantity of the battery in real time; when the residual electric quantity of the battery is smaller than a first preset electric quantity, stopping the routing inspection task; and when the routing inspection task is stopped, moving to a charging position for charging operation. The invention also discloses a charging control device of the inspection equipment and the inspection equipment. By implementing the embodiment of the invention, the inspection equipment can be intelligently controlled to carry out charging operation by detecting the residual electric quantity of the battery, the efficiency of the inspection equipment in executing the inspection task is effectively improved, and the user experience is improved.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a charging control method and device of inspection equipment and the inspection equipment.
Background
The transformer substation is widely applied to urban network construction and transformation of an electric power system. In the power system, in order to enable the transformer substation to stably complete work for a long time, the worker is required to perform untimely routing inspection on the transformer substation. With the rapid development of economy and the progress of science and technology, the patrol detection equipment is produced. The inspection robot can replace a worker to perform inspection work on the transformer substation. And patrol and examine the robot and can consume the electric quantity at the in-process that the work was patrolled and examined in the execution to the electric quantity that leads to patrolling and examining the robot is not enough or the electric quantity is low excessively, consequently needs in time to patrol and examine the robot and charge, guarantees to patrol and examine effective completion of task.
However, in the process of implementing the invention, the inventor finds that the prior art has at least the following problems: in prior art, rely on the electric quantity that the robot was patrolled and examined in artifical monitoring usually, also need manual control to patrol and examine the robot simultaneously and charge, the intelligence that can't realize patrolling and examining the robot charges, has reduced and has patrolled and examined the efficiency that the robot carried out the task of patrolling and examining, and manual control process operation is numerous and diverse, has reduced user experience.
Disclosure of Invention
The embodiment of the invention aims to provide a charging control method and device of inspection equipment and the inspection equipment, which can intelligently control the inspection equipment to perform charging operation by detecting the residual electric quantity of a battery, effectively improve the efficiency of the inspection equipment in executing inspection tasks and improve the user experience.
In order to achieve the above object, an embodiment of the present invention provides a method for controlling charging of inspection equipment, including:
detecting the residual electric quantity of the battery in real time;
when the residual electric quantity of the battery is smaller than a first preset electric quantity, stopping the routing inspection task;
and when the routing inspection task is stopped, moving to a charging position for charging operation.
As an improvement of the above scheme, after stopping the inspection task, moving to a charging position for charging operation specifically includes:
when the inspection task is stopped, moving to the charging position;
after the mobile terminal is moved to the charging position, identifying each charging contact on the charging pile at the charging position;
and controlling the charging connector to be connected with any one of the charging contacts so as to charge.
As an improvement of the above scheme, after stopping the inspection task, moving to the charging position specifically includes:
after the inspection task is stopped, taking the current position as a pause position, and acquiring the longitude and latitude of the pause position;
acquiring the longitude and latitude of each charging position within a first preset distance according to the longitude and latitude of the pause position;
calculating a travel path from the pause position to each of the charging positions;
and moving to the charging position corresponding to the shortest travel path.
As an improvement of the above scheme, after moving to the charging position, identifying each charging contact on the charging pile at the charging position specifically includes:
after the mobile phone is moved to the charging position, the distance between the mobile phone and the charging pile is acquired;
when the distance between the mobile terminal and the charging pile is smaller than a second preset distance, scanning each identification area on the charging pile;
and acquiring the central point of each identification area to obtain each charging contact of the charging pile.
As an improvement of the above scheme, the controlling of the charging connector is connected to any one of the charging contacts to perform charging, and specifically includes:
calculating the distance between the charging contact and the charging contact;
acquiring any one of the charging contacts meeting preset conditions to serve as a target charging contact; the preset condition is that the distance between the charging connector and the charging connector is smaller than a third preset distance;
controlling the charging connector to be connected with the target charging contact;
detecting whether the target charging contact has voltage;
and when the target charging contact has voltage and the voltage meets a preset voltage range, charging.
As an improvement of the above scheme, the method for controlling charging of the inspection equipment further includes:
when the target charging contact is free of voltage, controlling the charging connector to extend or shorten a preset length;
and after the charging connector is extended or shortened by a preset length, detecting whether the target charging contact has voltage again.
As an improvement of the above scheme, the method for controlling charging of the inspection equipment further includes:
when the target charging contact is free of voltage after the charging connector is extended or shortened by a preset length; or when the voltage of the target charging contact does not meet the preset voltage range, controlling the charging connector to be disconnected with the target charging contact;
and acquiring any other charging contact meeting the preset condition, and taking the charging contact as the target charging contact again.
As an improvement of the above scheme, after the inspection task is stopped and then the inspection task is moved to a charging position for charging operation, the method further includes:
stopping the charging operation when the residual electric quantity of the battery is judged to be larger than or equal to a second preset electric quantity;
and moving to the pause position according to the longitude and latitude of the pause position, and continuously executing the inspection task.
The embodiment of the invention also provides inspection equipment, which comprises an electric quantity detection module, an operation stopping module and a charging control module;
the electric quantity detection module is used for detecting the residual electric quantity of the battery in real time;
the operation stopping module is used for stopping the inspection task when the residual electric quantity of the battery is smaller than a first preset electric quantity threshold value;
and the charging control module is used for moving to a charging position for charging operation after the inspection task is stopped.
The embodiment of the invention also provides a charging control device of the inspection equipment, which comprises a processor, a memory and a computer program which is stored in the memory and configured to be executed by the processor, wherein the processor realizes the charging control method of the inspection equipment when executing the computer program.
Compared with the prior art, the charging control method and device for the inspection equipment and the inspection equipment can detect the residual electric quantity of the battery of the inspection equipment in real time, and control the inspection equipment to stop an inspection task and move to a charging position for charging operation when the residual electric quantity of the battery is judged to be smaller than a preset electric quantity threshold value. Through intelligent control inspection equipment charging operation, the time of manual monitoring electric quantity and manual control charging is saved, the efficiency of inspection equipment in executing inspection tasks is effectively improved, and user experience is improved.
Drawings
Fig. 1 is a schematic flow chart of a charging control method for inspection equipment according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a preferred charging control method for the inspection equipment according to the first embodiment of the present invention;
fig. 3 is a schematic structural diagram of inspection equipment in the second embodiment of the invention;
fig. 4 is a schematic structural diagram of a charging control device of inspection equipment in a third embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Fig. 1 is a schematic flow chart of a charging control method for inspection equipment according to an embodiment of the present invention. It should be noted that the inspection equipment can be intelligent inspection detection equipment such as an inspection robot, an inspection trolley, an unmanned aerial vehicle and the like. The area of the inspection equipment for executing the inspection task can be outdoor environments such as a park, a residential area and the like, and can also be indoor environments such as a market, a fitness center and the like, and the beneficial effects obtained by the invention are not influenced. Preferably, the embodiment of the invention can be applied to a substation power generation area.
The charging control method for the inspection equipment provided by the first embodiment of the invention is implemented through steps S11 to S13:
s11, detecting the residual electric quantity of the battery in real time;
s12, stopping the inspection task when the residual electric quantity of the battery is smaller than a first preset electric quantity;
and S13, moving to a charging position for charging operation after the inspection task is stopped.
Specifically, a user presets a first preset electric quantity and stores the first preset electric quantity in a storage unit of the inspection equipment. And in the process of executing the polling task by the polling equipment, detecting the residual electric quantity of the battery in real time, and comparing the residual electric quantity with the first preset electric quantity. And when the residual electric quantity of the battery is judged to be smaller than a first preset electric quantity, the inspection equipment stops the inspection task which is currently executed, controls the inspection equipment to move to a preset charging position, and performs charging operation.
The inspection stopping task comprises but is not limited to stopping the shooting work of the inspection equipment, stopping the laser emission work of the inspection equipment, stopping the uploading of images or videos and other execution operations of the inspection equipment, thereby effectively saving the electric quantity of the battery and carrying out charging operation as soon as possible.
It can be understood that, when the remaining battery capacity is greater than or equal to the first preset battery capacity, the inspection equipment continues to perform the inspection task.
It can be understood that the battery remaining capacity and the first preset capacity may be a specific capacity value, the battery remaining capacity is obtained by real-time detection of the inspection device, and the first preset capacity may be set by a user according to an actual application condition, which is not specifically limited herein; the battery residual capacity can also be an electric quantity grade, for example, high electric quantity grade, well electric quantity grade and low electric quantity grade etc. also can divide into different electric quantity scopes according to a plurality of grades of practical application division, by patrolling and examining equipment real-time detection self residual capacity grade, judges whether be less than first predetermined electric quantity, in order to realize right the charge control of patrolling and examining equipment. Through the real-time detection to patrolling and examining equipment electric quantity, intelligent control patrolling and examining the operation of charging of equipment need not artifical monitoring and manual control, has effectively improved and has patrolled and examined efficiency and user experience.
Preferably, referring to fig. 2, a flowchart of a charging control method for an inspection device according to a first embodiment of the present invention is shown. Wherein, the step S13 executes, through the steps S131 to S133:
s131, moving to the charging position after the inspection task is stopped;
when the inspection equipment detects that the residual electric quantity of the battery is smaller than a first preset electric quantity, the inspection task executed at present is stopped, and a running path to a preset charging position is generated, so that the inspection equipment is controlled to move to the charging position.
Further, step S131 performs through steps S1311 to S1314:
s1311, after the inspection task is stopped, taking the current position as a pause position, and obtaining the longitude and latitude of the pause position;
s1312, acquiring the longitude and latitude of each charging position within a first preset distance according to the longitude and latitude of the pause position;
s1313, calculating a running path from the pause position to each charging position;
and S1314, moving to the charging position corresponding to the shortest driving path.
Specifically, the inspection equipment may pre-store longitude and latitude information of all charging locations in an area where the inspection task is currently executed, and may also receive the longitude and latitude information of all charging locations sent by the background. And after stopping the current executed inspection task, the inspection equipment positions the longitude and latitude of the current position through a GPS positioning system and stores the longitude and latitude as a pause position. And according to the longitude and latitude of the pause position and the longitude and latitude information of all the charging positions, the inspection equipment automatically acquires the longitude and latitude of the charging positions within a first preset distance and generates a driving path reaching each charging position within the first preset distance. In order to save the electric quantity of the inspection equipment, the inspection equipment automatically calculates and obtains the shortest driving path and controls the inspection equipment to move to a charging position according to the shortest driving path.
It can be understood that the first preset distance is a distance value set by a user, and may be set according to a distribution situation of charging locations in an area where the inspection task is currently performed or an actual application situation of the inspection equipment, which is not specifically limited herein.
S132, after the mobile terminal is moved to the charging position, identifying each charging contact on the charging pile at the charging position;
the position of charging is provided with fills electric pile, is provided with a plurality of contacts that charge on filling electric pile to make the difference patrol and examine equipment and carry out the selection of the contact that charges according to the different demands of charging, also can satisfy a plurality of demands of patrolling and examining equipment and charging simultaneously.
Further, step S132 executes, through steps S1321 to S1323:
s1321, after the mobile terminal moves to the charging position, obtaining the distance between the mobile terminal and the charging pile;
s1322, when the distance between the mobile phone and the charging pile is smaller than a second preset distance, scanning each identification area on the charging pile;
s1323, acquiring a central point of each identification area to obtain each charging contact of the charging pile.
In this embodiment, the charging pile is provided with identification areas, and a charging contact is arranged at the center point of each identification area. When the equipment of patrolling and examining removes to the position of charging after, calculate and fill the distance between the electric pile. And when the distance between the inspection equipment and the charging pile is smaller than a second preset distance, the inspection equipment starts a charging contact identification program, emits laser to scan identification areas on the charging pile, determines the central point of each identification area, and further identifies each charging contact.
It is understood that the second preset distance is a specific distance value, and can be set by a user according to the actual application. When patrol and examine equipment and remove to the position of charging after, when judging that the distance more than or equal to second that patrols and examines equipment and fill electric pile predetermines the distance, control is patrolled and examined equipment and is removed to the position of charging, and the distance of equipment and filling electric pile is less than the second is predetermine the distance, carries out the discernment of the contact that charges again.
And S133, controlling the charging connector to be connected with any one of the charging contacts so as to charge.
When the inspection equipment identifies the charging contact on the charging pile, the inspection equipment controls the charging contact to be connected with any charging contact. Specifically, the charging connector is arranged in a telescopic mode, and the charging connector is inserted into a jack of the charging contact, so that the charging connector is connected with the charging contact, and charging operation is completed.
Further, step S133 executes, through steps S1331 to S1335:
s1331, calculating the distance between the charging connector and the charging contact;
s1332, acquiring any one of the charging contacts meeting preset conditions to serve as a target charging contact; the preset condition is that the distance between the charging connector and the charging connector is smaller than a third preset distance;
s1333, controlling the charging connector to be connected with the target charging contact;
s1334, detecting whether the target charging contact has voltage;
and S1335, when the target charging contact has voltage and the voltage meets a preset voltage range, charging.
When the inspection equipment identifies the charging contact on the charging pile, the inspection equipment calculates the distance between the charging contact and the charging contact, and if the distance between the charging contact and the charging contact is smaller than a third preset distance, the charging contact is in the plugging range of the charging plug and meets the preset condition. And acquiring any charging contact meeting the preset conditions as a target charging contact, and controlling the charging plug to extend out and be inserted into the jack of the target charging contact. And after the charging connector is connected with the target charging contact, detecting whether the target charging contact has voltage or not, and when the target charging contact has voltage and the voltage meets a preset voltage range, charging.
It can be understood that the third preset distance is a specific distance value set by the user, and may be set according to the telescopic length of the charging plug of the inspection equipment, which is not specifically limited herein. The preset voltage range is the acceptable voltage range of the charging process of the inspection equipment, and the inspection equipment is damaged due to overhigh or overlow voltage and has a reduced service life. Each charging contact is provided with different voltage values, and when the voltage value of the target charging contact is within the preset voltage range, the inspection equipment is controlled to be charged.
Further, the method for controlling charging of the inspection equipment further includes steps S1336 to S1337:
s1336, when the target charging contact has no voltage, controlling the charging connector to extend or shorten a preset length;
and S1337, detecting whether the target charging contact has voltage again after the charging connector is extended or shortened by a preset length.
After the charging connector is connected with the target charging contact, if the target charging contact is detected to be free of voltage, poor contact may exist, and therefore the charging connector is controlled to extend or shorten the preset length so as to adjust the position of the charging connector inserted in the jack of the charging contact. And whether the target charging contact has voltage is detected again, and when the target charging contact has voltage and the voltage meets a preset voltage range, the inspection equipment is controlled to be charged.
It can be understood that the preset length is a specific length value set by a user, and the preset length can be set according to the telescopic length of the charging connector, which is not specifically limited herein.
Further, the method for controlling charging of the inspection equipment further includes steps S1338 to S1339:
s1338, when the charging connector is extended or shortened by a preset length, the target charging contact is free of voltage; or when the voltage of the target charging contact does not meet the preset voltage range, controlling the charging connector to be disconnected with the target charging contact;
and S1339, acquiring any other charging contact meeting the preset conditions, and taking the charging contact as the target charging contact again.
In an embodiment, after the charging connector is connected with the target charging contact, if it is detected that the target charging contact has no voltage, the charging connector is controlled to extend or shorten by a preset length, and if the target charging contact still has no voltage, the charging connector is controlled to be disconnected from the target charging contact.
In another embodiment, after the charging connector is connected with the target charging contact, when the voltage of the target charging contact is detected not to meet the preset voltage range, the charging connector is controlled to disconnect the target charging contact.
And when the target charging contact of the charging connector is disconnected, the inspection equipment acquires another charging contact meeting the preset condition, the charging contact is used as the target charging contact again, and the steps S1333 to S1339 are executed again.
Through the embodiment, after the charging connector is connected with the target charging contact, the voltage value of the target charging contact is detected, when no voltage is detected or the voltage does not accord with a preset voltage range, the charging connector is controlled to adjust the position, or the charging connector is disconnected and a new target charging contact is obtained again, and the situation that the polling equipment cannot complete charging due to poor contact or the matching of the damaged charging contact in the charging process is effectively avoided.
Further, after the step S13, namely after the inspection equipment completes the charging operation, the method further includes steps S14 to S15:
s14, stopping the charging operation when the residual electric quantity of the battery is judged to be larger than or equal to a second preset electric quantity;
and S15, moving to the pause position according to the longitude and latitude of the pause position, and continuing to execute the inspection task.
The inspection equipment detects the battery residual capacity of the inspection equipment in real time in the charging process, and when the battery residual capacity is larger than or equal to the second preset capacity, the inspection equipment controls the inspection equipment to stop charging operation. And controlling the inspection equipment to move to the pause position according to the original running path and continuously executing the inspection task according to the latitude and longitude of the pause position stored before charging.
The embodiment of the invention provides a charging control method of inspection equipment, which can detect the residual electric quantity of a battery of the inspection equipment in real time, and when the residual electric quantity of the battery is judged to be smaller than a preset electric quantity threshold value, the inspection equipment is controlled to stop an inspection task and move to a charging position for charging operation. Through intelligent control inspection equipment charging operation, the time of manual monitoring electric quantity and manual control charging is saved, the efficiency of inspection equipment in executing inspection tasks is effectively improved, and user experience is improved.
Example two
Fig. 3 is a schematic structural diagram of inspection equipment according to a second embodiment of the present invention. The inspection equipment 20 provided by the second embodiment of the invention comprises an electric quantity detection module 21, an operation stopping module 22 and a charging control module 23;
the electric quantity detection module 21 is used for detecting the residual electric quantity of the battery in real time;
the operation stopping module 22 is configured to stop the inspection task when the remaining battery power is less than a first preset power threshold;
and the charging control module 23 is used for moving to a charging position for charging operation after the inspection task is stopped.
Further, the charging control module 23 is specifically configured to:
when the inspection task is stopped, moving to the charging position;
after the mobile terminal is moved to the charging position, identifying each charging contact on the charging pile at the charging position;
and controlling the charging connector to be connected with any one of the charging contacts so as to charge.
It should be noted that, the inspection device 20 provided in the embodiment of the present invention is configured to execute all the process steps of the charging control method of the inspection device provided in the embodiment of the present invention, and working principles and beneficial effects of the two are in one-to-one correspondence, and thus are not described again.
The second embodiment of the invention provides inspection equipment, the electric quantity detection module 21 is used for detecting the residual electric quantity of a battery of the inspection equipment in real time, the operation stopping module 22 is used for controlling the inspection equipment to stop an inspection task when the residual electric quantity of the battery is judged to be smaller than a preset electric quantity threshold value, and the charging control module 23 is used for controlling the inspection equipment to move to a charging position for charging operation. Through intelligent control inspection equipment charging operation, the time of manual monitoring electric quantity and manual control charging is saved, the efficiency of inspection equipment in executing inspection tasks is effectively improved, and user experience is improved.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a charging control device 30 of an inspection apparatus according to a third embodiment of the present invention. The charging control device 30 of the inspection equipment includes a processor 31, a memory 32, and a computer program stored in the memory and configured to be executed by the processor 31, such as a program for calculating a moving distance per unit time. The processor 31 executes the computer program to implement the steps in the charging control method embodiment of the inspection equipment, such as the steps S131 to S133 shown in fig. 2. Alternatively, the processor implements the functions of the modules in the embodiments of the apparatuses described above, for example, the functions of the modules of the inspection equipment described in the second embodiment, when executing the computer program.
Illustratively, the computer program may be divided into one or more modules, which are stored in the memory 32 and executed by the processor 31 to accomplish the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the charging control device 30 of the inspection equipment. For example, the computer program may be divided into the electric quantity detection module 21, the job stop module 22, and the charging control module 23, and the specific functions of each module are as follows:
the electric quantity detection module 21 is used for detecting the residual electric quantity of the battery in real time;
the operation stopping module 22 is configured to stop the inspection task when the remaining battery power is less than a first preset power threshold;
and the charging control module 23 is used for moving to a charging position for charging operation after the inspection task is stopped.
The charging control device 30 of the inspection device may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The charging control device 30 of the inspection equipment may include, but is not limited to, a processor 31 and a memory 32. It will be understood by those skilled in the art that the schematic diagram is merely an example of the charging control apparatus 30 of the inspection equipment, and does not constitute a limitation on the charging control apparatus 30 of the inspection equipment, and may include more or less components than those shown, or some components in combination, or different components, for example, the charging control apparatus 30 of the inspection equipment may further include an input-output device, a network access device, a bus, etc.
The Processor 31 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor, etc., and the processor 32 is a control center of the charging control apparatus 30 of the inspection equipment, and various interfaces and lines are used to connect various parts of the charging control apparatus 30 of the entire inspection equipment.
The memory 32 may be used to store the computer programs and/or modules, and the processor may implement various functions of the charging control device 30 of the inspection equipment by running or executing the computer programs and/or modules stored in the memory and calling up the data stored in the memory. The memory 32 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 32 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The modules integrated with the charging control device 30 of the inspection equipment may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc.
It should be noted that the above-described embodiments of the charging control device of the inspection equipment are merely illustrative, where the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, may be located in one place, or may also be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A charging control method of inspection equipment is characterized by comprising the following steps:
detecting the residual electric quantity of the battery in real time;
when the residual electric quantity of the battery is smaller than a first preset electric quantity, stopping the routing inspection task;
and when the routing inspection task is stopped, moving to a charging position for charging operation.
2. The inspection equipment charging control method according to claim 1, wherein after stopping the inspection task, the inspection equipment is moved to a charging position for charging operation, and specifically includes:
when the inspection task is stopped, moving to the charging position;
after the mobile terminal is moved to the charging position, identifying each charging contact on the charging pile at the charging position;
and controlling the charging connector to be connected with any one of the charging contacts so as to charge.
3. The inspection equipment charging control method according to claim 2, wherein moving to the charging position after stopping the inspection task specifically includes:
after the inspection task is stopped, taking the current position as a pause position, and acquiring the longitude and latitude of the pause position;
acquiring the longitude and latitude of each charging position within a first preset distance according to the longitude and latitude of the pause position;
calculating a travel path from the pause position to each of the charging positions;
and moving to the charging position corresponding to the shortest travel path.
4. The inspection equipment charging control method according to claim 2, wherein after moving to the charging position, identifying each charging contact on the charging post at the charging position specifically includes:
after the mobile phone is moved to the charging position, the distance between the mobile phone and the charging pile is acquired;
when the distance between the mobile terminal and the charging pile is smaller than a second preset distance, scanning each identification area on the charging pile;
and acquiring the central point of each identification area to obtain each charging contact of the charging pile.
5. The inspection equipment charging control method according to claim 2, wherein the control charging connector is connected with any one of the charging contacts to perform charging, and specifically comprises:
calculating the distance between the charging contact and the charging contact;
acquiring any one of the charging contacts meeting preset conditions to serve as a target charging contact; the preset condition is that the distance between the charging connector and the charging connector is smaller than a third preset distance;
controlling the charging connector to be connected with the target charging contact;
detecting whether the target charging contact has voltage;
and when the target charging contact has voltage and the voltage meets a preset voltage range, charging.
6. The charging control method for the inspection equipment according to claim 5, wherein the charging control method for the inspection equipment further comprises:
when the target charging contact is free of voltage, controlling the charging connector to extend or shorten a preset length;
and after the charging connector is extended or shortened by a preset length, detecting whether the target charging contact has voltage again.
7. The inspection equipment charging control method according to claim 6, wherein the inspection equipment charging control method further includes:
when the target charging contact is free of voltage after the charging connector is extended or shortened by a preset length; or when the voltage of the target charging contact does not meet the preset voltage range, controlling the charging connector to be disconnected with the target charging contact;
and acquiring any other charging contact meeting the preset condition, and taking the charging contact as the target charging contact again.
8. The inspection equipment charging control method according to any one of claims 3-7, wherein after the inspection task is stopped and the inspection equipment is moved to a charging position for charging, the method further comprises:
stopping the charging operation when the residual electric quantity of the battery is judged to be larger than or equal to a second preset electric quantity;
and moving to the pause position according to the longitude and latitude of the pause position, and continuously executing the inspection task.
9. The inspection equipment is characterized by comprising an electric quantity detection module, an operation stopping module and a charging control module;
the electric quantity detection module is used for detecting the residual electric quantity of the battery in real time;
the operation stopping module is used for stopping the inspection task when the residual electric quantity of the battery is smaller than a first preset electric quantity threshold value;
and the charging control module is used for moving to a charging position for charging operation after the inspection task is stopped.
10. A charging control apparatus of an inspection equipment, characterized by comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the charging control method of the inspection equipment according to any one of claims 1 to 8 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910958920.7A CN110707773B (en) | 2019-10-10 | 2019-10-10 | Charging control method and device of inspection equipment and inspection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910958920.7A CN110707773B (en) | 2019-10-10 | 2019-10-10 | Charging control method and device of inspection equipment and inspection equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110707773A true CN110707773A (en) | 2020-01-17 |
| CN110707773B CN110707773B (en) | 2021-05-14 |
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| CN113110583A (en) * | 2021-04-23 | 2021-07-13 | 沃杰(北京)科技有限公司 | Full-automatic relay cruise method and system for unmanned aerial vehicle |
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| CN110707773B (en) | 2021-05-14 |
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